Merge pull request #92 from loveloveses/0.8.5

enableBsm for CRV HYBRID
enable bsm for CRV HYBRID
2026-06-12 06:54:12 +08:00 · 2021-08-17 18:12:36 +08:00 · 2021-08-13 12:08:23 +08:00 · 2021-08-13 12:05:54 +08:00 · 2021-08-13 12:00:52 +08:00 · 2021-07-22 12:43:20 +10:00
690 changed files with 34884 additions and 37860 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 venv/
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -6,9 +7,10 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode
+.vscode*
 model2.png
 a.out
+.hypothesis

 *.dylib
 *.DSYM
@@ -31,6 +33,7 @@ a.out
 *.vcd
 config.json
 clcache
+compile_commands.json

 persist
 board/obj/
@@ -38,13 +41,15 @@ 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/visiond/visiond
 selfdrive/loggerd/loggerd
+selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
@@ -53,9 +58,9 @@ one
 openpilot
 notebooks
 xx
+hyperthneed
 panda_jungle
-apks
-openpilot-apks
+provisioning

 .coverage*
 coverage.xml
@@ -66,3 +71,7 @@ pandaextra
 flycheck_*

 cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+models/*.thneed
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -0,0 +1,664 @@
+dragonpilot 0.8.5-4
+========================
+* Added multiple toggles.
+* Code clean up.
+* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
+* Better support for VW MPQ (Thanks to @Saber)
+
+dragonpilot 0.8.5-3
+========================
+* Added Jetson support toggle.
+* Added Steering Ratio controller.
+* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
+* Bug fixes.
+
+dragonpilot 0.8.5-2
+========================
+* Added black panda simulation toggle.
+* Added No GPS toggle.
+* Added No Battery Toggle.
+* Bug fixes.
+
+dragonpilot 0.8.5-1
+========================
+* Based on openpilot 0.8.5 devel.
+* 基於 openpilot 0.8.5 devel.
+* Support 1+3t / C2 / Jetson Xavier NX. 
+* 支持 1+3t / C2 / Jetson Xavier NX.
+* No White/Grey Panda Support.
+* 不支持白灰熊.
+
+dragonpilot 0.8.4-3
+========================
+* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
+* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
+* 加回舊 ssh 登錄.
+* Good old ssh key.
+* 修復本田錯誤. (感謝 @loveloveses)
+* Fixed Honda bug. (Thanks to @loveloveses)
+
+dragonpilot 0.8.4-2
+========================
+* 加回可調整加速/跟車設定.
+* Added back Accel/Following Profile.
+* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
+* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
+* 支持 1+3t (需額外安裝手續)
+* Support 1+3t (Require additional install procedure)
+* 支持白/灰熊
+* Support White/Grey Panda.
+
+dragonpilot 0.8.4-1
+========================
+* 基於 openpilot 0.8.4 devel.
+* Based on openpilot 0.8.4 devel.
+
+dragonpilot 0.8.1
+========================
+* 基於最新 openpilot 0.8.1 devel.
+* Based on latest openpilot 0.8.1 devel.
+* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
+* Added REC screen button. (Thanks to @toyboxZ)
+
+dragonpilot 0.8.0
+========================
+* 基於最新 openpilot 0.8.0 devel.
+* Based on latest openpilot 0.8.0 devel.
+* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
+* Added git error fix. (Thanks to @toyboxZ)
+
+dragonpilot 0.7.10.1
+========================
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
+* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
+* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
+* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
+* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
+* Use openpilot v0.8 model. (Thanks to @eisenheim)
+* 加入 0.8 測試版的部分優化。
+* Added optimizations from pre-0.8.
+* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
+* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
+* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
+* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
+* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
+* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
+* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
+* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
+* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
+* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
+* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
+* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
+* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
+
+dragonpilot 0.7.10.0
+========================
+* 基於最新 openpilot 0.7.10 devel.
+* Based on latest openpilot 0.7.10 devel.
+* 修正 Prius 特定情況下無法操控方向盤的問題。
+* Fixed unable to regain Prius steering control under certain condition.
+* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
+* Updated support of VW MQB. (scripts/vw.sh script required)
+* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
+* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
+* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
+* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
+* 優化 nanovg。(感謝 @piggy 提供)
+* Optomized nanovg. (Thanks to @piggy)
+* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
+* Added complete_setup.sh (Thanks to @深鲸希西)
+* Based on latest openpilot 0.7.10 devel.
+* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
+* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+
+dragonpilot 0.7.8.3
+========================
+* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
+* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
+
+dragonpilot 0.7.8.2
+========================
+* 修正在沒網路的情況下，開機超過五分鐘的問題。
+* Fixed 5+ minutes boot time issue when there is no internet connection.
+* 錯誤回傳改使用 dp 的主機。
+* Used dp server for error reporting.
+* 更新服務改使用 gitee 的 IP 檢查連線狀態。
+* updated service uses gitee IP address instead.
+
+dragonpilot 0.7.8.1
+========================
+* 加入 ko-KR 翻譯。
+* Added ko-KR translation.
+* 加入 Honda Jade 支援。(感謝 @李俊灝)
+* Added Honda Jade support. (Thanks to @lijunhao731)
+* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
+* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
+* gpxd 記錄改自動存成 zip 格式。
+* gpxd now store in zip format.
+* 強制關閉 panda 檢查 DOS 硬體。
+* Force disabled DOS hardware check in panda.
+
+dragonpilot 0.7.8.0
+========================
+* 基於最新 openpilot 0.7.8 devel.
+* Based on latest openpilot 0.7.8 devel.
+* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
+* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
+* 將警示訊息更改為類似於概念 UI 的設計。
+* Alert messages changed to concept UI alike design.
+* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
+* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. 
+
+dragonpilot 0.7.7.3
+========================
+* 修正方向盤監控。
+* Fixed steering monitor timer param.
+* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
+* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
+* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
+* Re-added Dev Mini UI. (Thanks to @Ninjaa)
+* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
+* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
+* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
+* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
+* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
+* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
+* 使用德國的車道寬度估算值。 （感謝 @arne182）
+* Used lane width estimate value from Germany. (Thanks to @arne182)
+
+dragonpilot 0.7.7.2
+========================
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
+dragonpilot 0.7.7.1
+========================
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+
+dragonpilot 0.7.7.0
+========================
+* 基於最新 openpilot 0.7.7 devel.
+* Based on latest openpilot 0.7.7 devel.
+* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
+* When Manager failed, display IP address. (Thanks to  @dingliangxue)
+* 加回 sr learner 開關。
+* Re-added sr learner toggle.
+* 加回 加速模式 開關。
+* Re-added Accel Profile toggle.
+* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
+* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
+* 介面加入盲點偵測顯示。(感謝 @wabes)
+* Added BSM indicator to UI. (Thanks to @wabes)
+* 加回彎道減速功能。(感謝 @Mojo)
+* re-added Slow On Curve functionality. (Thanks to @Mojo)
+
+dragonpilot 0.7.6.2
+========================
+* 修正無法正確關閉駕駛監控的問題。
+* Fixed unable to properly turn off driver monitor issue.
+
+dragonpilot 0.7.6.1
+========================
+* 基於最新 openpilot 0.7.6.1 devel.
+* Based on latest openpilot 0.7.6.1 devel.
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+
+dragonpilot 0.7.5.4
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+dragonpilot 0.7.5.3
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+dragonpilot 0.7.5.2
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+dragonpilot 0.7.5.1
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+dragonpilot 0.7.5.0
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
+
+2020-05-06
+========================
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* 中文版整合進 i18n 版。  
+* 刪除指紋暫存功能。
+* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
+* 新增行駛時關閉畫面功能。
+* 新增倒車時關閉畫面功能。
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* 新增自定義車型。
+
+2020-04-16
+========================
+* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
+* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
+* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
+
+2020-04-13
+========================
+* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
+* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
+* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
+
+2020-04-10
+========================
+* [DEVEL] 更新 panda 至最新的 comma:master 分支。
+* [DEVEL] 移除所有的第三方應用改為自動下載。
+* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+
+2020-03-31
+========================
+* [DEVEL] 更新至 2020-03-31 testing 分支。
+
+2020-03-27
+========================
+* [DEVEL] 更新至最新的 testing 分支:
+  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+  * 加入韓文支持。(感謝 crwusiz 提供)
+  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+2020-03-22
+========================
+* [DEVEL] 更新至最新的 testing 分支。
+
+2020-03-17
+========================
+* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
+* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+
+2020-03-14
+========================
+* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
+* [DEVEL] 調高 Toyota 扭力容錯值。
+* [DEVEL] 優化讀取 dp 設定值。
+* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [DEVEL] dp 功能加入對 Subaru 車系的支援。
+
+2020-03-06
+========================
+* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [DEVEL] 建立 devel-i18n 取代 devel-en。
+* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
+
+2020-03-04
+========================
+* [DEVEL] 加入顯示駕駛監控畫面。
+* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+2020-02-25
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-21
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-14
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] 修正錯誤。
+
+2020-02-08
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [DEVEL] 加入神盾測速照相自動啟動的開關。
+* [DEVEL] 更新高德地圖至 v4.5.0.600053。
+* [DEVEL] 使用 0.6.6 版的更新系統。
+* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
+
+2020-01-31
+========================
+* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+
+2020-01-29
+========================
+* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+
+2020-01-23
+========================
+* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [DEVEL] 優化 appd。
+
+2020-01-19
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
+* [DEVEL] 調整 appd 和 ALC 邏輯。 
+
+2020-01-14
+========================
+* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+
+2020-01-08
+========================
+* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+2019-12-31
+========================
+* [DEVEL-ZHS] 加回第三方應用。
+
+2019-12-29
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+
+2019-12-18
+========================
+* [DEVEL] 修正自動換道邏輯。
+* [DEVEL] 更新 offroad 翻譯。
+* [DEVEL] 錯誤修正。
+* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+
+2019-12-17
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
+* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
+* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+
+2019-12-10
+========================
+* [DEVEL] 加入位智車機模式。 (Waze Mode)
+
+2019-11-21
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [DEVEL] 調整前車靜止移動偵測參數。
+* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
+
+2019-11-18
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+
+2019-11-18
+========================
+* [DEVEL] 修正 frame 翻譯。
+
+2019-11-15
+========================
+* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+
+2019-11-15
+========================
+* [DEVEL] 修正充電控制。 (感謝 KT 反應)
+* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-12
+========================
+* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
+
+2019-11-12
+========================
+* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
+
+2019-11-11
+========================
+* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [DEVEL] 更新 MiXplorer 至 v6.40.3
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+* [DEVEL] 前車靜止移動偵測加入偵測警示。
+
+2019-11-07
+========================
+* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+
+2019-11-06
+========================
+* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-05
+========================
+* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+
+2019-11-01
+========================
+* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+
+2019-11-01
+========================
+* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
+* [DEVEL] 更新 offroad 為多語言版
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+
+2019-10-29
+========================
+* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
+
+2019-10-28
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+
+2019-10-18
+========================
+* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
+* [DEVEL] 修正 allow_gas 功能。
+
+2019-10-18
+========================
+* [DEVEL] 加入彎道減速功能開關。
+* [DEVEL] 強迫使用 dp 版 Panda 韌體。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+
+2019-10-17
+========================
+* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
+* [DEVEL] 修正充電控制讀取預設值的錯誤。
+* [DEVEL] 修正無法顯示更新記錄的錯誤。
+
+2019-10-16
+========================
+* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
+* [DEVEL] 更新高德地圖至 v4.3.0
+* [DEVEL] 刪除 bs (Branch Switcher)
+
+2019-10-14
+========================
+* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [DEVEL] 清除不再使用的 dp params。
+* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
+* [DEVEL] 加入刷新 Panda 韌體按鈕。
+
+2019-10-11
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+
+2019-10-09
+========================
+* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+2019-10-08
+========================
+* [DEVEL] 加回駕駛監控開關。
+* [DEVEL] 加入 bs (branch switcher) 程式。
+
+2019-10-07
+========================
+* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+
+2019-10-05
+========================
+* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 
+
+2019-09-30
+========================
+* [DEVEL] 更新 curvature learner 版本至 v4。
+* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+
+2019-09-27
+========================
+* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [DEVEL] 加入可開關駕駛監控的程式碼。
+* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+
+2019-09-26
+========================
+* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+
+2019-09-24
+========================
+* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+
+2019-09-23
+========================
+* [DEVEL] 優化讀取 params 的次數。
+* [DEVEL] 加入可開關的車道偏移警示。
+* [DEVEL] 修正充電控制邏輯。
+* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+
+2019-09-20
+========================
+* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+
+2019-09-16
+========================
+* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+
+2019-09-13
+========================
+* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
+
+2019-09-09
+========================
+* [DEVEL] 加入 GreyPanda 模式。
+
+2019-08-28
+========================
+* [DEVEL] 加入可調警示音量。
+
+2019-08-27
+========================
+* [DEVEL] 自動關機改為可調時長。
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -2,7 +2,7 @@

 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.

-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).

 ## Getting Started

@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https

 ## Testing

-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
-
 ### Automated Testing

-All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.

 ### Code Style and Linting

-Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.

 ## Car Ports (openpilot)

 We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.

-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. 
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).

 ## Pull Requests

@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
 ```
 Or alternatively, when on the master branch:
 ```
-git submodule init
-git submodule update
+git submodule update --init
 ```
 The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
 Modules that are in seperate repositories include:
-* apks
 * cereal
 * laika
 * opendbc
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -0,0 +1,28 @@
+# CONTRIBUTORS
+
+Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
+
+If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
+
+name                                                         | github                                                       | contribution
+------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
+andy741217                                                   | [andy741217](https://github.com/andy741217)                  | New features, bug fixes
+Arne Schwarck                                                | [arne182](https://github.com/arne182)                        | New features, bug fixes
+berno22                                                      | [berno22](https://github.com/berno22)                        | New car fingerprint
+Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)                  | Bug fixes
+Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)    | New Features
+DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                      | New features, bug fixes
+dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)              | New features, bug fixes
+eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                  | Tester
+kegman                                                       | [kegman](https://github.com/kegman)                          | New features, bug fixes
+kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | New features, bug fixes
+lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)                | New car fingerprint
+lirudy                                                       | [lirudy](https://github.com/lirudy)                          | Bug fixes
+LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                      | Bug fixes
+loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Bug fixes, DP wiki main maintainer
+menwenliang                                                  | [menwenliang](https://github.com/menwenliang)                | New features
+Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Project lead
+rming                                                        | [Rming](https://github.com/rming)                            | Bug fixes, wiki contributor
+sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)                | Bug fixes
+Shane Smiskol                                                | [sshane](https://github.com/sshane)                          | New features, bug fixes
+toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                        | New features, bug fixes
--- a/HOWTO-ONEPLUS.md
+++ b/HOWTO-ONEPLUS.md
@@ -0,0 +1,25 @@
+How to install on Oneplus 3t?
+------
+1. clone dragonpilot to /data/ and make sure it's named openpilot:
+   (手動安裝切換至 dragonpilot 0.8.5 branch)
+```
+cd /data/ && rm -fr openpilot; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.5
+```
+
+2. run command:
+   (在 ssh 畫面下，輸入)
+```
+cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
+```
+
+3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
+   (等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
+
+4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
+   (在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
+
+5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
+   (在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
+   
+6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
+   (你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
--- a/146
+++ b/146
@@ -1,25 +1,42 @@
 def phone(String ip, String step_label, String cmd) {
-  def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
+
+set -e
+
+export CI=1
+export TEST_DIR=${env.TEST_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+if [ -f /EON ]; then
+  echo \$\$ > /dev/cpuset/app/tasks || true
+  echo \$PPID > /dev/cpuset/app/tasks || true
+  mkdir -p /dev/shm
+  chmod 777 /dev/shm
+fi

-  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
-    sh label: step_label,
-        script: """
-                ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
-echo \$\$ > /dev/cpuset/app/tasks || true
-echo \$PPID > /dev/cpuset/app/tasks || true
-mkdir -p /dev/shm
-chmod 777 /dev/shm
 cd ${env.TEST_DIR} || true
 ${cmd}
 exit 0
+
 EOF"""
+
+    sh script: ssh_cmd, label: step_label
  }
 }

 def phone_steps(String device_type, steps) {
  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 60, unit: 'MINUTES') {
-      phone(device_ip, "kill old processes", "pkill -f comma || true")
+    timeout(time: 150, unit: 'MINUTES') {
      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
      steps.each { item ->
        phone(device_ip, item[0], item[1])
@@ -35,12 +52,12 @@ pipeline {
    TEST_DIR = "/data/openpilot"
  }
  options {
-      timeout(time: 1, unit: 'HOURS')
+      timeout(time: 3, unit: 'HOURS')
  }

  stages {

-    stage('Release Build') {
+    stage('Build release2') {
      agent {
        docker {
          image 'python:3.7.3'
@@ -61,12 +78,11 @@ pipeline {
      when {
        not {
          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
          }
        }
      }

-
      stages {

        /*
@@ -96,6 +112,10 @@ pipeline {
        stage('On-device Tests') {
          agent {
            docker {
+              /*
+              filename 'Dockerfile.ondevice_ci'
+              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
+              */
              image 'python:3.7.3'
              args '--user=root'
            }
@@ -104,19 +124,13 @@ pipeline {
          stages {
            stage('parallel tests') {
              parallel {
-
-                stage('Devel Build') {
-                  environment {
-                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
-                  }
+                stage('Devel Tests') {
                  steps {
-                    phone_steps("eon", [
-                      ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
-                      ["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
-                      ["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
+                    phone_steps("eon-build", [
+                      ["build devel", "cd release && DEVEL_TEST=1 ./build_devel.sh"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
-                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
                    ])
                  }
                }
@@ -124,7 +138,8 @@ pipeline {
                stage('Replay Tests') {
                  steps {
                    phone_steps("eon2", [
-                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                    ])
                  }
                }
@@ -132,18 +147,88 @@ pipeline {
                stage('HW + Unit Tests') {
                  steps {
                    phone_steps("eon", [
-                      ["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
-                      //["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
                      //["test updater", "python installer/updater/test_updater.py"],
                    ])
                  }
                }

+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('Tici Build') {
+                  environment {
+                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+                  }
+                  steps {
+                    phone_steps("tici", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
+                    ])
+                  }
+                }
+
+                stage('camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('Tici camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
              }
            }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
          }

          post {
@@ -158,3 +243,4 @@ pipeline {
    }
  }
 }
+
--- a/README.md
+++ b/README.md
@@ -64,55 +64,65 @@ 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>1</sup>  | 25mph             |
+| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2020                      | AcuraWatch        | Stock            | 0mph               | 3mph              |
+| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2019-20     | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | CR-V 2017-20                  | 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>1</sup>  | 12mph             |
-| Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
+| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
+| Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
+| Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-18                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Lexus     | UX Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019            | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2021             | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla 2020-21               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-21     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Mirai 2021	                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2021              | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |

 <sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/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. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
@@ -125,6 +135,9 @@ Community Maintained Cars and Features

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -132,45 +145,67 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Elantra 2017-19, 2021         | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq Electric 2019-20        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Veloster 2019                 | SCC + LKAS        | Stock            | 5mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-2021               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-19                 | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2019            | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |

-<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built giraffe](https://github.com/commaai/openpilot/wiki/GM). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>2</sup>Requires a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
-
-Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
+<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.

 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.

 To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0

+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
 Installation Instructions
 ------

@@ -239,7 +274,6 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
 * The driver's 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.
@@ -259,7 +293,7 @@ By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privac
 Safety and Testing
 ----

-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
 * openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
 * The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
@@ -269,7 +303,7 @@ Safety and Testing

 Testing on PC
 ------
-For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes. 
+For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.

 Steps:
 1) Start the CARLA server on first terminal
@@ -301,10 +335,9 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
 Directory Structure
 ------
    .
-    ├── apk                 # The apk files used for the UI
    ├── cereal              # The messaging spec and libs used for all logs
    ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── installer/updater   # Manages auto-updates of NEOS
    ├── opendbc             # Files showing how to interpret data from cars
    ├── panda               # Code used to communicate on CAN
    ├── phonelibs           # Libraries used on NEOS devices
@@ -327,8 +360,6 @@ Directory Structure
        ├── test            # Unit tests, system tests and a car simulator
        └── ui              # The UI

-To understand how the services interact, see `cereal/service_list.yaml`.
-
 Licensing
 ------

--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,81 @@
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
 Version 0.7.10 (2020-10-29)
 ========================
 * Grey panda is deprecated, upgrade to comma two or black panda
--- a/336
+++ b/336
@@ -1,25 +1,53 @@
-import Cython
-import distutils
 import os
 import shutil
 import subprocess
 import sys
+import sysconfig
 import platform
+import numpy as np

 TICI = os.path.isfile('/TICI')
+JETSON = os.path.isfile('/JETSON')
+
 Decider('MD5-timestamp')

 AddOption('--test',
          action='store_true',
          help='build test files')

+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
 AddOption('--asan',
          action='store_true',
          help='turn on ASAN')

-# Rebuild cython extensions if python, distutils, or cython change
-cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
-Export('cython_dependencies')
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--mpc-generate',
+          action='store_true',
+          help='regenerates the mpc sources')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')

 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
@@ -29,13 +57,17 @@ if arch == "aarch64" and TICI:
  arch = "larch64"

 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
+
+USE_MIPI = os.getenv("USE_MIPI") is not None
+if arch == "aarch64" and JETSON:
+  arch = "jarch64"
+
+lenv = {
+  "PATH": os.environ['PATH'],
+}

 if arch == "aarch64" or arch == "larch64":
-  lenv = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-  }
+  lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'

  if arch == "aarch64":
    # android
@@ -47,6 +79,7 @@ if arch == "aarch64" or arch == "larch64":
  ]

  libpath = [
+    "/usr/local/lib",
    "/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
@@ -59,6 +92,9 @@ if arch == "aarch64" or arch == "larch64":
      "#phonelibs/libyuv/larch64/lib",
      "/usr/lib/aarch64-linux-gnu"
    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    rpath = ["/usr/local/lib"]
@@ -71,46 +107,53 @@ if arch == "aarch64" or arch == "larch64":
    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
    rpath = []
-
-    if QCOM_REPLAY:
-      cflags += ["-DQCOM_REPLAY"]
-      cxxflags += ["-DQCOM_REPLAY"]
-
 else:
  cflags = []
  cxxflags = []
+  cpppath = []
+  rpath = []

-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#external/tensorflow/include",
-  ]
-
-  if arch == "Darwin":
+  if arch == "jarch64":
    libpath = [
-      "#phonelibs/libyuv/mac/lib",
-      "#cereal",
+      "#phonelibs/libyuv/larch64/lib",
      "#selfdrive/common",
+      "/usr/lib",
      "/usr/local/lib",
+    ]
+    cflags = ["-DXNX", "-march=armv8.2-a"]
+    cxxflags = ["-DXNX", "-march=armv8.2-a"]
+    rpath += ["/usr/local/lib"]
+  elif arch == "Darwin":
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
+    libpath = [
+      f"#phonelibs/libyuv/{yuv_dir}/lib",
+      "/usr/local/lib",
+      "/opt/homebrew/lib",
+      "/usr/local/opt/openssl/lib",
+      "/opt/homebrew/opt/openssl/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      "/opt/homebrew/include",
+      "/usr/local/opt/openssl/include",
+      "/opt/homebrew/opt/openssl/include"
+    ]
  else:
    libpath = [
      "#phonelibs/snpe/x86_64-linux-clang",
      "#phonelibs/libyuv/x64/lib",
-      "#external/tensorflow/lib",
+      "#phonelibs/mapbox-gl-native-qt/x86_64",
      "#cereal",
      "#selfdrive/common",
      "/usr/lib",
      "/usr/local/lib",
    ]

-  rpath = [
-    "phonelibs/snpe/x86_64-linux-clang",
-    "external/tensorflow/lib",
+  if arch != "jarch64":
+    rpath += ["phonelibs/snpe/x86_64-linux-clang"]
+  rpath += [
    "cereal",
    "selfdrive/common"
  ]
@@ -119,11 +162,18 @@ else:
  rpath = [os.path.join(os.getcwd(), x) for x in rpath]

 if GetOption('asan'):
-  ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags_asan = ["-fsanitize=address"]
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
 else:
-  ccflags_asan = []
-  ldflags_asan = []
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed"]

 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
@@ -142,11 +192,11 @@ env = Environment(
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
-  ] + cflags + ccflags_asan,
+  ] + cflags + ccflags,

  CPPPATH=cpppath + [
    "#",
-    "#selfdrive",
+    "#phonelibs/catch2/include",
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
    "#phonelibs/openmax/include",
@@ -158,22 +208,19 @@ env = Environment(
    "#phonelibs/android_system_core/include",
    "#phonelibs/linux/include",
    "#phonelibs/snpe/include",
+    "#phonelibs/mapbox-gl-native-qt/include",
    "#phonelibs/nanovg",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#selfdrive/sensord",
-    "#selfdrive/ui",
-    "#cereal/messaging",
+    "#phonelibs/qrcode",
+    "#phonelibs",
    "#cereal",
+    "#cereal/messaging",
+    "#cereal/visionipc",
    "#opendbc/can",
  ],

  CC='clang',
  CXX='clang++',
-  LINKFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags,

  RPATH=rpath,

@@ -181,64 +228,23 @@ env = Environment(
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
    "#cereal",
-    "#selfdrive/common",
    "#phonelibs",
-  ]
+    "#opendbc/can",
+    "#selfdrive/boardd",
+    "#selfdrive/common",
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "cython", "compilation_db"],
 )

-qt_env = None
-if arch in ["x86_64", "Darwin", "larch64"]:
-  qt_env = env.Clone()
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')

-  if arch == "Darwin":
-    qt_env['QTDIR'] = "/usr/local/opt/qt"
-    QT_BASE = "/usr/local/opt/qt/"
-    qt_dirs = [
-      QT_BASE + "include/",
-      QT_BASE + "include/QtWidgets",
-      QT_BASE + "include/QtGui",
-      QT_BASE + "include/QtCore",
-      QT_BASE + "include/QtDBus",
-      QT_BASE + "include/QtMultimedia",
-    ]
-    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
-  else:
-    qt_env['QTDIR'] = "/usr"
-    qt_dirs = [
-      f"/usr/include/{real_arch}-linux-gnu/qt5",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
-    ]
-
-  qt_env.Tool('qt')
-  qt_env['CPPPATH'] += qt_dirs
-  qt_flags = [
-    "-D_REENTRANT",
-    "-DQT_NO_DEBUG",
-    "-DQT_WIDGETS_LIB",
-    "-DQT_GUI_LIB",
-    "-DQT_CORE_LIB"
-  ]
-  qt_env['CXXFLAGS'] += qt_flags
-
-if os.environ.get('SCONS_CACHE'):
-  cache_dir = '/tmp/scons_cache'
-
-  if os.getenv('CI'):
-    branch = os.getenv('GIT_BRANCH')
-
-    if QCOM_REPLAY:
-      cache_dir = '/tmp/scons_cache_qcom_replay'
-    elif branch is not None and branch != 'master':
-      cache_dir_branch = '/tmp/scons_cache_' + branch
-      if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
-        shutil.copytree(cache_dir, cache_dir_branch)
-      cache_dir = cache_dir_branch
-  CacheDir(cache_dir)
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)

 node_interval = 5
 node_count = 0
@@ -261,9 +267,93 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]

-# still needed for apks
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
+
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/system/comma/usr"
+  qt_dirs = [
+    f"/system/comma/usr/include/qt",
+  ]
+  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64" or arch == "jarch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB"
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
 zmq = 'zmq'
-Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -273,26 +363,55 @@ if SHARED:
 else:
  cereal = [File('#cereal/libcereal.a')]
  messaging = [File('#cereal/libmessaging.a')]
+  visionipc = [File('#cereal/libvisionipc.a')]
+
 Export('cereal', 'messaging')

 SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+Import('_common', '_gpucommon', '_gpu_libs')

 if SHARED:
-  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+  common, gpucommon = abspath(common), abspath(gpucommon)
 else:
  common = [_common, 'json11']
-  visionipc = _visionipc
  gpucommon = [_gpucommon] + _gpu_libs

-Export('common', 'visionipc', 'gpucommon')
+Export('common', 'gpucommon', 'visionipc')

+# Build rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch != "aarch64":
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
+SConscript(['rednose/SConscript'])
+
+# Build openpilot
+
+SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])

+SConscript(['phonelibs/SConscript'])
+
 SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
-SConscript(['phonelibs/SConscript'])

 SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
@@ -309,13 +428,12 @@ SConscript(['selfdrive/clocksd/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])

 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/models/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])

 if arch != "Darwin":
  SConscript(['selfdrive/logcatd/SConscript'])

-
-if arch == "x86_64":
-  SConscript(['tools/lib/index_log/SConscript'])
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1,14 +1,21 @@
 gen
 node_modules
 package-lock.json
+*.tmp
 *.pyc
 __pycache__
 .*.swp
 .*.swo
-libcereal*.a
+*.os
+*.o
+*.a
+
+test_runner
+
 libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
+catch2/
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -1,34 +1,33 @@
-Import('env', 'arch', 'zmq', 'cython_dependencies')
+Import('env', 'envCython', 'arch', 'zmq')

 import shutil

+cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')

-# TODO: remove src-prefix and cereal from command string. can we set working directory?
+# Build cereal
+
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
-            ['car.capnp', 'log.capnp'],
-            'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
+env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
+            schema_files,
+            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")

 if shutil.which('capnpc-java'):
  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
-              ['car.capnp', 'log.capnp'],
-              'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+              schema_files,
+              f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")

 # TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([
-  'gen/cpp/car.capnp.c++',
-  'gen/cpp/log.capnp.c++',
-])
+cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])

 env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)

-cereal_dir = Dir('.')
-services_h = env.Command(['services.h'],
-                          ['service_list.yaml', 'services.py'],
-                          'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+# Build messaging
+
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')

 messaging_objects = env.SharedObject([
  'messaging/messaging.cc',
@@ -51,14 +50,35 @@ if arch == "aarch64":
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)

-# different target?
-#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])


-env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
-            cython_dependencies + [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")
+# Build Vision IPC
+vipc_sources = [
+  'visionipc/ipc.cc',
+  'visionipc/visionipc_server.cc',
+  'visionipc/visionipc_client.cc',
+  'visionipc/visionbuf.cc',
+]
+
+if arch in ["aarch64", "larch64"]:
+  vipc_sources += ['visionipc/visionbuf_ion.cc']
+else:
+  vipc_sources += ['visionipc/visionbuf_cl.cc']
+
+vipc_objects = env.SharedObject(vipc_sources)
+vipc = env.Library('visionipc', vipc_objects)
+
+
+libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
+if arch == "Darwin":
+  del libs[libs.index('OpenCL')]
+  envCython['FRAMEWORKS'] += ['OpenCL']
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)


 if GetOption('test'):
  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
+  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
--- a/cereal/_SConstruct
+++ b/cereal/_SConstruct
@@ -0,0 +1,73 @@
+import os
+import platform
+import subprocess
+import sysconfig
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+cereal_dir = Dir('.')
+messaging_dir = Dir('./messaging')
+
+cpppath = [
+  cereal_dir,
+  messaging_dir,
+  '/usr/lib/include',
+  '/opt/homebrew/include',
+  sysconfig.get_paths()['include'],
+]
+
+libpath = [
+  '/opt/homebrew/lib',
+]
+
+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",
+    "-Wunused",
+    "-Werror",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  LIBPATH=libpath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch')
+
+envCython = env.Clone(LIBS=[])
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -11,6 +11,8 @@ $Java.outerClassname("Car");

 struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
+
+  # event types
  enable @1 :Bool;
  noEntry @2 :Bool;
  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
@@ -21,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  permanent @8 :Bool; # alerts presented regardless of openpilot state

  enum EventName @0xbaa8c5d505f727de {
-    # TODO: copy from error list
    canError @0;
    steerUnavailable @1;
    brakeUnavailable @2;
@@ -36,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonEnable @12;
    pedalPressed @13;
    cruiseDisabled @14;
-    radarCanError @15;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
@@ -52,8 +52,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
+    joystickDebug @34;
+    steerTempUnavailableUserOverride @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
@@ -64,7 +64,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    belowSteerSpeed @46;
    lowBattery @48;
    vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
    sensorDataInvalid @52;
    commIssue @53;
    tooDistracted @54;
@@ -73,14 +73,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
-    invalidGiraffeToyota @60;
-    internetConnectivityNeeded @61;
    communityFeatureDisallowed @62;
    lowMemory @63;
    stockAeb @64;
    ldw @65;
    carUnrecognized @66;
-    radarCommIssue @67;
    driverMonitorLowAcc @68;
    invalidLkasSetting @69;
    speedTooHigh @70;
@@ -92,17 +89,29 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupNoCar @76;
    startupNoControl @77;
    startupMaster @78;
+    startupFuzzyFingerprint @97;
+    startupNoFw @104;
    fcw @79;
    steerSaturated @80;
-    whitePandaUnsupported @81;
-    startupGreyPanda @82;
    belowEngageSpeed @84;
    noGps @85;
    wrongCruiseMode @87;
    modeldLagging @89;
    deviceFalling @90;
    fanMalfunction @91;
+    cameraMalfunction @92;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;

+    radarCanErrorDEPRECATED @15;
+    radarCommIssueDEPRECATED @67;
    gasUnavailableDEPRECATED @3;
    dataNeededDEPRECATED @16;
    modelCommIssueDEPRECATED @27;
@@ -112,9 +121,26 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    driverMonitorOffDEPRECATED @42;
    calibrationProgressDEPRECATED @47;
    invalidGiraffeHondaDEPRECATED @49;
-    canErrorPersistentDEPRECATED @83;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
    focusRecoverActiveDEPRECATED @86;
    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+
+    #dp
+    preLaneChangeLeftALC @105;
+    preLaneChangeRightALC @106;
+    manualSteeringRequired @107;
+    manualSteeringRequiredBlinkersOn @108;
+    leadCarMoving @109;
+
+    # timebomb assist
+    timebombWarn @110;
+    timebombBypassing @111;
+    timebombBypassed @112;
  }
 }

@@ -122,7 +148,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s

 struct CarState {
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
  events @13 :List(CarEvent);

  # car speed
@@ -140,11 +165,10 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;

  # steering wheel
-  steeringAngle @7 :Float32;       # deg
-  steeringRate @15 :Float32;       # deg/s
+  steeringAngleDeg @7 :Float32;
+  steeringRateDeg @15 :Float32;
  steeringTorque @8 :Float32;      # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;        # if the user is using the steering wheel
@@ -182,6 +206,10 @@ struct CarState {
  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change

+  # dp
+  lkMode @37 :Bool;
+  stopSteering @38 :Bool; # timebomb - stopSteering
+
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -232,6 +260,9 @@ struct CarState {
      gapAdjustCruise @11;
    }
  }
+
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLights @19 :Bool;
 }

 # ******* radar state @ 20hz *******
@@ -275,10 +306,6 @@ struct CarControl {
  enabled @0 :Bool;
  active @7 :Bool;

-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-
  actuators @6 :Actuators;

  cruiseControl @4 :CruiseControl;
@@ -290,7 +317,7 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
-    steerAngle @3: Float32;
+    steeringAngleDeg @3: Float32;
  }

  struct CruiseControl {
@@ -326,8 +353,6 @@ struct CarControl {
    }

    enum AudibleAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
      none @0;
      chimeEngage @1;
      chimeDisengage @2;
@@ -339,6 +364,10 @@ struct CarControl {
      chimeWarning2Repeat @8;
    }
  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
 }

 # ****** car param ******
@@ -346,15 +375,19 @@ struct CarControl {
 struct CarParams {
  carName @0 :Text;
  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;

  enableGasInterceptor @2 :Bool;
  enableCruise @3 :Bool;
  enableCamera @4 :Bool;
  enableDsu @5 :Bool; # driving support unit
  enableApgs @6 :Bool; # advanced parking guidance system
+  enableBsm @56 :Bool; # blind spot monitoring
+  hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
+  maxSteeringAngleDeg @54 :Float32;
  safetyModel @9 :SafetyModel;
  safetyModelPassive @42 :SafetyModel = silent;
  safetyParam @10 :Int16;
@@ -367,11 +400,11 @@ struct CarParams {
  brakeMaxV @16 :List(Float32);

  # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)

  # things we can derive
  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
@@ -396,14 +429,17 @@ struct CarParams {
  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
  steerControlType @34 :SteerControlType;
  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
+  stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
+  startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
-  isPandaBlack @39: Bool;
  dashcamOnly @41: Bool;
  transmissionType @43 :TransmissionType;
  carFw @44 :List(CarFw);
+
  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
  communityFeature @46: Bool;  # true if a community maintained feature is detected
  fingerprintSource @49: FingerprintSource;
@@ -432,10 +468,19 @@ struct CarParams {
  }

  struct LateralINDITuning {
-    outerLoopGain @0 :Float32;
-    innerLoopGain @1 :Float32;
-    timeConstant @2 :Float32;
-    actuatorEffectiveness @3 :Float32;
+    outerLoopGainBP @4 :List(Float32);
+    outerLoopGainV @5 :List(Float32);
+    innerLoopGainBP @6 :List(Float32);
+    innerLoopGainV @7 :List(Float32);
+    timeConstantBP @8 :List(Float32);
+    timeConstantV @9 :List(Float32);
+    actuatorEffectivenessBP @10 :List(Float32);
+    actuatorEffectivenessV @11 :List(Float32);
+
+    outerLoopGainDEPRECATED @0 :Float32;
+    innerLoopGainDEPRECATED @1 :Float32;
+    timeConstantDEPRECATED @2 :Float32;
+    actuatorEffectivenessDEPRECATED @3 :Float32;
  }

  struct LateralLQRTuning {
@@ -490,6 +535,7 @@ struct CarParams {
    automatic @1;  # Traditional auto, including DSG
    manual @2;  # True "stick shift" only
    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
  }

  struct CarFw {
@@ -533,4 +579,6 @@ struct CarParams {
    fwdCamera @0;  # Standard/default integration at LKAS camera
    gateway @1;    # Integration at vehicle's CAN gateway
  }
+
+  isPandaBlackDEPRECATED @39: Bool;
 }
--- a/cereal/dp.capnp
+++ b/cereal/dp.capnp
@@ -0,0 +1,57 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("dp");
+
+@0xbfa7e645486440c7;
+
+# dp.capnp: a home for deprecated structs
+
+# dp
+struct DragonConf {
+  dpThermalStarted @0 :Bool;
+  dpThermalOverheat @1 :Bool;
+  dpAtl @2 :Bool;
+  dpDashcamd @3 :Bool;
+  dpAutoShutdown @4 :Bool;
+  dpAthenad @5 :Bool;
+  dpUploader @6 :Bool;
+  dpLateralMode @7 :UInt8;
+  dpSignalOffDelay @8 :Float32;
+  dpLcMinMph @9 :UInt8;
+  dpLcAutoCont @10 :Bool;
+  dpLcAutoMinMph @11 :UInt8;
+  dpLcAutoDelay @12 :Float32;
+  dpAllowGas @13 :Bool;
+  dpFollowingProfileCtrl @14 :Bool;
+  dpFollowingProfile @15 :UInt8;
+  dpAccelProfileCtrl @16 :Bool;
+  dpAccelProfile @17 :UInt8;
+  dpGearCheck @18 :Bool;
+  dpSpeedCheck @19 :Bool;
+  dpUiDisplayMode @20 :UInt8;
+  dpUiSpeed @21 :Bool;
+  dpUiEvent @22 :Bool;
+  dpUiMaxSpeed @23 :Bool;
+  dpUiFace @24 :Bool;
+  dpUiLane @25 :Bool;
+  dpUiLead @26 :Bool;
+  dpUiDev @27 :Bool;
+  dpUiDevMini @28 :Bool;
+  dpUiBlinker @29 :Bool;
+  dpUiBrightness @30 :UInt8;
+  dpUiVolume @31 :Int8;
+  dpToyotaLdw @32 :Bool;
+  dpToyotaSng @33 :Bool;
+  dpVwTimebombAssist @34 :Bool;
+  dpIpAddr @35 :Text;
+  dpCameraOffset @36 :Int8;
+  dpPathOffset @37 :Int8;
+  dpLocale @38 :Text;
+  dpSrLearner @39 :Bool;
+  dpSrCustom @40 :Float32;
+  dpAppd @41 :Bool;
+  dpDebug @42 :Bool;
+}
--- a/cereal/legacy.capnp
+++ b/cereal/legacy.capnp
@@ -0,0 +1,865 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Legacy");
+
+@0x80ef1ec4889c2a63;
+
+# legacy.capnp: a home for deprecated structs
+
+struct LogRotate @0x9811e1f38f62f2d1 {
+  segmentNum @0 :Int32;
+  path @1 :Text;
+}
+
+struct LiveUI @0xc08240f996aefced {
+  rearViewCam @0 :Bool;
+  alertText1 @1 :Text;
+  alertText2 @2 :Text;
+  awarenessStatus @3 :Float32;
+}
+
+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
+struct OrbslamCorrection @0x8afd33dc9b35e1aa {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
+struct EthernetPacket @0xa99a9d5b33cf5859 {
+  pkt @0 :Data;
+  ts @1 :Float32;
+}
+
+struct CellInfo @0xcff7566681c277ce {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan @0xd4df5a192382ba0b {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth @0xcb6a279f015f6b51 {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct LiveEventData @0x94b7baa90c5c321e {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData @0xb8aad62cffef28a9 {
+  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
+  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
+  rawPred @15 :Data;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+  freePath @6 :List(Float32);
+
+  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
+
+  struct PathData @0x8817eeea389e9f08 {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
+    validLen @5 :Float32;
+  }
+
+  struct LeadData @0xd1c9bef96d26fa91 {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
+  }
+
+  struct ModelSettings @0xa26e3710efd3e914 {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
+  }
+
+  struct MetaData @0x9744f25fb60f2bf8 {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData @0xf98f999c6a071122 {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
+}
+
+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints @0xab54c59699f8f9f3 {
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
+}
+
+struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
+}
+
+struct UiNavigationEvent @0x90c8426c3eaddd3b {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type @0xe8db07dcf8fcea05 {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status @0xb9aa88c75ef99a1f {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct LiveLocationData @0xb99b2bc7a57e8128 {
+  status @0 :UInt8;
+
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m
+
+  # speed
+  speed @4 :Float32;   # m/s
+
+  # NED velocity components
+  vNED @5 :List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11 :List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12 :List(Float32);
+
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
+
+  struct Accuracy @0x943dc4625473b03f {
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource @0xc871d3cc252af657 {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+    dummy @4;
+  }
+}
+
+struct OrbOdometry @0xd7700859ed1f5b76 {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures @0xcd60164a8a0159ef {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbFeaturesSummary @0xd500d30c5803fa4f {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
+struct OrbKeyFrame @0xc8233c0345e27e24 {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
+struct KalmanOdometry @0x92e21bb7ea38793a {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct OrbObservation @0x9b326d4e436afec7 {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct CalibrationFeatures @0x8fdfadb254ea867a {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct NavStatus @0xbd8822120928120c {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address @0xce7cd672cacc7814 {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
+struct NavUpdate @0xdb98be6565516acb {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng @0x9eaef9187cadbb9b {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment @0xa5b39b4fc4d7da3f {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction @0xc5417a637451246f {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct TrafficEvent @0xacfa74a094e62626 {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type @0xd85d75253435bf4b {
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
+  }
+
+  enum Action @0xa6f6ce72165ccb49 {
+    none @0;
+    yield @1;
+    stop @2;
+    resumeReady @3;
+  }
+
+}
+
+
+struct AndroidGnss @0xdfdf30d03fc485bd {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements @0xa20710d4f428d6cd {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock @0xa0e27b453a38f450 {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement @0xd949bf717d77614d {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation @0x9ef1f3ff0deb5ffb {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State @0xcbb9490adce12d72 {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator @0xc04e7b6231d4caa8 {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage @0xe2517b083095fd4e {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status @0xec1ff7996b35366f {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct QcomGnss @0xde94674b07ae51c1 {
+  logTs @0 :UInt64;
+  union {
+    measurementReport @1 :MeasurementReport;
+    clockReport @2 :ClockReport;
+    drMeasurementReport @3 :DrMeasurementReport;
+    drSvPoly @4 :DrSvPolyReport;
+    rawLog @5 :Data;
+  }
+
+  enum MeasurementSource @0xd71a12b6faada7ee {
+    gps @0;
+    glonass @1;
+    beidou @2;
+  }
+
+  enum SVObservationState @0xe81e829a0d6c83e9 {
+    idle @0;
+    search @1;
+    searchVerify @2;
+    bitEdge @3;
+    trackVerify @4;
+    track @5;
+    restart @6;
+    dpo @7;
+    glo10msBe @8;
+    glo10msAt @9;
+  }
+
+  struct MeasurementStatus @0xe501010e1bcae83b {
+    subMillisecondIsValid @0 :Bool;
+    subBitTimeIsKnown @1 :Bool;
+    satelliteTimeIsKnown @2 :Bool;
+    bitEdgeConfirmedFromSignal @3 :Bool;
+    measuredVelocity @4 :Bool;
+    fineOrCoarseVelocity @5 :Bool;
+    lockPointValid @6 :Bool;
+    lockPointPositive @7 :Bool;
+    lastUpdateFromDifference @8 :Bool;
+    lastUpdateFromVelocityDifference @9 :Bool;
+    strongIndicationOfCrossCorelation @10 :Bool;
+    tentativeMeasurement @11 :Bool;
+    measurementNotUsable @12 :Bool;
+    sirCheckIsNeeded @13 :Bool;
+    probationMode @14 :Bool;
+
+    glonassMeanderBitEdgeValid @15 :Bool;
+    glonassTimeMarkValid @16 :Bool;
+
+    gpsRoundRobinRxDiversity @17 :Bool;
+    gpsRxDiversity @18 :Bool;
+    gpsLowBandwidthRxDiversityCombined @19 :Bool;
+    gpsHighBandwidthNu4 @20 :Bool;
+    gpsHighBandwidthNu8 @21 :Bool;
+    gpsHighBandwidthUniform @22 :Bool;
+    multipathIndicator @23 :Bool;
+
+    imdJammingIndicator @24 :Bool;
+    lteB13TxJammingIndicator @25 :Bool;
+    freshMeasurementIndicator @26 :Bool;
+
+    multipathEstimateIsValid @27 :Bool;
+    directionIsValid @28 :Bool;
+  }
+
+  struct MeasurementReport @0xf580d7d86b7b8692 {
+    source @0 :MeasurementSource;
+
+    fCount @1 :UInt32;
+
+    gpsWeek @2 :UInt16;
+    glonassCycleNumber @3 :UInt8;
+    glonassNumberOfDays @4 :UInt16;
+
+    milliseconds @5 :UInt32;
+    timeBias @6 :Float32;
+    clockTimeUncertainty @7 :Float32;
+    clockFrequencyBias @8 :Float32;
+    clockFrequencyUncertainty @9 :Float32;
+
+    sv @10 :List(SV);
+
+    struct SV @0xf10c595ae7bb2c27 {
+      svId @0 :UInt8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      gpsParityErrorCount @5 :UInt16;
+      glonassFrequencyIndex @1 :Int8;
+      glonassHemmingErrorCount @6 :UInt8;
+      filterStages @7 :UInt8;
+      carrierNoise @8 :UInt16;
+      latency @9 :Int16;
+      predetectInterval @10 :UInt8;
+      postdetections @11 :UInt16;
+
+      unfilteredMeasurementIntegral @12 :UInt32;
+      unfilteredMeasurementFraction @13 :Float32;
+      unfilteredTimeUncertainty @14 :Float32;
+      unfilteredSpeed @15 :Float32;
+      unfilteredSpeedUncertainty @16 :Float32;
+      measurementStatus @17 :MeasurementStatus;
+      multipathEstimate @18 :UInt32;
+      azimuth @19 :Float32;
+      elevation @20 :Float32;
+      carrierPhaseCyclesIntegral @21 :Int32;
+      carrierPhaseCyclesFraction @22 :UInt16;
+      fineSpeed @23 :Float32;
+      fineSpeedUncertainty @24 :Float32;
+      cycleSlipCount @25 :UInt8;
+    }
+
+  }
+
+  struct ClockReport @0xca965e4add8f4f0b {
+    hasFCount @0 :Bool;
+    fCount @1 :UInt32;
+
+    hasGpsWeek @2 :Bool;
+    gpsWeek @3 :UInt16;
+    hasGpsMilliseconds @4 :Bool;
+    gpsMilliseconds @5 :UInt32;
+    gpsTimeBias @6 :Float32;
+    gpsClockTimeUncertainty @7 :Float32;
+    gpsClockSource @8 :UInt8;
+
+    hasGlonassYear @9 :Bool;
+    glonassYear @10 :UInt8;
+    hasGlonassDay @11 :Bool;
+    glonassDay @12 :UInt16;
+    hasGlonassMilliseconds @13 :Bool;
+    glonassMilliseconds @14 :UInt32;
+    glonassTimeBias @15 :Float32;
+    glonassClockTimeUncertainty @16 :Float32;
+    glonassClockSource @17 :UInt8;
+
+    bdsWeek @18 :UInt16;
+    bdsMilliseconds @19 :UInt32;
+    bdsTimeBias @20 :Float32;
+    bdsClockTimeUncertainty @21 :Float32;
+    bdsClockSource @22 :UInt8;
+
+    galWeek @23 :UInt16;
+    galMilliseconds @24 :UInt32;
+    galTimeBias @25 :Float32;
+    galClockTimeUncertainty @26 :Float32;
+    galClockSource @27 :UInt8;
+
+    clockFrequencyBias @28 :Float32;
+    clockFrequencyUncertainty @29 :Float32;
+    frequencySource @30 :UInt8;
+    gpsLeapSeconds @31 :UInt8;
+    gpsLeapSecondsUncertainty @32 :UInt8;
+    gpsLeapSecondsSource @33 :UInt8;
+
+    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
+    gpsToBdsTimeBiasMilliseconds @36 :Float32;
+    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
+    bdsToGloTimeBiasMilliseconds @38 :Float32;
+    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
+    gpsToGalTimeBiasMilliseconds @40 :Float32;
+    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
+    galToGloTimeBiasMilliseconds @42 :Float32;
+    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
+    galToBdsTimeBiasMilliseconds @44 :Float32;
+    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
+
+    hasRtcTime @46 :Bool;
+    systemRtcTime @47 :UInt32;
+    fCountOffset @48 :UInt32;
+    lpmRtcCount @49 :UInt32;
+    clockResets @50 :UInt32;
+  }
+
+  struct DrMeasurementReport @0x8053c39445c6c75c {
+
+    reason @0 :UInt8;
+    seqNum @1 :UInt8;
+    seqMax @2 :UInt8;
+    rfLoss @3 :UInt16;
+
+    systemRtcValid @4 :Bool;
+    fCount @5 :UInt32;
+    clockResets @6 :UInt32;
+    systemRtcTime @7 :UInt64;
+
+    gpsLeapSeconds @8 :UInt8;
+    gpsLeapSecondsUncertainty @9 :UInt8;
+    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
+
+    gpsWeek @12 :UInt16;
+    gpsMilliseconds @13 :UInt32;
+    gpsTimeBiasMs @14 :UInt32;
+    gpsClockTimeUncertaintyMs @15 :UInt32;
+    gpsClockSource @16 :UInt8;
+
+    glonassClockSource @17 :UInt8;
+    glonassYear @18 :UInt8;
+    glonassDay @19 :UInt16;
+    glonassMilliseconds @20 :UInt32;
+    glonassTimeBias @21 :Float32;
+    glonassClockTimeUncertainty @22 :Float32;
+
+    clockFrequencyBias @23 :Float32;
+    clockFrequencyUncertainty @24 :Float32;
+    frequencySource @25 :UInt8;
+
+    source @26 :MeasurementSource;
+
+    sv @27 :List(SV);
+
+    struct SV @0xf08b81df8cbf459c {
+      svId @0 :UInt8;
+      glonassFrequencyIndex @1 :Int8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      filterStages @5 :UInt8;
+      predetectInterval @6 :UInt8;
+      cycleSlipCount @7 :UInt8;
+      postdetections @8 :UInt16;
+
+      measurementStatus @9 :MeasurementStatus;
+
+      carrierNoise @10 :UInt16;
+      rfLoss @11 :UInt16;
+      latency @12 :Int16;
+
+      filteredMeasurementFraction @13 :Float32;
+      filteredMeasurementIntegral @14 :UInt32;
+      filteredTimeUncertainty @15 :Float32;
+      filteredSpeed @16 :Float32;
+      filteredSpeedUncertainty @17 :Float32;
+
+      unfilteredMeasurementFraction @18 :Float32;
+      unfilteredMeasurementIntegral @19 :UInt32;
+      unfilteredTimeUncertainty @20 :Float32;
+      unfilteredSpeed @21 :Float32;
+      unfilteredSpeedUncertainty @22 :Float32;
+
+      multipathEstimate @23 :UInt32;
+      azimuth @24 :Float32;
+      elevation @25 :Float32;
+      dopplerAcceleration @26 :Float32;
+      fineSpeed @27 :Float32;
+      fineSpeedUncertainty @28 :Float32;
+
+      carrierPhase @29 :Float64;
+      fCount @30 :UInt32;
+
+      parityErrorCount @31 :UInt16;
+      goodParity @32 :Bool;
+    }
+  }
+
+  struct DrSvPolyReport @0xb1fb80811a673270 {
+    svId @0 :UInt16;
+    frequencyIndex @1 :Int8;
+
+    hasPosition @2 :Bool;
+    hasIono @3 :Bool;
+    hasTropo @4 :Bool;
+    hasElevation @5 :Bool;
+    polyFromXtra @6 :Bool;
+    hasSbasIono @7 :Bool;
+
+    iode @8 :UInt16;
+    t0 @9 :Float64;
+    xyz0 @10 :List(Float64);
+    xyzN @11 :List(Float64);
+    other @12 :List(Float32);
+
+    positionUncertainty @13 :Float32;
+    ionoDelay @14 :Float32;
+    ionoDot @15 :Float32;
+    sbasIonoDelay @16 :Float32;
+    sbasIonoDot @17 :Float32;
+    tropoDelay @18 :Float32;
+    elevation @19 :Float32;
+    elevationDot @20 :Float32;
+    elevationUncertainty @21 :Float32;
+    velocityCoeff @22 :List(Float64);
+  }
+}
+
+struct LidarPts @0xe3d6685d4e9d8f7a {
+  r @0 :List(UInt16);        # uint16   m*500.0
+  theta @1 :List(UInt16);    # uint16 deg*100.0
+  reflect @2 :List(UInt8);   # uint8      0-255
+
+  # For storing out of file.
+  idx @3 :UInt64;
+
+  # For storing in file
+  pkt @4 :Data;
+}
+
+
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
--- a/cereal/messaging/init.py
+++ b/cereal/messaging/init.py
@@ -1,9 +1,11 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import os
 import capnp

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

 from cereal import log
 from cereal.services import service_list
@@ -11,6 +13,9 @@ from cereal.services import service_list
 assert MultiplePublishersError
 assert MessagingError

+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ
+
 # sec_since_boot is faster, but allow to run standalone too
 try:
  from common.realtime import sec_since_boot
@@ -126,12 +131,14 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:

 class SubMaster():
  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
-               ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               addr: str = "127.0.0.1"):
    self.frame = -1
    self.updated = {s: False for s in services}
    self.rcv_time = {s: 0. for s in services}
    self.rcv_frame = {s: 0 for s in services}
    self.alive = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
    self.freq = {}
    self.data = {}
@@ -142,10 +149,8 @@ class SubMaster():
    self.non_polled_services = [s for s in services if poll is not None and
                                len(poll) and s not in poll]

-    if ignore_alive is not None:
-      self.ignore_alive = ignore_alive
-    else:
-      self.ignore_alive = []
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive

    for s in services:
      if addr is not None:
@@ -184,20 +189,34 @@ class SubMaster():

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

-    for s in self.data:
-      # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-      if self.freq[s] > 1e-5:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
-      else:
+      if SIMULATION:
        self.alive[s] = True

+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+
+          # alive if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
+        else:
+          self.alive[s] = True
+
  def all_alive(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.alive.keys()
@@ -223,3 +242,6 @@ class PubMaster():
    if not isinstance(dat, bytes):
      dat = dat.to_bytes()
    self.sock[s].send(dat)
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -8,8 +8,8 @@ typedef void (*sighandler_t)(int sig);

 #include "services.h"

-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
+#include "impl_msgq.h"
+#include "impl_zmq.h"

 void sigpipe_handler(int sig) {
  assert(sig == SIGPIPE);
--- a/cereal/messaging/impl_msgq.cc
+++ b/cereal/messaging/impl_msgq.cc
@@ -5,8 +5,9 @@
 #include <csignal>
 #include <cerrno>

+#include "services.h"
+#include "impl_msgq.h"

-#include "impl_msgq.hpp"

 volatile sig_atomic_t msgq_do_exit = 0;

@@ -15,14 +16,21 @@ void sig_handler(int signal) {
  msgq_do_exit = 1;
 }

+static bool service_exists(std::string path){
+  for (const auto& it : services) {
+    if (it.name == path) {
+      return true;
+    }
+  }
+  return false;
+}
+
 static size_t get_size(std::string endpoint){
  size_t sz = DEFAULT_SEGMENT_SIZE;

-#if !defined(QCOM) && !defined(QCOM2)
-  if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
+  if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
    sz *= 10;
  }
-#endif

  return sz;
 }
@@ -61,10 +69,14 @@ MSGQMessage::~MSGQMessage() {
  this->close();
 }

-int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  assert(context);
  assert(address == "127.0.0.1");

+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
@@ -150,9 +162,13 @@ MSGQSubSocket::~MSGQSubSocket(){
  }
 }

-int MSGQPubSocket::connect(Context *context, std::string endpoint){
+int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
  assert(context);

+  if (check_endpoint && !service_exists(std::string(endpoint))){
+    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
+  }
+
  q = new msgq_queue_t;
  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
  if (r != 0){
@@ -180,6 +196,10 @@ int MSGQPubSocket::send(char *data, size_t size){
  return msgq_msg_send(&msg, q);
 }

+bool MSGQPubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
 MSGQPubSocket::~MSGQPubSocket(){
  if (q != NULL){
    msgq_close_queue(q);
--- a/cereal/messaging/impl_msgq.hpp
+++ b/cereal/messaging/impl_msgq.hpp
@@ -1,6 +1,6 @@
 #pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
+#include "messaging.h"
+#include "msgq.h"
 #include <zmq.h>
 #include <string>

@@ -34,7 +34,7 @@ private:
  msgq_queue_t * q = NULL;
  int timeout;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
  void setTimeout(int timeout);
  void * getRawSocket() {return (void*)q;}
  Message *receive(bool non_blocking=false);
@@ -45,9 +45,10 @@ class MSGQPubSocket : public PubSocket {
 private:
  msgq_queue_t * q = NULL;
 public:
-  int connect(Context *context, std::string endpoint);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
+  bool all_readers_updated();
  ~MSGQPubSocket();
 };

--- a/cereal/messaging/impl_zmq.cc
+++ b/cereal/messaging/impl_zmq.cc
@@ -7,7 +7,7 @@
 #include <zmq.h>

 #include "services.h"
-#include "impl_zmq.hpp"
+#include "impl_zmq.h"

 static int get_port(std::string endpoint) {
  int port = -1;
@@ -54,7 +54,7 @@ ZMQMessage::~ZMQMessage() {
 }


-int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
  if (sock == NULL){
    return -1;
@@ -71,7 +71,11 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));

  full_endpoint = "tcp://" + address + ":";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }

  return zmq_connect(sock, full_endpoint.c_str());
 }
@@ -103,14 +107,18 @@ ZMQSubSocket::~ZMQSubSocket(){
  zmq_close(sock);
 }

-int ZMQPubSocket::connect(Context *context, std::string endpoint){
+int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
  if (sock == NULL){
    return -1;
  }

  full_endpoint = "tcp://*:";
-  full_endpoint += std::to_string(get_port(endpoint));
+  if (check_endpoint){
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }

  return zmq_bind(sock, full_endpoint.c_str());
 }
@@ -123,6 +131,11 @@ int ZMQPubSocket::send(char *data, size_t size){
  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }

+bool ZMQPubSocket::all_readers_updated() {
+  assert(false); // TODO not implemented
+  return false;
+}
+
 ZMQPubSocket::~ZMQPubSocket(){
  zmq_close(sock);
 }
--- a/cereal/messaging/impl_zmq.hpp
+++ b/cereal/messaging/impl_zmq.hpp
@@ -1,5 +1,5 @@
 #pragma once
-#include "messaging.hpp"
+#include "messaging.h"
 #include <zmq.h>
 #include <string>

@@ -32,7 +32,7 @@ private:
  void * sock;
  std::string full_endpoint;
 public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
  void setTimeout(int timeout);
  void * getRawSocket() {return sock;}
  Message *receive(bool non_blocking=false);
@@ -44,9 +44,10 @@ private:
  void * sock;
  std::string full_endpoint;
 public:
-  int connect(Context *context, std::string endpoint);
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
  int sendMessage(Message *message);
  int send(char *data, size_t size);
+  bool all_readers_updated();
  ~ZMQPubSocket();
 };

--- a/cereal/messaging/messaging.cc
+++ b/cereal/messaging/messaging.cc
@@ -1,6 +1,6 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
+#include "messaging.h"
+#include "impl_zmq.h"
+#include "impl_msgq.h"

 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;
@@ -8,9 +8,13 @@ const bool MUST_USE_ZMQ = true;
 const bool MUST_USE_ZMQ = false;
 #endif

+bool messaging_use_zmq(){
+  return std::getenv("ZMQ") || MUST_USE_ZMQ;
+}
+
 Context * Context::create(){
  Context * c;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    c = new ZMQContext();
  } else {
    c = new MSGQContext();
@@ -20,7 +24,7 @@ Context * Context::create(){

 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    s = new ZMQSubSocket();
  } else {
    s = new MSGQSubSocket();
@@ -28,33 +32,9 @@ SubSocket * SubSocket::create(){
  return s;
 }

-SubSocket * SubSocket::create(Context * context, std::string endpoint){
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, "127.0.0.1");
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address, conflate);
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint);

  if (r == 0) {
    return s;
@@ -66,7 +46,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri

 PubSocket * PubSocket::create(){
  PubSocket * s;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    s = new ZMQPubSocket();
  } else {
    s = new MSGQPubSocket();
@@ -74,9 +54,9 @@ PubSocket * PubSocket::create(){
  return s;
 }

-PubSocket * PubSocket::create(Context * context, std::string endpoint){
+PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
  PubSocket *s = PubSocket::create();
-  int r = s->connect(context, endpoint);
+  int r = s->connect(context, endpoint, check_endpoint);

  if (r == 0) {
    return s;
@@ -88,7 +68,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){

 Poller * Poller::create(){
  Poller * p;
-  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
+  if (messaging_use_zmq()){
    p = new ZMQPoller();
  } else {
    p = new MSGQPoller();
--- a/cereal/messaging/messaging.hpp
+++ b/cereal/messaging/messaging.hpp
@@ -12,6 +12,8 @@

 #define MSG_MULTIPLE_PUBLISHERS 100

+bool messaging_use_zmq();
+
 class Context {
 public:
  virtual void * getRawContext() = 0;
@@ -32,24 +34,24 @@ public:

 class SubSocket {
 public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
  virtual void setTimeout(int timeout) = 0;
  virtual Message *receive(bool non_blocking=false) = 0;
  virtual void * getRawSocket() = 0;
  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
  virtual ~SubSocket(){};
 };

 class PubSocket {
 public:
-  virtual int connect(Context *context, std::string endpoint) = 0;
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
  virtual int sendMessage(Message *message) = 0;
  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint);
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
+  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
  virtual ~PubSocket(){};
 };

@@ -64,22 +66,26 @@ public:

 class SubMaster {
 public:
-  SubMaster(const std::initializer_list<const char *> &service_list,
-            const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
-  int update(int timeout = 1000);
-  inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
-  inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
-  inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  SubMaster(const std::vector<const char *> &service_list,
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
  void drain();
  ~SubMaster();

  uint64_t frame = 0;
  bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
  uint64_t rcv_frame(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name);
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;

 private:
-  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
  Poller *poller_ = nullptr;
  struct SubMessage;
  std::map<SubSocket *, SubMessage *> messages_;
@@ -111,7 +117,7 @@ private:

 class PubMaster {
 public:
-  PubMaster(const std::initializer_list<const char *> &service_list);
+  PubMaster(const std::vector<const char *> &service_list);
  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
  int send(const char *name, MessageBuilder &msg);
  ~PubMaster();
@@ -119,3 +125,21 @@ public:
 private:
  std::map<std::string, PubSocket *> sockets_;
 };
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};
--- a/cereal/messaging/messaging.pxd
+++ b/cereal/messaging/messaging.pxd
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool


-cdef extern from "messaging.hpp":
+cdef extern from "messaging.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
    int connect(Context *, string)
    int sendMessage(Message *)
    int send(char *, size_t)
+    bool all_readers_updated()

  cdef cppclass Poller:
    @staticmethod
--- a/cereal/messaging/messaging_pyx.pyx
+++ b/cereal/messaging/messaging_pyx.pyx
@@ -7,11 +7,11 @@ 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
+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):
@@ -59,12 +59,12 @@ cdef class Poller:
    cdef int t = timeout

    with nogil:
-        result = self.poller.poll(t)
+      result = self.poller.poll(t)

    for s in result:
-        socket = SubSocket()
-        socket.setPtr(s)
-        sockets.append(socket)
+      socket = SubSocket()
+      socket.setPtr(s)
+      sockets.append(socket)

    return sockets

@@ -149,3 +149,6 @@ cdef class PubSocket:
        raise MultiplePublishersError
      else:
        raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()
--- a/cereal/messaging/messaging_pyx_setup.py
+++ b/cereal/messaging/messaging_pyx_setup.py
@@ -1,58 +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
-
-TICI = os.path.isfile('/TICI')
-
-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++1z", "-Wno-nullability-completeness"]
-libraries = ['zmq']
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-if ARCH == "aarch64" and not TICI:
-  # android
-  extra_compile_args += ["-Wno-deprecated-register"]
-  libraries += ['gnustl_shared']
-
-setup(name='messaging',
-      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,
-      ),
-)
--- a/cereal/messaging/msgq.cc
+++ b/cereal/messaging/msgq.cc
@@ -21,9 +21,7 @@

 #include <stdio.h>

-#include "services.h"
-
-#include "msgq.hpp"
+#include "msgq.h"

 void sigusr2_handler(int signal) {
  assert(signal == SIGUSR2);
@@ -83,20 +81,9 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
  return;
 }

-bool service_exists(std::string path){
-  for (const auto& it : services) {
-    if (it.name == path) {
-      return true;
-    }
-  }
-  return false;
-}

 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
-  if (!service_exists(std::string(path))){
-    std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
-  }
  std::signal(SIGUSR2, sigusr2_handler);

  const char * prefix = "/dev/shm/";
@@ -465,3 +452,13 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){

  return num;
 }
+
+bool msgq_all_readers_updated(msgq_queue_t *q) {
+  uint64_t num_readers = *q->num_readers;
+  for (uint64_t i = 0; i < num_readers; i++) {
+    if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
+      return false;
+    }
+  }
+  return num_readers > 0;
+}
--- a/cereal/messaging/msgq.hpp
+++ b/cereal/messaging/msgq.hpp
@@ -5,7 +5,7 @@
 #include <atomic>

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

 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
@@ -64,3 +64,5 @@ int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_ready(msgq_queue_t * q);
 int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -1,7 +1,13 @@
-#include <assert.h>
 #include <time.h>
-#include "messaging.hpp"
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+#include <mutex>
+
 #include "services.h"
+#include "messaging.h"
+
+const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

 static inline uint64_t nanos_since_boot() {
  struct timespec t;
@@ -16,7 +22,7 @@ static const service *get_service(const char *name) {
  return nullptr;
 }

-static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
  }
@@ -25,89 +31,106 @@ static inline bool inList(const std::initializer_list<const char *> &list, const

 class MessageContext {
 public:
-  MessageContext() { ctx_ = Context::create(); }
+  MessageContext() : ctx_(nullptr) {};
  ~MessageContext() { delete ctx_; }
+  inline Context *context() {
+    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
+    return ctx_;
+  }
+private:
  Context *ctx_;
+  std::once_flag init_flag;
 };
-MessageContext ctx;
+
+MessageContext message_context;

 struct SubMaster::SubMessage {
  std::string name;
  SubSocket *socket = nullptr;
  int freq = 0;
-  bool updated = false, alive = false, valid = false, ignore_alive;
+  bool updated = false, alive = false, valid = true, ignore_alive;
  uint64_t rcv_time = 0, rcv_frame = 0;
  void *allocated_msg_reader = nullptr;
  capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  kj::Array<capnp::word> buf;
+  AlignedBuffer aligned_buf;
  cereal::Event::Reader event;
 };

-SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
-                     const std::initializer_list<const char *> &ignore_alive) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<const char *> &ignore_alive) {
  poller_ = Poller::create();
  for (auto name : service_list) {
    const service *serv = get_service(name);
    assert(serv != nullptr);
-    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
    assert(socket != 0);
    poller_->registerSocket(socket);
    SubMessage *m = new SubMessage{
+      .name = name,
      .socket = socket,
      .freq = serv->frequency,
      .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .buf = kj::heapArray<capnp::word>(1024)};
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
    messages_[socket] = m;
    services_[name] = m;
  }
 }

-int SubMaster::update(int timeout) {
-  if (++frame == UINT64_MAX) frame = 1;
+void SubMaster::update(int timeout) {
  for (auto &kv : messages_) kv.second->updated = false;

-  int updated = 0;
  auto sockets = poller_->poll(timeout);
  uint64_t current_time = nanos_since_boot();
+
+  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
+
  for (auto s : sockets) {
    Message *msg = s->receive(true);
    if (msg == nullptr) continue;

    SubMessage *m = messages_.at(s);
-    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
-    if (m->buf.size() < size) {
-      m->buf = kj::heapArray<capnp::word>(size);
-    }
-    memcpy(m->buf.begin(), msg->getData(), msg->getSize());
-    delete msg;

-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
+    m->msg_reader->~FlatArrayMessageReader();
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
+    delete msg;
+    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
+  }
+
+  update_msgs(current_time, messages);
+}
+
+void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
+  if (++frame == UINT64_MAX) frame = 1;
+
+  for(auto &kv : messages) {
+    auto m_find = services_.find(kv.first);
+    if (m_find == services_.end()){
+      continue;
    }
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
-    m->event = m->msg_reader->getRoot<cereal::Event>();
+    SubMessage *m = m_find->second;
+    m->event = kv.second;
    m->updated = true;
    m->rcv_time = current_time;
    m->rcv_frame = frame;
    m->valid = m->event.getValid();
-
-    ++updated;
+    if (SIMULATION) m->alive = true;
  }

-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+  if (!SIMULATION) {
+    for (auto &kv : messages_) {
+      SubMessage *m = kv.second;
+      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+    }
  }
-  return updated;
 }

-bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
+bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
  int found = 0;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
    }
  }
  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
@@ -130,11 +153,23 @@ bool SubMaster::updated(const char *name) const {
  return services_.at(name)->updated;
 }

+bool SubMaster::alive(const char *name) const {
+  return services_.at(name)->alive;
+}
+
+bool SubMaster::valid(const char *name) const {
+  return services_.at(name)->valid;
+}
+
 uint64_t SubMaster::rcv_frame(const char *name) const {
  return services_.at(name)->rcv_frame;
 }

-cereal::Event::Reader &SubMaster::operator[](const char *name) {
+uint64_t SubMaster::rcv_time(const char *name) const {
+  return services_.at(name)->rcv_time;
+}
+
+cereal::Event::Reader &SubMaster::operator[](const char *name) const {
  return services_.at(name)->event;
 };

@@ -142,19 +177,17 @@ SubMaster::~SubMaster() {
  delete poller_;
  for (auto &kv : messages_) {
    SubMessage *m = kv.second;
-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
-    }
+    m->msg_reader->~FlatArrayMessageReader();
    free(m->allocated_msg_reader);
    delete m->socket;
    delete m;
  }
 }

-PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
  for (auto name : service_list) {
    assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
    assert(socket);
    sockets_[name] = socket;
  }
--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -1,180 +0,0 @@
-# TODO: these port numbers are hardcoded in c, fix this
-
-# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
-
-# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
-
-# frame syncing packet
-frame: [8002, true, 20., 1]
-# accel, gyro, and compass
-sensorEvents: [8003, true, 100., 100]
-# GPS data, also global timestamp
-gpsNMEA: [8004, true, 9.]  # 9 msgs each sec
-# CPU+MEM+GPU+BAT temps
-thermal: [8005, true, 2., 1]
-# List(CanData), list of can messages
-can: [8006, true, 100.]
-controlsState: [8007, true, 100., 100]
-#liveEvent: [8008, true, 0.]
-model: [8009, true, 20., 5]
-features: [8010, true, 0.]
-health: [8011, true, 2., 1]
-radarState: [8012, true, 20., 5]
-#liveUI: [8014, true, 0.]
-encodeIdx: [8015, true, 20.]
-liveTracks: [8016, true, 20.]
-sendcan: [8017, true, 100.]
-logMessage: [8018, true, 0.]
-liveCalibration: [8019, true, 4., 4]
-androidLog: [8020, true, 0.]
-carState: [8021, true, 100., 10]
-# 8022 is reserved for sshd
-carControl: [8023, true, 100., 10]
-plan: [8024, true, 20., 2]
-liveLocation: [8025, true, 0., 1]
-gpsLocation: [8026, true, 1., 1]
-ethernetData: [8027, true, 0.]
-navUpdate: [8028, true, 0.]
-qcomGnss: [8029, true, 0.]
-lidarPts: [8030, true, 0.]
-procLog: [8031, true, 0.5]
-gpsLocationExternal: [8032, true, 10., 1]
-ubloxGnss: [8033, true, 10.]
-clocks: [8034, true, 1., 1]
-liveMpc: [8035, false, 20.]
-liveLongitudinalMpc: [8036, false, 20.]
-navStatus: [8038, true, 0.]
-gpsLocationTrimble: [8039, true, 0.]
-trimbleGnss: [8041, true, 0.]
-ubloxRaw: [8042, true, 20.]
-gpsPlannerPoints: [8043, true, 0.]
-gpsPlannerPlan: [8044, true, 0.]
-applanixRaw: [8046, true, 0.]
-orbLocation: [8047, true, 0.]
-trafficEvents: [8048, true, 0.]
-liveLocationTiming: [8049, true, 0.]
-orbslamCorrection: [8050, true, 0.]
-liveLocationCorrected: [8051, true, 0.]
-orbObservation: [8052, true, 0.]
-applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 20., 2]
-uiNavigationEvent: [8055, true, 0.]
-orbOdometry: [8057, true, 0.]
-orbFeatures: [8058, false, 0.]
-orbKeyFrame: [8059, true, 0.]
-uiLayoutState: [8060, true, 0.]
-frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
-orbFeaturesSummary: [8062, true, 0.]
-driverState: [8063, true, 5., 1]
-liveParameters: [8064, true, 20., 2]
-liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20., 5]
-pathPlan: [8067, true, 20., 2]
-kalmanOdometry: [8068, true, 0.]
-thumbnail: [8069, true, 0.2, 1]
-carEvents: [8070, true, 1., 1]
-carParams: [8071, true, 0.02, 1]
-frontFrame: [8072, true, 10.]
-dMonitoringState: [8073, true, 5., 1]
-offroadLayout: [8074, false, 0.]
-wideEncodeIdx: [8075, true, 20.]
-wideFrame: [8076, true, 20.]
-modelV2: [8077, true, 20., 20]
-
-testModel: [8040, false, 0.]
-testLiveLocation: [8045, false, 0.]
-testJoystick: [8056, false, 0.]
-
-# 8080 is reserved for slave testing daemon
-# 8762 is reserved for logserver
-
-# manager -- base process to manage starting and stopping of all others
-#   subscribes: thermal
-
-# **** processes that communicate with the outside world ****
-
-# thermald -- decides when to start and stop onroad
-#   subscribes: health, location
-#   publishes: thermal
-
-# boardd -- communicates with the car
-#   subscribes: sendcan
-#   publishes: can, health, ubloxRaw
-
-# sensord -- publishes IMU and Magnetometer
-#   publishes: sensorEvents
-
-# gpsd -- publishes EON's gps
-#   publishes: gpsNMEA
-
-# camerad -- publishes camera frames
-#   publishes: frame, frontFrame, thumbnail
-#   subscribes: driverState
-
-# dmonitoringmodeld -- runs face detection on camera frames
-#   publishes: driverState
-
-# **** stateful data transformers ****
-
-# modeld -- runs & publishes the model
-#   publishes: model, cameraOdometry
-#   subscribes: liveCalibration, pathPlan
-
-# plannerd -- decides where to drive the car
-#   subscribes: carState, model, radarState, controlsState, liveParameters
-#   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
-
-# controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
-#   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
-
-# dmonitoringd -- processes driver monitoring data and publishes driver awareness
-#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
-#   publishes: dMonitoringState
-
-# radard -- processes the radar and vision data
-#   subscribes: can, controlsState, model, liveParameters
-#   publishes:  radarState, liveTracks
-
-# params_learner -- learns vehicle params by observing the vehicle dynamics
-#   subscribes: controlsState, sensorEvents, cameraOdometry
-#   publishes: liveParameters
-
-# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
-#   subscribes: cameraOdometry
-#   publishes: liveCalibration
-
-# ubloxd -- read raw ublox data and converts them in readable format
-#   subscribes: ubloxRaw
-#   publishes: ubloxGnss
-
-# **** LOGGING SERVICE ****
-
-# loggerd
-#   subscribes: EVERYTHING
-
-# **** NON VITAL SERVICES ****
-
-# ui
-#   subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
-
-# uploader
-#   communicates through file system with loggerd
-
-# deleter
-#   communicates through file system with loggerd and uploader
-
-# logmessaged -- central logging service, can log to cloud
-#   publishes:  logMessage
-
-# logcatd -- fetches logcat info from android
-#   publishes:  androidLog
-
-# proclogd -- fetches process information
-#   publishes: procLog
-
-# tombstoned -- reports native crashes
-
-# athenad -- on request, open a sub socket and return the value
-
-# updated -- waits for network access and tries to update every hour
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -1,34 +1,99 @@
 #!/usr/bin/env python3
 import os
-import yaml
+from typing import Optional
+
+TICI = os.path.isfile('/TICI')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001


-class Service():
-  def __init__(self, port, should_log, frequency, decimation=None):
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+
+
+class Service:
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
    self.port = port
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation


-service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
+services = {
+  "roadCameraState": (True, 20., 1),  # should_log, frequency, decimation (optional)
+  "sensorEvents": (True, 100., 100),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "can": (True, 100.),
+  "controlsState": (True, 100., 100),
+  "features": (True, 0.),
+  "pandaState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (True, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100.),
+  "logMessage": (True, 0.),
+  "liveCalibration": (True, 4., 4),
+  "androidLog": (True, 0., 1),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 2),
+  "liveLocation": (True, 0., 1),
+  "procLog": (True, 0.5),
+  "gpsLocationExternal": (True, 10., 1),
+  "ubloxGnss": (True, 10.),
+  "clocks": (True, 1., 1),
+  "liveMpc": (False, 20.),
+  "liveLongitudinalMpc": (False, 20.),
+  "ubloxRaw": (True, 20.),
+  "liveLocationKalman": (True, 20., 2),
+  "uiLayoutState": (True, 0.),
+  "liveParameters": (True, 20., 2),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 2),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "driverCameraState": (True, 10. if not TICI else 20., 1),
+  "driverEncodeIdx": (True, 10. if not TICI else 20., 1),
+  "driverState": (True, 10. if not TICI else 20., 1),
+  "driverMonitoringState": (True, 10. if not TICI else 20., 1),
+  "offroadLayout": (False, 0.),
+  "wideRoadEncodeIdx": (True, 20., 1),
+  "wideRoadCameraState": (True, 20., 1),
+  "modelV2": (True, 20., 20),
+  "managerState": (True, 2., 1),

-service_list = {}
-with open(service_list_path, "r") as f:
-  for k, v in yaml.safe_load(f).items():
-    decimation = None
-    if len(v) == 4:
-      decimation = v[3]
+  "testModel": (False, 0.),
+  "testLiveLocation": (False, 0.),
+  "testJoystick": (False, 0.),
+
+  # dp
+  "thermal": (True, 2., 1),
+  "dragonConf": (False, 2.),
+
+}
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}
+
+
+def build_header():
+  h = ""
+  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
+  h += "#ifndef __SERVICES_H\n"
+  h += "#define __SERVICES_H\n"
+  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static struct service services[] = {\n"
+  for k, v in service_list.items():
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
+         (k, v.port, should_log, v.frequency, decimation)
+  h += "};\n"
+  h += "#endif\n"
+  return h

-    service_list[k] = Service(v[0], v[1], v[2], decimation)

 if __name__ == "__main__":
-  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
-  print("#ifndef __SERVICES_H")
-  print("#define __SERVICES_H")
-  print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
-  print("static struct service services[] = {")
-  for k, v in service_list.items():
-    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
-  print("};")
-  print("#endif")
+  print(build_header())
--- a/cereal/visionipc/.gitignore
+++ b/cereal/visionipc/.gitignore
@@ -0,0 +1,2 @@
+visionipc_pyx.cpp
+*.so
--- a/panda/board/pedal/obj/.gitkeep
+++ b/panda/board/pedal/obj/.gitkeep
--- a/cereal/visionipc/ipc.cc
+++ b/cereal/visionipc/ipc.cc
@@ -1,6 +1,5 @@
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
 #include <string.h>
 #include <unistd.h>
 #include <assert.h>
@@ -10,16 +9,19 @@
 #include <sys/socket.h>
 #include <sys/un.h>

+#ifdef __APPLE__
+#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
+#else
+#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
+#endif
+
 #include "ipc.h"

 int ipc_connect(const char* socket_path) {
  int err;

-#ifdef __APPLE__
-  int sock = socket(AF_UNIX, SOCK_STREAM, 0);
-#else
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-#endif
+  int sock = getsocket();
+
  if (sock < 0) return -1;
  struct sockaddr_un addr = {
    .sun_family = AF_UNIX,
@@ -39,11 +41,8 @@ int ipc_bind(const char* socket_path) {

  unlink(socket_path);

-#ifdef __APPLE__
-  int sock = socket(AF_UNIX, SOCK_STREAM, 0);
-#else
-  int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
-#endif
+  int sock = getsocket();
+
  struct sockaddr_un addr = {
    .sun_family = AF_UNIX,
  };
@@ -87,7 +86,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
      cmsg->cmsg_type = SCM_RIGHTS;
      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
-      // printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
    }
    return sendmsg(fd, &msg, 0);
  } else {
@@ -102,8 +100,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
      recv_fds /= sizeof(int);
-      // printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
-      // assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));

      assert(fds && recv_fds <= num_fds);
      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
--- a/cereal/visionipc/ipc.h
+++ b/cereal/visionipc/ipc.h
@@ -1,19 +1,7 @@
-#ifndef IPC_H
-#define IPC_H
-
-#include <stdbool.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
+#pragma once
+#include <cstddef>

 int ipc_connect(const char* socket_path);
 int ipc_bind(const char* socket_path);
 int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
                          int *out_num_fds);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif
--- a/cereal/visionipc/test_runner.cc
+++ b/cereal/visionipc/test_runner.cc
@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
--- a/cereal/visionipc/visionbuf.cc
+++ b/cereal/visionipc/visionbuf.cc
@@ -0,0 +1,40 @@
+#include "visionbuf.h"
+
+#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
+
+#ifdef QCOM
+// from libadreno_utils.so
+extern "C" void compute_aligned_width_and_height(int width,
+                                                 int height,
+                                                 int bpp,
+                                                 int tile_mode,
+                                                 int raster_mode,
+                                                 int padding_threshold,
+                                                 int *aligned_w,
+                                                 int *aligned_h);
+#endif
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
+#ifdef QCOM
+  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
+#else
+  *aligned_w = width; *aligned_h = height;
+#endif
+}
+
+void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
+  this->rgb = true;
+  this->width = width;
+  this->height = height;
+  this->stride = stride;
+}
+
+void VisionBuf::init_yuv(size_t width, size_t height){
+  this->rgb = false;
+  this->width = width;
+  this->height = height;
+
+  this->y = (uint8_t *)this->addr;
+  this->u = this->y + (width * height);
+  this->v = this->u + (width / 2 * height / 2);
+}
--- a/cereal/visionipc/visionbuf.h
+++ b/cereal/visionipc/visionbuf.h
@@ -0,0 +1,63 @@
+#pragma once
+#include "visionipc.h"
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#define VISIONBUF_SYNC_FROM_DEVICE 0
+#define VISIONBUF_SYNC_TO_DEVICE 1
+
+enum VisionStreamType {
+  VISION_STREAM_RGB_BACK,
+  VISION_STREAM_RGB_FRONT,
+  VISION_STREAM_RGB_WIDE,
+  VISION_STREAM_YUV_BACK,
+  VISION_STREAM_YUV_FRONT,
+  VISION_STREAM_YUV_WIDE,
+  VISION_STREAM_MAX,
+};
+
+class VisionBuf {
+ public:
+  size_t len = 0;
+  size_t mmap_len = 0;
+  void * addr = nullptr;
+  int fd = 0;
+
+  bool rgb = false;
+  size_t width = 0;
+  size_t height = 0;
+  size_t stride = 0;
+
+  // YUV
+  uint8_t * y = nullptr;
+  uint8_t * u = nullptr;
+  uint8_t * v = nullptr;
+
+  // Visionipc
+  uint64_t server_id = 0;
+  size_t idx = 0;
+  VisionStreamType type;
+
+  // OpenCL
+  cl_mem buf_cl = nullptr;
+  cl_command_queue copy_q = nullptr;
+
+  // ion
+  int handle = 0;
+  bool owner = false;
+
+  void allocate(size_t len);
+  void import();
+  void init_cl(cl_device_id device_id, cl_context ctx);
+  void init_rgb(size_t width, size_t height, size_t stride);
+  void init_yuv(size_t width, size_t height);
+  void sync(int dir);
+  void free();
+};
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
--- a/cereal/visionipc/visionbuf_cl.cc
+++ b/cereal/visionipc/visionbuf_cl.cc
@@ -0,0 +1,86 @@
+#include "visionbuf.h"
+
+#include <atomic>
+#include <stdio.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+
+std::atomic<int> offset = 0;
+
+static void *malloc_with_fd(size_t len, int *fd) {
+  char full_path[0x100];
+
+#ifdef __APPLE__
+  snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
+#else
+  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
+#endif
+
+  *fd = open(full_path, O_RDWR | O_CREAT, 0777);
+  assert(*fd >= 0);
+
+  unlink(full_path);
+
+  ftruncate(*fd, len);
+  void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
+  assert(addr != MAP_FAILED);
+
+  return addr;
+}
+
+void VisionBuf::allocate(size_t len) {
+  int fd;
+  void *addr = malloc_with_fd(len, &fd);
+
+  this->len = len;
+  this->mmap_len = len;
+  this->addr = addr;
+  this->fd = fd;
+}
+
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
+  int err;
+
+  this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
+  assert(err == 0);
+
+  this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
+  assert(err == 0);
+}
+
+
+void VisionBuf::import(){
+  assert(this->fd >= 0);
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+}
+
+
+void VisionBuf::sync(int dir) {
+  int err = 0;
+  if (!this->buf_cl) return;
+
+  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
+    err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
+  } else {
+    err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
+  }
+  assert(err == 0);
+  clFinish(this->copy_q);
+}
+
+void VisionBuf::free() {
+  if (this->buf_cl){
+    int err = clReleaseMemObject(this->buf_cl);
+    assert(err == 0);
+
+    clReleaseCommandQueue(this->copy_q);
+  }
+
+  munmap(this->addr, this->len);
+  close(this->fd);
+}
--- a/cereal/visionipc/visionbuf_ion.cc
+++ b/cereal/visionipc/visionbuf_ion.cc
@@ -36,7 +36,7 @@ static void ion_init() {
  }
 }

-VisionBuf visionbuf_allocate(size_t len) {
+void VisionBuf::allocate(size_t len) {
  int err;

  ion_init();
@@ -62,49 +62,58 @@ VisionBuf visionbuf_allocate(size_t len) {

  memset(addr, 0, ion_alloc.len);

-  return (VisionBuf){
-    .len = len,
-    .mmap_len = ion_alloc.len,
-    .addr = addr,
-    .handle = ion_alloc.handle,
-    .fd = ion_fd_data.fd,
-  };
+  this->owner = true;
+  this->len = len;
+  this->mmap_len = ion_alloc.len;
+  this->addr = addr;
+  this->handle = ion_alloc.handle;
+  this->fd = ion_fd_data.fd;
 }

-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
-  VisionBuf buf = visionbuf_allocate(len);
-   int err = 0;
+void VisionBuf::import(){
+  int err;
+  assert(this->fd >= 0);

-  assert(((uintptr_t)buf.addr % DEVICE_PAGE_SIZE_CL) == 0);
+  ion_init();
+
+  // Get handle
+  struct ion_fd_data fd_data = {0};
+  fd_data.fd = this->fd;
+  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
+  assert(err == 0);
+
+  this->owner = false;
+  this->handle = fd_data.handle;
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+}
+
+void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
+  int err;
+
+  assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);

  cl_mem_ion_host_ptr ion_cl = {0};
  ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
  ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
-  ion_cl.ion_filedesc = buf.fd;
-  ion_cl.ion_hostptr = buf.addr;
+  ion_cl.ion_filedesc = this->fd;
+  ion_cl.ion_hostptr = this->addr;

-  buf.buf_cl = clCreateBuffer(ctx,
+  this->buf_cl = clCreateBuffer(ctx,
                              CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
-                              buf.len, &ion_cl, &err);
+                              this->len, &ion_cl, &err);
  assert(err == 0);
-
-  return buf;
 }


-void visionbuf_sync(const VisionBuf* buf, int dir) {
+void VisionBuf::sync(int dir) {
  int err;

-  struct ion_fd_data fd_data = {0};
-  fd_data.fd = buf->fd;
-  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
-  assert(err == 0);
-
  struct ion_flush_data flush_data = {0};
-  flush_data.handle = fd_data.handle;
-  flush_data.vaddr = buf->addr;
+  flush_data.handle = this->handle;
+  flush_data.vaddr = this->addr;
  flush_data.offset = 0;
-  flush_data.length = buf->len;
+  flush_data.length = this->len;

  // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
  // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
@@ -112,34 +121,28 @@ void visionbuf_sync(const VisionBuf* buf, int dir) {

  struct ion_custom_data custom_data = {0};

-  switch (dir) {
-  case VISIONBUF_SYNC_FROM_DEVICE:
-    custom_data.cmd = ION_IOC_INV_CACHES;
-    break;
-  case VISIONBUF_SYNC_TO_DEVICE:
-    custom_data.cmd = ION_IOC_CLEAN_CACHES;
-    break;
-  default:
-    assert(0);
-  }
+   assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
+   custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
+     ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;

  custom_data.arg = (unsigned long)&flush_data;
  err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
  assert(err == 0);
-
-  struct ion_handle_data handle_data = {0};
-  handle_data.handle = fd_data.handle;
-  err = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-  assert(err == 0);
 }

-void visionbuf_free(const VisionBuf* buf) {
-  clReleaseMemObject(buf->buf_cl);
-  munmap(buf->addr, buf->mmap_len);
-  close(buf->fd);
-  struct ion_handle_data handle_data = {
-    .handle = buf->handle,
-  };
-  int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-  assert(ret == 0);
+void VisionBuf::free() {
+  if (this->buf_cl){
+    int err = clReleaseMemObject(this->buf_cl);
+    assert(err == 0);
+  }
+
+  munmap(this->addr, this->mmap_len);
+  close(this->fd);
+
+  // Free the ION buffer if we also shared it
+  if (this->owner){
+    struct ion_handle_data handle_data = {.handle = this->handle};
+    int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
+    assert(ret == 0);
+  }
 }
--- a/cereal/visionipc/visionipc.h
+++ b/cereal/visionipc/visionipc.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <cstdint>
+#include <cstddef>
+
+constexpr int VISIONIPC_MAX_FDS = 64;
+
+struct VisionIpcBufExtra {
+  uint32_t frame_id;
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+};
+
+struct VisionIpcPacket {
+  uint64_t server_id;
+  size_t idx;
+  struct VisionIpcBufExtra extra;
+};
--- a/cereal/visionipc/visionipc.pxd
+++ b/cereal/visionipc/visionipc.pxd
@@ -0,0 +1,29 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+
+cdef extern from "visionbuf.h":
+  cdef enum VisionStreamType:
+    pass
+
+  cdef cppclass VisionBuf:
+    void * addr
+    size_t len
+
+cdef extern from "visionipc.h":
+  struct VisionIpcBufExtra:
+    uint32_t frame_id
+    uint64_t timestamp_sof
+    uint64_t timestamp_eof
+
+cdef extern from "visionipc_server.h":
+  cdef cppclass VisionIpcServer:
+    VisionIpcServer(string, void*, void*)
+    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
+    VisionBuf * get_buffer(VisionStreamType)
+    void send(VisionBuf *, VisionIpcBufExtra *, bool)
+    void start_listener()
--- a/cereal/visionipc/visionipc_client.cc
+++ b/cereal/visionipc/visionipc_client.cc
@@ -0,0 +1,119 @@
+#include <chrono>
+#include <cassert>
+#include <iostream>
+#include <thread>
+
+#include "ipc.h"
+#include "visionipc_client.h"
+#include "visionipc_server.h"
+
+VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+  sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
+
+  poller = Poller::create();
+  poller->registerSocket(sock);
+}
+
+// Connect is not thread safe. Do not use the buffers while calling connect
+bool VisionIpcClient::connect(bool blocking){
+  connected = false;
+
+  // Cleanup old buffers on reconnect
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i].free();
+  }
+  num_buffers = 0;
+
+  // Connect to server socket and ask for all FDs of type
+  std::string path = "/tmp/visionipc_" + name;
+
+  int socket_fd = -1;
+  while (socket_fd < 0) {
+    socket_fd = ipc_connect(path.c_str());
+
+    if (socket_fd < 0) {
+      if (blocking){
+        std::cout << "VisionIpcClient connecting" << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      } else {
+        return false;
+      }
+    }
+  }
+
+  // Send stream type to server to request FDs
+  int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
+  assert(r == sizeof(type));
+
+  // Get FDs
+  int fds[VISIONIPC_MAX_FDS];
+  VisionBuf bufs[VISIONIPC_MAX_FDS];
+  r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
+
+  assert(num_buffers > 0);
+  assert(r == sizeof(VisionBuf) * num_buffers);
+
+  // Import buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i] = bufs[i];
+    buffers[i].fd = fds[i];
+    buffers[i].import();
+    if (buffers[i].rgb) {
+      buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
+    } else {
+      buffers[i].init_yuv(buffers[i].width, buffers[i].height);
+    }
+
+    if (device_id) buffers[i].init_cl(device_id, ctx);
+  }
+
+  connected = true;
+  return true;
+}
+
+VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
+  auto p = poller->poll(timeout_ms);
+
+  if (!p.size()){
+    return nullptr;
+  }
+
+  Message * r = sock->receive(true);
+  if (r == nullptr){
+    return nullptr;
+  }
+
+  // Get buffer
+  assert(r->getSize() == sizeof(VisionIpcPacket));
+  VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
+
+  assert(packet->idx < num_buffers);
+  VisionBuf * buf = &buffers[packet->idx];
+
+  if (buf->server_id != packet->server_id){
+    connected = false;
+    delete r;
+    return nullptr;
+  }
+
+  if (extra) {
+    *extra = packet->extra;
+  }
+
+  buf->sync(VISIONBUF_SYNC_TO_DEVICE);
+  delete r;
+  return buf;
+}
+
+
+
+VisionIpcClient::~VisionIpcClient(){
+  for (size_t i = 0; i < num_buffers; i++){
+    buffers[i].free();
+  }
+
+  delete sock;
+  delete poller;
+  delete msg_ctx;
+}
--- a/cereal/visionipc/visionipc_client.h
+++ b/cereal/visionipc/visionipc_client.h
@@ -0,0 +1,32 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <unistd.h>
+
+#include "messaging.h"
+#include "visionipc.h"
+#include "visionbuf.h"
+
+class VisionIpcClient {
+private:
+  std::string name;
+  Context * msg_ctx;
+  SubSocket * sock;
+  Poller * poller;
+
+  VisionStreamType type;
+
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+
+  void init_msgq(bool conflate);
+
+public:
+  bool connected = false;
+  int num_buffers = 0;
+  VisionBuf buffers[VISIONIPC_MAX_FDS];
+  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcClient();
+  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
+  bool connect(bool blocking=true);
+};
--- a/cereal/visionipc/visionipc_pyx.pyx
+++ b/cereal/visionipc/visionipc_pyx.pyx
@@ -0,0 +1,49 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+from libcpp.string cimport string
+from libcpp cimport bool
+from libc.string cimport memcpy
+from libc.stdint cimport uint32_t, uint64_t
+
+from .visionipc cimport VisionIpcServer as cppVisionIpcServer
+from .visionipc cimport VisionBuf as cppVisionBuf
+from .visionipc cimport VisionIpcBufExtra
+
+cpdef enum VisionStreamType:
+  VISION_STREAM_RGB_BACK
+  VISION_STREAM_RGB_FRONT
+  VISION_STREAM_RGB_WIDE
+  VISION_STREAM_YUV_BACK
+  VISION_STREAM_YUV_FRONT
+  VISION_STREAM_YUV_WIDE
+
+cdef class VisionIpcServer:
+  cdef cppVisionIpcServer * server
+
+  def __init__(self, string name):
+    self.server = new cppVisionIpcServer(name, NULL, NULL)
+
+  def create_buffers(self,  VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
+    self.server.create_buffers(tp, num_buffers, rgb, width, height)
+
+  def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
+    cdef cppVisionBuf * buf = self.server.get_buffer(tp)
+
+    # Populate buffer
+    assert buf.len == len(data)
+    memcpy(buf.addr, <char*>data, len(data))
+
+    cdef VisionIpcBufExtra extra
+    extra.frame_id = frame_id
+    extra.timestamp_sof = timestamp_sof
+    extra.timestamp_eof = timestamp_eof
+
+    self.server.send(buf, &extra, False)
+
+  def start_listener(self):
+    self.server.start_listener()
+
+  def __dealloc__(self):
+    del self.server
--- a/cereal/visionipc/visionipc_server.cc
+++ b/cereal/visionipc/visionipc_server.cc
@@ -0,0 +1,179 @@
+#include <iostream>
+#include <chrono>
+#include <cassert>
+#include <random>
+
+#include <poll.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "messaging.h"
+#include "ipc.h"
+#include "visionipc_server.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type){
+  if (messaging_use_zmq()){
+    assert(name == "camerad");
+    return std::to_string(9000 + static_cast<int>(type));
+  } else {
+    return "visionipc_" + name + "_" + std::to_string(type);
+  }
+}
+
+VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
+  msg_ctx = Context::create();
+
+  std::random_device rd("/dev/urandom");
+  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
+  server_id = distribution(rd);
+}
+
+void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
+  // TODO: assert that this type is not created yet
+  assert(num_buffers < VISIONIPC_MAX_FDS);
+  int aligned_w = 0, aligned_h = 0;
+
+  size_t size = 0;
+  size_t stride = 0; // Only used for RGB
+
+  if (rgb) {
+    visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
+    size = (size_t)aligned_w * (size_t)aligned_h * 3;
+    stride = aligned_w * 3;
+  } else {
+    size = width * height * 3 / 2;
+  }
+
+
+  // Create map + alloc requested buffers
+  for (size_t i = 0; i < num_buffers; i++){
+    VisionBuf* buf = new VisionBuf();
+    buf->allocate(size);
+    buf->idx = i;
+    buf->type = type;
+
+    if (device_id) buf->init_cl(device_id, ctx);
+
+    rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
+
+    buffers[type].push_back(buf);
+  }
+
+  cur_idx[type] = 0;
+
+  // Create msgq publisher for each of the `name` + type combos
+  // TODO: compute port number directly if using zmq
+  sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
+}
+
+
+void VisionIpcServer::start_listener(){
+  listener_thread = std::thread(&VisionIpcServer::listener, this);
+}
+
+
+void VisionIpcServer::listener(){
+  std::cout << "Starting listener for: " << name << std::endl;
+
+  std::string path = "/tmp/visionipc_" + name;
+  int sock = ipc_bind(path.c_str());
+  assert(sock >= 0);
+
+  while (!should_exit){
+    // Wait for incoming connection
+    struct pollfd polls[1] = {{0}};
+    polls[0].fd = sock;
+    polls[0].events = POLLIN;
+
+    int ret = poll(polls, 1, 100);
+    if (ret < 0) {
+      if (errno == EINTR || errno == EAGAIN) continue;
+      std::cout << "poll failed, stopping listener" << std::endl;
+      break;
+    }
+
+    if (should_exit) break;
+    if (!polls[0].revents) {
+      continue;
+    }
+
+    // Handle incoming request
+    int fd = accept(sock, NULL, NULL);
+    assert(fd >= 0);
+
+    VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
+    int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
+    assert(r == sizeof(type));
+    if (buffers.count(type) <= 0) {
+      std::cout << "got request for invalid buffer type: " << type << std::endl;
+      close(fd);
+      continue;
+    }
+
+    int fds[VISIONIPC_MAX_FDS];
+    int num_fds = buffers[type].size();
+    VisionBuf bufs[VISIONIPC_MAX_FDS];
+
+    for (int i = 0; i < num_fds; i++){
+      fds[i] = buffers[type][i]->fd;
+      bufs[i] = *buffers[type][i];
+
+      // Remove some private openCL/ion metadata
+      bufs[i].buf_cl = 0;
+      bufs[i].copy_q = 0;
+      bufs[i].handle = 0;
+      bufs[i].owner = false;
+
+      bufs[i].server_id = server_id;
+    }
+
+    r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
+
+    close(fd);
+  }
+
+  std::cout << "Stopping listener for: " << name << std::endl;
+  close(sock);
+}
+
+
+
+VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
+  // Do we want to keep track if the buffer has been sent out yet and warn user?
+  assert(buffers.count(type));
+  auto b = buffers[type];
+  return b[cur_idx[type]++ % b.size()];
+}
+
+void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
+  if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
+  assert(buffers.count(buf->type));
+  assert(buf->idx < buffers[buf->type].size());
+
+  // Send over correct msgq socket
+  VisionIpcPacket packet = {0};
+  packet.server_id = server_id;
+  packet.idx = buf->idx;
+  packet.extra = *extra;
+
+  sockets[buf->type]->send((char*)&packet, sizeof(packet));
+}
+
+VisionIpcServer::~VisionIpcServer(){
+  should_exit = true;
+  listener_thread.join();
+
+  // VisionBuf cleanup
+  for( auto const& [type, buf] : buffers ) {
+    for (VisionBuf* b : buf){
+      b->free();
+      delete b;
+    }
+  }
+
+  // Messaging cleanup
+  for( auto const& [type, sock] : sockets ) {
+    delete sock;
+  }
+  delete msg_ctx;
+}
--- a/cereal/visionipc/visionipc_server.h
+++ b/cereal/visionipc/visionipc_server.h
@@ -0,0 +1,42 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <map>
+
+#include "messaging.h"
+#include "visionipc.h"
+#include "visionbuf.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type);
+
+class VisionIpcServer {
+ private:
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+  uint64_t server_id;
+
+  std::atomic<bool> should_exit = false;
+  std::string name;
+  std::thread listener_thread;
+
+  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
+  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
+  std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
+
+  Context * msg_ctx;
+  std::map<VisionStreamType, PubSocket*> sockets;
+
+  void listener(void);
+
+ public:
+  VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcServer();
+
+  VisionBuf * get_buffer(VisionStreamType type);
+
+  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
+  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
+  void start_listener();
+};
--- a/cereal/visionipc/visionipc_tests.cc
+++ b/cereal/visionipc/visionipc_tests.cc
@@ -0,0 +1,135 @@
+#include <thread>
+#include <chrono>
+
+#include "catch2/catch.hpp"
+#include "visionipc_server.h"
+#include "visionipc_client.h"
+
+static void zmq_sleep(int milliseconds=1000){
+  if (messaging_use_zmq()){
+    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+  }
+}
+
+TEST_CASE("Connecting"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.connected);
+}
+
+TEST_CASE("Check buffers"){
+  size_t width = 100, height = 200, num_buffers = 5;
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.buffers[0].width == width);
+  REQUIRE(client.buffers[0].height == height);
+  REQUIRE(client.buffers[0].len);
+  REQUIRE(client.num_buffers == num_buffers);
+}
+
+TEST_CASE("Check yuv/rgb"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
+  client_yuv.connect();
+  client_rgb.connect();
+
+  REQUIRE(client_rgb.buffers[0].rgb == true);
+  REQUIRE(client_yuv.buffers[0].rgb == false);
+}
+
+TEST_CASE("Send single buffer"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  *((uint64_t*)buf->addr) = 1234;
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1337;
+
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
+  REQUIRE(extra_recv.frame_id == extra.frame_id);
+}
+
+
+TEST_CASE("Test no conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 1);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+}
+
+TEST_CASE("Test conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf == nullptr);
+}
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,14 +1,4 @@
-Import('env', 'cython_dependencies')
+Import('envCython', 'common')

-# Build cython clock module
-env.Command(['common_pyx.so', 'clock.cpp'],
-            cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
-            "cd common && python3 common_pyx_setup.py build_ext --inplace")
-
-# Build cython params module
-env.Command(['params_pyx.so', 'params_pyx.cpp'],
-            cython_dependencies + [
-                'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
-                '#selfdrive/common/params.cc', '#selfdrive/common/params.h',
-                '#selfdrive/common/util.c', '#selfdrive/common/util.h'],
-            "cd common && python3 params_pyx_setup.py build_ext --inplace")
+envCython.Program('clock.so', 'clock.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
--- a/common/api/init.py
+++ b/common/api/init.py
@@ -27,7 +27,11 @@ class Api():
      'iat': now,
      'exp': now + timedelta(hours=1)
    }
-    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+    

 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"
--- a/common/apk.py
+++ b/common/apk.py
@@ -1,105 +0,0 @@
-import os
-import subprocess
-import glob
-import hashlib
-import shutil
-from common.basedir import BASEDIR
-from selfdrive.swaglog import cloudlog
-
-android_packages = ("ai.comma.plus.offroad",)
-
-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_offroad():
-  set_package_permissions()
-  system("am start -n ai.comma.plus.offroad/.MainActivity")
-
-def set_package_permissions():
-  try:
-    output = subprocess.check_output(['dumpsys', 'package', 'ai.comma.plus.offroad'], encoding="utf-8")
-    given_permissions = output.split("runtime permissions")[1]
-  except Exception:
-    given_permissions = ""
-
-  wanted_permissions = ["ACCESS_FINE_LOCATION", "READ_PHONE_STATE", "READ_EXTERNAL_STORAGE"]
-  for permission in wanted_permissions:
-    if permission not in given_permissions:
-      pm_grant("ai.comma.plus.offroad", "android.permission."+permission)
-
-  appops_set("ai.comma.plus.offroad", "SU", "allow")
-  appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "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()
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,8 +1,11 @@
 import os
+from pathlib import Path
+
+from selfdrive.hardware import PC, JETSON
+
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

-from common.hardware import PC
-if PC:
-  PERSIST = os.path.join(BASEDIR, "persist")
+if PC or JETSON:
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
  PERSIST = "/persist"
--- a/common/clock.pyx
+++ b/common/clock.pyx
@@ -1,3 +1,4 @@
+# distutils: language = c++
 # cython: language_level = 3
 from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t

--- a/common/common_pyx_setup.py
+++ b/common/common_pyx_setup.py
@@ -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++1z"]
-
-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,
-      ),
-)
--- a/common/dict_helpers.py
+++ b/common/dict_helpers.py
@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
--- a/common/dp_common.py
+++ b/common/dp_common.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3.7
+import subprocess
+from cereal import car
+from common.params import Params
+from common.realtime import sec_since_boot
+import os
+params = Params()
+PARAM_PATH = params.get_params_path() + '/d/'
+LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
+
+def is_online():
+  try:
+    return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+  except ProcessLookupError:
+    return False
+
+def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
+  if enabled:
+    if dragonconf.dpLateralMode == 0 and blinker_on:
+      steer_req = 0 if isinstance(steer_req, int) else False
+  return steer_req
+
+def common_interface_atl(ret, atl):
+  # dp
+  enable_acc = ret.cruiseState.enabled
+  if atl and ret.cruiseState.available:
+    enable_acc = True
+    if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
+      enable_acc = False
+    if ret.seatbeltUnlatched or ret.doorOpen:
+      enable_acc = False
+  return enable_acc
+
+def common_interface_get_params_lqr(ret):
+  if params.get_bool('dp_lqr'):
+    ret.lateralTuning.init('lqr')
+    ret.lateralTuning.lqr.scale = 1500.0
+    ret.lateralTuning.lqr.ki = 0.05
+
+    ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    ret.lateralTuning.lqr.c = [1., 0.]
+    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+  return ret
+
+
+def get_last_modified(delay, old_check, old_modified):
+  new_check = sec_since_boot()
+  if old_check is None or new_check - old_check >= delay:
+    return new_check, os.stat(LAST_MODIFIED).st_mtime
+  else:
+    return old_check, old_modified
+
+def param_get_if_updated(param, type, old_val, old_modified):
+  try:
+    modified = os.stat(PARAM_PATH + param).st_mtime
+  except OSError:
+    return old_val, old_modified
+  if old_modified != modified:
+    new_val = param_get(param, type, old_val)
+    new_modified = modified
+  else:
+    new_val = old_val
+    new_modified = old_modified
+  return new_val, new_modified
+
+def param_get(param_name, type, default):
+  try:
+    val = params.get(param_name, encoding='utf8').rstrip('\x00')
+    if type == 'bool':
+      val = val == '1'
+    elif type == 'int':
+      val = int(val)
+    elif type == 'float':
+      val = float(val)
+  except (TypeError, ValueError):
+    val = default
+  return val
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -0,0 +1,214 @@
+#!/usr/bin/env python3.7
+import os
+import sys
+import json
+import time
+from math import floor
+
+'''
+* type: Bool, Int8, UInt8, UInt16, Float32
+* conf_type: param, struct
+* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
+* update_once: True, False (the param will only load up once, need both param and struct defined)
+'''
+confs = [
+  # thermald data
+  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+
+  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
+  # dashcam related
+  {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # auto shutdown
+  {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
+  # service
+  {'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # lat ctrl
+  {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1,2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
+  # long ctrl
+  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # safety
+  {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  # UIs
+  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
+  # toyota
+  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # hyundai
+  {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # honda
+  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # volkswagen
+  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  #misc
+  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
+  {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
+  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+
+  {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  # sr learner related
+  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
+
+  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+
+  {'name': 'dp_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+]
+
+def get_definition(name):
+  for conf in confs:
+    if conf['name'] == name:
+      return conf
+  return None
+
+def to_param_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    type = conf['type'].lower()
+    try:
+      if 'bool' in type:
+        val = '1' if val else '0'
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return str(val)
+    except (ValueError, TypeError):
+      return ''
+  return ''
+
+def to_struct_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    try:
+      type = conf['type'].lower()
+      if 'bool' in type:
+        val = True if val == '1' else False
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return val
+    except (ValueError, TypeError):
+      return None
+  return None
+
+'''
+function to convert param name into struct name.
+'''
+def get_struct_name(snake_str):
+  components = snake_str.split('_')
+  # We capitalize the first letter of each component except the first one
+  # with the 'title' method and join them together.
+  return components[0] + ''.join(x.title() for x in components[1:])
+
+'''
+function to generate struct for log.capnp
+'''
+def gen_log_struct():
+  count = 0
+  str = "# dp\n"
+  str += "struct DragonConf {\n"
+  for conf in confs:
+    name = get_struct_name(conf['name'])
+    if 'struct' in conf['conf_type']:
+      str += f"  {name} @{count} :{conf['type']};\n"
+      count += 1
+  str += "}"
+  print(str)
+
+'''
+function to generate support car list
+'''
+def get_support_car_list():
+  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
+  cars = dict({"cars": []})
+  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      if car_name != "mock":
+        names = []
+        for attr in attrs:
+          values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
+          if hasattr(values, attr):
+            attr_values = getattr(values, attr)
+          else:
+            continue
+          if isinstance(attr_values, dict):
+            for f, v in attr_values.items():
+              if f not in names:
+                names.append(f)
+          names.sort()
+        brand_models = {"brand": car_name.upper(), "models": names }
+        cars["cars"].append(brand_models)
+    except (ImportError, IOError, ValueError):
+      pass
+  return json.dumps(cars)
+
+'''
+function to init param value.
+should add this into manager.py
+'''
+def init_params_vals(params):
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      if conf['name'] == 'dp_car_list':
+        params.put(conf['name'], get_support_car_list())
+      elif params.get(conf['name']) is None:
+        params.put(conf['name'], to_param_val(conf['name'], conf['default']))
+
+def gen_params_cc_keys():
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      print("    {\"%s\", PERSISTENT}," % conf['name'])
+
+
+if __name__ == "__main__":
+  if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
+    gen_params_cc_keys()
+  else:
+    gen_log_struct()
--- a/common/dp_time.py
+++ b/common/dp_time.py
@@ -0,0 +1,7 @@
+#!/usr/bin/env python3.7
+
+# delay of reading last modified
+LAST_MODIFIED_THERMALD = 10.
+LAST_MODIFIED_SYSTEMD = 1.
+LAST_MODIFIED_LANE_PLANNER = 3.
+LAST_MODIFIED_UPLOADER = 10.
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,11 +1,3 @@
-GPIO_HUB_RST_N = 30
-GPIO_UBLOX_RST_N = 32
-GPIO_UBLOX_SAFEBOOT_N = 33
-GPIO_UBLOX_PWR_EN = 34
-GPIO_STM_RST_N = 124
-GPIO_STM_BOOT0 = 134
-
-
 def gpio_init(pin, output):
  try:
    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
--- a/common/hardware.py
+++ b/common/hardware.py
@@ -1,57 +0,0 @@
-import os
-import random
-from typing import cast
-
-from cereal import log
-from common.hardware_android import Android
-from common.hardware_tici import Tici
-from common.hardware_base import HardwareBase
-
-EON = os.path.isfile('/EON')
-TICI = os.path.isfile('/TICI')
-PC = not (EON or TICI)
-ANDROID = EON
-
-
-NetworkType = log.ThermalData.NetworkType
-NetworkStrength = log.ThermalData.NetworkStrength
-
-
-class Pc(HardwareBase):
-  def get_sound_card_online(self):
-    return True
-
-  def get_imei(self, slot):
-    return "%015d" % random.randint(0, 1 << 32)
-
-  def get_serial(self):
-    return "cccccccc"
-
-  def get_subscriber_info(self):
-    return ""
-
-  def reboot(self, reason=None):
-    print("REBOOT!")
-
-  def get_network_type(self):
-    return NetworkType.wifi
-
-  def get_sim_info(self):
-    return {
-      'sim_id': '',
-      'mcc_mnc': None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"],
-      'data_connected': False
-    }
-
-  def get_network_strength(self, network_type):
-    return NetworkStrength.unknown
-
-
-if EON:
-  HARDWARE = cast(HardwareBase, Android())
-elif TICI:
-  HARDWARE = cast(HardwareBase, Tici())
-else:
-  HARDWARE = cast(HardwareBase, Pc())
--- a/common/hardware_base.py
+++ b/common/hardware_base.py
@@ -1,41 +0,0 @@
-from abc import abstractmethod
-
-
-class HardwareBase:
-  @staticmethod
-  def get_cmdline():
-    with open('/proc/cmdline') as f:
-      cmdline = f.read()
-    return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
-
-  @abstractmethod
-  def get_sound_card_online(self):
-    pass
-
-  @abstractmethod
-  def get_imei(self, slot):
-    pass
-
-  @abstractmethod
-  def get_serial(self):
-    pass
-
-  @abstractmethod
-  def get_subscriber_info(self):
-    pass
-
-  @abstractmethod
-  def reboot(self, reason=None):
-    pass
-
-  @abstractmethod
-  def get_network_type(self):
-    pass
-
-  @abstractmethod
-  def get_sim_info(self):
-    pass
-
-  @abstractmethod
-  def get_network_strength(self, network_type):
-    pass
--- a/common/hardware_tici.py
+++ b/common/hardware_tici.py
@@ -1,59 +0,0 @@
-import serial
-
-from common.hardware_base import HardwareBase
-from cereal import log
-import subprocess
-
-
-NetworkType = log.ThermalData.NetworkType
-NetworkStrength = log.ThermalData.NetworkStrength
-
-
-def run_at_command(cmd, timeout=0.1):
-  with serial.Serial("/dev/ttyUSB2", timeout=timeout) as ser:
-    ser.write(cmd + b"\r\n")
-    ser.readline()  # Modem echos request
-    return ser.readline().decode().rstrip()
-
-
-class Tici(HardwareBase):
-  def get_sound_card_online(self):
-    return True
-
-  def get_imei(self, slot):
-    if slot != 0:
-      return ""
-
-    for _ in range(10):
-      try:
-        imei = run_at_command(b"AT+CGSN")
-        if len(imei) == 15:
-          return imei
-      except serial.SerialException:
-        pass
-
-    raise RuntimeError("Error getting IMEI")
-
-  def get_serial(self):
-    return self.get_cmdline()['androidboot.serialno']
-
-  def get_subscriber_info(self):
-    return ""
-
-  def reboot(self, reason=None):
-    subprocess.check_output(["sudo", "reboot"])
-
-  def get_network_type(self):
-    return NetworkType.wifi
-
-  def get_sim_info(self):
-    return {
-      'sim_id': '',
-      'mcc_mnc': None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"],
-      'data_connected': False
-    }
-
-  def get_network_strength(self, network_type):
-    return NetworkStrength.unknown
--- a/common/i18n.py
+++ b/common/i18n.py
@@ -0,0 +1,14 @@
+import gettext
+from selfdrive.hardware import EON
+from selfdrive.hardware.eon.hardware import getprop
+
+locale_dir = '/data/openpilot/selfdrive/assets/locales'
+supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
+
+def get_locale():
+  return getprop("persist.sys.locale") if EON else 'en-US'
+
+def events():
+  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
+  i18n.install()
+  return i18n.gettext
--- a/common/kalman/SConscript
+++ b/common/kalman/SConscript
@@ -1,6 +1,3 @@
-Import('env', 'cython_dependencies')
-
-env.Command(['simple_kalman_impl.so'],
-            cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
-            "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
+Import('envCython')

+envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
--- a/common/kalman/simple_kalman_impl.pyx
+++ b/common/kalman/simple_kalman_impl.pyx
@@ -1,3 +1,4 @@
+# distutils: language = c++
 # cython: language_level=3

 cdef class KF1D:
--- a/common/kalman/simple_kalman_setup.py
+++ b/common/kalman/simple_kalman_setup.py
@@ -1,10 +0,0 @@
-from distutils.core import Extension, setup
-
-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"])))
--- a/common/kalman/tests/test_simple_kalman.py
+++ b/common/kalman/tests/test_simple_kalman.py
@@ -82,3 +82,6 @@ kf = KF1D(x0=[[x0_0], [x1_0]],
    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
    self.assertTrue(kf_speed < kf_old_speed / 4)
+
+if __name__ == "__main__":
+  unittest.main()
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
 import traceback
@@ -62,8 +63,48 @@ class SwagFormatter(logging.Formatter):
    return record_dict

  def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
    return json_robust_dumps(self.format_dict(record))

+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
 class SwagErrorFilter(logging.Filter):
  def filter(self, record):
    return record.levelno < logging.ERROR
@@ -117,6 +158,8 @@ class SwagLogger(logging.Logger):
    evt.update(kwargs)
    if 'error' in kwargs:
      self.error(evt)
+    if 'debug' in kwargs:
+      self.debug(evt)
    else:
      self.info(evt)

--- a/common/params.py
+++ b/common/params.py
@@ -1,4 +1,24 @@
-from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
+assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
+
+if __name__ == "__main__":
+  import sys
+  from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
+
+  params = Params()
+  if len(sys.argv) == 3:
+    name = sys.argv[1]
+    val = sys.argv[2]
+    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
+    print(f"SET: {name} = {val}")
+    params.put(name, val)
+  elif len(sys.argv) == 2:
+    name = sys.argv[1]
+    assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
+    print(f"GET: {name} = {params.get(name)}")
+  else:
+    for k in keys.keys():
+      print(f"GET: {k} = {params.get(k)}")
--- a/common/params_pxd.pxd
+++ b/common/params_pxd.pxd
@@ -4,13 +4,27 @@ from libcpp cimport bool
 cdef extern from "selfdrive/common/params.cc":
  pass

-cdef extern from "selfdrive/common/util.c":
+cdef extern from "selfdrive/common/util.cc":
  pass

 cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_PANDA_DISCONNECT
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
  cdef cppclass Params:
    Params(bool)
    Params(string)
    string get(string, bool) nogil
-    int delete_db_value(string)
-    int write_db_value(string, string)
+    bool getBool(string)
+    int remove(string)
+    int put(string, string)
+    int putBool(string, bool)
+    bool checkKey(string)
+    void clearAll(ParamKeyType)
+
+    string get_params_path()
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -2,74 +2,20 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from params_pxd cimport Params as c_Params
+from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType

 import os
 import threading
 from common.basedir import BASEDIR

-cdef enum TxType:
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3

-keys = {
-  b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
-  b"AthenadPid": [TxType.PERSISTENT],
-  b"CalibrationParams": [TxType.PERSISTENT],
-  b"CarBatteryCapacity": [TxType.PERSISTENT],
-  b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CommunityFeaturesToggle": [TxType.PERSISTENT],
-  b"CompletedTrainingVersion": [TxType.PERSISTENT],
-  b"DisablePowerDown": [TxType.PERSISTENT],
-  b"DisableUpdates": [TxType.PERSISTENT],
-  b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  b"DongleId": [TxType.PERSISTENT],
-  b"GitBranch": [TxType.PERSISTENT],
-  b"GitCommit": [TxType.PERSISTENT],
-  b"GitRemote": [TxType.PERSISTENT],
-  b"GithubSshKeys": [TxType.PERSISTENT],
-  b"HasAcceptedTerms": [TxType.PERSISTENT],
-  b"HasCompletedSetup": [TxType.PERSISTENT],
-  b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsLdwEnabled": [TxType.PERSISTENT],
-  b"IsMetric": [TxType.PERSISTENT],
-  b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsRHD": [TxType.PERSISTENT],
-  b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUploadRawEnabled": [TxType.PERSISTENT],
-  b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
-  b"LastUpdateException": [TxType.PERSISTENT],
-  b"LiveParameters": [TxType.PERSISTENT],
-  b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  b"LaneChangeEnabled": [TxType.PERSISTENT],
-  b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Passive": [TxType.PERSISTENT],
-  b"RecordFront": [TxType.PERSISTENT],
-  b"ReleaseNotes": [TxType.PERSISTENT],
-  b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"SubscriberInfo": [TxType.PERSISTENT],
-  b"TermsVersion": [TxType.PERSISTENT],
-  b"TrainingVersion": [TxType.PERSISTENT],
-  b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  b"Version": [TxType.PERSISTENT],
-  b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
-}
+cdef class ParamKeyType:
+  PERSISTENT = c_ParamKeyType.PERSISTENT
+  CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
+  CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
+  CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
+  CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
+  ALL = c_ParamKeyType.ALL

 def ensure_bytes(v):
  if isinstance(v, str):
@@ -94,23 +40,21 @@ cdef class Params:
    del self.p

  def clear_all(self, tx_type=None):
-    for key in keys:
-      if tx_type is None or tx_type in keys[key]:
-        self.delete(key)
+    if tx_type is None:
+      tx_type = ParamKeyType.ALL

-  def manager_start(self):
-    self.clear_all(TxType.CLEAR_ON_MANAGER_START)
+    self.p.clearAll(tx_type)

-  def panda_disconnect(self):
-    self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def get(self, key, block=False, encoding=None):
+  def check_key(self, key):
    key = ensure_bytes(key)

-    if key not in keys:
+    if not self.p.checkKey(key):
      raise UnknownKeyName(key)

-    cdef string k = key
+    return key
+
+  def get(self, key, block=False, encoding=None):
+    cdef string k = self.check_key(key)
    cdef bool b = block

    cdef string val
@@ -130,6 +74,10 @@ cdef class Params:
    else:
      return val

+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    return self.p.getBool(k)
+
  def put(self, key, dat):
    """
    Warning: This function blocks until the param is written to disk!
@@ -137,23 +85,26 @@ cdef class Params:
    Use the put_nonblocking helper function in time sensitive code, but
    in general try to avoid writing params as much as possible.
    """
-    key = ensure_bytes(key)
+    cdef string k = self.check_key(key)
    dat = ensure_bytes(dat)
+    self.p.put(k, dat)

-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    self.p.write_db_value(key, dat)
+  def put_bool(self, key, val):
+    cdef string k = self.check_key(key)
+    self.p.putBool(k, val)

  def delete(self, key):
-    key = ensure_bytes(key)
-    self.p.delete_db_value(key)
+    cdef string k = self.check_key(key)
+    self.p.remove(k)

+  def get_params_path(self):
+    return self.p.get_params_path().decode("utf-8")

 def put_nonblocking(key, val, d=None):
  def f(key, val):
    params = Params(d)
-    params.put(key, val)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)

  t = threading.Thread(target=f, args=(key, val))
  t.start()
--- a/common/params_pyx_setup.py
+++ b/common/params_pyx_setup.py
@@ -1,33 +0,0 @@
-import os
-import subprocess
-from distutils.core import Extension, setup
-from Cython.Build import cythonize
-
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-from common.basedir import BASEDIR
-from common.hardware import TICI
-
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-sourcefiles = ['params_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
-
-if ARCH == "aarch64":
-  if TICI:
-    extra_compile_args += ["-DQCOM2"]
-  else:
-    extra_compile_args += ["-DQCOM"]
-
-
-setup(name='common',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "params_pyx",
-          language="c++",
-          sources=sourcefiles,
-          include_dirs=[BASEDIR, os.path.join(BASEDIR, 'selfdrive')],
-          extra_compile_args=extra_compile_args
-        )
-      )
-)
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -3,67 +3,78 @@ import gc
 import os
 import time
 import multiprocessing
+from typing import Optional

-from common.hardware import PC
-from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from selfdrive.hardware import PC, TICI, JETSON


 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager

+# driver monitoring
+if TICI:
+  DT_DMON = 0.05
+else:
+  DT_DMON = 0.1
+

 class Priority:
-  MIN_REALTIME = 52 # highest android process priority is 51
-  CTRL_LOW = MIN_REALTIME
-  CTRL_HIGH = MIN_REALTIME + 1
+  # CORE 2
+  # - modeld = 55
+  # - camerad = 54
+  CTRL_LOW = 51 # plannerd & radard
+
+  # CORE 3
+  # - boardd = 55
+  CTRL_HIGH = 53


-def set_realtime_priority(level):
-  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+def set_realtime_priority(level: int) -> None:
+  if JETSON or not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]


-def set_core_affinity(core):
-  if not PC:
+def set_core_affinity(core: int) -> None:
+  if JETSON or not PC:
    os.sched_setaffinity(0, [core,])


-def config_realtime_process(core, priority):
+def config_realtime_process(core: int, priority: int) -> None:
  gc.disable()
  set_realtime_priority(priority)
  set_core_affinity(core)


-class Ratekeeper():
-  def __init__(self, rate, print_delay_threshold=0.):
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
    self._next_frame_time = sec_since_boot() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
    self._process_name = multiprocessing.current_process().name

  @property
-  def frame(self):
+  def frame(self) -> int:
    return self._frame

  @property
-  def remaining(self):
+  def remaining(self) -> float:
    return self._remaining

  # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
    lagged = self.monitor_time()
    if self._remaining > 0:
      time.sleep(self._remaining)
    return lagged

  # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -4,22 +4,19 @@ from common.basedir import BASEDIR


 class Spinner():
-  def __init__(self, noop=False):
-    # spinner is currently only implemented for android
-    self.spinner_proc = None
-    if not noop:
-      try:
-        self.spinner_proc = subprocess.Popen(["./spinner"],
-                                             stdin=subprocess.PIPE,
-                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                             close_fds=True)
-      except OSError:
-        self.spinner_proc = None
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None

  def __enter__(self):
    return self

-  def update(self, spinner_text):
+  def update(self, spinner_text: str):
    if self.spinner_proc is not None:
      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
      try:
@@ -27,6 +24,9 @@ class Spinner():
      except BrokenPipeError:
        pass

+  def update_progress(self, cur: int, total: int):
+    self.update(str(round(100 * cur / total)))
+
  def close(self):
    if self.spinner_proc is not None:
      try:
--- a/common/text_window.py
+++ b/common/text_window.py
@@ -6,17 +6,14 @@ from common.basedir import BASEDIR


 class TextWindow:
-  def __init__(self, s, noop=False):
-    # text window is only implemented for android currently
-    self.text_proc = None
-    if not noop:
-      try:
-        self.text_proc = subprocess.Popen(["./text", s],
-                                          stdin=subprocess.PIPE,
-                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
-                                          close_fds=True)
-      except OSError:
-        self.text_proc = None
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None

  def get_status(self):
    if self.text_proc is not None:
@@ -36,6 +33,7 @@ class TextWindow:
    if self.text_proc is not None:
      while True:
        if self.get_status() == 1:
+          os.system('/data/openpilot/scripts/reset_update.sh')
          return
        time.sleep(0.1)

--- a/common/transformations/SConscript
+++ b/common/transformations/SConscript
@@ -1,8 +1,6 @@
-Import('env', 'cython_dependencies')
+Import('env', 'envCython')

-d = Dir('.')
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')

-env.Command(['transformations.so'],
-            cython_dependencies + ['transformations.pxd', 'transformations.pyx',
-             'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
-            'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
+envCython.Program('transformations.so', 'transformations.pyx')
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -1,29 +1,67 @@
 import numpy as np
-import common.transformations.orientation as orient

-FULL_FRAME_SIZE = (1164, 874)
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-eon_focal_length = FOCAL = 910.0
+import common.transformations.orientation as orient
+from selfdrive.hardware import TICI
+
+## -- hardcoded hardware params --
+eon_f_focal_length = 910.0
+eon_d_focal_length = 860.0
+leon_d_focal_length = 650.0
+tici_f_focal_length = 2648.0
+tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
+
+eon_f_frame_size = (1164, 874)
+eon_d_frame_size = (1152, 864)
+leon_d_frame_size = (816, 612)
+tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)

 # aka 'K' aka camera_frame_from_view_frame
-eon_intrinsics = np.array([
-  [FOCAL,   0.,   W/2.],
-  [  0.,  FOCAL,  H/2.],
-  [  0.,    0.,     1.]])
-
+eon_fcam_intrinsics = np.array([
+  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
+  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+eon_intrinsics = eon_fcam_intrinsics # xx

 leon_dcam_intrinsics = np.array([
-  [650,   0,   816//2],
-  [  0,  650,  612//2],
-  [  0,    0,     1]])
+  [leon_d_focal_length,  0.0,  float(leon_d_frame_size[0])/2],
+  [0.0,  leon_d_focal_length,  float(leon_d_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])

 eon_dcam_intrinsics = np.array([
-  [860,   0,   1152//2],
-  [  0,  860,  864//2],
-  [  0,    0,     1]])
+  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
+  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+
+tici_fcam_intrinsics = np.array([
+  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
+  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
+
+tici_dcam_intrinsics = np.array([
+  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
+  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
+
+tici_ecam_intrinsics = tici_dcam_intrinsics

 # aka 'K_inv' aka view_frame_from_camera_frame
-eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
+eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
+eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+
+tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
+tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+
+
+if not TICI:
+  FULL_FRAME_SIZE = eon_f_frame_size
+  FOCAL = eon_f_focal_length
+  fcam_intrinsics = eon_fcam_intrinsics
+else:
+  FULL_FRAME_SIZE = tici_f_frame_size
+  FOCAL = tici_f_focal_length
+  fcam_intrinsics = tici_fcam_intrinsics
+
+W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]


 # device/mesh : x->forward, y-> right, z->down
@@ -69,9 +107,9 @@ def vp_from_ke(m):
  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])


-def vp_from_rpy(rpy):
+def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(eon_intrinsics, e)
+  ke = np.dot(intrinsics, e)
  return vp_from_ke(ke)


@@ -81,7 +119,7 @@ def roll_from_ke(m):
                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))


-def normalize(img_pts, intrinsics=eon_intrinsics):
+def normalize(img_pts, intrinsics=fcam_intrinsics):
  # normalizes image coordinates
  # accepts single pt or array of pts
  intrinsics_inv = np.linalg.inv(intrinsics)
@@ -94,7 +132,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
  return img_pts_normalized[:, :2].reshape(input_shape)


-def denormalize(img_pts, intrinsics=eon_intrinsics):
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
  # denormalizes image coordinates
  # accepts single pt or array of pts
  img_pts = np.array(img_pts)
@@ -102,9 +140,9 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
  img_pts = np.atleast_2d(img_pts)
  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
  img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
  return img_pts_denormalized[:, :2].reshape(input_shape)

@@ -137,18 +175,10 @@ def img_from_device(pt_device):
  return pt_img.reshape(input_shape)[:, :2]


-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(eon_intrinsics,
+  calib_frame_from_ground = np.dot(intrinsics,
                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
  return camera_frame_from_calib_frame
-
-
-def pretransform_from_calib(calib):
-  roll, pitch, yaw, height = calib
-  view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
-  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
-  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
-  return np.linalg.inv(camera_frame_from_calib_frame)
--- a/common/transformations/coordinates.cc
+++ b/common/transformations/coordinates.cc
@@ -6,8 +6,6 @@

 #include "coordinates.hpp"

-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)


 double a = 6378137; // lgtm [cpp/short-global-name]
--- a/common/transformations/coordinates.hpp
+++ b/common/transformations/coordinates.hpp
@@ -1,5 +1,8 @@
 #pragma once

+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
 struct ECEF {
  double x, y, z;
  Eigen::Vector3d to_vector(){
@@ -9,6 +12,9 @@ struct ECEF {

 struct NED {
  double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
 };

 struct Geodetic {
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,34 +1,33 @@
 import numpy as np

-from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
+from common.transformations.camera import (FULL_FRAME_SIZE,
+                                           FOCAL,
                                           get_view_frame_from_road_frame,
                                           get_view_frame_from_calib_frame,
                                           vp_from_ke)

 # segnet
-
 SEGNET_SIZE = (512, 384)

-segnet_frame_from_camera_frame = np.array([
-  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
-  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
-
+def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
+  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
+                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
+segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx

 # model
-
 MODEL_INPUT_SIZE = (320, 160)
 MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0]/2.
+MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
 MODEL_CY = 21.

-model_zoom = 1.25
+model_fl = 728.0
 model_height = 1.22

 # canonical model transform
-model_intrinsics = np.array(
-  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
-   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
-   [   0. ,                            0. ,   1.]])
+model_intrinsics = np.array([
+  [model_fl,  0.0,  MODEL_CX],
+  [0.0,  model_fl,  MODEL_CY],
+  [0.0,  0.0,            1.0]])


 # MED model
@@ -36,34 +35,45 @@ MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
 MEDMODEL_CY = 47.6

-medmodel_zoom = 1.
-medmodel_intrinsics = np.array(
-  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+medmodel_fl = 910.0
+medmodel_intrinsics = np.array([
+  [medmodel_fl,  0.0,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+  [0.0,  medmodel_fl,                   MEDMODEL_CY],
+  [0.0,  0.0,                                   1.0]])
+

 # CAL model
 CALMODEL_INPUT_SIZE = (512, 256)
 CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
 CALMODEL_CY = 47.6

-calmodel_zoom = 1.5
-calmodel_intrinsics = np.array(
-  [[ eon_focal_length / calmodel_zoom,    0. ,  0.5 * CALMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / calmodel_zoom,  CALMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+calmodel_fl = 606.7
+calmodel_intrinsics = np.array([
+  [calmodel_fl,  0.0,  0.5 * CALMODEL_INPUT_SIZE[0]],
+  [0.0,  calmodel_fl,                   CALMODEL_CY],
+  [0.0,  0.0,                                   1.0]])


 # BIG model
-
 BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)

-bigmodel_zoom = 1.
-bigmodel_intrinsics = np.array(
-  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
+bigmodel_fl = 910.0
+bigmodel_intrinsics = np.array([
+  [bigmodel_fl,  0.0,  0.5 * BIGMODEL_INPUT_SIZE[0]],
+  [0.0,  bigmodel_fl,             256 + MEDMODEL_CY],
+  [0.0,  0.0,                                   1.0]])
+
+
+# SBIG model (big model with the size of small model)
+SBIGMODEL_INPUT_SIZE = (512, 256)
+SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
+
+sbigmodel_fl = 455.0
+sbigmodel_intrinsics = np.array([
+  [sbigmodel_fl,  0.0,  0.5 * SBIGMODEL_INPUT_SIZE[0]],
+  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
+  [0.0,  0.0,                                     1.0]])

 model_frame_from_road_frame = np.dot(model_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))
@@ -80,20 +90,21 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))

+
 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, 0],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 0],
+    [0, 0, 1],
  ]))

  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, height - model_height],
-      [0, 0, 1],
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, height - model_height],
+    [0, 0, 1],
  ]))

  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
@@ -104,13 +115,14 @@ def get_model_height_transform(camera_frame_from_road_frame, height):

 # camera_frame_from_model_frame aka 'warp matrix'
 # was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
  vp = vp_from_ke(camera_frame_from_road_frame)

+  model_zoom = camera_fl / model_fl
  model_camera_from_model_frame = np.array([
-    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
-    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
-    [        0.,         0.,                            1.],
+    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
+    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
+    [0.0,  0.0,                                   1.0],
  ])

  # This function is super slow, so skip it if height is very close to canonical
--- a/common/transformations/orientation.cc
+++ b/common/transformations/orientation.cc
@@ -30,7 +30,8 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
  // return {euler(2), euler(1), euler(0)};
  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
  return {gamma, theta, psi};
 }
@@ -39,7 +40,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
  return quat.toRotationMatrix();
 }

-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
  return ensure_unique(Eigen::Quaterniond(rot));
 }

@@ -47,7 +48,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
  return quat2rot(euler2quat(euler));
 }

-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
  return quat2euler(rot2quat(rot));
 }

@@ -141,7 +142,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
  return {phi, theta, psi};
 }

-
-
-int main(void){
-}
--- a/common/transformations/orientation.hpp
+++ b/common/transformations/orientation.hpp
@@ -8,9 +8,9 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
 Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
 Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
 Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
 Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
 Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
--- a/common/transformations/setup.py
+++ b/common/transformations/setup.py
@@ -1,20 +0,0 @@
-import numpy
-
-from Cython.Build import cythonize
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-
-setup(
-  name='Cython transformations wrapper',
-  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-  ext_modules=cythonize(
-    Extension(
-      "transformations",
-      sources=["transformations.pyx"],
-      language="c++",
-      extra_compile_args=["-std=c++1z", "-Wno-cpp"],
-      include_dirs=[numpy.get_include()],
-    ),
-    nthreads=4,
-  )
-)
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -1,18 +1,20 @@
-from transformations cimport Matrix3, Vector3, Quaternion
-from transformations cimport ECEF, NED, Geodetic
+# distutils: language = c++
+# cython: language_level = 3
+from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from common.transformations.transformations cimport ECEF, NED, Geodetic

-from transformations cimport euler2quat as euler2quat_c
-from transformations cimport quat2euler as quat2euler_c
-from transformations cimport quat2rot as quat2rot_c
-from transformations cimport rot2quat as rot2quat_c
-from transformations cimport euler2rot as euler2rot_c
-from transformations cimport rot2euler as rot2euler_c
-from transformations cimport rot_matrix as rot_matrix_c
-from transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from transformations cimport geodetic2ecef as geodetic2ecef_c
-from transformations cimport ecef2geodetic as ecef2geodetic_c
-from transformations cimport LocalCoord_c
+from common.transformations.transformations cimport euler2quat as euler2quat_c
+from common.transformations.transformations cimport quat2euler as quat2euler_c
+from common.transformations.transformations cimport quat2rot as quat2rot_c
+from common.transformations.transformations cimport rot2quat as rot2quat_c
+from common.transformations.transformations cimport euler2rot as euler2rot_c
+from common.transformations.transformations cimport rot2euler as rot2euler_c
+from common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from common.transformations.transformations cimport LocalCoord_c


 import cython
--- a/installer/updater/oneplus.json
+++ b/installer/updater/oneplus.json
@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
+  "recovery_len": 15926572,
+  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
+}
--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
-  "ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
-  "recovery_len": 15926572,
-  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
+  "recovery_len": 15209772,
+  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
 }
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/installer/updater/updater
+++ b/installer/updater/updater
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -1,799 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
-#include <fstream>
-#include <iostream>
-#include <mutex>
-#include <thread>
-
-#include <curl/curl.h>
-#include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/utilpp.h"
-
-#define USER_AGENT "NEOSUpdater-0.2"
-
-#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_NEOS;
-
-#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
-#define RECOVERY_COMMAND "/cache/recovery/command"
-
-#define UPDATE_DIR "/data/neoupdate"
-
-extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
-
-namespace {
-
-std::string sha256_file(std::string fn, size_t limit=0) {
-  SHA256_CTX ctx;
-  SHA256_Init(&ctx);
-
-  FILE *file = fopen(fn.c_str(), "rb");
-  if (!file) return "";
-
-  const size_t buf_size = 8192;
-  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-  bool read_limit = (limit != 0);
-  while (true) {
-    size_t read_size = buf_size;
-    if (read_limit) read_size = std::min(read_size, limit);
-    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
-    if (!bytes_read) break;
-
-    SHA256_Update(&ctx, buffer.get(), bytes_read);
-
-    if (read_limit) {
-      limit -= bytes_read;
-      if (limit == 0) break;
-    }
-  }
-
-  uint8_t hash[SHA256_DIGEST_LENGTH];
-  SHA256_Final(hash, &ctx);
-
-  fclose(file);
-
-  return util::tohex(hash, sizeof(hash));
-}
-
-size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  size_t sz = size * nmeb;
-  ((std::string*)up)->append((char*)ptr, sz);
-  return sz;
-}
-
-std::string download_string(CURL *curl, std::string url) {
-  std::string os;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
-
-  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
-
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
-  CURLcode res = curl_easy_perform(curl);
-  if (res != CURLE_OK) {
-    return "";
-  }
-
-  return os;
-}
-
-size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  return fwrite(ptr, size, nmeb, (FILE*)up);
-}
-
-int battery_capacity() {
-  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  return atoi(bat_cap_s.c_str());
-}
-
-int battery_current() {
-  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  return atoi(current_now_s.c_str());
-}
-
-bool check_battery() {
-  int bat_cap = battery_capacity();
-  int current_now = battery_current();
-  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
-}
-
-bool check_space() {
-  struct statvfs stat;
-  if (statvfs("/data/", &stat) != 0) {
-    return false;
-  }
-  size_t space = stat.f_bsize * stat.f_bavail;
-  return space > 2000000000ULL; // 2GB
-}
-
-static void start_settings_activity(const char* name) {
-  char launch_cmd[1024];
-  snprintf(launch_cmd, sizeof(launch_cmd),
-           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
-  system(launch_cmd);
-}
-
-bool is_settings_active() {
-  FILE *fp;
-  char sys_output[4096];
-
-  fp = popen("/bin/dumpsys window windows", "r");
-  if (fp == NULL) {
-    return false;
-  }
-
-  bool active = false;
-  while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-    if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-      break;
-    }
-
-    if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-      active = true;
-      break;
-    }
-  }
-
-  pclose(fp);
-
-  return active;
-}
-
-struct Updater {
-  bool do_exit = false;
-
-  TouchState touch;
-
-  int fb_w, fb_h;
-
-  FramebufferState *fb = NULL;
-  NVGcontext *vg = NULL;
-  int font_regular;
-  int font_semibold;
-  int font_bold;
-
-  std::thread update_thread_handle;
-
-  std::mutex lock;
-
-  enum UpdateState {
-    CONFIRMATION,
-    LOW_BATTERY,
-    RUNNING,
-    ERROR,
-  };
-  UpdateState state;
-
-  std::string progress_text;
-  float progress_frac;
-
-  std::string error_text;
-
-  std::string low_battery_text;
-  std::string low_battery_title;
-  std::string low_battery_context;
-  std::string battery_cap_text;
-  int min_battery_cap = 35;
-
-  // button
-  int b_x, b_w, b_y, b_h;
-  int balt_x;
-
-  // download stage writes these for the installation stage
-  int recovery_len;
-  std::string recovery_hash;
-  std::string recovery_fn;
-  std::string ota_fn;
-
-  CURL *curl = NULL;
-
-  void ui_init() {
-    touch_init(&touch);
-
-    fb = framebuffer_init("updater", 0x00001000, false,
-                          &fb_w, &fb_h);
-    assert(fb);
-
-    framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
-
-    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
-    assert(vg);
-
-    font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
-    assert(font_regular >= 0);
-
-    font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
-    assert(font_semibold >= 0);
-
-    font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
-    assert(font_bold >= 0);
-
-    b_w = 640;
-    balt_x = 200;
-    b_x = fb_w-b_w-200;
-    b_y = 720;
-    b_h = 220;
-
-    state = CONFIRMATION;
-  }
-
-  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
-                             curl_off_t ultotal, curl_off_t ulnow) {
-    {
-      std::lock_guard<std::mutex> guard(lock);
-      if (dltotal != 0) {
-        progress_frac = (float) dlno / dltotal;
-      }
-    }
-    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
-    return 0;
-  }
-
-  bool download_file(std::string url, std::string out_fn) {
-    FILE *of = fopen(out_fn.c_str(), "ab");
-    assert(of);
-
-    CURLcode res;
-    long last_resume_from = 0;
-
-    fseek(of, 0, SEEK_END);
-
-    int tries = 4;
-
-    bool ret = false;
-
-    while (true) {
-      long resume_from = ftell(of);
-
-      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
-
-      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
-      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
-
-      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
-
-      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
-      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
-
-      CURLcode res = curl_easy_perform(curl);
-
-      long response_code = 0;
-      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
-
-      // double content_length = 0.0;
-      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-
-      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
-      if (res == CURLE_OK) {
-        ret = true;
-        break;
-      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
-        // failed because the file is already complete?
-        ret = true;
-        break;
-      } else if (resume_from == last_resume_from) {
-        // failed and dind't make make forward progress. only retry a couple times
-        tries--;
-        if (tries <= 0) {
-          break;
-        }
-      }
-      last_resume_from = resume_from;
-    }
-    // printf("res %d\n", res);
-
-    // printf("- %ld %f\n", response_code, content_length);
-
-    fclose(of);
-
-    return ret;
-  }
-
-  void set_progress(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    progress_text = text;
-  }
-
-  void set_error(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    error_text = text;
-    state = ERROR;
-  }
-
-  void set_battery_low() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = LOW_BATTERY;
-  }
-
-  void set_running() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = RUNNING;
-  }
-
-  std::string download(std::string url, std::string hash, std::string name) {
-    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
-
-    // start or resume downloading if hash doesn't match
-    std::string fn_hash = sha256_file(out_fn);
-    if (hash.compare(fn_hash) != 0) {
-      set_progress("Downloading " + name + "...");
-      bool r = download_file(url, out_fn);
-      if (!r) {
-        set_error("failed to download " + name);
-        unlink(out_fn.c_str());
-        return "";
-      }
-      fn_hash = sha256_file(out_fn);
-    }
-
-    set_progress("Verifying " + name + "...");
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
-    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
-      unlink(out_fn.c_str());
-      return "";
-    }
-    return out_fn;
-  }
-
-  bool download_stage() {
-    curl = curl_easy_init();
-    assert(curl);
-
-    // ** quick checks before download **
-
-    if (!check_space()) {
-      set_error("2GB of free space required to update");
-      return false;
-    }
-
-    mkdir(UPDATE_DIR, 0777);
-
-    set_progress("Finding latest version...");
-    std::string manifest_s = download_string(curl, manifest_url);
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return false;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    recovery_hash = manifest["recovery_hash"].string_value();
-    recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return false;
-    }
-
-    // std::string installer_fn = download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    // ** handle recovery download **
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = download(recovery_url, recovery_hash, "recovery");
-        if (recovery_fn.empty()) {
-          // error'd
-          return false;
-        }
-      }
-    }
-
-    // ** handle ota download **
-    ota_fn = download(ota_url, ota_hash, "update");
-    if (ota_fn.empty()) {
-      //error'd
-      return false;
-    }
-
-    // download sucessful
-    return true;
-  }
-
-  // thread that handles downloading and installing the update
-  void run_stages() {
-    printf("run_stages start\n");
-
-
-    // ** download update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
-      }
-      set_running();
-    }
-
-    bool sucess = download_stage();
-    if (!sucess) {
-      return;
-    }
-
-    // ** install update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        usleep(1000000);
-      }
-      set_running();
-    }
-
-    if (!recovery_fn.empty()) {
-      // flash recovery
-      set_progress("Flashing recovery...");
-
-      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
-      if (!flash_file) {
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
-      if (!recovery_dev) {
-        fclose(flash_file);
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      const size_t buf_size = 4096;
-      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-      while (true) {
-        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
-        if (!bytes_read) break;
-
-        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
-        if (bytes_read != bytes_written) {
-          fclose(recovery_dev);
-          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
-          return;
-        }
-      }
-
-      fclose(recovery_dev);
-      fclose(flash_file);
-
-      set_progress("Verifying flash...");
-      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
-
-      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
-        return;
-      }
-
-    }
-
-    // write arguments to recovery
-    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
-    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
-      return;
-    }
-    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
-    fclose(cmd_file);
-
-    set_progress("Rebooting");
-
-    // remove the continue.sh so we come back into the setup.
-    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
-    //unlink("/data/data/com.termux/files/continue.sh");
-
-    // TODO: this should be generic between android versions
-    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-    system("service call power 16 i32 0 s16 recovery i32 1");
-    while(1) pause();
-
-    // execl("/system/bin/reboot", "recovery");
-    // set_error("failed to reboot into recovery");
-  }
-
-  void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
-
-    // draw button
-    if (button) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-
-    // draw button
-    if (altbutton) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-  }
-
-  void draw_battery_screen() {
-    low_battery_title = "Low Battery";
-    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
-    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
-
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
-  }
-
-  void draw_progress_screen() {
-    // draw progress message
-    nvgFontSize(vg, 64.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
-
-    // draw progress bar
-    {
-      int progress_width = 1000;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 520;
-      int progress_height = 50;
-
-      int powerprompt_y = 312;
-      nvgFontFace(vg, "opensans_regular");
-      nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
-      int bar_pos = ((progress_width - 2) * value);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    }
-  }
-
-  void ui_draw() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    switch (state) {
-    case CONFIRMATION:
-      draw_ack_screen("An update to NEOS is required.",
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
-                      "Continue",
-                      "Connect to WiFi");
-      break;
-    case LOW_BATTERY:
-      draw_battery_screen();
-      break;
-    case RUNNING:
-      draw_progress_screen();
-      break;
-    case ERROR:
-      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
-      break;
-    }
-
-    nvgEndFrame(vg);
-  }
-
-  void ui_update() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    if (state == ERROR || state == CONFIRMATION) {
-      int touch_x = -1, touch_y = -1;
-      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
-      if (res == 1 && !is_settings_active()) {
-        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            state = RUNNING;
-            update_thread_handle = std::thread(&Updater::run_stages, this);
-          }
-        }
-        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            start_settings_activity("Settings$WifiSettingsActivity");
-          } else if (state == ERROR) {
-            do_exit = 1;
-          }
-        }
-      }
-    }
-  }
-
-  void go() {
-    ui_init();
-
-    while (!do_exit) {
-      ui_update();
-
-      glClearColor(0.08, 0.08, 0.08, 1.0);
-      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-      // background
-      nvgBeginPath(vg);
-      NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
-        nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
-      nvgFillPaint(vg, bg);
-      nvgRect(vg, 0, 0, fb_w, fb_h);
-      nvgFill(vg);
-
-      glEnable(GL_BLEND);
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-      ui_draw();
-
-      glDisable(GL_BLEND);
-
-      framebuffer_swap(fb);
-
-      assert(glGetError() == GL_NO_ERROR);
-
-      // no simple way to do 30fps vsync with surfaceflinger...
-      usleep(30000);
-    }
-
-    if (update_thread_handle.joinable()) {
-      update_thread_handle.join();
-    }
-
-    // reboot
-    system("service call power 16 i32 0 i32 0 i32 1");
-  }
-
-};
-
-}
-
-int main(int argc, char *argv[]) {
-  bool background_cache = false;
-  if (argc > 1) {
-    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_LOCAL;
-    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_STAGING;
-    } else if (strcmp(argv[1], "bgcache") == 0) {
-      manifest_url = argv[2];
-      background_cache = true;
-    } else {
-      manifest_url = argv[1];
-    }
-  }
-
-  printf("updating from %s\n", manifest_url);
-  Updater updater;
-
-  int err = 0;
-  if (background_cache) {
-    err = !updater.download_stage();
-  } else {
-    updater.go();
-  }
-  return err;
-}
--- a/launch.sh
+++ b/launch.sh
@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-export PASSIVE="0"
-exec ./launch_chffrplus.sh
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -6,10 +6,23 @@ fi

 source "$BASEDIR/launch_env.sh"

+if ! $(grep -q "letv" /proc/cmdline); then
+  mount -o remount,rw /system
+  sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
+  touch /ONEPLUS
+  mount -o remount,r /system
+fi
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

 function two_init {
-  # Restrict Android and other system processes to the first two cores
+
+  # Wifi scan
+  wpa_cli IFNAME=wlan0 SCAN
+
+  # *** shield cores 2-3 ***
+
+  # android gets two cores
  echo 0-1 > /dev/cpuset/background/cpus
  echo 0-1 > /dev/cpuset/system-background/cpus
  echo 0-1 > /dev/cpuset/foreground/cpus
@@ -19,30 +32,76 @@ function two_init {
  # openpilot gets all the cores
  echo 0-3 > /dev/cpuset/app/cpus

+  # mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
+  echo 3 | tee  /sys/class/net/*/queues/*/rps_cpus
+  echo 3 | tee  /sys/class/net/*/queues/*/xps_cpus
+
+  # *** set up governors ***
+
+  # +50mW offroad, +500mW onroad for 30% more RAM bandwidth
+  echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
+  echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
+  echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
+
+  # unclear if these help, but they don't seem to hurt
+  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
+  echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
+
+  # GPU
+  echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
+
+  # /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
+  # it seems to gain nothing but a wasted 500mW
+
+  # *** set up IRQ affinities ***
+
  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
+  echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
+
  # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
+  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T

+  # GPU and camera get cpu 2
+  CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
+  for irq in $CAM_IRQS; do
+    echo 2 > /proc/irq/$irq/smp_affinity_list
+  done
+  echo 2 > /proc/irq/193/smp_affinity_list # GPU
+
+  # give GPU threads RT priority
+  for pid in $(pgrep "kgsl"); do
+    chrt -f -p 52 $pid
+  done
+
+  # the flippening!
+  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
+
+  # disable bluetooth
+  service call bluetooth_manager 8

  # Check for NEOS update
-  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
-    if [ -f "$DIR/scripts/continue.sh" ]; then
-      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
-    fi
+  if $(grep -q "letv" /proc/cmdline); then
+    if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
+      if [ -f "$DIR/scripts/continue.sh" ]; then
+        cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
+      fi

-    if [ ! -f "$BASEDIR/prebuilt" ]; then
-      # Clean old build products, but preserve the scons cache
-      cd $DIR
-      scons --clean
-      git clean -xdf
-      git submodule foreach --recursive git clean -xdf
-    fi
+      if [ ! -f "$BASEDIR/prebuilt" ]; then
+        # Clean old build products, but preserve the scons cache
+        cd $DIR
+        scons --clean
+        git clean -xdf
+        git submodule foreach --recursive git clean -xdf
+      fi

-    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+      "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+    fi
+  else
+    echo -n 0 > /data/params/d/DisableUpdates
  fi

  # One-time fix for a subset of OP3T with gyro orientation offsets.
@@ -58,13 +117,82 @@ function two_init {
  fi
 }

-function launch {
-  # Wifi scan
-  wpa_cli IFNAME=wlan0 SCAN
+function tici_init {
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+  nmcli connection modify --temporary lte gsm.auto-config yes

+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # Check if AGNOS update is required
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    # Get number of slot to switch to
+    CUR_SLOT=$(abctl --boot_slot)
+    if [[ "$CUR_SLOT" == "_a" ]]; then
+      OTHER_SLOT="_b"
+      OTHER_SLOT_NUMBER="1"
+    else
+      OTHER_SLOT="_a"
+      OTHER_SLOT_NUMBER="0"
+    fi
+    echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
+
+    # Get expected hashes from manifest
+    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
+    SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
+    BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
+    BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
+    echo "Expected hashes:"
+    echo "System: $SYSTEM_HASH_EXPECTED"
+    echo "Boot: $BOOT_HASH_EXPECTED"
+
+    # Read hashes from alternate partitions, should already be flashed by updated
+    SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
+    BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
+    echo "Found hashes:"
+    echo "System: $SYSTEM_HASH"
+    echo "Boot: $BOOT_HASH"
+
+    if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
+      echo "Swapping active slot to $OTHER_SLOT_NUMBER"
+
+      # Clean hashes before swapping to prevent looping
+      dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
+      dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
+      sync
+
+      abctl --set_active "$OTHER_SLOT_NUMBER"
+
+      sleep 1
+      sudo reboot
+    else
+      echo "Hash mismatch, downloading agnos"
+      if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
+        echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
+
+        # Clean hashes before swapping to prevent looping
+        dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
+        dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
+        sync
+
+        abctl --set_active "$OTHER_SLOT_NUMBER"
+      fi
+
+      sleep 1
+      sudo reboot
+    fi
+  fi
+}
+
+function launch {
  # Remove orphaned git lock if it exists on boot
  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock

+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
  # Check to see if there's a valid overlay-based update available. Conditions
  # are as follows:
  #
@@ -75,10 +203,10 @@ function launch {
  #    that completed successfully and synced to disk.

  if [ -f "${BASEDIR}/.overlay_init" ]; then
-    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${BASEDIR} has been modified, skipping overlay update installation"
-    else
+#    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+#    if [ $? -eq 0 ]; then
+#      echo "${BASEDIR} has been modified, skipping overlay update installation"
+#    else
      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
        if [ ! -d /data/safe_staging/old_openpilot ]; then
          echo "Valid overlay update found, installing"
@@ -95,30 +223,40 @@ function launch {

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          unset REQUIRED_NEOS_VERSION
+          unset AGNOS_VERSION
          exec "${LAUNCHER_LOCATION}"
        else
          echo "openpilot backup found, not updating"
          # TODO: restore backup? This means the updater didn't start after swapping
        fi
      fi
-    fi
-  fi
-
-  # comma two init
-  if [ -f /EON ]; then
-    two_init
+#    fi
  fi

  # handle pythonpath
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"

+  # dp - ignore chmod changes
+  git -C $DIR config core.fileMode false
+
+  # hardware specific init
+  if [ -f /EON ]; then
+    two_init
+  elif [ -f /TICI ]; then
+    tici_init
+  fi
+
+  if [ -f "/sdcard/dp_patcher.py" ]; then
+    /data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
+  fi
+
  # write tmux scrollback to a file
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
-  cd selfdrive
-  ./manager.py
+  cd selfdrive/manager
+  ./build.py && ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,11 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="15-1"
+  export REQUIRED_NEOS_VERSION="17"
+fi
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="0.18"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,4 +1,10 @@
 #!/usr/bin/bash
+size=$(du -sb .git/index 2>/dev/null|awk '{print $1}')
+echo $size|grep -E '^[0-9]+$' >/dev/null || size=0
+if [ $size -le 1024 ];then
+    rm .git/index 2>/dev/null
+    git reset
+fi

 export PASSIVE="0"
 exec ./launch_chffrplus.sh
--- a/models/dmonitoring_model_q.dlc
+++ b/models/dmonitoring_model_q.dlc
--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
--- a/opendbc/.gitignore
+++ b/opendbc/.gitignore
@@ -1,6 +1,7 @@
 .mypy_cache/
 *.pyc
 *.os
+*.o
 *.tmp
 *.dylib
 .*.swp
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;


-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "acura_ilx_2016_can.dbc starts here"
+CM_ "acura_ilx_2016_can.dbc starts here";



--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here"
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;


-CM_ "Imported file _honda_2017.dbc starts here"
+CM_ "Imported file _honda_2017.dbc starts here";
 VERSION ""


@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;

-CM_ "acura_rdx_2018_can.dbc starts here"
+CM_ "acura_rdx_2018_can.dbc starts here";



--- a/opendbc/acura_rdx_2020_can_generated.dbc
+++ b/opendbc/acura_rdx_2020_can_generated.dbc
@@ -1,7 +1,7 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _bosch_2020.dbc starts here"
+CM_ "Imported file _bosch_2020.dbc starts here";
 VERSION ""


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

@@ -375,7 +376,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

-CM_ "acura_rdx_2020_can.dbc starts here"
+CM_ "acura_rdx_2020_can.dbc starts here";


 BO_ 304 GAS_PEDAL_2: 8 PCM
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
eFini	16a8e69382	Merge pull request #92 from loveloveses/0.8.5 enableBsm for CRV HYBRID	2021-08-17 18:12:36 +08:00
loveloveses	76c77a1fb9	enable bsm for CRV HYBRID	2021-08-13 12:08:23 +08:00
loveloveses	a85f8d141e	enable bsm for CRV HYBRID	2021-08-13 12:05:54 +08:00
loveloveses	9b76c108c6	enableBsm for CRV HYBRID enableBsm for CRV HYBRID	2021-08-13 12:00:52 +08:00
eFini	2185eb440f	Update HOWTO-ONEPLUS.md	2021-07-22 12:43:20 +10:00
eFini	e334014a25	Fix command error	2021-07-22 12:42:34 +10:00
eFini	2a5d5c08c2	Bug fix	2021-07-07 10:06:19 +10:00
Rick Lan	3b0aed3ed2	bug fixes	2021-07-03 12:14:44 +08:00
Rick Lan	522fb06db7	dragonpilot mod for 0.8.5-4	2021-07-02 12:49:43 +08:00
Adeeb Shihadeh	145b222f0d	Fix Honda Accord transmission type detection (#21247 )	2021-06-12 20:53:59 -07:00
Adeeb Shihadeh	0ef3ce173a	Hotfix: fix UI crash when going onroad after onboarding	2021-06-11 16:57:52 -07:00
Vehicle Researcher	c1112e4400	openpilot v0.8.5 release	2021-06-07 22:13:57 +00:00
Adeeb Shihadeh	bbc546fcf3	Hotfix: fix update error alerts under some network conditions (#21059 ) This reverts commit `3c9e46d8a2`.	2021-05-27 15:36:59 -07:00
Adeeb Shihadeh	bf662bb1fd	Hotfix: Don't hide onboarding after display timeout (#20973 ) Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>	2021-05-20 02:33:18 -07:00
Willem Melching	8b274fc974	CRV Hybrid doesn't use alternate brake signal (#20945 )	2021-05-18 20:02:24 -07:00
Adeeb Shihadeh	99b1d6a40b	fingerprint cloudlog event (#20950 ) * fingerprint cloudlog event * kale cloudlog * not fuzzy	2021-05-18 13:21:35 -07:00
Vehicle Researcher	6418d4a09a	openpilot v0.8.4 release	2021-05-15 01:20:48 +00:00
Adeeb Shihadeh	747ff45da4	hotfix: remove ubloxRaw check in controlsd (#20630 ) * remove ubloxRaw from controlsd SubMaster * reduce STATUS_PACKET logging frequency to every 10 minutes Co-authored-by: Willem Melching <willem.melching@gmail.com>	2021-04-08 23:06:52 -07:00
Vehicle Researcher	55c44bf34e	openpilot v0.8.3 release	2021-03-29 23:54:22 +00:00
Vehicle Researcher	aed724beda	openpilot v0.8.2 release	2021-02-23 16:46:22 -08:00
Vehicle Researcher	22a4193109	openpilot v0.8.1 release	2020-12-18 10:57:05 +00:00
Adeeb Shihadeh	29d9e1ce69	Fix commIssue due to frame drop and power draw (#2689 ) Co-authored-by: robbederks <robbe.derks@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>	2020-12-04 10:41:00 +01:00
Vehicle Researcher	0b384ea101	openpilot v0.8.0 release	2020-11-24 21:53:25 +00:00