version: dragonpilot development version for EON/C2

date: 2024-04-10T19:21:57 commit: 8f2124beef4031cf1ad7a123b5fe1eb4985aab4f
2026-06-20 05:22:03 +08:00 · 2024-04-10 19:22:16 +08:00 · 2024-03-19 09:33:33 +00:00 · 2024-03-01 19:32:49 +08:00 · 2024-03-01 18:49:06 +08:00 · 2024-02-29 16:42:12 +08:00
3200 changed files with 213496 additions and 474246 deletions
@@ -1,25 +0,0 @@
---
-name: Bug report
-about: Create a report to help us improve openpilot
-title: ''
-labels: 'bug'
-assignees: ''
-
---
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**How to reproduce or log data**
-Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Device/Version information (please complete the following information):**
- - Device: [e.g. EON/EON Gold]
- - Version: [e.g. 0.6.4], or commit hash when on devel
- - Car make/model [e.g. Toyota Prius 2016]
-
-**Additional context**
-Add any other context about the problem here.
@@ -1,21 +0,0 @@
-Choose one of the templates below:
-
-# Fingerprint
-This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-
-# Car support
-This pull requests adds support for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-This is an explorer link to a drive with openpilot system enabled: ...
-
-# Feature
-This pull requests adds feature X
-
-## Description
-Explain what the feature does
-
-## Testing
-Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
@@ -1,4 +1,7 @@
 venv/
+.venv/
+.env
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -6,9 +9,10 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode
+.vscode*
 model2.png
 a.out
+.hypothesis

 *.dylib
 *.DSYM
@@ -20,40 +24,85 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
 *.class
 *.pyxbldc
 *.vcd
+*.qm
 config.json
 clcache
+compile_commands.json
+compare_runtime*.html

 persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
+system/proclogd/proclogd
 selfdrive/ui/_ui
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
+selfdrive/car/tests/cars_dump
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

 one
-openpilot
 notebooks
 xx
+yy
+hyperthneed
 panda_jungle
+provisioning

 .coverage*
+coverage.xml
 htmlcov
 pandaextra

+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+selfdrive/modeld/models/*.thneed
+
+*.bz2
+
+build/
+
+!**/.gitkeep
+
+poetry.toml
+Pipfile
+
+# rick - these are generated during compilation.
+selfdrive/camerad/camerad
+selfdrive/golden/
+selfdrive/hybrid_modeld/_dmonitoringmodeld
+selfdrive/hybrid_modeld/_modeld
+selfdrive/hybrid_modeld/models/supercombo.thneed
+selfdrive/hybrid_modeld/models/supercombo_badweights.thneed
+selfdrive/hybrid_modeld/thneed/compile
+selfdrive/loggerd/bootlog
+
+# 0813 models
+selfdrive/legacy_modeld/_modeld
+selfdrive/legacy_modeld/models/supercombo.thneed
+selfdrive/legacy_modeld/_dmonitoringmodeld
+selfdrive/legacy_modeld/models/supercombo_badweights.thneed
+selfdrive/legacy_modeld/thneed/compile
+third_party/acados/lib
+# lang files
+*.po~
@@ -0,0 +1,40 @@
+2024-04-10
+========================
+* Attempt to fix honda op long issue (take 2).
+
+2024-03-20
+========================
+* Bug fixes
+
+2024-03-19
+========================
+* Attempt to fix 70 mins LKAS/Harness error on Toyotas.
+
+2024-03-01
+========================
+* Display correct changelogs.
+
+
+2024-02-29
+========================
+* Added Lead Vehicle Warning
+* Added Disable Auto Updates toggle
+* Reverted panda back to last working version for honda with minimal changes from op master. (breaks red panda support for now)
+* Added EON Installer (https://raw.githubusercontent.com/dragonpilot-community/dragonpilot/d2/scripts/eon_installer.sh)
+* Conditionally include red panda firmware.
+* Enabled branch selector.
+* Reverted transform patch.
+
+2024-02-27
+========================
+* Fixed door lock/unlock for Toyotas.
+* otisserv and fileserv only for offroad.
+* Enabling otisserv for offroad status and snapshot.
+* Toyota: improve longitudinal control (https://github.com/commaai/openpilot/pull/30697)
+* Updated manager/ modules
+
+2024-02-26
+========================
+* applied transform patch. (https://github.com/commaai/openpilot/pull/31495)
+* adjust de2e param accordingly for transform patch.
+* increase lead sensitivity.
@@ -0,0 +1,11 @@
+2024-02-06
+========================
+* NEW:
+    * Rainbow colored Path
+* BUGFIXES:
+    * Toggle for Flight Panel
+* NEW VEHICLES:
+    * Hyundai Staria 2023
+    * Kia Niro Plug-in Hybrid 2022
+    * Toyota RAV4 2023-24
+    * Toyota RAV4 Hybrid 2023-24
@@ -1,40 +0,0 @@
-# How to contribute
-
-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/)
-
-## Getting Started
-
- * Join our [Discord](https://discord.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
-
-## 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 are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
-
-### Code Style and Linting
-
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
-
-## 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. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
-
-## Pull Requests
-
-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
-```
-git submodule init
-git submodule update
-```
-in order to pull down the submodules, such as `panda` and `opendbc`.
@@ -1,3 +1,17 @@
+MIT License
+
+Copyright (c) 2023-, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software.
+
+You are not authorized to modify this README file in any way. If you need to make changes or additions to the documentation for your own use, please create a separate file and reference it in this README.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+---
+
+MIT License
+
 Copyright (c) 2018, Comma.ai, Inc.

 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
@@ -1,21 +1,80 @@
-[![](https://i.imgur.com/UelUjKAh.png)](#)
+# Legacypilot
+
+This software includes contributions from [dragonpilot](https://github.com/dragonpilot-community/dragonpilot/tree/beta2) and [openpilot](https://github.com/commaai/openpilot).
+
+NOTICE: legacypilot is not affiliated with comma.ai and is not an official comma.ai product. legacypilot is released under the terms of the MIT License. See the LICENSE file for more details.
+
+
+## About
+
+legacypilot is a side project that enables comma.ai EON and Comma Two devices to use the dragonpilot. This project was started after comma.ai deprecated support for the EON in version 0.7.9 and for Comma Two in version 0.8.13.1, in order to provide continued access to these devices.
+
+legacypilot combines the Nuclear Grade Model with the latest openpilot (almost) codebase to create a hybrid solution. With the legacypilot project, we have stripped out nearly 99% of the dragonpilot code.
+
+In summary, legacypilot is based on Openpilot 0.8.16 with the latest vehicle model support from the Openpilot master branch.
+
+Please note that this build is and will always be in the experimental phase and may not be suitable for use as a daily driver.
+
+I recommend using the openpilot [commatwo_master](https://github.com/commaai/openpilot/tree/commatwo_master) branch for your daily driving needs.
+
+
+## Why use legacypilot
+
+I have decided to make this side project open source for users who wish to:
+
+* Port unsupported vehicles using cheaper devices.
+* Evaluate end-to-end lateral and longitudinal control on previously unsupported vehicles.
+* Understand the limitations of legacy devices.
+* Experience pure openpilot (without the modifications of dragonpilot)
+* Make their own EON/C2 fork without spending hundreds of hours reverting and testing code.
+
+By making this project open source, I hope to alleviate some of the frustration and complaints about not being able to access the dragonpilot source code.
+
+I encourage users to consider purchasing a [comma 3x](https://shop.comma.ai) for the best and up-to-date openpilot experience.
+
+
+## Limitations
+
+* On-road tests are conducted exclusively in a 2021 Toyota C-HR; other models may not perform properly.
+* ~~CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware.~~
+* The driving AI model remains in version 0.8.16, as porting TinyGrad/PyOpenCL requires significant effort.
+* The driver monitoring AI model remains in version 0.8.13.
+* Navigation On Openpilot (NOO) is not supported, as it requires a newer driving model that is not currently available in legacypilot.
+* Services are not optimized for resource usage, and using all services may result in overheating issues.
+* Language files can only be generated in a PC due to missing Qt5 tools.
+* webjoystick is disabled as it requires additional python modules. (aiohttp and others)
+* Starting from August 7th, 2023, comma has removed ESP/GPS support from Panda. You can find more details about this change in this [link](https://github.com/commaai/panda/commit/c66b98b2a67441faa4cfcd36c3c9d9f90474cd08).
+  * Going forward, I will focus solely on maintaining the safety aspects of the code, ensuring that vehicle support and safety declarations remain up to date.
+* For safety concern, End-to-End / vision only longitudinal control only available in 0.8.16 driving model.
+
+
+## Configuration
+
+* For research purposes, the INDI and LQR lateral controllers have been restored. Please use the `dp_lat_controller` parameter to override the default controller (0 = DEFAULT, 1 = INDI, 2 = LQR).
+* If you are not a Comma Two device, you can use the `dp_no_fan_ctrl` parameter to disable fan-related detection and control.
+* The BODY has been tested and is working; however, I personally haven't tried it, so I'm not sure what steps are needed to get it to work.
+
+
+## Red Panda (a.k.a. CAN-FD support)
+The EON + Red Panda configuration has been tested and worked on [my Toyota](https://youtu.be/KgrI2Ley_Nk) (CAN), so technically it should work on CAN-FD vehicles. However, there are a couple of considerations:
+* C2 will not function without hardware modification. You cannot connect the Red Panda directly to the C2 USB port.
+* If any changes are made to the Red Panda firmware, the firmware needs to be pre-compiled on a PC and then uploaded to `/data/openpilot/panda/board/obj/`.
+* Please be aware that you may encounter **CANBUS disconnection errors**. If this occurs, simply **power cycle BOTH your device and Red Panda**.
+
+
+=======================
+
+![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/4038174/f1081737-8718-4241-a22a-3ceba526361a)

 Table of Contents
 =======================

 * [What is openpilot?](#what-is-openpilot)
-* [Integration with Stock Features](#integration-with-stock-features)
-* [Supported Hardware](#supported-hardware)
-* [Supported Cars](#supported-cars)
-* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
-* [Installation Instructions](#installation-instructions)
-* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
-* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
-* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
+* [Running in a car](#running-on-a-dedicated-device-in-a-car)
+* [Running on PC](#running-on-pc)
+* [Community and Contributing](#community-and-contributing)
 * [User Data and comma Account](#user-data-and-comma-account)
 * [Safety and Testing](#safety-and-testing)
-* [Testing on PC](#testing-on-pc)
-* [Community and Contributing](#community-and-contributing)
 * [Directory Structure](#directory-structure)
 * [Licensing](#licensing)

@@ -24,280 +83,122 @@ Table of Contents
 What is openpilot?
 ------

-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
  </tr>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
  </tr>
 </table>

-Integration with Stock Features
+
+Running on a dedicated device in a car
 ------

-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
+To use openpilot in a car, you need four things
+* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
+* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
+The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
+* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.

-Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
-
-Supported Hardware
+Running on PC
 ------

-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.
+All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.

-Supported Cars
------
+With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.

-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Lexus     | NX Hybrid 2018                | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.

-<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
-<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
-
-Community Maintained Cars and Features
------
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-
-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>5</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
-<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-
-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`.
-
-Installation Instructions
------
-
-Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
-
-Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
-
-Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
-
-You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
-
-Limitations of openpilot ALC and LDW
------
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot ACC and FCW
------
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot DM
------
-
-openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver face is partially or completely outside field of view of the driver facing camera.
-* Right hand driving vehicles.
-* The driver facing camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
-
-User Data and comma Account
------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-Safety and Testing
----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
-* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
-* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
-
-Testing on PC
------
-
-Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).

 Community and Contributing
 ------

-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).

-You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).

-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). We also have a [bounty program](https://comma.ai/bounties.html).
+You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).

 And [follow us on Twitter](https://twitter.com/comma_ai).

+User Data and comma Account
+------
+
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+Safety and Testing
+----
+
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+
 Directory Structure
 ------
    .
-    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec and libs used for all logs on EON
+    ├── 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
+    ├── docs                # Documentation
    ├── opendbc             # Files showing how to interpret data from cars
    ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
+    ├── third_party         # External libraries
+    └── system              # Generic services
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── clocksd         # Broadcasts current time
+        ├── hardware        # Hardware abstraction classes
+        ├── logcatd         # systemd journal as a service
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from /proc
+        ├── sensord         # IMU interface code
+        └── ubloxd          # u-blox GNSS module interface code
    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
+        ├── assets          # Fonts, images, and sounds for UI
        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
        ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Perception, planning and controls
+        ├── controls        # Planning and controls
        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Soon to be home of precise location
-        ├── logcatd         # Android logcat as a service
-        ├── loggerd         # Logger and uploader of car data
+        ├── locationd       # Precise localization and vehicle parameter estimation
+        ├── manager         # Daemon that starts/stops all other daemons as needed
        ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU / GPS interface code
-        ├── tests           # Unit tests, system tests and a car simulator
+        ├── monitoring      # Daemon to determine driver attention
+        ├── navd            # Turn-by-turn navigation
+        ├── test            # Unit tests, system tests, and a car simulator
        └── ui              # The UI

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

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

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

 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
@@ -306,3 +207,6 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 ---

 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -1,3 +1,488 @@
+Version 0.9.6 (2023-12-14)
+========================
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Toyota RAV4 2023 support
+* Toyota RAV4 Hybrid 2023 support
+
+Version 0.9.5 (2023-11-17)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
+* Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
+
+Version 0.9.0 (2022-11-21)
+========================
+* New driving model
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
+  * Less reliance on previous frames makes model more reactive and snappy
+  * Trained in new reprojective simulator
+  * Trained in 36 hours from scratch, compared to one week for previous releases
+  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for traffic lights and stop signs
+  * Slows down for turns
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
+* Self-tuning torque controller: learns parameters live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
+* UI updates
+  * Matched speeds shown on car's dash
+  * Multi-language in navigation
+  * Improved update experience
+  * Border turns grey while overriding steering
+  * Bookmark events while driving; view them in comma connect
+  * New onroad visualization for experimental mode
+* tools: new and improved cabana thanks to deanlee!
+* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
+* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
+* Kia Sportage 2023 support thanks to sunnyhaibin!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!
+
+Version 0.8.16 (2022-08-26)
+========================
+* New driving model
+  * Reduced turn cutting
+* Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
+========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
+* New lateral controller based on physical wheel torque model
+  * Much smoother control that's consistent across the speed range
+  * Effective feedforward that uses road roll
+  * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
+* AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
+
+Version 0.8.14 (2022-06-01)
+========================
+ * New driving model
+   * Bigger model, using both of comma three's road-facing cameras
+   * Better at cut-in detection and tight turns
+ * New driver monitoring model
+   * Tweaked network structure to improve output resolution for DSP
+   * Fixed bug in quantization aware training to reduce quantizing errors
+   * Resulted in 7x less MSE and no more random biases at runtime
+ * Added toggle to disable disengaging on the accelerator pedal
+ * comma body support
+ * Audi RS3 support thanks to jyoung8607!
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 2022 support
+ * Toyota RAV4 Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Re-tuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
+Version 0.8.6 (2021-07-21)
+========================
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
+ * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
+ * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
+ * Kia Niro Hybrid 2019 support thanks to jyoung8607!
+ * Škoda Octavia RS 2016 support thanks to jyoung8607!
+ * Toyota Alphard 2020 support thanks to belm0!
+ * Volkswagen Golf SportWagen 2015 support thanks to jona96!
+ * Volkswagen Touran 2017 support thanks to jyoung8607!
+
+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
+ * Re-tuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+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
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+Version 0.7.9 (2020-10-09)
+========================
+ * Improved car battery power management
+ * Improved updater robustness
+ * Improved realtime performance
+ * Reduced UI and modeld lags
+ * Increased torque on 2020 Hyundai Sonata and Palisade
+
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
 Version 0.7.3 (2020-02-21)
 ========================
 * Support for 2020 Highlander thanks to che220!
@@ -34,7 +519,7 @@ Version 0.7 (2019-12-13)
 * Improve GM longitudinal control: proper computations for 15Hz radar
 * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
 * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Refactor Panda code towards ISO26262 and SIL2 compliance
 * Forward stock FCW for Honda Nidec
 * Volkswagen port now standard: comma Harness intercepts stock camera

@@ -421,96 +906,96 @@ Version 0.3.4 (2017-07-28)

 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic

 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data

 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing

 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud

 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1

 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71

 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold

 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution

 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager

 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes

 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI

 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status

 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel

 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC

 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition
@@ -1,34 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle, 
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
@@ -1,233 +0,0 @@
-import os
-import subprocess
-import sys
-import platform
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-
-if arch == "aarch64":
-  lenv = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
-  }
-
-  cpppath = [
-    "#phonelibs/opencl/include",
-  ]
-  libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
-    "/usr/lib",
-    "/data/data/com.termux/files/usr/lib",
-    "/system/vendor/lib64",
-    "/system/comma/usr/lib",
-    "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
-  ]
-
-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
-
-  rpath = ["/system/vendor/lib64"]
-else:
-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
-    "#phonelibs/zmq/x64/include",
-    "#external/tensorflow/include",
-  ]
-
-  if arch == "Darwin":
-    libpath = [
-      "#phonelibs/capnp-cpp/mac/lib",
-      "#phonelibs/capnp-c/mac/lib",
-      "#phonelibs/libyuv/mac/lib",
-      "#cereal",
-      "#selfdrive/common",
-      "/usr/local/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-  else:
-    libpath = [
-      "#phonelibs/capnp-cpp/x64/lib",
-      "#phonelibs/capnp-c/x64/lib",
-      "#phonelibs/snpe/x86_64-linux-clang",
-      "#phonelibs/zmq/x64/lib",
-      "#phonelibs/libyuv/x64/lib",
-      "#external/zmq/lib",
-      "#external/tensorflow/lib",
-      "#cereal",
-      "#selfdrive/common",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-  rpath = ["phonelibs/capnp-cpp/x64/lib",
-           "phonelibs/zmq/x64/lib",
-           "external/tensorflow/lib",
-           "cereal",
-           "selfdrive/common"]
-
-  # allows shared libraries to work globally
-  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
-
-  cflags = []
-  cxxflags = []
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-# change pythonpath to this
-lenv["PYTHONPATH"] = Dir("#").path
-
-env = Environment(
-  ENV=lenv,
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + cflags + ccflags_asan,
-
-  CPPPATH=cpppath + [
-    "#",
-    "#selfdrive",
-    "#phonelibs/bzip2",
-    "#phonelibs/libyuv/include",
-    "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
-    "#phonelibs/json11",
-    "#phonelibs/eigen",
-    "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
-    "#phonelibs/libgralloc/include",
-    "#phonelibs/android_frameworks_native/include",
-    "#phonelibs/android_hardware_libhardware/include",
-    "#phonelibs/android_system_core/include",
-    "#phonelibs/linux/include",
-    "#phonelibs/snpe/include",
-    "#phonelibs/nanovg",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#cereal/messaging",
-    "#cereal",
-    "#opendbc/can",
-  ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags_asan,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
-  LIBPATH=libpath +
-  [
-    "#cereal",
-    "#selfdrive/common",
-    "#phonelibs",
-  ]
-)
-
-if os.environ.get('SCONS_CACHE'):
-  CacheDir('/tmp/scons_cache')
-
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-SHARED = False
-
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
-#zmq = 'zmq'
-# still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
-
-# cereal and messaging are shared with the system
-SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-Export('cereal', 'messaging')
-
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
-
-if SHARED:
-  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
-else:
-  common = [_common, 'json']
-  visionipc = _visionipc
-  gpucommon = [_gpucommon] + _gpu_libs
-
-Export('common', 'visionipc', 'gpucommon')
-
-SConscript(['opendbc/can/SConscript'])
-
-SConscript(['common/SConscript'])
-SConscript(['common/kalman/SConscript'])
-SConscript(['phonelibs/SConscript'])
-
-if arch != "Darwin":
-  SConscript(['selfdrive/camerad/SConscript'])
-  SConscript(['selfdrive/modeld/SConscript'])
-
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
-
-SConscript(['selfdrive/ui/SConscript'])
-SConscript(['selfdrive/loggerd/SConscript'])
-
-if arch == "aarch64":
-  SConscript(['selfdrive/logcatd/SConscript'])
-  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/clocksd/SConscript'])
-
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/kalman/SConscript'])
-
-# TODO: finish cereal, dbcbuilder, MPC
@@ -1,11 +0,0 @@
-#!/usr/bin/bash
-
-mode=$1
-if [ $1 -eq 1 ]; then
-  printf %s "1" > /data/params/d/DragonBTG
-fi
-if [ $1 -eq 0 ]; then
-  printf %s "0" > /data/params/d/DragonBTG
-fi
-
-rm -rf /data/openpilot/selfdrive/boardd/boardd && reboot
@@ -1 +0,0 @@
-.sconsign.dblite
@@ -1,23 +0,0 @@
-name: Tests
-
-on: [push, pull_request]
-
-jobs:
-  test:
-
-    runs-on: ubuntu-16.04
-
-    steps:
-    - uses: actions/checkout@v2
-    - name: Build docker image
-      run: docker build -t cereal .
-    - name: Unit Tests
-      run: |
-        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    - name: Test ZMQ
-      run: |
-        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    - name: Test MSGQ
-      run: |
-        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
@@ -1,14 +1,18 @@
-gen
-node_modules
-package-lock.json
+/gen/
+*.tmp
 *.pyc
 __pycache__
 .*.swp
 .*.swo
-libcereal*.a
+*.os
+*.o
+*.a
+
+test_runner
+
 libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
-
+.mypy_cache/
@@ -1,19 +1,58 @@
-from ubuntu:16.04
+FROM ubuntu:20.04

-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    autoconf \
+    build-essential \
+    ca-certificates \
+    capnproto \
+    clang \
+    cppcheck \
+    curl \
+    git \
+    libbz2-dev \
+    libcapnp-dev \
+    libffi-dev \
+    liblzma-dev \
+    libncurses5-dev \
+    libncursesw5-dev \
+    libreadline-dev \
+    libsqlite3-dev \
+    libssl-dev \
+    libtool \
+    libzmq3-dev \
+    llvm \
+    make \
+    cmake \
+    ocl-icd-opencl-dev \
+    opencl-headers  \
+    python-openssl \
+    tk-dev \
+    wget \
+    xz-utils \
+    zlib1g-dev \
+  && rm -rf /var/lib/apt/lists/*

 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
+RUN pyenv install 3.11.4 && \
+    pyenv global 3.11.4 && \
+    pyenv rehash && \
+    pip3 install --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy
+
+WORKDIR /project/
+RUN cd /tmp/ && \
+    git clone https://github.com/catchorg/Catch2.git && \
+    cd Catch2 && \
+    git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
+    mv single_include/catch2/ /project/ && \
+    cd .. \
+    rm -rf Catch2

 WORKDIR /project/cereal
-COPY install_capnp.sh .
-RUN ./install_capnp.sh

 ENV PYTHONPATH=/project

 COPY . .
-RUN scons -c && scons -j$(nproc)
+RUN rm -rf .git && \
+    scons -c && scons -j$(nproc)
@@ -0,0 +1,7 @@
+Copyright (c) 2020, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
@@ -1,26 +1,42 @@
-What is cereal?
----
+# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)

 cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.

 Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
-* A calibration process subscribes to the sensorEvents packet to use the IMU
-* A localization process subscribes to the sensorEvents packet to use the IMU also
+* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
+* A calibration process subscribes to the `sensorEvents` packet to use the IMU
+* A localization process subscribes to the `sensorEvents` packet to use the IMU also


-Messaging Spec
----
+## Messaging Spec

-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
+You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.

-All Events have a logMonoTime and a valid. Then a big union defines the packet type.
+All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.

+### Best Practices

-Pub Sub Backends
----
+- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
+- In the context of the message they are in, field names should be completely unambiguous.
+- All values should be easy to plot and be human-readable with minimal parsing.

-cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+### Maintaining backwards-compatibility
+
+When making changes to the messaging spec you want to maintain backwards-compatability, such that old logs can
+be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
+things are not. Read more details [here](https://capnproto.org/language.html).
+
+### Custom forks
+
+Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
+spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
+[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
+
+## Pub Sub Backends
+
+cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.

 Example
 ---
@@ -33,10 +49,12 @@ while 1:
  sm.update()
  print(sm['sensorEvents'])

+```
+
+```python
 # in publisher
 pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message()
-dat.init('sensorEvents', 1)
+dat = messaging.new_message('sensorEvents', size=1)
 dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
 pm.send('sensorEvents', dat)
 ```
@@ -1,68 +0,0 @@
-Import('env', 'arch', 'zmq')
-
-gen_dir = Dir('gen')
-messaging_dir = Dir('messaging')
-
-# TODO: remove src-prefix and cereal from command string. can we set working directory?
-env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
-  ['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
-env.Command(
-  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
-import shutil
-if shutil.which('capnpc-java'):
-  env.Command(
-    ['gen/java/Car.java', 'gen/java/Log.java'],
-    ['car.capnp', 'log.capnp'],
-    'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
-
-# TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([
-    'gen/c/car.capnp.c',
-    'gen/c/log.capnp.c',
-    'gen/cpp/car.capnp.c++',
-    'gen/cpp/log.capnp.c++',
-  ])
-
-env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
-
-cereal_dir = Dir('.')
-services_h = env.Command(
-  ['services.h'],
-  ['service_list.yaml', 'services.py'],
-  'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-
-messaging_objects = env.SharedObject([
-  'messaging/messaging.cc',
-  'messaging/impl_zmq.cc',
-  'messaging/impl_msgq.cc',
-  'messaging/msgq.cc',
-])
-
-messaging_lib = env.Library('messaging', messaging_objects)
-Depends('messaging/impl_zmq.cc', services_h)
-
-# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
-# TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
-env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
-
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
-Depends('messaging/bridge.cc', services_h)
-
-# different target?
-#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
-
-
-env.Command(['messaging/messaging_pyx.so'],
-  [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
-  "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
-
-
-if GetOption('test'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
@@ -1,49 +0,0 @@
-import os
-import subprocess
-
-zmq = 'zmq'
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-cereal_dir = Dir('.')
-
-cpppath = [
-    cereal_dir,
-    '/usr/lib/include',
-]
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++14",
-  CPPPATH=cpppath,
-)
-
-
-Export('env', 'zmq', 'arch')
-SConscript(['SConscript'])
@@ -1,3 +1,4 @@
+# pylint: skip-file
 import os
 import capnp

@@ -6,3 +7,4 @@ capnp.remove_import_hook()

 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -1,31 +1,28 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Car");
-
@0x8e2af1e708af8b8d;

 # ******* events causing controls state machine transition *******

 struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
+
+  # event types
  enable @1 :Bool;
  noEntry @2 :Bool;
-  warning @3 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
  userDisable @4 :Bool;
  softDisable @5 :Bool;
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
-  permanent @8 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;

  enum EventName @0xbaa8c5d505f727de {
-    # TODO: copy from error list
    canError @0;
    steerUnavailable @1;
-    brakeUnavailable @2;
-    gasUnavailable @3;
    wrongGear @4;
    doorOpen @5;
    seatbeltNotLatched @6;
@@ -35,70 +32,114 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    reverseGear @10;
    buttonCancel @11;
    buttonEnable @12;
-    pedalPressed @13;
+    pedalPressed @13;  # exits active state
+    preEnableStandstill @73;  # added during pre-enable state with brake
+    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
    cruiseDisabled @14;
-    radarCanError @15;
-    dataNeeded @16;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
    calibrationIncomplete @20;
    calibrationInvalid @21;
+    calibrationRecalibrating @117;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
-    noTarget @25;
    radarFault @26;
-    modelCommIssueDEPRECATED @27;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    ipasOverride @33;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
+    joystickDebug @34;
+    steerTempUnavailableSilent @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
    driverDistracted @39;
-    geofence @40;
-    driverMonitorOn @41;
-    driverMonitorOff @42;
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
    belowSteerSpeed @46;
-    calibrationProgress @47;
    lowBattery @48;
-    invalidGiraffeHonda @49;
    vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
    sensorDataInvalid @52;
    commIssue @53;
+    commIssueAvgFreq @109;
    tooDistracted @54;
    posenetInvalid @55;
    soundsUnavailable @56;
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
-    invalidGiraffeToyota @60;
-    internetConnectivityNeeded @61;
-    communityFeatureDisallowed @62;
    lowMemory @63;
    stockAeb @64;
    ldw @65;
    carUnrecognized @66;
-    radarCommIssue @67;
-    driverMonitorLowAcc @68;
-    # dragonpilot
-    manualSteeringRequired @69;
-    manualSteeringRequiredBlinkersOn @70;
-    leadCarMoving @71;
-    leadCarDetected @72;
-    preAutoLaneChangeLeft @73;
-    preAutoLaneChangeRight @74;
-    autoLaneChange @75;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    startupNoFw @104;
+    fcw @79;
+    steerSaturated @80;
+    belowEngageSpeed @84;
+    noGps @85;
+    wrongCruiseMode @87;
+    modeldLagging @89;
+    deviceFalling @90;
+    fanMalfunction @91;
+    cameraMalfunction @92;
+    cameraFrameRate @110;
+    gpsMalfunction @94;
+    processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;
+    highCpuUsage @105;
+    cruiseMismatch @106;
+    lkasDisabled @107;
+    canBusMissing @111;
+    controlsdLagging @112;
+    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;
+
+    radarCanErrorDEPRECATED @15;
+    communityFeatureDisallowedDEPRECATED @62;
+    radarCommIssueDEPRECATED @67;
+    driverMonitorLowAccDEPRECATED @68;
+    gasUnavailableDEPRECATED @3;
+    dataNeededDEPRECATED @16;
+    modelCommIssueDEPRECATED @27;
+    ipasOverrideDEPRECATED @33;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
+    calibrationProgressDEPRECATED @47;
+    invalidGiraffeHondaDEPRECATED @49;
+    invalidGiraffeToyotaDEPRECATED @60;
+    internetConnectivityNeededDEPRECATED @61;
+    whitePandaUnsupportedDEPRECATED @81;
+    commIssueWarningDEPRECATED @83;
+    focusRecoverActiveDEPRECATED @86;
+    neosUpdateRequiredDEPRECATED @88;
+    modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
+    startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
  }
 }

@@ -106,35 +147,49 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s

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

+  # CAN health
+  canValid @26 :Bool;       # invalid counter/checksums
+  canTimeout @40 :Bool;     # CAN bus dropped out
+
  # car speed
-  vEgo @1 :Float32;         # best estimate of speed
-  aEgo @16 :Float32;        # best estimate of acceleration
-  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  vEgo @1 :Float32;          # best estimate of speed
+  aEgo @16 :Float32;         # best estimate of acceleration
+  vEgoRaw @17 :Float32;      # unfiltered speed from CAN sensors
+  vEgoCluster @44 :Float32;  # best estimate of speed shown on car's instrument cluster, used for UI
+
  yawRate @22 :Float32;     # best estimate of yaw rate
  standstill @18 :Bool;
  wheelSpeeds @2 :WheelSpeeds;

  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user + computer
+  gas @3 :Float32;        # this is user pedal only
  gasPressed @4 :Bool;    # this is user pedal only

+  engineRpm @46 :Float32;
+
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;
+  regenBraking @45 :Bool; # this is user pedal only
+  parkingBrake @39 :Bool;
+  brakeHoldActive @38 :Bool;

  # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringAngleDeg @7 :Float32;
+  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
+  steeringRateDeg @15 :Float32;
+  steeringTorque @8 :Float32;      # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steerFaultTemporary @35 :Bool;   # temporary EPS fault
+  steerFaultPermanent @36 :Bool;   # permanent EPS fault
  stockAeb @30 :Bool;
  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
+  accFaulted @42 :Bool;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable

  # cruise state
  cruiseState @10 :CruiseState;
@@ -151,13 +206,16 @@ struct CarState {
  # lock info
  doorOpen @24 :Bool;
  seatbeltUnlatched @25 :Bool;
-  canValid @26 :Bool;

  # clutch (manual transmission only)
  clutchPressed @28 :Bool;

-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
+  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
+  charging @43 :Bool;

  struct WheelSpeeds {
    # optional wheel speeds
@@ -170,9 +228,11 @@ struct CarState {
  struct CruiseState {
    enabled @0 :Bool;
    speed @1 :Float32;
+    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
    available @2 :Bool;
    speedOffset @3 :Float32;
    standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
  }

  enum GearShifter {
@@ -208,6 +268,12 @@ struct CarState {
      gapAdjustCruise @11;
    }
  }
+
+  # deprecated
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
+  steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
 }

 # ******* radar state @ 20hz *******
@@ -216,9 +282,6 @@ struct RadarData @0x888ad6581cf0aacb {
  errors @0 :List(Error);
  points @1 :List(RadarPoint);

-  # which packets this state came from
-  canMonoTimes @2 :List(UInt64);
-
  enum Error {
    canError @0;
    fault @1;
@@ -242,6 +305,9 @@ struct RadarData @0x888ad6581cf0aacb {
    # some radars flag measurements VS estimates
    measured @6 :Bool;
  }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
 }

 # ******* car controls @ 100hz *******
@@ -249,14 +315,23 @@ struct RadarData @0x888ad6581cf0aacb {
 struct CarControl {
  # must be true for any actuator commands to work
  enabled @0 :Bool;
-  active @7 :Bool;
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
+  latActive @11: Bool;
+  longActive @12: Bool;

+  # Actuator commands as computed by controlsd
  actuators @6 :Actuators;

+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @10 :Actuators;
+
+  orientationNED @13 :List(Float32);
+  angularVelocity @14 :List(Float32);
+
  cruiseControl @4 :CruiseControl;
  hudControl @5 :HUDControl;

@@ -266,14 +341,30 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
-    steerAngle @3: Float32;
+    # value sent over can to the car
+    steerOutputCan @8: Float32;
+    steeringAngleDeg @3: Float32;
+
+    curvature @7: Float32;
+
+    speed @6: Float32; # m/s
+    accel @4: Float32; # m/s^2
+    longControlState @5: LongControlState;
+
+    enum LongControlState @0xe40f3a917d908282{
+      off @0;
+      pid @1;
+      stopping @2;
+      starting @3;
+    }
  }

  struct CruiseControl {
    cancel @0: Bool;
-    override @1: Bool;
-    speedOverride @2: Float32;
-    accelOverride @3: Float32;
+    resume @1: Bool;
+    override @4: Bool;
+    speedOverrideDEPRECATED @2: Float32;
+    accelOverrideDEPRECATED @3: Float32;
  }

  struct HUDControl {
@@ -302,18 +393,27 @@ 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;
-      chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
-      chimePrompt @7;
+
+      engage @1;
+      disengage @2;
+      refuse @3;
+
+      warningSoft @4;
+      warningImmediate @5;
+
+      prompt @6;
+      promptRepeat @7;
+      promptDistracted @8;
    }
  }
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;
+  activeDEPRECATED @7 :Bool;
+  rollDEPRECATED @8 :Float32;
+  pitchDEPRECATED @9 :Float32;
 }

 # ****** car param ******
@@ -321,35 +421,36 @@ struct CarControl {
 struct CarParams {
  carName @0 :Text;
  carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
+
+  notCar @66 :Bool;  # flag for non-car robotics platforms

  enableGasInterceptor @2 :Bool;
-  enableCruise @3 :Bool;
-  enableCamera @4 :Bool;
-  enableDsu @5 :Bool; # driving support unit
-  enableApgs @6 :Bool; # advanced parking guidance system
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableDsu @5 :Bool;        # driving support unit
+  enableBsm @56 :Bool;       # blind spot monitoring
+  flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
-  safetyModel @9 :SafetyModel;
-  safetyModelPassive @42 :SafetyModel = silent;
-  safetyParam @10 :Int16;
+  safetyConfigs @62 :List(SafetyConfig);
+  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas

-  steerMaxBP @11 :List(Float32);
-  steerMaxV @12 :List(Float32);
-  gasMaxBP @13 :List(Float32);
-  gasMaxV @14 :List(Float32);
-  brakeMaxBP @15 :List(Float32);
-  brakeMaxV @16 :List(Float32);
+  # Car docs fields
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically

  # things about the car in the manual
-  mass @17 :Float32;             # [kg] 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
+  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff

@@ -359,29 +460,43 @@ struct CarParams {
    pid @26 :LateralPIDTuning;
    indi @27 :LateralINDITuning;
    lqr @40 :LateralLQRTuning;
+    torque @67 :LateralTorqueTuning;
  }

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

  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
  steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
+  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
-  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;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
+
+  struct SafetyConfig {
+    safetyModel @0 :SafetyModel;
+    safetyParam @3 :UInt16;
+    safetyParamDEPRECATED @1 :Int16;
+    safetyParam2DEPRECATED @2 :UInt32;
+  }

  struct LateralParams {
    torqueBP @0 :List(Int32);
@@ -396,20 +511,41 @@ struct CarParams {
    kf @4 :Float32;
  }

+  struct LateralTorqueTuning {
+    useSteeringAngle @0 :Bool;
+    kp @1 :Float32;
+    ki @2 :Float32;
+    friction @3 :Float32;
+    kf @4 :Float32;
+    steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
+  }
+
  struct LongitudinalPIDTuning {
    kpBP @0 :List(Float32);
    kpV @1 :List(Float32);
    kiBP @2 :List(Float32);
    kiV @3 :List(Float32);
+    kf @6 :Float32;
    deadzoneBP @4 :List(Float32);
    deadzoneV @5 :List(Float32);
  }

  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 {
@@ -447,39 +583,77 @@ struct CarParams {
    allOutput @17;
    gmAscm @18;
    noOutput @19;  # like silent but without silent CAN TXs
-    hondaBoschHarness @20;
+    hondaBosch @20;
    volkswagenPq @21;
+    subaruPreglobal @22;  # pre-Global platform
+    hyundaiLegacy @23;
+    hyundaiCommunity @24;
+    volkswagenMlb @25;
+    hongqi @26;
+    body @27;
+    hyundaiCanfd @28;
+    volkswagenMqbEvo @29;
  }

  enum SteerControlType {
    torque @0;
    angle @1;
+
+    curvatureDEPRECATED @2;
  }

  enum TransmissionType {
    unknown @0;
-    automatic @1;
-    manual @2;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
  }

  struct CarFw {
    ecu @0 :Ecu;
    fwVersion @1 :Data;
-    address @2: UInt32;
-    subAddress @3: UInt8;
+    address @2 :UInt32;
+    subAddress @3 :UInt8;
+    responseAddress @4 :UInt32;
+    request @5 :List(Data);
+    brand @6 :Text;
+    bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
  }

  enum Ecu {
    eps @0;
-    esp @1;
+    abs @1;
    fwdRadar @2;
    fwdCamera @3;
    engine @4;
    unknown @5;
+    transmission @8; # Transmission Control Module
+    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+    epb @22;  # electronic parking brake
+    telematics @23;
+    body @24;  # body control module

    # Toyota only
    dsu @6;
-    apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+
+    debug @17;
  }

  enum FingerprintSource {
@@ -487,4 +661,29 @@ struct CarParams {
    fw @1;
    fixed @2;
  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
+
+  enableCameraDEPRECATED @4 :Bool;
+  enableApgsDEPRECATED @6 :Bool;
+  steerRateCostDEPRECATED @33 :Float32;
+  isPandaBlackDEPRECATED @39 :Bool;
+  hasStockCameraDEPRECATED @57 :Bool;
+  safetyParamDEPRECATED @10 :Int16;
+  safetyModelDEPRECATED @9 :SafetyModel;
+  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
+  minSpeedCanDEPRECATED @51 :Float32;
+  communityFeatureDEPRECATED @46: Bool;
+  startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
 }
@@ -0,0 +1,8 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
@@ -0,0 +1,105 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xb526ba661d550a59;
+
+# custom.capnp: a home for empty structs reserved for custom forks
+# These structs are guaranteed to remain reserved and empty in mainline
+# cereal, so use these if you want custom events in your fork.
+
+# you can rename the struct, but don't change the identifier
+struct LiveMapData @0x81c2f05a394cf4af {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  turnSpeedLimitValid @5 :Bool;
+  turnSpeedLimit @6 :Float32;
+  turnSpeedLimitEndDistance @7 :Float32;
+  turnSpeedLimitSign @8 :Int16;
+  turnSpeedLimitsAhead @9 :List(Float32);
+  turnSpeedLimitsAheadDistances @10 :List(Float32);
+  turnSpeedLimitsAheadSigns @11 :List(Int16);
+  lastGpsTimestamp @12 :Int64;  # Milliseconds since January 1, 1970.
+  currentRoadName @13 :Text;
+  lastGpsLatitude @14 :Float64;
+  lastGpsLongitude @15 :Float64;
+  lastGpsSpeed @16 :Float32;
+  lastGpsBearingDeg @17 :Float32;
+  lastGpsAccuracy @18 :Float32;
+  lastGpsBearingAccuracyDeg @19 :Float32;
+}
+
+struct LongitudinalPlanExt @0xaedffd8f31e7b55d {
+  visionTurnControllerState @0 :VisionTurnControllerState;
+  visionTurnSpeed @1 :Float32;
+  speedLimitControlState @2 :SpeedLimitControlState;
+  speedLimit @3 :Float32;
+  speedLimitOffset @4 :Float32;
+  distToSpeedLimit @5 :Float32;
+  isMapSpeedLimit @6 :Bool;
+  speedLimitPercOffset @7 :Bool;
+  speedLimitValueOffset @8 :Float32;
+
+  distToTurn @9 :Float32;
+  turnSpeed @10 :Float32;
+  turnSpeedControlState @11 :SpeedLimitControlState;
+  turnSign @12 :Int16;
+
+  dpE2EIsBlended @13 :Bool;
+  longitudinalPlanExtSource @14 :LongitudinalPlanExtSource;
+
+  enum LongitudinalPlanExtSource {
+    cruise @0;
+    lead0 @1;
+    lead1 @2;
+    lead2 @3;
+    e2e @4;
+    turn @5;
+    limit @6;
+    turnlimit @7;
+  }
+
+  enum SpeedLimitControlState {
+    inactive @0; # No speed limit set or not enabled by parameter.
+    tempInactive @1; # User wants to ignore speed limit until it changes.
+    adapting @2; # Reducing speed to match new speed limit.
+    active @3; # Cruising at speed limit.
+  }
+
+  enum VisionTurnControllerState {
+    disabled @0; # No predicted substancial turn on vision range or feature disabled.
+    entering @1; # A subsantial turn is predicted ahead, adapting speed to turn confort levels.
+    turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+    leaving @3; # Road ahead straightens. Start to allow positive acceleration.
+  }
+}
+
+struct LateralPlanExt @0xf35cc4560bbf6ec2 {
+  dPathWLinesX @0 :List(Float32);
+  dPathWLinesY @1 :List(Float32);
+}
+
+struct ControlsStateExt @0xda96579883444c35 {
+  alkaActive @0 :Bool;
+  alkaEnabled @1 :Bool;
+}
+
+struct CustomReserved4 @0x80ae746ee2596b11 {
+}
+
+struct CustomReserved5 @0xa5cd762cd951a455 {
+}
+
+struct CustomReserved6 @0xf98d843bfd7004a3 {
+}
+
+struct CustomReserved7 @0xb86e6369214c01c8 {
+}
+
+struct CustomReserved8 @0xf416ec09499d9d19 {
+}
+
+struct CustomReserved9 @0xa1680744031fdb2d {
+}
@@ -1,28 +0,0 @@
-# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xc5f1af96651f70ea;
-
-annotation package @0x9ee4c8f803b3b596 (file) : Text;
-# Name of the package, such as "org.example.foo", in which the generated code will reside.
-
-annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
-# Name of the outer class that will wrap the generated code.
@@ -1,40 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j$(nproc)
-make install
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j$(nproc)
-make install
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
@@ -0,0 +1,574 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@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 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;
+}
+
+
@@ -0,0 +1,21 @@
+#pragma once
+
+#ifdef SWAGLOG
+// cppcheck-suppress preprocessorErrorDirective
+#include SWAGLOG
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif
@@ -1,10 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
@0xa086df597ef5d7a0;

 # Geometry
@@ -1,39 +1,67 @@
-# must be build with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+# must be built with scons
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from .messaging_pyx import MultiplePublishersError, MessagingError
+
+import os
 import capnp
+import time
+
+from typing import Optional, List, Union, Dict, Deque
+from collections import deque
+
+from cereal import log
+from cereal.services import SERVICE_LIST

 assert MultiplePublishersError
 assert MessagingError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event

-from cereal import log
-from cereal.services import service_list
-
-# sec_since_boot is faster, but allow to run standalone too
-try:
-  from common.realtime import sec_since_boot
-except ImportError:
-  import time
-  sec_since_boot = time.time
-  print("Warning, using python time.time() instead of faster sec_since_boot")
+NO_TRAVERSAL_LIMIT = 2**64-1
+AVG_FREQ_HISTORY = 100

 context = Context()

-def new_message():
+
+def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  identifier = identifier or get_fake_prefix()
+  handle = SocketEventHandle(endpoint, identifier, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+
+def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
+
+
+def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
  dat = log.Event.new_message()
-  dat.logMonoTime = int(sec_since_boot() * 1e9)
+  dat.logMonoTime = int(time.monotonic() * 1e9)
  dat.valid = True
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
  return dat

-def pub_sock(endpoint):
+
+def pub_sock(endpoint: str) -> PubSocket:
  sock = PubSocket()
  sock.connect(context, endpoint)
  return sock

-def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
  sock = SubSocket()
-  addr = addr.encode('utf8')
-  sock.connect(context, endpoint, addr, conflate)
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)

  if timeout is not None:
    sock.setTimeout(timeout)
@@ -43,9 +71,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
  return sock


-def drain_sock_raw(sock, wait_for_one=False):
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
  """Receive all message currently available on the queue"""
-  ret = []
+  ret: List[bytes] = []
  while 1:
    if wait_for_one and len(ret) == 0:
      dat = sock.receive()
@@ -59,26 +87,27 @@ def drain_sock_raw(sock, wait_for_one=False):

  return ret

-def drain_sock(sock, wait_for_one=False):
+
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
  """Receive all message currently available on the queue"""
-  ret = []
+  ret: List[capnp.lib.capnp._DynamicStructReader] = []
  while 1:
    if wait_for_one and len(ret) == 0:
      dat = sock.receive()
    else:
      dat = sock.receive(non_blocking=True)

-    if dat is None: # Timeout hit
+    if dat is None:  # Timeout hit
      break

-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
    ret.append(dat)

  return ret


 # TODO: print when we drop packets?
-def recv_sock(sock, wait=False):
+def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
  dat = None

@@ -88,88 +117,97 @@ def recv_sock(sock, wait=False):
    else:
      rcv = sock.receive(non_blocking=True)

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

    dat = rcv

  if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)

  return dat

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

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

-def recv_one_retry(sock):
+
+def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
  """Keep receiving until we get a message"""
  while True:
    dat = sock.receive()
    if dat is not None:
-      return log.Event.from_bytes(dat)
+      return log_from_bytes(dat)

-# TODO: This does not belong in messaging
-def get_one_can(logcan):
-  while True:
-    can = recv_one_retry(logcan)
-    if len(can.can) > 0:
-      return can

-class SubMaster():
-  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
-    self.poller = Poller()
+class SubMaster:
+  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+               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.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.freq_ok = {s: False for s in services}
+    self.recv_dts: Dict[str, Deque[float]] = {s: deque(maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
    self.freq = {}
    self.data = {}
-    self.logMonoTime = {}
    self.valid = {}
+    self.logMonoTime = {}

-    if ignore_alive is not None:
-      self.ignore_alive = ignore_alive
-    else:
-      self.ignore_alive = []
+    self.poller = Poller()
+    self.non_polled_services = [s for s in services if poll is not None and
+                                len(poll) and s not in poll]
+
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))

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

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

      self.data[s] = getattr(data, s)
      self.logMonoTime[s] = 0
      self.valid[s] = data.valid

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

-  def update(self, timeout=1000):
+  def _check_avg_freq(self, s):
+    return 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)
+
+  def update(self, timeout: int = 1000) -> None:
    msgs = []
    for sock in self.poller.poll(timeout):
      msgs.append(recv_one_or_none(sock))
-    self.update_msgs(sec_since_boot(), msgs)

-  def update_msgs(self, cur_time, msgs):
-    # TODO: add optional input that specify the service to wait for
+    # non-blocking receive for non-polled sockets
+    for s in self.non_polled_services:
+      msgs.append(recv_one_or_none(self.sock[s]))
+    self.update_msgs(time.monotonic(), msgs)
+
+  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
    self.frame += 1
    self.updated = dict.fromkeys(self.updated, False)
    for msg in msgs:
@@ -178,44 +216,83 @@ class SubMaster():

      s = msg.which()
      self.updated[s] = True
+
+      if self._check_avg_freq(s):
+        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 self.simulation:
+        self.freq_ok[s] = True
        self.alive[s] = True

-  def all_alive(self, service_list=None):
+    if not self.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])
+
+          # TODO: check if update frequency is high enough to not drop messages
+          # freq_ok if average frequency is higher than 90% of expected frequency
+          if self._check_avg_freq(s):
+            if len(self.recv_dts[s]) > 0:
+              avg_dt = sum(self.recv_dts[s]) / len(self.recv_dts[s])
+              expected_dt = 1 / (self.freq[s] * 0.90)
+              self.freq_ok[s] = (avg_dt < expected_dt)
+            else:
+              self.freq_ok[s] = False
+          else:
+            self.freq_ok[s] = True
+        else:
+          self.freq_ok[s] = True
+          self.alive[s] = True
+
+  def all_alive(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.alive.keys()
    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)

-  def all_valid(self, service_list=None):
+  def all_freq_ok(self, service_list=None) -> bool:
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)
+
+  def all_valid(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.valid.keys()
    return all(self.valid[s] for s in service_list)

-  def all_alive_and_valid(self, service_list=None):
+  def all_checks(self, service_list=None) -> bool:
    if service_list is None:  # check all
      service_list = self.alive.keys()
-    return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
+    return self.all_alive(service_list=service_list) \
+           and self.all_freq_ok(service_list=service_list) \
+           and self.all_valid(service_list=service_list)


-class PubMaster():
-  def __init__(self, services):
+class PubMaster:
+  def __init__(self, services: List[str]):
    self.sock = {}
    for s in services:
      self.sock[s] = pub_sock(s)

-  def send(self, s, dat):
-    # accept either bytes or capnp builder
+  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
    if not isinstance(dat, bytes):
      dat = dat.to_bytes()
    self.sock[s].send(dat)
+
+  def wait_for_readers_to_update(self, s: str, timeout: int) -> bool:
+    dt = 0.05
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()  # type: ignore
@@ -1,64 +0,0 @@
-#include <iostream>
-#include <string>
-#include <cassert>
-#include <csignal>
-#include <map>
-
-typedef void (*sighandler_t)(int sig);
-
-#include "services.h"
-
-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
-
-void sigpipe_handler(int sig) {
-  assert(sig == SIGPIPE);
-  std::cout << "SIGPIPE received" << std::endl;
-}
-
-static std::vector<std::string> get_services() {
-  std::vector<std::string> name_list;
-
-  for (const auto& it : services) {
-    std::string name = it.name;
-    if (name == "plusFrame" || name == "uiLayoutState") continue;
-    name_list.push_back(name);
-  }
-
-  return name_list;
-}
-
-
-int main(void){
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
-
-  auto endpoints = get_services();
-
-  std::map<SubSocket*, PubSocket*> sub2pub;
-
-  Context *zmq_context = new ZMQContext();
-  Context *msgq_context = new MSGQContext();
-  Poller *poller = new MSGQPoller();
-
-  for (auto endpoint: endpoints){
-    SubSocket * msgq_sock = new MSGQSubSocket();
-    msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
-    poller->registerSocket(msgq_sock);
-
-    PubSocket * zmq_sock = new ZMQPubSocket();
-    zmq_sock->connect(zmq_context, endpoint);
-
-    sub2pub[msgq_sock] = zmq_sock;
-  }
-
-
-  while (true){
-    for (auto sub_sock : poller->poll(100)){
-      Message * msg = sub_sock->receive();
-      if (msg == NULL) continue;
-      sub2pub[sub_sock]->sendMessage(msg);
-      delete msg;
-    }
-  }
-  return 0;
-}
@@ -1,50 +0,0 @@
-#include <iostream>
-#include <cstddef>
-#include <chrono>
-#include <thread>
-#include <cassert>
-
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-
-#define MSGS 1e5
-
-int main() {
-  Context * c = Context::create();
-  SubSocket * sub_sock = SubSocket::create(c, "controlsState");
-  PubSocket * pub_sock = PubSocket::create(c, "controlsState");
-
-  char data[8];
-
-  Poller * poller = Poller::create({sub_sock});
-
-  auto start = std::chrono::steady_clock::now();
-
-  for (uint64_t i = 0; i < MSGS; i++){
-    *(uint64_t*)data = i;
-    pub_sock->send(data, 8);
-
-    auto r = poller->poll(100);
-
-    for (auto p : r){
-      Message * m = p->receive();
-      uint64_t ii = *(uint64_t*)m->getData();
-      assert(i == ii);
-      delete m;
-    }
-  }
-
-
-  auto end = std::chrono::steady_clock::now();
-  double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
-  double throughput = ((double) MSGS / (double) elapsed);
-  std::cout << throughput << " msg/s" << std::endl;
-
-  delete poller;
-  delete sub_sock;
-  delete pub_sock;
-  delete c;
-
-
-  return 0;
-}
@@ -1,6 +1,6 @@
 import time

-from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
+from messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error

 MSGS = 1e5

@@ -12,7 +12,6 @@ if __name__ == "__main__":
  sub_sock.connect(c, "controlsState")
  pub_sock.connect(c, "controlsState")

-
  poller = Poller()
  poller.registerSocket(sub_sock)

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path);
+
+enum EventPurpose {
+  RECV_CALLED,
+  RECV_READY
+};
+
+struct EventState {
+  int fds[2];
+  bool enabled;
+};
+
+class Event {
+private:
+  int event_fd = -1;
+
+  inline void throw_if_invalid() const {
+    if (!this->is_valid()) {
+      throw std::runtime_error("Event does not have valid file descriptor.");
+    }
+  }
+public:
+  Event(int fd = -1);
+
+  void set() const;
+  int clear() const;
+  void wait(int timeout_sec = -1) const;
+  bool peek() const;
+  bool is_valid() const;
+  int fd() const;
+
+  static int wait_for_one(const std::vector<Event>& events, int timeout_sec = -1);
+};
+
+class SocketEventHandle {
+private:
+  std::string shm_path;
+  EventState* state;
+public:
+  SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true);
+  ~SocketEventHandle();
+
+  bool is_enabled();
+  void set_enabled(bool enabled);
+  Event recv_called();
+  Event recv_ready();
+
+  static void toggle_fake_events(bool enabled);
+  static void set_fake_prefix(std::string prefix);
+  static std::string fake_prefix();
+};
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <cassert>
+#include <iostream>
+#include <string>
+#include <vector>
+#include <filesystem>
+
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/event.h"
+
+template<typename TSubSocket>
+class FakeSubSocket: public TSubSocket {
+private:
+  Event *recv_called = nullptr;
+  Event *recv_ready = nullptr;
+  EventState *state = nullptr;
+
+public:
+  FakeSubSocket(): TSubSocket() {}
+  ~FakeSubSocket() {
+    delete recv_called;
+    delete recv_ready;
+    if (state != nullptr) {
+      munmap(state, sizeof(EventState));
+    }
+  }
+
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) override {
+    const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX");
+
+    char* mem;
+    std::string identifier = cereal_prefix != nullptr ?  std::string(cereal_prefix) : "";
+    event_state_shm_mmap(endpoint, identifier, &mem, nullptr);
+
+    this->state = (EventState*)mem;
+    this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]);
+    this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]);
+
+    return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint);
+  }
+
+  Message *receive(bool non_blocking=false) override {
+    if (this->state->enabled) {
+      this->recv_called->set();
+      this->recv_ready->wait();
+      this->recv_ready->clear();
+    }
+
+    return TSubSocket::receive(non_blocking);
+  }
+};
+
+class FakePoller: public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+
+public:
+  void registerSocket(SubSocket *socket) override;
+  std::vector<SubSocket*> poll(int timeout) override;
+  ~FakePoller() {};
+};
@@ -1,195 +0,0 @@
-#include <cassert>
-#include <cstring>
-#include <iostream>
-#include <cstdlib>
-#include <csignal>
-#include <cerrno>
-
-
-#include "impl_msgq.hpp"
-
-volatile sig_atomic_t msgq_do_exit = 0;
-
-void sig_handler(int signal) {
-  assert(signal == SIGINT || signal == SIGTERM);
-  msgq_do_exit = 1;
-}
-
-
-MSGQContext::MSGQContext() {
-}
-
-MSGQContext::~MSGQContext() {
-}
-
-void MSGQMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void MSGQMessage::init(char * d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void MSGQMessage::takeOwnership(char * d, size_t sz) {
-  size = sz;
-  data = d;
-}
-
-void MSGQMessage::close() {
-  if (size > 0){
-    delete[] data;
-  }
-  size = 0;
-}
-
-MSGQMessage::~MSGQMessage() {
-  this->close();
-}
-
-
-int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
-  assert(context);
-  assert(address == "127.0.0.1");
-
-  q = new msgq_queue_t;
-  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
-  if (r != 0){
-    return r;
-  }
-
-  msgq_init_subscriber(q);
-
-  if (conflate){
-    q->read_conflate = true;
-  }
-
-  timeout = -1;
-
-  return 0;
-}
-
-
-Message * MSGQSubSocket::receive(bool non_blocking){
-  msgq_do_exit = 0;
-
-  void (*prev_handler_sigint)(int);
-  void (*prev_handler_sigterm)(int);
-  if (!non_blocking){
-    prev_handler_sigint = std::signal(SIGINT, sig_handler);
-    prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
-  }
-
-  msgq_msg_t msg;
-
-  MSGQMessage *r = NULL;
-
-  int rc = msgq_msg_recv(&msg, q);
-
-  // Hack to implement blocking read with a poller. Don't use this
-  while (!non_blocking && rc == 0 && msgq_do_exit == 0){
-    msgq_pollitem_t items[1];
-    items[0].q = q;
-
-    int t = (timeout != -1) ? timeout : 100;
-
-    int n = msgq_poll(items, 1, t);
-    rc = msgq_msg_recv(&msg, q);
-
-    // The poll indicated a message was ready, but the receive failed. Try again
-    if (n == 1 && rc == 0){
-      continue;
-    }
-
-    if (timeout != -1){
-      break;
-    }
-  }
-
-
-  if (!non_blocking){
-    std::signal(SIGINT, prev_handler_sigint);
-    std::signal(SIGTERM, prev_handler_sigterm);
-  }
-
-  errno = msgq_do_exit ? EINTR : 0;
-
-  if (rc > 0){
-    if (msgq_do_exit){
-      msgq_msg_close(&msg); // Free unused message on exit
-    } else {
-      r = new MSGQMessage;
-      r->takeOwnership(msg.data, msg.size);
-    }
-  }
-
-  return (Message*)r;
-}
-
-void MSGQSubSocket::setTimeout(int t){
-  timeout = t;
-}
-
-MSGQSubSocket::~MSGQSubSocket(){
-  if (q != NULL){
-    msgq_close_queue(q);
-    delete q;
-  }
-}
-
-int MSGQPubSocket::connect(Context *context, std::string endpoint){
-  assert(context);
-
-  q = new msgq_queue_t;
-  msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
-  msgq_init_publisher(q);
-
-  return 0;
-}
-
-int MSGQPubSocket::sendMessage(Message *message){
-  msgq_msg_t msg;
-  msg.data = message->getData();
-  msg.size = message->getSize();
-
-  return msgq_msg_send(&msg, q);
-}
-
-int MSGQPubSocket::send(char *data, size_t size){
-  msgq_msg_t msg;
-  msg.data = data;
-  msg.size = size;
-
-  return msgq_msg_send(&msg, q);
-}
-
-MSGQPubSocket::~MSGQPubSocket(){
-  if (q != NULL){
-    msgq_close_queue(q);
-    delete q;
-  }
-}
-
-
-void MSGQPoller::registerSocket(SubSocket * socket){
-  assert(num_polls + 1 < MAX_POLLERS);
-  polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<SubSocket*> MSGQPoller::poll(int timeout){
-  std::vector<SubSocket*> r;
-
-  msgq_poll(polls, num_polls, timeout);
-  for (size_t i = 0; i < num_polls; i++){
-    if (polls[i].revents){
-      r.push_back(sockets[i]);
-    }
-  }
-
-  return r;
-}
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/msgq.h"
+
+#define MAX_POLLERS 128
+
+class MSGQContext : public Context {
+private:
+  void * context = NULL;
+public:
+  MSGQContext();
+  void * getRawContext() {return context;}
+  ~MSGQContext();
+};
+
+class MSGQMessage : public Message {
+private:
+  char * data;
+  size_t size;
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  void takeOwnership(char *data, size_t size);
+  size_t getSize(){return size;}
+  char * getData(){return data;}
+  void close();
+  ~MSGQMessage();
+};
+
+class MSGQSubSocket : public SubSocket {
+private:
+  msgq_queue_t * q = NULL;
+  int timeout;
+public:
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
+  void setTimeout(int timeout);
+  void * getRawSocket() {return (void*)q;}
+  Message *receive(bool non_blocking=false);
+  ~MSGQSubSocket();
+};
+
+class MSGQPubSocket : public PubSocket {
+private:
+  msgq_queue_t * q = NULL;
+public:
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  bool all_readers_updated();
+  ~MSGQPubSocket();
+};
+
+class MSGQPoller : public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+  msgq_pollitem_t polls[MAX_POLLERS];
+  size_t num_polls = 0;
+
+public:
+  void registerSocket(SubSocket *socket);
+  std::vector<SubSocket*> poll(int timeout);
+  ~MSGQPoller(){};
+};
@@ -1,64 +0,0 @@
-#pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class MSGQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  MSGQContext();
-  void * getRawContext() {return context;}
-  ~MSGQContext();
-};
-
-class MSGQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void takeOwnership(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~MSGQMessage();
-};
-
-class MSGQSubSocket : public SubSocket {
-private:
-  msgq_queue_t * q = NULL;
-  int timeout;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return (void*)q;}
-  Message *receive(bool non_blocking=false);
-  ~MSGQSubSocket();
-};
-
-class MSGQPubSocket : public PubSocket {
-private:
-  msgq_queue_t * q = NULL;
-public:
-  int connect(Context *context, std::string endpoint);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  ~MSGQPubSocket();
-};
-
-class MSGQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  msgq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){};
-};
@@ -1,155 +0,0 @@
-#include <cassert>
-#include <cstring>
-#include <iostream>
-#include <cstdlib>
-#include <cerrno>
-
-#include <zmq.h>
-
-#include "services.h"
-#include "impl_zmq.hpp"
-
-static int get_port(std::string endpoint) {
-  int port = -1;
-  for (const auto& it : services) {
-    std::string name = it.name;
-    if (name == endpoint) {
-      port = it.port;
-      break;
-    }
-  }
-
-  assert(port >= 0);
-  return port;
-}
-
-ZMQContext::ZMQContext() {
-  context = zmq_ctx_new();
-}
-
-ZMQContext::~ZMQContext() {
-  zmq_ctx_term(context);
-}
-
-void ZMQMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void ZMQMessage::init(char * d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void ZMQMessage::close() {
-  if (size > 0){
-    delete[] data;
-  }
-  size = 0;
-}
-
-ZMQMessage::~ZMQMessage() {
-  this->close();
-}
-
-
-int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
-  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
-  if (sock == NULL){
-    return -1;
-  }
-
-  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
-
-  if (conflate){
-    int arg = 1;
-    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
-  }
-
-  int reconnect_ivl = 500;
-  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
-
-  full_endpoint = "tcp://" + address + ":";
-  full_endpoint += std::to_string(get_port(endpoint));
-
-  return zmq_connect(sock, full_endpoint.c_str());
-}
-
-
-Message * ZMQSubSocket::receive(bool non_blocking){
-  zmq_msg_t msg;
-  assert(zmq_msg_init(&msg) == 0);
-
-  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
-  int rc = zmq_msg_recv(&msg, sock, flags);
-  Message *r = NULL;
-
-  if (rc >= 0){
-    // Make a copy to ensure the data is aligned
-    r = new ZMQMessage;
-    r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-
-  zmq_msg_close(&msg);
-  return r;
-}
-
-void ZMQSubSocket::setTimeout(int timeout){
-  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
-}
-
-ZMQSubSocket::~ZMQSubSocket(){
-  zmq_close(sock);
-}
-
-int ZMQPubSocket::connect(Context *context, std::string endpoint){
-  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
-  if (sock == NULL){
-    return -1;
-  }
-
-  full_endpoint = "tcp://*:";
-  full_endpoint += std::to_string(get_port(endpoint));
-
-  return zmq_bind(sock, full_endpoint.c_str());
-}
-
-int ZMQPubSocket::sendMessage(Message *message){
-  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
-}
-
-int ZMQPubSocket::send(char *data, size_t size){
-  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
-}
-
-ZMQPubSocket::~ZMQPubSocket(){
-  zmq_close(sock);
-}
-
-
-void ZMQPoller::registerSocket(SubSocket * socket){
-  assert(num_polls + 1 < MAX_POLLERS);
-  polls[num_polls].socket = socket->getRawSocket();
-  polls[num_polls].events = ZMQ_POLLIN;
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<SubSocket*> ZMQPoller::poll(int timeout){
-  std::vector<SubSocket*> r;
-
-  int rc = zmq_poll(polls, num_polls, timeout);
-  if (rc < 0){
-    return r;
-  }
-
-  for (size_t i = 0; i < num_polls; i++){
-    if (polls[i].revents){
-      r.push_back(sockets[i]);
-    }
-  }
-
-  return r;
-}
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <zmq.h>
+#include <string>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+
+#define MAX_POLLERS 128
+
+class ZMQContext : public Context {
+private:
+  void * context = NULL;
+public:
+  ZMQContext();
+  void * getRawContext() {return context;}
+  ~ZMQContext();
+};
+
+class ZMQMessage : public Message {
+private:
+  char * data;
+  size_t size;
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  size_t getSize(){return size;}
+  char * getData(){return data;}
+  void close();
+  ~ZMQMessage();
+};
+
+class ZMQSubSocket : public SubSocket {
+private:
+  void * sock;
+  std::string full_endpoint;
+public:
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
+  void setTimeout(int timeout);
+  void * getRawSocket() {return sock;}
+  Message *receive(bool non_blocking=false);
+  ~ZMQSubSocket();
+};
+
+class ZMQPubSocket : public PubSocket {
+private:
+  void * sock;
+  std::string full_endpoint;
+public:
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  bool all_readers_updated();
+  ~ZMQPubSocket();
+};
+
+class ZMQPoller : public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+  zmq_pollitem_t polls[MAX_POLLERS];
+  size_t num_polls = 0;
+
+public:
+  void registerSocket(SubSocket *socket);
+  std::vector<SubSocket*> poll(int timeout);
+  ~ZMQPoller(){};
+};
@@ -1,63 +0,0 @@
-#pragma once
-#include "messaging.hpp"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class ZMQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  ZMQContext();
-  void * getRawContext() {return context;}
-  ~ZMQContext();
-};
-
-class ZMQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~ZMQMessage();
-};
-
-class ZMQSubSocket : public SubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return sock;}
-  Message *receive(bool non_blocking=false);
-  ~ZMQSubSocket();
-};
-
-class ZMQPubSocket : public PubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  ~ZMQPubSocket();
-};
-
-class ZMQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  zmq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){};
-};
@@ -1,117 +0,0 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
-
-Context * Context::create(){
-  Context * c;
-  if (std::getenv("ZMQ")){
-    c = new ZMQContext();
-  } else {
-    c = new MSGQContext();
-  }
-  return c;
-}
-
-SubSocket * SubSocket::create(){
-  SubSocket * s;
-  if (std::getenv("ZMQ")){
-    s = new ZMQSubSocket();
-  } else {
-    s = new MSGQSubSocket();
-  }
-  return s;
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, "127.0.0.1");
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address, conflate);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-PubSocket * PubSocket::create(){
-  PubSocket * s;
-  if (std::getenv("ZMQ")){
-    s = new ZMQPubSocket();
-  } else {
-    s = new MSGQPubSocket();
-  }
-  return s;
-}
-
-PubSocket * PubSocket::create(Context * context, std::string endpoint){
-  PubSocket *s = PubSocket::create();
-  int r = s->connect(context, endpoint);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-Poller * Poller::create(){
-  Poller * p;
-  if (std::getenv("ZMQ")){
-    p = new ZMQPoller();
-  } else {
-    p = new MSGQPoller();
-  }
-  return p;
-}
-
-Poller * Poller::create(std::vector<SubSocket*> sockets){
-  Poller * p = Poller::create();
-
-  for (auto s : sockets){
-    p->registerSocket(s);
-  }
-  return p;
-}
-
-extern "C" Context * messaging_context_create() {
-  return Context::create();
-}
-
-extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
-  return SubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
-  return PubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
-  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
-  return Poller::create(socketsVec);
-}
@@ -0,0 +1,162 @@
+#pragma once
+
+#include <cstddef>
+#include <map>
+#include <string>
+#include <vector>
+#include <utility>
+#include <time.h>
+
+#include <capnp/serialize.h>
+
+#include "cereal/gen/cpp/log.capnp.h"
+
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+bool messaging_use_zmq();
+
+class Context {
+public:
+  virtual void * getRawContext() = 0;
+  static Context * create();
+  virtual ~Context(){}
+};
+
+class Message {
+public:
+  virtual void init(size_t size) = 0;
+  virtual void init(char * data, size_t size) = 0;
+  virtual void close() = 0;
+  virtual size_t getSize() = 0;
+  virtual char * getData() = 0;
+  virtual ~Message(){};
+};
+
+
+class SubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
+  virtual void setTimeout(int timeout) = 0;
+  virtual Message *receive(bool non_blocking=false) = 0;
+  virtual void * getRawSocket() = 0;
+  static SubSocket * create();
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
+  virtual ~SubSocket(){};
+};
+
+class PubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
+  virtual int sendMessage(Message *message) = 0;
+  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
+  static PubSocket * create();
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
+  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
+  virtual ~PubSocket(){};
+};
+
+class Poller {
+public:
+  virtual void registerSocket(SubSocket *socket) = 0;
+  virtual std::vector<SubSocket*> poll(int timeout) = 0;
+  static Poller * create();
+  static Poller * create(std::vector<SubSocket*> sockets);
+  virtual ~Poller(){};
+};
+
+class SubMaster {
+public:
+  SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  void drain();
+  ~SubMaster();
+
+  uint64_t frame = 0;
+  bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
+  uint64_t rcv_frame(const char *name) const;
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;
+
+private:
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
+  Poller *poller_ = nullptr;
+  struct SubMessage;
+  std::map<SubSocket *, SubMessage *> messages_;
+  std::map<std::string, SubMessage *> services_;
+};
+
+class MessageBuilder : public capnp::MallocMessageBuilder {
+public:
+  MessageBuilder() = default;
+
+  cereal::Event::Builder initEvent(bool valid = true) {
+    cereal::Event::Builder event = initRoot<cereal::Event>();
+    struct timespec t;
+    clock_gettime(CLOCK_BOOTTIME, &t);
+    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
+    event.setLogMonoTime(current_time);
+    event.setValid(valid);
+    return event;
+  }
+
+  kj::ArrayPtr<capnp::byte> toBytes() {
+    heapArray_ = capnp::messageToFlatArray(*this);
+    return heapArray_.asBytes();
+  }
+
+  size_t getSerializedSize() {
+    return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
+  }
+
+  int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
+    size_t serialized_size = getSerializedSize();
+    if (serialized_size > buffer_size) { return -1; }
+    kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
+    capnp::writeMessage(out, *this);
+    return serialized_size;
+  }
+
+private:
+  kj::Array<capnp::word> heapArray_;
+};
+
+class PubMaster {
+public:
+  PubMaster(const std::vector<const char *> &service_list);
+  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
+  int send(const char *name, MessageBuilder &msg);
+  ~PubMaster();
+
+private:
+  std::map<std::string, PubSocket *> sockets_;
+};
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};
@@ -1,56 +0,0 @@
-#pragma once
-#include <cstddef>
-#include <vector>
-#include <string>
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){};
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){};
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address);
-  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
-  virtual ~SubSocket(){};
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint);
-  virtual ~PubSocket(){};
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
-};
@@ -6,7 +6,35 @@ from libcpp.vector cimport vector
 from libcpp cimport bool


-cdef extern from "messaging.hpp":
+cdef extern from "cereal/messaging/impl_fake.h":
+  cdef cppclass Event:
+    @staticmethod
+    int wait_for_one(vector[Event], int) except +
+
+    Event()
+    Event(int)
+    void set()
+    int clear()
+    void wait(int) except +
+    bool peek()
+    int fd()
+
+  cdef cppclass SocketEventHandle:
+    @staticmethod
+    void toggle_fake_events(bool)
+    @staticmethod
+    void set_fake_prefix(string)
+    @staticmethod
+    string fake_prefix()
+
+    SocketEventHandle(string, string, bool)
+    bool is_enabled()
+    void set_enabled(bool)
+    Event recv_called()
+    Event recv_ready()
+
+
+cdef extern from "cereal/messaging/messaging.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -31,6 +59,7 @@ 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
@@ -1,151 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import sys
-from libcpp.string cimport string
-from libcpp cimport bool
-from libc cimport errno
-
-
-from messaging cimport Context as cppContext
-from messaging cimport SubSocket as cppSubSocket
-from messaging cimport PubSocket as cppPubSocket
-from messaging cimport Poller as cppPoller
-from messaging cimport Message as cppMessage
-
-
-class MessagingError(Exception):
-  pass
-
-
-class MultiplePublishersError(MessagingError):
-  pass
-
-
-cdef class Context:
-  cdef cppContext * context
-
-  def __cinit__(self):
-    self.context = cppContext.create()
-
-  def term(self):
-    del self.context
-    self.context = NULL
-
-  def __dealloc__(self):
-    pass
-    # Deleting the context will hang if sockets are still active
-    # TODO: Figure out a way to make sure the context is closed last
-    # del self.context
-
-
-cdef class Poller:
-  cdef cppPoller * poller
-  cdef list sub_sockets
-
-  def __cinit__(self):
-    self.sub_sockets = []
-    self.poller = cppPoller.create()
-
-  def __dealloc__(self):
-    del self.poller
-
-  def registerSocket(self, SubSocket socket):
-    self.sub_sockets.append(socket)
-    self.poller.registerSocket(socket.socket)
-
-  def poll(self, timeout):
-    sockets = []
-    cdef int t = timeout
-
-    with nogil:
-        result = self.poller.poll(t)
-
-    for s in result:
-        socket = SubSocket()
-        socket.setPtr(s)
-        sockets.append(socket)
-
-    return sockets
-
-cdef class SubSocket:
-  cdef cppSubSocket * socket
-  cdef bool is_owner
-
-  def __cinit__(self):
-    self.socket = cppSubSocket.create()
-    self.is_owner = True
-
-    if self.socket == NULL:
-      raise MessagingError
-
-  def __dealloc__(self):
-    if self.is_owner:
-      del self.socket
-
-  cdef setPtr(self, cppSubSocket * ptr):
-    if self.is_owner:
-      del self.socket
-
-    self.is_owner = False
-    self.socket = ptr
-
-  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
-    r = self.socket.connect(context.context, endpoint, address, conflate)
-
-    if r != 0:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
-
-  def setTimeout(self, int timeout):
-    self.socket.setTimeout(timeout)
-
-  def receive(self, bool non_blocking=False):
-    msg = self.socket.receive(non_blocking)
-
-    if msg == NULL:
-      # If a blocking read returns no message check errno if SIGINT was caught in the C++ code
-      if errno.errno == errno.EINTR:
-        print("SIGINT received, exiting")
-        sys.exit(1)
-
-      return None
-    else:
-      sz = msg.getSize()
-      m = msg.getData()[:sz]
-      del msg
-
-      return m
-
-
-cdef class PubSocket:
-  cdef cppPubSocket * socket
-
-  def __cinit__(self):
-    self.socket = cppPubSocket.create()
-    if self.socket == NULL:
-      raise MessagingError
-
-  def __dealloc__(self):
-    del self.socket
-
-  def connect(self, Context context, string endpoint):
-    r = self.socket.connect(context.context, endpoint)
-
-    if r != 0:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
-
-  def send(self, string data):
-    length = len(data)
-    r = self.socket.send(<char*>data.c_str(), length)
-
-    if r != length:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
@@ -1,56 +0,0 @@
-import os
-import subprocess
-import sysconfig
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-from Cython.Build import cythonize
-from Cython.Distutils import build_ext
-
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
-
-sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
-libraries = ['zmq']
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-if ARCH == "aarch64":
-  extra_compile_args += ["-Wno-deprecated-register"]
-  libraries += ['gnustl_shared']
-
-setup(name='CAN parser',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "messaging_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          libraries=libraries,
-          extra_objects=[
-            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
-          ]
-        )
-      ),
-      nthreads=4,
-)
@@ -1,449 +0,0 @@
-#include <iostream>
-#include <cassert>
-#include <cerrno>
-#include <cmath>
-#include <cstring>
-#include <cstdint>
-#include <chrono>
-#include <algorithm>
-#include <cstdlib>
-#include <csignal>
-#include <random>
-
-#include <poll.h>
-#include <sys/ioctl.h>
-#include <sys/mman.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/syscall.h>
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <stdio.h>
-
-#include "msgq.hpp"
-
-void sigusr2_handler(int signal) {
-  assert(signal == SIGUSR2);
-}
-
-uint64_t msgq_get_uid(void){
-  std::random_device rd("/dev/urandom");
-  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
-
-  uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
-  return uid;
-}
-
-int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
-  msg->size = size;
-  msg->data = new(std::nothrow) char[size];
-
-  return (msg->data == NULL) ? -1 : 0;
-}
-
-
-int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
-  int r = msgq_msg_init_size(msg, size);
-
-  if (r == 0)
-    memcpy(msg->data, data, size);
-
-  return r;
-}
-
-int msgq_msg_close(msgq_msg_t * msg){
-  if (msg->size > 0)
-    delete[] msg->data;
-
-  msg->size = 0;
-
-  return 0;
-}
-
-void msgq_reset_reader(msgq_queue_t * q){
-  int id = q->reader_id;
-  q->read_valids[id]->store(true);
-  q->read_pointers[id]->store(*q->write_pointer);
-}
-
-void msgq_wait_for_subscriber(msgq_queue_t *q){
-  while (*q->num_readers == 0){
-    ;
-  }
-
-  return;
-}
-
-
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
-  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
-
-  std::signal(SIGUSR2, sigusr2_handler);
-
-  const char * prefix = "/dev/shm/";
-  char * full_path = new char[strlen(path) + strlen(prefix) + 1];
-  strcpy(full_path, prefix);
-  strcat(full_path, path);
-
-  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
-  delete[] full_path;
-
-  if (fd < 0)
-    return -1;
-
-  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
-  if (rc < 0)
-    return -1;
-
-  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
-  close(fd);
-
-  if (mem == NULL)
-    return -1;
-
-  q->mmap_p = mem;
-
-  msgq_header_t *header = (msgq_header_t *)mem;
-
-  // Setup pointers to header segment
-  q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
-  q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
-  q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
-
-  for (size_t i = 0; i < NUM_READERS; i++){
-    q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
-    q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
-    q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
-  }
-
-  q->data = mem + sizeof(msgq_header_t);
-  q->size = size;
-  q->reader_id = -1;
-
-  q->endpoint = path;
-  q->read_conflate = false;
-
-  return 0;
-}
-
-void msgq_close_queue(msgq_queue_t *q){
-  if (q->mmap_p != NULL){
-    munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
-  }
-}
-
-
-void msgq_init_publisher(msgq_queue_t * q) {
-  //std::cout << "Starting publisher" << std::endl;
-  uint64_t uid = msgq_get_uid();
-
-  *q->write_uid = uid;
-  *q->num_readers = 0;
-
-  for (size_t i = 0; i < NUM_READERS; i++){
-    *q->read_valids[i] = false;
-    *q->read_uids[i] = 0;
-  }
-
-  q->write_uid_local = uid;
-}
-
-static void thread_signal(uint32_t tid) {
-  #ifndef SYS_tkill
-    // TODO: this won't work for multithreaded programs
-    kill(tid, SIGUSR2);
-  #else
-    syscall(SYS_tkill, tid, SIGUSR2);
-  #endif
-}
-
-void msgq_init_subscriber(msgq_queue_t * q) {
-  assert(q != NULL);
-  assert(q->num_readers != NULL);
-
-  uint64_t uid = msgq_get_uid();
-
-  // Get reader id
-  while (true){
-    uint64_t cur_num_readers = *q->num_readers;
-    uint64_t new_num_readers = cur_num_readers + 1;
-
-    // No more slots available. Reset all subscribers to kick out inactive ones
-    if (new_num_readers > NUM_READERS){
-      std::cout << "Warning, evicting all subscribers!" << std::endl;
-      *q->num_readers = 0;
-
-      for (size_t i = 0; i < NUM_READERS; i++){
-        *q->read_valids[i] = false;
-
-        uint64_t old_uid = *q->read_uids[i];
-        *q->read_uids[i] = 0;
-
-        // Wake up reader in case they are in a poll
-        thread_signal(old_uid & 0xFFFFFFFF);
-      }
-
-      continue;
-    }
-
-    // Use atomic compare and swap to handle race condition
-    // where two subscribers start at the same time
-    if (std::atomic_compare_exchange_strong(q->num_readers,
-                                            &cur_num_readers,
-                                            new_num_readers)){
-      q->reader_id = cur_num_readers;
-      q->read_uid_local = uid;
-
-      // We start with read_valid = false,
-      // on the first read the read pointer will be synchronized with the write pointer
-      *q->read_valids[cur_num_readers] = false;
-      *q->read_pointers[cur_num_readers] = 0;
-      *q->read_uids[cur_num_readers] = uid;
-      break;
-    }
-  }
-
-  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
-  msgq_reset_reader(q);
-}
-
-int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
-  // Die if we are no longer the active publisher
-  if (q->write_uid_local != *q->write_uid){
-    std::cout << "Killing old publisher: " << q->endpoint << std::endl;
-    errno = EADDRINUSE;
-    return -1;
-  }
-
-  uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
-
-  // We need to fit at least three messages in the queue,
-  // then we can always safely access the last message
-  assert(3 * total_msg_size <= q->size);
-
-  uint64_t num_readers = *q->num_readers;
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  char *p = q->data + write_pointer; // add base offset
-
-  // Check remaining space
-  // Always leave space for a wraparound tag for the next message, including alignment
-  int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
-  if (remaining_space <= 0){
-    // Write -1 size tag indicating wraparound
-    *(int64_t*)p = -1;
-
-    // Invalidate all readers that are beyond the write pointer
-    // TODO: should we handle the case where a new reader shows up while this is running?
-    for (uint64_t i = 0; i < num_readers; i++){
-      uint64_t read_pointer = *q->read_pointers[i];
-      uint64_t read_cycles = read_pointer >> 32;
-      read_pointer &= 0xFFFFFFFF;
-
-      if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
-        *q->read_valids[i] = false;
-      }
-    }
-
-    // Update global and local copies of write pointer and write_cycles
-    write_pointer = 0;
-    write_cycles = write_cycles + 1;
-    PACK64(*q->write_pointer, write_cycles, write_pointer);
-
-    // Set actual pointer to the beginning of the data segment
-    p = q->data;
-  }
-
-  // Invalidate readers that are in the area that will be written
-  uint64_t start = write_pointer;
-  uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
-
-  for (uint64_t i = 0; i < num_readers; i++){
-    uint32_t read_cycles, read_pointer;
-    UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
-
-    if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
-      *q->read_valids[i] = false;
-    }
-  }
-
-
-  // Write size tag
-  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
-  *size_p = msg->size;
-
-  // Copy data
-  memcpy(p + sizeof(int64_t), msg->data, msg->size);
-  __sync_synchronize();
-
-  // Update write pointer
-  uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
-  PACK64(*q->write_pointer, write_cycles, new_ptr);
-
-  // Notify readers
-  for (uint64_t i = 0; i < num_readers; i++){
-    uint64_t reader_uid = *q->read_uids[i];
-    thread_signal(reader_uid & 0xFFFFFFFF);
-  }
-
-  return msg->size;
-}
-
-
-int msgq_msg_ready(msgq_queue_t * q){
- start:
-  int id = q->reader_id;
-  assert(id >= 0); // Make sure subscriber is initialized
-
-  if (q->read_uid_local != *q->read_uids[id]){
-    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
-    msgq_init_subscriber(q);
-    goto start;
-  }
-
-  // Check valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  uint32_t read_cycles, read_pointer;
-  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  // Check if new message is available
-  return (read_pointer != write_pointer);
-}
-
-int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
- start:
-  int id = q->reader_id;
-  assert(id >= 0); // Make sure subscriber is initialized
-
-  if (q->read_uid_local != *q->read_uids[id]){
-    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
-    msgq_init_subscriber(q);
-    goto start;
-  }
-
-  // Check valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  uint32_t read_cycles, read_pointer;
-  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
-
-  uint32_t write_cycles, write_pointer;
-  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
-
-  char * p = q->data + read_pointer;
-
-  // Check if new message is available
-  if (read_pointer == write_pointer) {
-    msg->size = 0;
-    return 0;
-  }
-
-  // Read potential message size
-  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
-  std::int64_t size = *size_p;
-
-  // Check if the size that was read is valid
-  if (!*q->read_valids[id]){
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-  // If size is -1 the buffer was full, and we need to wrap around
-  if (size == -1){
-    read_cycles++;
-    PACK64(*q->read_pointers[id], read_cycles, 0);
-    goto start;
-  }
-
-  // crashing is better than passing garbage data to the consumer
-  // the size will have weird value if it was overwritten by data accidentally
-  assert((uint64_t)size < q->size);
-  assert(size > 0);
-
-  uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
-
-  // If conflate is true, check if this is the latest message, else start over
-  if (q->read_conflate){
-    if (new_read_pointer != write_pointer){
-      // Update read pointer
-      PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
-      goto start;
-    }
-  }
-
-  // Copy message
-  if (msgq_msg_init_size(msg, size) < 0)
-    return -1;
-
-  __sync_synchronize();
-  memcpy(msg->data, p + sizeof(int64_t), size);
-  __sync_synchronize();
-
-  // Update read pointer
-  PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
-
-  // Check if the actual data that was copied is valid
-  if (!*q->read_valids[id]){
-    msgq_msg_close(msg);
-    msgq_reset_reader(q);
-    goto start;
-  }
-
-
-  return msg->size;
-}
-
-
-
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
-  assert(timeout >= 0);
-
-  int num = 0;
-
-  // Check if messages ready
-  for (size_t i = 0; i < nitems; i++) {
-    items[i].revents = msgq_msg_ready(items[i].q);
-    if (items[i].revents) num++;
-  }
-
-  int ms = (timeout == -1) ? 100 : timeout;
-  struct timespec ts;
-  ts.tv_sec = ms / 1000;
-  ts.tv_nsec = (ms % 1000) * 1000 * 1000;
-
-
-  while (num == 0) {
-    int ret;
-
-    ret = nanosleep(&ts, &ts);
-
-    // Check if messages ready
-    for (size_t i = 0; i < nitems; i++) {
-      if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
-        num += 1;
-        items[i].revents = 1;
-      }
-    }
-
-    // exit if we had a timeout and the sleep finished
-    if (timeout != -1 && ret == 0){
-      break;
-    }
-  }
-
-  return num;
-}
@@ -0,0 +1,70 @@
+#pragma once
+
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <atomic>
+
+#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
+#define NUM_READERS 18 //default comma is 12
+#define ALIGN(n) ((n + (8 - 1)) & -8)
+
+#define UNUSED(x) (void)x
+#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
+#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF)
+
+struct  msgq_header_t {
+  uint64_t num_readers;
+  uint64_t write_pointer;
+  uint64_t write_uid;
+  uint64_t read_pointers[NUM_READERS];
+  uint64_t read_valids[NUM_READERS];
+  uint64_t read_uids[NUM_READERS];
+};
+
+struct msgq_queue_t {
+  std::atomic<uint64_t> *num_readers;
+  std::atomic<uint64_t> *write_pointer;
+  std::atomic<uint64_t> *write_uid;
+  std::atomic<uint64_t> *read_pointers[NUM_READERS];
+  std::atomic<uint64_t> *read_valids[NUM_READERS];
+  std::atomic<uint64_t> *read_uids[NUM_READERS];
+  char * mmap_p;
+  char * data;
+  size_t size;
+  int reader_id;
+  uint64_t read_uid_local;
+  uint64_t write_uid_local;
+
+  bool read_conflate;
+  std::string endpoint;
+};
+
+struct msgq_msg_t {
+  size_t size;
+  char * data;
+};
+
+struct msgq_pollitem_t {
+  msgq_queue_t *q;
+  int revents;
+};
+
+void msgq_wait_for_subscriber(msgq_queue_t *q);
+void msgq_reset_reader(msgq_queue_t *q);
+
+int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
+int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
+int msgq_msg_close(msgq_msg_t *msg);
+
+int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
+void msgq_close_queue(msgq_queue_t *q);
+void msgq_init_publisher(msgq_queue_t * q);
+void msgq_init_subscriber(msgq_queue_t * q);
+
+int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
+int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
+int msgq_msg_ready(msgq_queue_t * q);
+int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);
@@ -1,66 +0,0 @@
-#pragma once
-#include <cstdint>
-#include <cstring>
-#include <string>
-#include <atomic>
-
-#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 8
-#define ALIGN(n) ((n + (8 - 1)) & -8)
-
-#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
-
-struct  msgq_header_t {
-  uint64_t num_readers;
-  uint64_t write_pointer;
-  uint64_t write_uid;
-  uint64_t read_pointers[NUM_READERS];
-  uint64_t read_valids[NUM_READERS];
-  uint64_t read_uids[NUM_READERS];
-};
-
-struct msgq_queue_t {
-  std::atomic<uint64_t> *num_readers;
-  std::atomic<uint64_t> *write_pointer;
-  std::atomic<uint64_t> *write_uid;
-  std::atomic<uint64_t> *read_pointers[NUM_READERS];
-  std::atomic<uint64_t> *read_valids[NUM_READERS];
-  std::atomic<uint64_t> *read_uids[NUM_READERS];
-  char * mmap_p;
-  char * data;
-  size_t size;
-  int reader_id;
-  uint64_t read_uid_local;
-  uint64_t write_uid_local;
-
-  bool read_conflate;
-  std::string endpoint;
-};
-
-struct msgq_msg_t {
-  size_t size;
-  char * data;
-};
-
-struct msgq_pollitem_t {
-  msgq_queue_t *q;
-  int revents;
-};
-
-void msgq_wait_for_subscriber(msgq_queue_t *q);
-void msgq_reset_reader(msgq_queue_t *q);
-
-int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
-int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
-int msgq_msg_close(msgq_msg_t *msg);
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
-void msgq_close_queue(msgq_queue_t *q);
-void msgq_init_publisher(msgq_queue_t * q);
-void msgq_init_subscriber(msgq_queue_t * q);
-
-int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_ready(msgq_queue_t * q);
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
@@ -1,7 +1,5 @@
 # MSGQ: A lock free single producer multi consumer message queue

-[![Build Status](https://dev.azure.com/commaai/default/_apis/build/status/commaai.msgq?branchName=master)](https://dev.azure.com/commaai/default/_build/latest?definitionId=21&branchName=master)
-
 ## What is MSGQ?
 MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.

@@ -1,395 +0,0 @@
-#include "catch2/catch.hpp"
-#include "msgq.hpp"
-
-TEST_CASE("ALIGN"){
-  REQUIRE(ALIGN(0) == 0);
-  REQUIRE(ALIGN(1) == 8);
-  REQUIRE(ALIGN(7) == 8);
-  REQUIRE(ALIGN(8) == 8);
-  REQUIRE(ALIGN(99999) == 100000);
-}
-
-TEST_CASE("msgq_msg_init_size"){
-  const size_t msg_size = 30;
-  msgq_msg_t msg;
-
-  msgq_msg_init_size(&msg, msg_size);
-  REQUIRE(msg.size == msg_size);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_init_data"){
-  const size_t msg_size = 30;
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-  REQUIRE(msg.size == msg_size);
-  REQUIRE(memcmp(msg.data, data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-
-TEST_CASE("msgq_init_subscriber"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  REQUIRE(*q.num_readers == 0);
-
-  q.reader_id = 1;
-  *q.read_valids[0] = false;
-  *q.read_pointers[0] = ((uint64_t)1 << 32);
-
-  *q.write_pointer = 255;
-
-  msgq_init_subscriber(&q);
-  REQUIRE(q.read_conflate == false);
-  REQUIRE(*q.read_valids[0] == true);
-  REQUIRE((*q.read_pointers[0] >> 32) == 0);
-  REQUIRE((*q.read_pointers[0]  & 0xFFFFFFFF) == 255);
-}
-
-TEST_CASE("msgq_msg_send first message"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE(*q.write_pointer == 0);
-
-  size_t msg_size = 128;
-
-  SECTION("Aligned message size"){
-  }
-  SECTION("Unaligned message size"){
-    msg_size--;
-  }
-
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-
-  msgq_msg_send(&msg, &q);
-  REQUIRE(*(int64_t*)q.data == msg_size); // Check size tag
-  REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
-  REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_send test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
-  REQUIRE((*q.write_pointer >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, msg_size);
-
-  for (int i = 0; i < 8; i++) {
-    msgq_msg_send(&msg, &q);
-  }
-  // Check 8th message was written at the beginning
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
-
-  // Check cycle count
-  REQUIRE((*q.write_pointer >> 32) == 1);
-
-  // Check wraparound tag
-  char * tag_location = q.data;
-  tag_location += 7 * (msg_size + sizeof(int64_t));
-  REQUIRE(*(int64_t*)tag_location == -1);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_recv test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-
-  REQUIRE((*q_pub.write_pointer >> 32) == 0);
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg1;
-  msgq_msg_init_size(&msg1, msg_size);
-
-
-  SECTION("Check cycle counter after reset") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-    }
-
-    msgq_msg_t msg2;
-    msgq_msg_recv(&msg2, &q_sub);
-    REQUIRE(msg2.size == 0); // Reader had to reset
-    msgq_msg_close(&msg2);
-
-  }
-  SECTION("Check cycle counter while keeping up with writer") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-
-      msgq_msg_t msg2;
-      msgq_msg_recv(&msg2, &q_sub);
-      REQUIRE(msg2.size > 0);
-      msgq_msg_close(&msg2);
-    }
-  }
-
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
-  msgq_msg_close(&msg1);
-}
-
-TEST_CASE("msgq_msg_send test invalidation"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-  *q_sub.write_pointer = (uint64_t)1 << 32;
-
-  REQUIRE(*q_sub.read_valids[0] == true);
-
-  SECTION("read pointer in tag"){
-    *q_sub.read_pointers[0] = 0;
-  }
-  SECTION("read pointer in data section"){
-    *q_sub.read_pointers[0] = 64;
-  }
-  SECTION("read pointer in wraparound section"){
-    *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
-    *q_sub.read_pointers[0] = 1020;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, 128);
-  msgq_msg_send(&msg, &q_pub);
-
-  REQUIRE(*q_sub.read_valids[0] == false);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_init_subscriber init 2 subscribers"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q1, q2;
-  msgq_new_queue(&q1, "test_queue", 1024);
-  msgq_new_queue(&q2, "test_queue", 1024);
-
-  *q1.num_readers = 0;
-
-  REQUIRE(*q1.num_readers == 0);
-  REQUIRE(*q2.num_readers == 0);
-
-  msgq_init_subscriber(&q1);
-  REQUIRE(*q1.num_readers == 1);
-  REQUIRE(*q2.num_readers == 1);
-  REQUIRE(q1.reader_id == 0);
-
-  msgq_init_subscriber(&q2);
-  REQUIRE(*q1.num_readers == 2);
-  REQUIRE(*q2.num_readers == 2);
-  REQUIRE(q2.reader_id == 1);
-}
-
-
-TEST_CASE("Write 1 msg, read 1 msg", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-  reader.read_conflate = true;
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("1 publisher, 1 slow subscriber", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  int n_received = 0;
-  int n_skipped = 0;
-
-  for (uint64_t i = 0; i < 1e5; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-    msgq_msg_close(&outgoing_msg);
-
-    if (i % 10 == 0){
-      msgq_msg_t msg1;
-      msgq_msg_recv(&msg1, &reader);
-
-      if (msg1.size == 0){
-        n_skipped++;
-      } else {
-        n_received++;
-      }
-      msgq_msg_close(&msg1);
-    }
-  }
-
-  // TODO: verify these numbers by hand
-  REQUIRE(n_received == 8572);
-  REQUIRE(n_skipped == 1428);
-}
-
-TEST_CASE("1 publisher, 2 subscribers", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader1, reader2;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader1, "test_queue", 1024);
-  msgq_new_queue(&reader2, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader1);
-  msgq_init_subscriber(&reader2);
-
-  for (uint64_t i = 0; i < 1024 * 3; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-
-    msgq_msg_t msg1, msg2;
-    msgq_msg_recv(&msg1, &reader1);
-    msgq_msg_recv(&msg2, &reader2);
-
-    REQUIRE(msg1.size == sizeof(uint64_t));
-    REQUIRE(msg2.size == sizeof(uint64_t));
-    REQUIRE(*(uint64_t*)msg1.data == i);
-    REQUIRE(*(uint64_t*)msg2.data == i);
-
-    msgq_msg_close(&outgoing_msg);
-    msgq_msg_close(&msg1);
-    msgq_msg_close(&msg2);
-  }
-}
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
@@ -1,142 +0,0 @@
-import unittest
-import time
-import cereal.messaging as messaging
-
-import concurrent.futures
-
-
-def poller():
-  context = messaging.Context()
-
-  p = messaging.Poller()
-
-  sub = messaging.SubSocket()
-  sub.connect(context, 'controlsState')
-  p.registerSocket(sub)
-
-  socks = p.poll(10000)
-  r = [s.receive(non_blocking=True) for s in socks]
-
-  return r
-
-
-class TestPoller(unittest.TestCase):
-  def test_poll_once(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_poll_and_create_many_subscribers(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-      c = messaging.Context()
-      for _ in range(10):
-        messaging.SubSocket().connect(c, 'controlsState')
-
-      time.sleep(0.1)
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_multiple_publishers_exception(self):
-    context = messaging.Context()
-
-    with self.assertRaises(messaging.MultiplePublishersError):
-      pub1 = messaging.PubSocket()
-      pub1.connect(context, 'controlsState')
-
-      pub2 = messaging.PubSocket()
-      pub2.connect(context, 'controlsState')
-
-      pub1.send("a")
-
-    del pub1
-    del pub2
-    context.term()
-
-  def test_multiple_messages(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState')
-
-    time.sleep(0.1)  # Slow joiner
-
-    for i in range(100):
-      pub.send(str(i))
-
-    msg_seen = False
-    i = 0
-    while True:
-      r = sub.receive(non_blocking=True)
-
-      if r is not None:
-        self.assertEqual(str(i), r.decode('utf8'))
-
-        msg_seen = True
-        i += 1
-
-      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
-        break
-
-    del pub
-    del sub
-    context.term()
-
-  def test_conflate(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState', conflate=True)
-
-    time.sleep(0.1)  # Slow joiner
-    pub.send('a')
-    pub.send('b')
-
-    self.assertEqual(b'b', sub.receive())
-
-    del pub
-    del sub
-    context.term()
-
-
-if __name__ == "__main__":
-  unittest.main()
@@ -0,0 +1,20 @@
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
+ignore = ["W292", "E741", "E402", "C408", "ISC003"]
+line-length = 160
+target-version="py311"
+flake8-implicit-str-concat.allow-multiline=false
+
+[mypy.tool]
+# third-party packages
+ignore_missing_imports=true
+
+# helpful warnings
+warn_redundant_casts=true
+warn_unreachable=true
+warn_unused_ignores=true
+
+# restrict dynamic typing
+warn_return_any=true
+check_untyped_defs=true
@@ -1,164 +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.]
-#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.]
-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, 0.]
-uiNavigationEvent: [8055, true, 0.]
-orbOdometry: [8057, true, 0.]
-orbFeatures: [8058, false, 0.]
-orbKeyFrame: [8059, true, 0.]
-uiLayoutState: [8060, true, 0.]
-frontEncodeIdx: [8061, true, 5.]
-orbFeaturesSummary: [8062, true, 0.]
-driverState: [8063, true, 5., 1]
-liveParameters: [8064, true, 10.]
-liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20., 5]
-pathPlan: [8067, true, 20.]
-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]
-
-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
-
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   publishes:  frame, model, driverMonitoring, cameraOdometry, thumbnail
-
-# **** stateful data transformers ****
-
-# 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, driverMonitoring, liveCalibration
-#   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
-
-# 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
@@ -0,0 +1,87 @@
+/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
+#ifndef __SERVICES_H
+#define __SERVICES_H
+#include <map>
+struct service { std::string name; int port; bool should_log; int frequency; int decimation; };
+static std::map<std::string, service> services = {
+  { "gyroscope", {"gyroscope", 8001, true, 104, 104}},
+  { "gyroscope2", {"gyroscope2", 8002, true, 100, 100}},
+  { "accelerometer", {"accelerometer", 8003, true, 104, 104}},
+  { "accelerometer2", {"accelerometer2", 8004, true, 100, 100}},
+  { "magnetometer", {"magnetometer", 8005, true, 25, 25}},
+  { "lightSensor", {"lightSensor", 8006, true, 100, 100}},
+  { "temperatureSensor", {"temperatureSensor", 8007, true, 2, 200}},
+  { "temperatureSensor2", {"temperatureSensor2", 8008, true, 2, 200}},
+  { "gpsNMEA", {"gpsNMEA", 8009, true, 9, -1}},
+  { "deviceState", {"deviceState", 8010, true, 2, 1}},
+  { "can", {"can", 8011, true, 100, 1223}},
+  { "controlsState", {"controlsState", 8012, true, 100, 10}},
+  { "pandaStates", {"pandaStates", 8013, true, 2, 1}},
+  { "peripheralState", {"peripheralState", 8014, true, 2, 1}},
+  { "radarState", {"radarState", 8015, true, 20, 5}},
+  { "roadEncodeIdx", {"roadEncodeIdx", 8016, false, 20, 1}},
+  { "liveTracks", {"liveTracks", 8017, true, 20, -1}},
+  { "sendcan", {"sendcan", 8018, true, 100, 139}},
+  { "logMessage", {"logMessage", 8019, true, 0, -1}},
+  { "errorLogMessage", {"errorLogMessage", 8020, true, 0, 1}},
+  { "liveCalibration", {"liveCalibration", 8021, true, 4, 4}},
+  { "liveTorqueParameters", {"liveTorqueParameters", 8023, true, 4, 1}},
+  { "androidLog", {"androidLog", 8024, true, 0, -1}},
+  { "carState", {"carState", 8025, true, 100, 10}},
+  { "carControl", {"carControl", 8026, true, 100, 10}},
+  { "longitudinalPlan", {"longitudinalPlan", 8027, true, 20, 5}},
+  { "procLog", {"procLog", 8028, true, 0, 15}},
+  { "gpsLocationExternal", {"gpsLocationExternal", 8029, true, 10, 10}},
+  { "gpsLocation", {"gpsLocation", 8030, true, 1, 1}},
+  { "ubloxGnss", {"ubloxGnss", 8031, true, 10, -1}},
+  { "qcomGnss", {"qcomGnss", 8032, true, 2, -1}},
+  { "gnssMeasurements", {"gnssMeasurements", 8033, true, 10, 10}},
+  { "clocks", {"clocks", 8034, true, 1, 1}},
+  { "ubloxRaw", {"ubloxRaw", 8035, true, 20, -1}},
+  { "liveLocationKalman", {"liveLocationKalman", 8036, true, 20, 5}},
+  { "liveParameters", {"liveParameters", 8037, true, 20, 5}},
+  { "cameraOdometry", {"cameraOdometry", 8038, true, 20, 5}},
+  { "lateralPlan", {"lateralPlan", 8039, true, 20, 5}},
+  { "thumbnail", {"thumbnail", 8040, true, 0, 1}},
+  { "carEvents", {"carEvents", 8041, true, 1, 1}},
+  { "carParams", {"carParams", 8042, true, 0, 1}},
+  { "roadCameraState", {"roadCameraState", 8043, true, 20, 20}},
+  { "driverCameraState", {"driverCameraState", 8044, true, 10, 10}},
+  { "driverEncodeIdx", {"driverEncodeIdx", 8045, true, 10, 1}},
+  { "driverStateV2", {"driverStateV2", 8046, true, 20, 10}},
+  { "driverMonitoringState", {"driverMonitoringState", 8047, true, 10, 5}},
+  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", 8048, false, 20, 1}},
+  { "wideRoadCameraState", {"wideRoadCameraState", 8049, true, 20, 20}},
+  { "modelV2", {"modelV2", 8050, true, 20, 40}},
+  { "managerState", {"managerState", 8051, true, 2, 1}},
+  { "uploaderState", {"uploaderState", 8052, true, 0, 1}},
+  { "navInstruction", {"navInstruction", 8053, true, 1, 10}},
+  { "navRoute", {"navRoute", 8054, true, 0, -1}},
+  { "navThumbnail", {"navThumbnail", 8055, true, 0, -1}},
+  { "navModel", {"navModel", 8056, true, 2, 4}},
+  { "mapRenderState", {"mapRenderState", 8057, true, 2, 1}},
+  { "uiPlan", {"uiPlan", 8058, true, 20, 40}},
+  { "qRoadEncodeIdx", {"qRoadEncodeIdx", 8059, false, 20, -1}},
+  { "userFlag", {"userFlag", 8060, true, 0, 1}},
+  { "microphone", {"microphone", 8061, true, 10, 10}},
+  { "uiDebug", {"uiDebug", 8062, true, 0, 1}},
+  { "testJoystick", {"testJoystick", 8063, true, 0, -1}},
+  { "roadEncodeData", {"roadEncodeData", 8064, false, 20, -1}},
+  { "driverEncodeData", {"driverEncodeData", 8065, false, 20, -1}},
+  { "wideRoadEncodeData", {"wideRoadEncodeData", 8066, false, 20, -1}},
+  { "qRoadEncodeData", {"qRoadEncodeData", 8067, false, 20, -1}},
+  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8068, false, 20, -1}},
+  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8069, false, 20, -1}},
+  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8070, false, 20, -1}},
+  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8071, false, 20, -1}},
+  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8072, false, 20, -1}},
+  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8073, false, 20, -1}},
+  { "driverState", {"driverState", 8074, true, 10, 5}},
+  { "sensorEvents", {"sensorEvents", 8075, true, 100, 100}},
+  { "liveMapData", {"liveMapData", 8076, false, 0, -1}},
+  { "longitudinalPlanExt", {"longitudinalPlanExt", 8077, false, 20, 5}},
+  { "lateralPlanExt", {"lateralPlanExt", 8078, false, 20, 5}},
+  { "controlsStateExt", {"controlsStateExt", 8079, false, 100, 10}},
+};
+#endif
+
@@ -1,33 +1,137 @@
 #!/usr/bin/env python3
+from typing import Optional
 import os
-import yaml

-class Service():
-  def __init__(self, port, should_log, frequency, decimation=None):
+TICI = os.path.isfile('/TICI')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001
+
+
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+
+
+class Service:
+  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
    self.port = port
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation

-service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
+DCAM_FREQ = 10. if not TICI else 20.

-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]
+services = {
+  # service: (should_log, frequency, qlog decimation (optional))
+  # note: the "EncodeIdx" packets will still be in the log
+  "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
+  "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
+  "magnetometer": (True, 25., 25),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 2., 200),
+  "temperatureSensor2": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
+  "controlsState": (True, 100., 10),
+  "pandaStates": (True, 2., 1),
+  "peripheralState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (False, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100., 139),
+  "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
+  "liveCalibration": (True, 4., 4),
+  "liveTorqueParameters": (True, 4., 1),
+  "androidLog": (True, 0.),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 5),
+  "procLog": (True, 0.5, 15),
+  "gpsLocationExternal": (True, 10., 10),
+  "gpsLocation": (True, 1., 1),
+  "ubloxGnss": (True, 10.),
+  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
+  "clocks": (True, 1., 1),
+  "ubloxRaw": (True, 20.),
+  "liveLocationKalman": (True, 20., 5),
+  "liveParameters": (True, 20., 5),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 5),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "roadCameraState": (True, 20., 20),
+  "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
+  "driverEncodeIdx": (True, DCAM_FREQ, 1),
+  "driverStateV2": (True, 20., 10),
+  "driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
+  "wideRoadEncodeIdx": (False, 20., 1),
+  "wideRoadCameraState": (True, 20., 20),
+  "modelV2": (True, 20., 40),
+  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
+  "navModel": (True, 2., 4.),
+  "mapRenderState": (True, 2., 1.),
+  "uiPlan": (True, 20., 40.),
+  "qRoadEncodeIdx": (False, 20.),
+  "userFlag": (True, 0., 1),
+  "microphone": (True, 10., 10),
+
+  # debug
+  "uiDebug": (True, 0., 1),
+  "testJoystick": (True, 0.),
+  "roadEncodeData": (False, 20.),
+  "driverEncodeData": (False, 20.),
+  "wideRoadEncodeData": (False, 20.),
+  "qRoadEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
+
+  # legacy
+  "driverState": (True, 10, 5),
+  "sensorEvents": (True, 100., 100),
+  # mapd
+  "liveMapData": (False, 0.),
+  "longitudinalPlanExt": (False, 20., 5),
+  "lateralPlanExt": (False, 20., 5),
+  "controlsStateExt": (False, 100., 10),
+}
+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 += "#include <map>\n"
+
+  h += "struct service { std::string name; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static std::map<std::string, service> services = {\n"
+  for k, v in SERVICE_LIST.items():
+    should_log = "true" if v.should_log else "false"
+    decimation = -1 if v.decimation is None else v.decimation
+    h += '  { "%s", {"%s", %d, %s, %d, %d}},\n' % \
+         (k, 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 { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
-  print("static struct service services[] = {")
-  for k, v in service_list.items():
-    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
-  print("};")
-  print("#endif")
-
+  print(build_header())
@@ -0,0 +1,72 @@
+import re
+import SCons
+from SCons.Action import Action
+from SCons.Scanner import Scanner
+
+pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
+pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
+cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
+
+
+def pyx_scan(node, env, path, arg=None):
+  contents = node.get_text_contents()
+
+  # from <module> cimport ...
+  matches = pyx_from_import_re.findall(contents)
+  # cimport <module>
+  matches += pyx_import_re.findall(contents)
+
+  # Modules can be either .pxd or .pyx files
+  files = [m.replace('.', '/') + '.pxd' for m in matches]
+  files += [m.replace('.', '/') + '.pyx' for m in matches]
+
+  # cdef extern from <file>
+  files += cdef_import_re.findall(contents)
+
+  # Handle relative imports
+  cur_dir = str(node.get_dir())
+  files = [cur_dir + f if f.startswith('/') else f for f in files]
+
+  # Filter out non-existing files (probably system imports)
+  files = [f for f in files if env.File(f).exists()]
+  return env.File(files)
+
+
+pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
+cythonAction = Action("$CYTHONCOM")
+
+
+def create_builder(env):
+  try:
+    cython = env['BUILDERS']['Cython']
+  except KeyError:
+    cython = SCons.Builder.Builder(
+      action=cythonAction,
+      emitter={},
+      suffix=cython_suffix_emitter,
+      single_source=1
+    )
+    env.Append(SCANNERS=pyxscanner)
+    env['BUILDERS']['Cython'] = cython
+  return cython
+
+def cython_suffix_emitter(env, source):
+  return "$CYTHONCFILESUFFIX"
+
+def generate(env):
+  env["CYTHON"] = "cythonize"
+  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
+  env["CYTHONCFILESUFFIX"] = ".cpp"
+
+  c_file, _ = SCons.Tool.createCFileBuilders(env)
+
+  c_file.suffix['.pyx'] = cython_suffix_emitter
+  c_file.add_action('.pyx', cythonAction)
+
+  c_file.suffix['.py'] = cython_suffix_emitter
+  c_file.add_action('.py', cythonAction)
+
+  create_builder(env)
+
+def exists(env):
+  return True
@@ -0,0 +1,2 @@
+visionipc_pyx.cpp
+*.so
@@ -0,0 +1,6 @@
+from cereal.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name
+assert VisionBuf
+assert VisionIpcClient
+assert VisionIpcServer
+assert VisionStreamType
+assert get_endpoint_name
@@ -0,0 +1,7 @@
+#pragma once
+#include <cstddef>
+
+int ipc_connect(const char* socket_path);
+int ipc_bind(const char* socket_path);
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds);
@@ -0,0 +1,99 @@
+#!/usr/bin/env python3
+import os
+import time
+import random
+import unittest
+import numpy as np
+from cereal.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
+
+def zmq_sleep(t=1):
+  if "ZMQ" in os.environ:
+    time.sleep(t)
+
+
+class TestVisionIpc(unittest.TestCase):
+
+  def setup_vipc(self, name, *stream_types, num_buffers=1, rgb=False, width=100, height=100, conflate=False):
+    self.server = VisionIpcServer(name)
+    for stream_type in stream_types:
+      self.server.create_buffers(stream_type, num_buffers, rgb, width, height)
+    self.server.start_listener()
+
+    if len(stream_types):
+      self.client = VisionIpcClient(name, stream_types[0], conflate)
+      self.assertTrue(self.client.connect(True))
+    else:
+      self.client = None
+
+    zmq_sleep()
+    return self.server, self.client
+
+  def test_connect(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+    self.assertTrue(self.client.is_connected)
+
+  def test_available_streams(self):
+    for k in range(0, 4):
+      stream_types = set(random.choices([x.value for x in VisionStreamType], k=k))
+      self.setup_vipc("camerad", *stream_types)
+      available_streams = VisionIpcClient.available_streams("camerad", True)
+      self.assertEqual(available_streams, stream_types)
+
+  def test_buffers(self):
+    width, height, num_buffers = 100, 200, 5
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, num_buffers=num_buffers, width=width, height=height)
+    self.assertEqual(self.client.width, width)
+    self.assertEqual(self.client.height, height)
+    self.assertGreater(self.client.buffer_len, 0)
+    self.assertEqual(self.client.num_buffers, num_buffers)
+
+  def test_yuv_rgb(self):
+    _, client_yuv = self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, rgb=False)
+    _, client_rgb = self.setup_vipc("navd", VisionStreamType.VISION_STREAM_MAP, rgb=True)
+    self.assertTrue(client_rgb.rgb)
+    self.assertFalse(client_yuv.rgb)
+
+  def test_send_single_buffer(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+
+    buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
+    buf.view('<i4')[0] = 1234
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1337)
+
+    recv_buf = self.client.recv()
+    self.assertIsNot(recv_buf, None)
+    self.assertEqual(recv_buf.data.view('<i4')[0], 1234)
+    self.assertEqual(self.client.frame_id, 1337)
+
+  def test_no_conflate(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+
+    buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
+
+    recv_buf = self.client.recv()
+    self.assertIsNot(recv_buf, None)
+    self.assertEqual(self.client.frame_id, 1)
+
+    recv_buf = self.client.recv()
+    self.assertIsNot(recv_buf, None)
+    self.assertEqual(self.client.frame_id, 2)
+
+  def test_conflate(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, conflate=True)
+
+    buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
+
+    recv_buf = self.client.recv()
+    self.assertIsNot(recv_buf, None)
+    self.assertEqual(self.client.frame_id, 2)
+
+    recv_buf = self.client.recv()
+    self.assertIs(recv_buf, None)
+
+
+if __name__ == "__main__":
+  unittest.main()
@@ -0,0 +1,72 @@
+#pragma once
+
+#include "cereal/visionipc/visionipc.h"
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#define VISIONBUF_SYNC_FROM_DEVICE 0
+#define VISIONBUF_SYNC_TO_DEVICE 1
+
+enum VisionStreamType {
+  VISION_STREAM_RGB_ROAD,
+  VISION_STREAM_RGB_DRIVER,
+  VISION_STREAM_RGB_WIDE_ROAD,
+
+  VISION_STREAM_ROAD,
+  VISION_STREAM_DRIVER,
+  VISION_STREAM_WIDE_ROAD,
+
+  VISION_STREAM_MAP,
+  VISION_STREAM_MAX,
+};
+
+class VisionBuf {
+ public:
+  size_t len = 0;
+  size_t mmap_len = 0;
+  void * addr = nullptr;
+  uint64_t *frame_id;
+  int fd = 0;
+
+  bool rgb = false;
+  size_t width = 0;
+  size_t height = 0;
+  size_t stride = 0;
+  size_t uv_offset = 0;
+
+  // YUV
+  uint8_t * y = nullptr;
+  uint8_t * u = nullptr;
+  uint8_t * v = nullptr;
+  uint8_t * uv = nullptr;
+
+  // Visionipc
+  uint64_t server_id = 0;
+  size_t idx = 0;
+  VisionStreamType type;
+
+  // OpenCL
+  cl_mem buf_cl = nullptr;
+  cl_command_queue copy_q = nullptr;
+
+  // ion
+  int handle = 0;
+
+  void allocate(size_t len);
+  void import();
+  void init_cl(cl_device_id device_id, cl_context ctx);
+  void init_rgb(size_t width, size_t height, size_t stride);
+  void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset);
+  int sync(int dir);
+  int free();
+
+  void set_frame_id(uint64_t id);
+  uint64_t get_frame_id();
+};
+
+void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <cstdint>
+#include <cstddef>
+
+constexpr int VISIONIPC_MAX_FDS = 128;
+
+struct VisionIpcBufExtra {
+  uint32_t frame_id;
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+  bool valid;
+};
+
+struct VisionIpcPacket {
+  uint64_t server_id;
+  size_t idx;
+  struct VisionIpcBufExtra extra;
+};
@@ -0,0 +1,60 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp.set cimport set
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool, int
+
+cdef extern from "cereal/visionipc/visionbuf.h":
+  struct _cl_device_id
+  struct _cl_context
+  struct _cl_mem
+
+  ctypedef _cl_device_id * cl_device_id
+  ctypedef _cl_context * cl_context
+  ctypedef _cl_mem * cl_mem
+
+  cdef enum VisionStreamType:
+    pass
+
+  cdef cppclass VisionBuf:
+    void * addr
+    bool rgb
+    size_t len
+    size_t width
+    size_t height
+    size_t stride
+    size_t uv_offset
+    cl_mem buf_cl
+    void set_frame_id(uint64_t id)
+
+cdef extern from "cereal/visionipc/visionipc.h":
+  struct VisionIpcBufExtra:
+    uint32_t frame_id
+    uint64_t timestamp_sof
+    uint64_t timestamp_eof
+    bool valid
+
+cdef extern from "cereal/visionipc/visionipc_server.h":
+  string get_endpoint_name(string, VisionStreamType)
+
+  cdef cppclass VisionIpcServer:
+    VisionIpcServer(string, void*, void*)
+    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
+    void create_buffers_with_sizes(VisionStreamType, size_t, bool, size_t, size_t, size_t, size_t, size_t)
+    VisionBuf * get_buffer(VisionStreamType)
+    void send(VisionBuf *, VisionIpcBufExtra *, bool)
+    void start_listener()
+
+cdef extern from "cereal/visionipc/visionipc_client.h":
+  cdef cppclass VisionIpcClient:
+    int num_buffers
+    VisionBuf buffers[1]
+    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
+    VisionBuf * recv(VisionIpcBufExtra *, int)
+    bool connect(bool)
+    bool is_connected()
+    @staticmethod
+    set[VisionStreamType] getAvailableStreams(string, bool)
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <set>
+#include <string>
+#include <vector>
+#include <unistd.h>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionbuf.h"
+
+class VisionIpcClient {
+private:
+  std::string name;
+  Context * msg_ctx;
+  SubSocket * sock;
+  Poller * poller;
+
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+
+  void init_msgq(bool conflate);
+
+public:
+  bool connected = false;
+  VisionStreamType type;
+  int num_buffers = 0;
+  VisionBuf buffers[VISIONIPC_MAX_FDS];
+  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcClient();
+  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
+  bool connect(bool blocking=true);
+  bool is_connected() { return connected; }
+  static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
+};
@@ -0,0 +1,15 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from .visionipc cimport VisionBuf as cppVisionBuf
+from .visionipc cimport cl_device_id, cl_context
+
+cdef class CLContext:
+  cdef cl_device_id device_id
+  cdef cl_context context
+
+cdef class VisionBuf:
+  cdef cppVisionBuf * buf
+
+  @staticmethod
+  cdef create(cppVisionBuf*)
@@ -0,0 +1,42 @@
+#pragma once
+#include <vector>
+#include <string>
+#include <thread>
+#include <atomic>
+#include <map>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionbuf.h"
+
+std::string get_endpoint_name(std::string name, VisionStreamType type);
+
+class VisionIpcServer {
+ private:
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+  uint64_t server_id;
+
+  std::atomic<bool> should_exit = false;
+  std::string name;
+  std::thread listener_thread;
+
+  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
+  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
+
+  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 create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset);
+  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
+  void start_listener();
+};
@@ -1,6 +0,0 @@
-Import('env')
-
-# parser
-env.Command(['common_pyx.so'],
-  ['common_pyx_setup.py', 'clock.pyx'],
-  "cd common && python3 common_pyx_setup.py build_ext --inplace")
@@ -1,130 +0,0 @@
-import os
-import binascii
-import itertools
-import re
-import struct
-import subprocess
-import random
-from cereal import log
-
-NetworkType = log.ThermalData.NetworkType
-
-ANDROID = os.path.isfile('/EON')
-
-def getprop(key):
-  if not ANDROID:
-    return ""
-  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
-
-def get_imei(slot):
-  slot = str(slot)
-  if slot not in ("0", "1"):
-    raise ValueError("SIM slot must be 0 or 1")
-
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
-  if not ret:
-    # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1<<32)
-  return ret
-
-def get_serial():
-  ret = getprop("ro.serialno")
-  if ret == "":
-    ret = "cccccccc"
-  return ret
-
-def get_subscriber_info():
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
-  if ret is None or len(ret) < 8:
-    return ""
-  return ret
-
-def reboot(reason=None):
-  if reason is None:
-    reason_args = ["null"]
-  else:
-    reason_args = ["s16", reason]
-
-  subprocess.check_output([
-    "service", "call", "power", "16", # IPowerManager.reboot
-    "i32", "0", # no confirmation,
-    *reason_args,
-    "i32", "1" # wait
-  ])
-
-def service_call(call):
-  if not ANDROID:
-    return None
-
-  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
-  if 'Parcel' not in ret:
-    return None
-
-  return parse_service_call_bytes(ret)
-
-def parse_service_call_unpack(r, fmt):
-  try:
-    return struct.unpack(fmt, r)[0]
-  except Exception:
-    return None
-
-def parse_service_call_string(r):
-  try:
-    r = r[8:] # Cut off length field
-    r = r.decode('utf_16_be')
-
-    # All pairs of two characters seem to be swapped. Not sure why
-    result = ""
-    for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
-        result += b + a
-
-    result = result.replace('\x00', '')
-
-    return result
-  except Exception:
-    return None
-
-def parse_service_call_bytes(ret):
-  try:
-    r = b""
-    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
-      r += binascii.unhexlify(hex_part)
-    return r
-  except Exception:
-    return None
-
-def get_network_type():
-  if not ANDROID:
-    return NetworkType.none
-
-  wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
-  if wifi_check is None:
-    return NetworkType.none
-  elif 'WIFI' in wifi_check:
-    return NetworkType.wifi
-  else:
-    cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
-    # from TelephonyManager.java
-    cell_networks = {
-      0: NetworkType.none,
-      1: NetworkType.cell2G,
-      2: NetworkType.cell2G,
-      3: NetworkType.cell3G,
-      4: NetworkType.cell2G,
-      5: NetworkType.cell3G,
-      6: NetworkType.cell3G,
-      7: NetworkType.cell3G,
-      8: NetworkType.cell3G,
-      9: NetworkType.cell3G,
-      10: NetworkType.cell3G,
-      11: NetworkType.cell2G,
-      12: NetworkType.cell3G,
-      13: NetworkType.cell4G,
-      14: NetworkType.cell4G,
-      15: NetworkType.cell3G,
-      16: NetworkType.cell2G,
-      17: NetworkType.cell3G,
-      18: NetworkType.cell4G,
-      19: NetworkType.cell4G
-    }
-    return cell_networks.get(cell_check, NetworkType.none)
@@ -1,8 +1,11 @@
 import jwt
+import os
 import requests
 from datetime import datetime, timedelta
-from common.basedir import PERSIST
-from selfdrive.version import version
+from openpilot.common.basedir import PERSIST
+from openpilot.system.version import get_version
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')

 class Api():
  def __init__(self, dongle_id):
@@ -19,24 +22,25 @@ class Api():
  def request(self, method, endpoint, timeout=None, access_token=None, **params):
    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)

-  def get_token(self):
+  def get_token(self, expiry_hours=1):
    now = datetime.utcnow()
    payload = {
      'identity': self.dongle_id,
      'nbf': now,
      'iat': now,
-      'exp': now + timedelta(hours=1)
+      'exp': now + timedelta(hours=expiry_hours)
    }
-    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/"
-
  headers = {}
  if access_token is not None:
-    headers['Authorization'] = "JWT "+access_token
+    headers['Authorization'] = "JWT " + access_token

-  headers['User-Agent'] = "openpilot-" + version
-
-  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
+  headers['User-Agent'] = "openpilot-" + get_version()

+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
@@ -1,98 +0,0 @@
-import os
-import subprocess
-import glob
-import hashlib
-import shutil
-from common.basedir import BASEDIR
-from selfdrive.swaglog import cloudlog
-
-android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")
-
-def get_installed_apks():
-  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
-  ret = {}
-  for x in dat:
-    if x.startswith("package:"):
-      v,k = x.split("package:")[1].split("=")
-      ret[k] = v
-  return ret
-
-def install_apk(path):
-  # can only install from world readable path
-  install_path = "/sdcard/%s" % os.path.basename(path)
-  shutil.copyfile(path, install_path)
-
-  ret = subprocess.call(["pm", "install", "-r", install_path])
-  os.remove(install_path)
-  return ret == 0
-
-def start_frame():
-  set_package_permissions()
-  system("am start -n ai.comma.plus.frame/.MainActivity")
-
-def set_package_permissions():
-  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
-  pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
-  pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
-  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()
-
@@ -1,11 +1,11 @@
 import os
+from pathlib import Path
+
+from openpilot.system.hardware import PC
+
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

-from common.android import ANDROID
-if ANDROID:
-  PERSIST = "/persist"
-  PARAMS = "/data/params"
+if PC:
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
-  PERSIST = os.path.join(BASEDIR, "persist")
-  PARAMS = os.path.join(BASEDIR, "persist", "params")
-
+  PERSIST = "/persist"
@@ -1,22 +0,0 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
-
-IF UNAME_SYSNAME == "Darwin":
-  # Darwin doesn't have a CLOCK_BOOTTIME
-  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
-ELSE:
-  from posix.time cimport CLOCK_BOOTTIME
-
-cdef double readclock(clockid_t clock_id):
-  cdef timespec ts
-  cdef double current
-
-  clock_gettime(clock_id, &ts)
-  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-  return current
-
-def monotonic_time():
-  return readclock(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return readclock(CLOCK_BOOTTIME)
-
@@ -0,0 +1,29 @@
+#pragma once
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
+const char* cl_get_error_string(int err);
@@ -1,20 +0,0 @@
-from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-from Cython.Build import cythonize
-
-from common.cython_hacks import BuildExtWithoutPlatformSuffix
-
-sourcefiles = ['clock.pyx']
-extra_compile_args = ["-std=c++11"]
-
-setup(name='Common',
-      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
-      ext_modules=cythonize(
-        Extension(
-          "common_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-        )
-      ),
-      nthreads=4,
-)
@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592
@@ -1,23 +0,0 @@
-import os
-import sysconfig
-from Cython.Distutils import build_ext
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
@@ -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
@@ -28,7 +28,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
    try:
      mod = __import__(cache)
    except Exception:
-      print("cache miss {0}".format(cache))
+      print(f"cache miss {cache}")
      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
      mod = __import__(cache)
  finally:
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
  ffibuilder = FFI()
  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
  os.environ['CFLAGS'] = cflags
  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

@@ -3,13 +3,17 @@ import shutil
 import tempfile
 from atomicwrites import AtomicWriter

+
 def mkdirs_exists_ok(path):
+  if path.startswith(('http://', 'https://')):
+    raise ValueError('URL path')
  try:
    os.makedirs(path)
  except OSError:
    if not os.path.isdir(path):
      raise

+
 def rm_not_exists_ok(path):
  try:
    os.remove(path)
@@ -17,40 +21,23 @@ def rm_not_exists_ok(path):
    if os.path.exists(path):
      raise

+
 def rm_tree_or_link(path):
  if os.path.islink(path):
    os.unlink(path)
  elif os.path.isdir(path):
    shutil.rmtree(path)

+
 def get_tmpdir_on_same_filesystem(path):
  normpath = os.path.normpath(path)
  parts = normpath.split("/")
  if len(parts) > 1 and parts[1] == "scratch":
    return "/scratch/tmp"
  elif len(parts) > 2 and parts[2] == "runner":
-    return "/{}/runner/tmp".format(parts[1])
+    return f"/{parts[1]}/runner/tmp"
  return "/tmp"

-class AutoMoveTempdir():
-  def __init__(self, target_path, temp_dir=None):
-    self._target_path = target_path
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    os.rename(self._path, self._target_path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    if type is None:
-      self.close()
-    else:
-      shutil.rmtree(self._path)

 class NamedTemporaryDir():
  def __init__(self, temp_dir=None):
@@ -63,16 +50,35 @@ class NamedTemporaryDir():
  def close(self):
    shutil.rmtree(self._path)

-  def __enter__(self): return self
+  def __enter__(self):
+    return self

-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
    self.close()

+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
 def _get_fileobject_func(writer, temp_dir):
  def _get_fileobject():
-    file_obj = writer.get_fileobject(dir=temp_dir)
-    os.chmod(file_obj.name, 0o644)
-    return file_obj
+    return writer.get_fileobject(dir=temp_dir)
  return _get_fileobject

 def atomic_write_on_fs_tmp(path, **kwargs):
@@ -91,19 +97,3 @@ def atomic_write_in_dir(path, **kwargs):
  """
  writer = AtomicWriter(path, **kwargs)
  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
-
-def atomic_write_in_dir_neos(path, contents, mode=None):
-  """
-  Atomically writes contents to path using a temporary file in the same directory
-  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
-  """
-
-  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
-  f.write(contents)
-  f.flush()
-  if mode is not None:
-    os.fchmod(f.fileno(), mode)
-  os.fsync(f.fileno())
-  f.close()
-
-  os.rename(f.name, path)
@@ -1,10 +1,18 @@
-class FirstOrderFilter():
+class FirstOrderFilter:
  # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+  def __init__(self, x0, rc, dt, initialized=True):
    self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)

  def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
-
-
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x
@@ -0,0 +1,33 @@
+#pragma once
+
+// Pin definitions
+#ifdef QCOM2
+  #define GPIO_HUB_RST_N        30
+  #define GPIO_UBLOX_RST_N      32
+  #define GPIO_UBLOX_SAFEBOOT_N 33
+  #define GPIO_UBLOX_PWR_EN     34
+  #define GPIO_STM_RST_N        124
+  #define GPIO_STM_BOOT0        134
+  #define GPIO_BMX_ACCEL_INT    21
+  #define GPIO_BMX_GYRO_INT     23
+  #define GPIO_BMX_MAGN_INT     87
+  #define GPIO_LSM_INT          84
+  #define GPIOCHIP_INT          0
+#else
+  #define GPIO_HUB_RST_N        0
+  #define GPIO_UBLOX_RST_N      0
+  #define GPIO_UBLOX_SAFEBOOT_N 0
+  #define GPIO_UBLOX_PWR_EN     0
+  #define GPIO_STM_RST_N        0
+  #define GPIO_STM_BOOT0        0
+  #define GPIO_BMX_ACCEL_INT    0
+  #define GPIO_BMX_GYRO_INT     0
+  #define GPIO_BMX_MAGN_INT     0
+  #define GPIO_LSM_INT          0
+  #define GPIOCHIP_INT          0
+#endif
+
+int gpio_init(int pin_nr, bool output);
+int gpio_set(int pin_nr, bool high);
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
dragonpilot	c4955787a3	version: dragonpilot development version for EON/C2 date: 2024-04-10T19:21:57 commit: 8f2124beef4031cf1ad7a123b5fe1eb4985aab4f	2024-04-10 19:22:16 +08:00
dragonpilot	c8f7fdc276	version: dragonpilot development version for EON/C2 date: 2024-03-19T09:33:13 commit: c2e5af0b4896bd72cb2e8063f8481a55bb83c583	2024-03-19 09:33:33 +00:00
dragonpilot	994dfb7fd2	version: dragonpilot development version for EON/C2 date: 2024-03-01T19:32:36 commit: dcca316946674ab874ecff36f9e93184f8b876ce	2024-03-01 19:32:49 +08:00
dragonpilot	94d8d7458d	version: dragonpilot development version for EON/C2 date: 2024-03-01T18:48:48 commit: f1bee6b8e2fc94eee0ab1b1db78e42a9c8e2f4aa	2024-03-01 18:49:06 +08:00
eFini	22af1becc7	Update eon_installer.sh	2024-02-29 16:42:12 +08:00
eFini	a7808e2ee4	Update eon_installer.sh	2024-02-29 16:33:17 +08:00
eFini	61af96ecaa	Update eon_installer.sh	2024-02-29 16:30:16 +08:00
eFini	e3c646fd0e	Create eon_installer.sh	2024-02-29 16:26:53 +08:00
dragonpilot	3c195b3af7	version: dragonpilot development version for EON/C2 date: 2024-02-28T16:32:56 commit: af29cad3e29308622bbbcec7445c15e5433961ec	2024-02-28 16:33:09 +08:00
dragonpilot	be05ffa5bf	version: dragonpilot development version for EON/C2 date: 2024-02-26T20:43:48 commit: 61592bc9e895361b44b62dd805c59bf41d486183	2024-02-26 20:43:59 +08:00
Vehicle Researcher	578d38b5f9	lp-dp 2023-12-14T02:06:09 for EON/C2 version: lp-dp v0.9.5 for EON/C2 date: 2023-12-14T02:06:09 commit: be7270819b5cdeda4010d5276cc186c94189c43c	2023-12-14 02:06:23 +00:00
eFini	de4254deb3	Update long_mpc.py	2023-11-26 12:23:24 +08:00
Vehicle Researcher	e7df1b8218	lp-dp 2023-11-23T06:28:40 for EON/C2 version: lp-dp v0.9.5 for EON/C2 date: 2023-11-23T06:28:40 commit: b6d75bf11c56c575a151c3cf0fa79f55e0eb4368	2023-11-23 06:28:43 +00:00
Vehicle Researcher	f7c8e38426	lp-dp 2023-09-19T10:02:18 for EON/C2 version: lp-dp v0.9.5 for EON/C2 date: 2023-09-19T10:02:18 commit: ec01d2fd7b3d812c067da83ea53fef0bbf34be25	2023-09-19 10:02:28 +00:00
Vehicle Researcher	2c9fa154d6	lp-dp 2023-09-18T04:13:07 for EON/C2 version: lp-dp v0.9.5 for EON/C2 date: 2023-09-18T04:13:07 commit: 5d47b8da43a2550bbebcfbb6636f1296b5433e07	2023-09-18 04:13:27 +00:00
Vehicle Researcher	634aa84919	lp-dp 2023-09-13T13:36:48 for EON/C2 version: lp-dp v0.9.5 for EON/C2 date: 2023-09-13T13:36:48 commit: 1d59b81c40b93f37d4a341c5d35b1c3cd293543d	2023-09-13 13:36:57 +08:00
Vehicle Researcher	9ca1ac0042	lp-dp 2023-08-02T01:57:46 for EON/C2 version: lp-dp v0.9.4 for EON/C2 date: 2023-08-02T01:57:46 commit: 63c51d4b134e443b1ffa59dfe0fc2d50d5e0f446	2023-08-02 01:57:49 +00:00
eFini	0ffb1567bc	Merge pull request #193 from jcwlim/lp-dp-beta2 fix indentation error	2023-07-19 13:23:59 +08:00
jcwlim	33419d0516	fix indentation error	2023-07-19 11:14:00 +08:00
eFini	16f5852102	Update controlsd.py	2023-07-19 10:42:28 +08:00
eFini	6527c3656f	Update controlsd.py	2023-07-18 13:45:01 +08:00
Vehicle Researcher	0fe74b2af6	lp-dp 2023-07-17T07:18:07 for EON/C2 version: lp-dp v0.9.3 for EON/C2 date: 2023-07-17T07:18:07 commit: 96f87e78722291005720e72d605b459e928f8812	2023-07-17 07:18:10 +00:00
Vehicle Researcher	939c27ad10	lp-dp 2023-07-17T07:06:11 for EON/C2 version: lp-dp v0.9.3 for EON/C2 date: 2023-07-17T07:06:11 commit: d048235d4181b72ff6a2187398580f5d75e2de1e	2023-07-17 07:06:14 +00:00
eFini	768c989952	Fixed NO_IR_CTRL issue	2023-06-13 00:14:52 +08:00
Comma Device	5cc9001bcc	model clean up	2023-06-12 06:58:17 +00:00
Vehicle Researcher	d3cc1e84a3	lp-dp 2023-06-12T05:58:26 for EON/C2 version: lp-dp v0.9.3 for EON/C2 date: 2023-06-12T05:58:26 commit: a6e632fddf5e5e22867c0fd549b4e701cbc35d63	2023-06-12 05:58:29 +00:00
Vehicle Researcher	3ed6e4b836	lp-dp 2023-05-25T03:24:13 for EON/C2 version: lp-dp v0.9.3 for EON/C2 date: 2023-05-25T03:24:13 commit: d2df8c66259421b8e6d660720312be443043fc14	2023-05-25 03:24:15 +00:00
Vehicle Researcher	8f67934f80	lp-dp 2023-05-25T03:10:00 for EON/C2 version: lp-dp v0.9.3 for EON/C2 date: 2023-05-25T03:10:00 commit: 409000e6091be63a423d23e7940d569fed28497e	2023-05-25 03:10:14 +00:00
Vehicle Researcher	6def7af391	lp-dp 2023-05-19T17:12:55 for EON/C2 version: lp-dp v0.9.2 for EON/C2 date: 2023-05-19T17:12:55 commit: f51617030bfd04cb754fbb720be5ec4d6a8e80fd	2023-05-19 17:12:57 +08:00
Vehicle Researcher	687f549628	lp-dp 2023-05-15T02:15:54 for EON/C2 version: lp-dp v0.9.2 for EON/C2 date: 2023-05-15T02:15:54 commit: 39446776e3af41df83540eaf68e84f8b0e2b5c9f	2023-05-15 02:16:01 +00:00
Vehicle Researcher	c8440ab691	lp-dp 2023-05-09T02:32:30 for EON/C2 version: lp-dp v0.9.2 for EON/C2 date: 2023-05-09T02:32:30 commit: cb8adff9d368de2e442e1e7f4309b70a4a2013ad	2023-05-09 02:32:38 +00:00
eFini	c6efa8341a	Merge pull request #190 from dragonpilot-community/beta2_override Update drive_helpers.py	2023-04-15 11:58:40 +08:00
eFini	0bb2cfda06	Update drive_helpers.py	2023-04-14 22:01:07 +08:00
eFini	4c8fe7af7e	Merge pull request #189 from dragonpilot-community/eFiniLan-patch-5 Update drive_helpers.py	2023-04-14 10:46:56 +08:00
eFini	a9f879e64d	Update drive_helpers.py	2023-04-14 10:46:07 +08:00
Dragonpilot Team	cf18a8fb09	dragonpilot 2023-04-13T02:41:11 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-04-13T02:41:11 dp-dev(priv2) master commit: 4526e2dbd703c5d3e958825e64d5912ae452ab30	2023-04-13 02:41:27 +00:00
Dragonpilot Team	ca1186a7bf	dragonpilot 2023-04-01T09:36:15 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-04-01T09:36:15 dp-dev(priv2) master commit: 29bbbec9ef69d7527f4715114749c18d4e22768c	2023-04-01 09:36:19 +00:00
eFini	d244592a40	Update events.py	2023-03-31 10:58:48 +08:00
Dragonpilot Team	b0e747ea3b	dragonpilot 2023-03-30T08:35:14 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-30T08:35:14 dp-dev(priv2) master commit: 42cfd61d1e0f0a69237e69d75c5b5f69e417a8c9	2023-03-30 08:35:23 +00:00
eFini	c0ac87c36c	Update power_monitoring.py	2023-03-30 09:01:53 +08:00
Dragonpilot Team	eeb43a5107	dragonpilot 2023-03-29T09:55:29 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-29T09:55:29 dp-dev(priv2) master commit: 7a10a5f475f257bfcaf0f300d0441aef80be52d8	2023-03-29 09:55:32 +00:00
Dragonpilot Team	ea800c8f74	dragonpilot 2023-03-27T06:11:06 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-27T06:11:06 dp-dev(priv2) master commit: 0a08aa2b73a505e11e4c98ac6c5989464b7d339f	2023-03-27 06:27:07 +00:00
Dragonpilot Team	f770882b7f	dragonpilot 2023-02-08T03:42:25 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2023-02-08T03:42:25 dp-dev(priv2) master commit: 806adddf718b97255ba36d4a9dbd5f6bad383787	2023-02-08 03:42:33 +00:00
eFini	34925962d5	Update controlsd.py	2023-02-07 21:23:37 +08:00
eFini	3977b6d1ff	Merge pull request #181 from dragonpilot-community/eFiniLan-patch-2 Update interface.py	2023-02-07 13:19:49 +08:00
eFini	77edcc0058	Update interface.py	2023-02-07 13:19:28 +08:00
Dragonpilot Team	8555e48fc9	dragonpilot 2023-02-07T02:56:39 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2023-02-07T02:56:39 dp-dev(priv2) master commit: 459790d03b790e5f3a8cff18710ac4d44841a16a	2023-02-07 03:00:39 +00:00
Dragonpilot Team	1f2e3aa8b6	dragonpilot 2022-12-30T07:51:42 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-12-30T07:51:42 dp-dev(priv2) master commit: 4e8e00606410c2bbe03b93fc89a91caec37d1f3a	2022-12-30 07:51:55 +00:00
Dragonpilot Team	398aeb927b	dragonpilot 2022-12-23T08:15:11 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-12-23T08:15:11 dp-dev(priv2) master commit: 3cc44ae87d697a5e07bfa58c4e799730bea0b63a	2022-12-23 08:26:46 +00:00
Dragonpilot Team	de34fa87ee	dragonpilot 2022-11-30T09:37:39 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-11-30T09:37:39 dp-dev(priv2) master commit: e2204c868277f20a263c2f93e88c42999d0b0c15	2022-12-01 03:54:37 +00:00
Dragonpilot Team	1fdc1202d1	dragonpilot 2022-11-02T08:11:06 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-11-02T08:11:06 dp-dev(priv2) master commit: fa5dbfe5c771a59cf8b82a9cfc26b28989824d31	2022-11-02 08:11:20 +00:00
Dragonpilot Team	4c3c884245	dragonpilot 2022-10-07T10:01:36 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-10-07T10:01:36 dp-dev(priv2) master commit: 3aecc0939a714f5f572b3cbe85669ed389161870	2022-10-07 10:05:16 +00:00
Dragonpilot Team	fe6459224b	dragonpilot 2022-09-15T06:50:26 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-15T06:50:26 dp-dev(priv2) master commit: 4d0dc8f4278758e1c000fbbef41ad124187335e2	2022-09-15 06:50:40 +00:00
Dragonpilot Team	30a852791f	dragonpilot 2022-09-07T01:33:02 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-07T01:33:02 dp-dev(priv2) master commit: 705261266a609f9ab22a8704a4cf2a380df5a79f	2022-09-07 01:33:08 +00:00
Dragonpilot Team	9546ca4273	dragonpilot 2022-09-06T04:35:28 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-06T04:35:28 dp-dev(priv2) master commit: 705261266a609f9ab22a8704a4cf2a380df5a79f	2022-09-06 04:35:35 +00:00
Dragonpilot Team	e55a27c37e	dragonpilot 2022-09-01T09:01:29 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-01T09:01:29 dp-dev(priv2) master commit: 1aee3e0728e47b4789623262fd595a3bccb7fe6e	2022-09-01 09:01:42 +00:00
Dragonpilot Team	99f7f6023e	dragonpilot 2022-08-30T07:26:22 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-08-30T07:26:22 dp-dev(priv2) master commit: 0b0eacf73b22b4ff5341143a3beb2d2d681d989b	2022-08-30 07:26:35 +00:00
Dragonpilot Team	58e0b3246f	dragonpilot 2022-08-26T01:39:55 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-08-26T01:39:55 dp-dev(priv2) master commit: 2cc578fbfc144eaecebf1803c8b59db45c2e9715	2022-08-26 01:40:08 +00:00
Dragonpilot Team	66006fe0e9	dragonpilot 2022-08-19T01:11:48 for EON/C2 version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-19T01:11:48 dp-dev(priv2) master commit: 4aee191bc9d1c5099913455ff9e5fa1c3a7a7903	2022-08-19 01:19:48 +00:00
Dragonpilot Team	b437663252	dragonpilot 2022-08-17T05:06:08 for EON/C2 version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-18T23:02:08 dp-dev(priv2) master commit: 96dd81dde40b92d0686ec5761cfaaab24300b027	2022-08-19 01:01:52 +00:00
Dragonpilot Team	4d7a40310f	dragonpilot 2022-08-11T09:38:43 for EON/C2 version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-11T09:38:43 dp-dev(priv2) master commit: c6cd233f23f60e7a6055d42850bc593c0e69082e	2022-08-11 09:48:37 +00:00