update ota/recovery url

re-add apks
2026-06-23 06:52:07 +08:00 · 2020-11-10 14:01:42 +10:00 · 2020-04-07 19:32:16 +10:00 · 2020-04-07 19:05:22 +10:00 · 2020-04-07 17:55:00 +10:00 · 2020-03-31 17:01:49 +10:00
560 changed files with 108737 additions and 67601 deletions
@@ -3,14 +3,11 @@ venv/
 .tags
 .ipynb_checkpoints
 .idea
-.overlay_init
-.overlay_consistent
 .sconsign.dblite
 .vscode
 model2.png
 a.out

-*.dylib
 *.DSYM
 *.d
 *.pyc
@@ -30,7 +27,6 @@ a.out
 config.json
 clcache

-persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
@@ -44,7 +40,7 @@ selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
 selfdrive/modeld/_modeld
-selfdrive/modeld/_dmonitoringmodeld
+selfdrive/modeld/_monitoringd
 /src/

 one
@@ -55,11 +51,4 @@ panda_jungle

 .coverage*
 htmlcov
-pandaextra

-apk/cn.dragonpilot.gpsservice.apk
-apk/com.autonavi.amapauto.apk
-apk/com.mixplorer.apk
-apk/com.tomtom.speedcams.android.map.apk
-apk/com.waze.apk
-apk/tw.com.ainvest.outpack.apk
@@ -0,0 +1,585 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=print-statement,
+        parameter-unpacking,
+        unpacking-in-except,
+        old-raise-syntax,
+        backtick,
+        long-suffix,
+        old-ne-operator,
+        old-octal-literal,
+        import-star-module-level,
+        non-ascii-bytes-literal,
+        raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        locally-enabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        apply-builtin,
+        basestring-builtin,
+        buffer-builtin,
+        cmp-builtin,
+        coerce-builtin,
+        execfile-builtin,
+        file-builtin,
+        long-builtin,
+        raw_input-builtin,
+        reduce-builtin,
+        standarderror-builtin,
+        unicode-builtin,
+        xrange-builtin,
+        coerce-method,
+        delslice-method,
+        getslice-method,
+        setslice-method,
+        no-absolute-import,
+        old-division,
+        dict-iter-method,
+        dict-view-method,
+        next-method-called,
+        metaclass-assignment,
+        indexing-exception,
+        raising-string,
+        reload-builtin,
+        oct-method,
+        hex-method,
+        nonzero-method,
+        cmp-method,
+        input-builtin,
+        round-builtin,
+        intern-builtin,
+        unichr-builtin,
+        map-builtin-not-iterating,
+        zip-builtin-not-iterating,
+        range-builtin-not-iterating,
+        filter-builtin-not-iterating,
+        using-cmp-argument,
+        eq-without-hash,
+        div-method,
+        idiv-method,
+        rdiv-method,
+        exception-message-attribute,
+        invalid-str-codec,
+        sys-max-int,
+        bad-python3-import,
+        deprecated-string-function,
+        deprecated-str-translate-call,
+        deprecated-itertools-function,
+        deprecated-types-field,
+        next-method-defined,
+        dict-items-not-iterating,
+        dict-keys-not-iterating,
+        dict-values-not-iterating,
+        bad-indentation,
+        line-too-long,
+        missing-docstring,
+        multiple-statements,
+        bad-continuation,
+        invalid-name,
+        too-many-arguments,
+        too-many-locals,
+        superfluous-parens,
+        bad-whitespace,
+        too-many-instance-attributes,
+        wrong-import-position,
+        ungrouped-imports,
+        wrong-import-order,
+        protected-access,
+        trailing-whitespace,
+        too-many-branches,
+        too-few-public-methods,
+        too-many-statements,
+        trailing-newlines,
+        attribute-defined-outside-init,
+        too-many-return-statements,
+        too-many-public-methods,
+        unused-argument,
+        old-style-class,
+        no-init,
+        len-as-condition,
+        unneeded-not,
+        no-self-use,
+        multiple-imports,
+        no-else-return,
+        logging-not-lazy,
+        fixme,
+        redefined-outer-name,
+        unused-variable,
+        unsubscriptable-object,
+        expression-not-assigned,
+        too-many-boolean-expressions,
+        consider-using-ternary,
+        invalid-unary-operand-type,
+        relative-import,
+        deprecated-lambda
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception
@@ -0,0 +1,7 @@
+sudo: required
+
+services:
+  - docker
+
+script:
+  - ./run_docker_tests.sh
@@ -14,37 +14,18 @@ Most open source development activity is coordinated through our [Discord](https

 ### 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.
+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 Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
+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 checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
+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 clone the submodules too. That can be done by recursively cloning the repository:
-```
-git clone https://github.com/commaai/openpilot.git --recursive
-```
-Or alternatively, when on the master branch:
-```
-git submodule init
-git submodule update
-```
-The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
-Modules that are in seperate repositories include:
-* apks
-* cereal
-* laika
-* opendbc
-* panda
@@ -0,0 +1,82 @@
+FROM ubuntu:16.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y \
+    autoconf \
+    build-essential \
+    bzip2 \
+    clang \
+    cmake \
+    curl \
+    ffmpeg \
+    git \
+    libarchive-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
+    libffi-dev \
+    libglew-dev \
+    libgles2-mesa-dev \
+    libglib2.0-0 \
+    liblzma-dev \
+    libmysqlclient-dev \
+    libomp-dev \
+    libopencv-dev \
+    libssl-dev \
+    libtool \
+    libusb-1.0-0-dev \
+    libzmq5-dev \
+    locales \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers \
+    python-dev \
+    python-pip \
+    screen \
+    sudo \
+    vim \
+    wget
+
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
+RUN pip install pipenv==2018.11.26
+
+COPY Pipfile /tmp/
+COPY Pipfile.lock /tmp/
+
+RUN python --version
+RUN cd /tmp && pipenv install --system --deploy
+
+# Install subset of dev dependencies needed for CI
+RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
+
+COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
+RUN /tmp/install_capnp.sh
+
+RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+
+ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
+COPY ./.pylintrc /tmp/openpilot/.pylintrc
+COPY ./common /tmp/openpilot/common
+COPY ./cereal /tmp/openpilot/cereal
+COPY ./opendbc /tmp/openpilot/opendbc
+COPY ./selfdrive /tmp/openpilot/selfdrive
+COPY ./phonelibs /tmp/openpilot/phonelibs
+COPY ./pyextra /tmp/openpilot/pyextra
+COPY ./panda /tmp/openpilot/panda
+
+COPY SConstruct /tmp/openpilot/SConstruct
+
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out
+RUN cd /tmp/openpilot && scons -j$(nproc)
@@ -0,0 +1,9 @@
+
+code_dir := $(shell pwd)
+
+# TODO: Add a global build system
+
+.PHONY: all
+all:
+	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
+
@@ -0,0 +1,149 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+opencv-python= "==3.4.2.17"
+PyQt5 = "*"
+ipython = "*"
+networkx = "==2.3"
+azure-common = "==1.1.23"
+azure-nspkg = "==3.0.2"
+azure-storage-blob = "==2.1.0"
+azure-storage-common = "==2.1.0"
+azure-storage-nspkg = "==3.1.0"
+bincopy = "*"
+bleach = "*"
+boto = "*"
+"boto3" = "*"
+celery = "*"
+control = "*"
+datadog = "*"
+decorator = "*"
+dlib = "*"
+dominate = "*"
+elasticsearch = "*"
+fasteners = "*"
+future = "*"
+futures = "*"
+gevent = "*"
+pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
+gunicorn = "*"
+"h5py" = "*"
+hexdump = "*"
+"html5lib" = "*"
+imageio = "*"
+intervaltree = "*"
+ipykernel = "*"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+libarchive = "*"
+lru-dict = "*"
+lxml = "*"
+"mpld3" = "*"
+msgpack-python = "*"
+nbstripout = "*"
+nose-parameterized = "*"
+numpy = "*"
+osmium = "*"
+pbr = "*"
+percache = "*"
+pprofile = "*"
+psutil = "*"
+pycurl = "*"
+git-pylint-commit-hook = "*"
+pymongo = "*"
+"pynmea2" = "*"
+pypolyline = "*"
+pysendfile = "*"
+python-logstash = "*"
+pyvcd = "*"
+redis = "*"
+redlock = "*"
+"s2sphere" = "*"
+scikit-image = "*"
+"subprocess32" = "*"
+supervisor = "*"
+tenacity = "*"
+tensorflow-gpu = ""
+utm = "*"
+"v4l2" = "*"
+PyJWT = "==1.4.1"
+PyMySQL = "==0.9.2"
+Theano = "*"
+Werkzeug = "*"
+"backports.lzma" = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+"GeoAlchemy2" = "*"
+Pygments = "*"
+PyNaCl = "*"
+"PySDL2" = "*"
+reverse_geocoder = "*"
+Shapely = "*"
+SQLAlchemy = "*"
+uWSGI = "*"
+scipy = "*"
+fastcluster = "*"
+backports-abc = "*"
+pygame = "*"
+simplejson = "*"
+python-logstash-async = "*"
+seaborn = "*"
+tensorflow-estimator = "*"
+pyproj = "*"
+mock = "*"
+blinker = "*"
+gast = "==0.2.2"
+matplotlib = "*"
+dictdiffer = "*"
+aenum = "*"
+coverage = "*"
+
+[packages]
+overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
+atomicwrites = "*"
+cffi = "*"
+crcmod = "*"
+hexdump = "*"
+libusb1 = "*"
+numpy = "*"
+psutil = "*"
+pycapnp = "*"
+cryptography = "*"
+pyserial = "*"
+python-dateutil = "*"
+pyzmq = "*"
+raven = "*"
+requests = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "*"
+tqdm = "*"
+Cython = "*"
+PyYAML = "*"
+websocket_client = "*"
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
+urllib3 = "*"
+chardet = "*"
+idna = "*"
+gunicorn = "*"
+utm = "*"
+json-rpc = "*"
+Flask = "*"
+PyJWT = "*"
+"Jinja2" = "*"
+nose = "*"
+flake8 = "*"
+pylint = "*"
+pycryptodome = "*"
+pillow = "*"
+scons = "*"
+cysignals = "*"
+
+
+[requires]
+python_version = "3.7.3"
@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UelUjKAh.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)

 Table of Contents
 =======================
@@ -57,97 +57,89 @@ openpilot should preserve all other vehicle's stock features, including, but are
 Supported Hardware
 ------

-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.
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to the car. In the future, we'd like to support other platforms as well.

 Supported Cars
 ------

-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</sup>  | 25mph             |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</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<sup>4</sup>  |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>6</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>6</sup>  | 12mph             |
-| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph              |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 0mph              |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>6</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>5</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>5</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>5</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>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>5</sup>| 20mph<sup>6</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>5</sup>| 20mph<sup>6</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>5</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph              |
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2019          | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
+| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
+| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
+| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
+| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
+| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
+| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
+| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Corolla Hatchback 2019        | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
+| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
+| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |

 <sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
 <sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <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>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>7</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>7</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>7</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>7</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |

-<sup>5</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>6</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>7</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 />
+<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`.

@@ -167,8 +159,6 @@ 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.
@@ -250,7 +240,7 @@ Safety and Testing
 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.
+Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.

 Community and Contributing
 ------
@@ -1,39 +1,3 @@
-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!
- * Support for 2018 Lexus NX 300h thanks to kengggg!
- * Speed up ECU firmware query
- * Fix bug where manager would sometimes hang after shutting down the car
-
-Version 0.7.2 (2020-02-07)
-========================
- * ECU firmware version based fingerprinting for Honda & Toyota
- * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
- * Improve driver monitoring under extreme lighting and add low accuracy alert
- * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
- * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
- * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
-
-Version 0.7.1 (2020-01-20)
-========================
- * comma two support!
- * Lane Change Assist above 45 mph!
- * Replace zmq with custom messaging library, msgq!
- * Supercombo model: calibration and driving models are combined for better lead estimate
- * More robust updater thanks to jyoung8607! Requires NEOS update
- * Improve low speed ACC tuning
-
 Version 0.7 (2019-12-13)
 ========================
 * Move to SCons build system!
@@ -1,7 +1,6 @@
 import os
 import subprocess
 import sys
-import platform

 AddOption('--test',
          action='store_true',
@@ -12,8 +11,6 @@ AddOption('--asan',
          help='turn on ASAN')

 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"

 if arch == "aarch64":
  lenv = {
@@ -32,6 +29,7 @@ if arch == "aarch64":
    "/data/data/com.termux/files/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
+    "#phonelibs/yaml-cpp/lib",
    "#phonelibs/nanovg",
    "#phonelibs/libyuv/lib",
  ]
@@ -48,37 +46,22 @@ else:
    "#phonelibs/capnp-cpp/include",
    "#phonelibs/capnp-c/include",
    "#phonelibs/zmq/x64/include",
-    "#external/tensorflow/include",
+  ]
+  libpath = [
+    "#phonelibs/capnp-cpp/x64/lib",
+    "#phonelibs/capnp-c/x64/lib",
+    "#phonelibs/yaml-cpp/x64/lib",
+    "#phonelibs/snpe/x86_64-linux-clang",
+    "#phonelibs/zmq/x64/lib",
+    "#phonelibs/libyuv/x64/lib",
+    "#external/zmq/lib",
+    "#cereal",
+    "#selfdrive/common",
+    "/usr/lib",
+    "/usr/local/lib",
  ]

-  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"]

@@ -112,6 +95,7 @@ env = Environment(
    "#selfdrive",
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
+    "#phonelibs/yaml-cpp/include",
    "#phonelibs/openmax/include",
    "#phonelibs/json/src",
    "#phonelibs/json11",
@@ -208,10 +192,8 @@ SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['phonelibs/SConscript'])

-if arch != "Darwin":
-  SConscript(['selfdrive/camerad/SConscript'])
-  SConscript(['selfdrive/modeld/SConscript'])
-
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
@@ -219,15 +201,12 @@ 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/ui/SConscript'])
  SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/clocksd/SConscript'])
+  SConscript(['selfdrive/loggerd/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 [ $1 -eq 0 ]; then
-  printf %s "0" > /data/params/d/DragonBTG
-fi
-
-rm -rf /data/openpilot/selfdrive/boardd/boardd && reboot
@@ -1,23 +0,0 @@
-name: Tests
-
-on: [push, pull_request]
-
-jobs:
-  test:
-
-    runs-on: ubuntu-16.04
-
-    steps:
-    - uses: actions/checkout@v2
-    - name: Build docker image
-      run: docker build -t cereal .
-    - name: Unit Tests
-      run: |
-        docker run cereal bash -c "scons --test --asan -j$(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 ."
-
@@ -10,5 +10,5 @@ libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
-libcereal_shared.*
+libcereal_shared.so

@@ -1,41 +0,0 @@
-What is 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
-
-
-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.
-
-All Events have a logMonoTime and a valid. Then a big union defines the packet type.
-
-
-Pub Sub Backends
----
-
-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.
-
-Example
---
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message('sensorEvents', size=1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```
@@ -29,7 +29,7 @@ cereal_objects = env.SharedObject([
  ])

 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
+env.SharedLibrary('cereal_shared', cereal_objects)

 cereal_dir = Dir('.')
 services_h = env.Command(
@@ -49,7 +49,7 @@ 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]
+shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else []
 env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)

 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
@@ -0,0 +1,14 @@
+pr: none
+
+pool:
+  vmImage: 'ubuntu-16.04'
+
+steps:
+- script: |
+    set -e
+    docker build -t cereal .
+    docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
+    docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
+    docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
+
+  displayName: 'Run Tests'
@@ -88,17 +88,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    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;
+    manualSteeringRequired @66;
+    manualSteeringRequiredBlinkersOn @67;
+    leadCarMoving @68;
+    leadCarDetected @69;
+    preAutoLaneChangeLeft @70;
+    preAutoLaneChangeRight @71;
+    autoLaneChange @72;
  }
 }

@@ -135,7 +133,6 @@ struct CarState {
  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
  stockAeb @30 :Bool;
  stockFcw @31 :Bool;
-  espDisabled @32 :Bool;

  # cruise state
  cruiseState @10 :CruiseState;
@@ -159,10 +156,6 @@ struct CarState {

  # 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

  struct WheelSpeeds {
    # optional wheel speeds
@@ -359,7 +352,6 @@ struct CarParams {
  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff

  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
  lateralTuning :union {
    pid @26 :LateralPIDTuning;
    indi @27 :LateralINDITuning;
@@ -386,12 +378,6 @@ struct CarParams {
  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;
-
-  struct LateralParams {
-    torqueBP @0 :List(Int32);
-    torqueV @1 :List(Int32);
-  }

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -433,11 +419,11 @@ struct CarParams {

  enum SafetyModel {
    silent @0;
-    hondaNidec @1;
+    honda @1;
    toyota @2;
    elm327 @3;
    gm @4;
-    hondaBoschGiraffe @5;
+    hondaBosch @5;
    ford @6;
    cadillac @7;
    hyundai @8;
@@ -451,10 +437,7 @@ struct CarParams {
    toyotaIpas @16;
    allOutput @17;
    gmAscm @18;
-    noOutput @19;  # like silent but without silent CAN TXs
-    hondaBoschHarness @20;
-    volkswagenPq @21;
-    subaruLegacy @22;  # pre-Global platform
+    noOutput @19;  # like silent but with silent CAN TXs
  }

  enum SteerControlType {
@@ -470,9 +453,7 @@ struct CarParams {

  struct CarFw {
    ecu @0 :Ecu;
-    fwVersion @1 :Data;
-    address @2: UInt32;
-    subAddress @3: UInt8;
+    fwVersion @1 :Text;
  }

  enum Ecu {
@@ -480,28 +461,5 @@ struct CarParams {
    esp @1;
    fwdRadar @2;
    fwdCamera @3;
-    engine @4;
-    unknown @5;
-    transmission @8; # Transmission Control Module
-    srs @9; # airbag
-    gateway @10; # can gateway
-    hud @11; # heads up display
-    combinationMeter @12; # instrument cluster
-
-    # Toyota only
-    dsu @6;
-    apgs @7;
-
-    # Honda only
-    vsa @13; # Vehicle Stability Assist
-    programmedFuelInjection @14;
-    electricBrakeBooster @15;
-    shiftByWire @16;
-  }
-
-  enum FingerprintSource {
-    can @0;
-    fw @1;
-    fixed @2;
  }
 }
@@ -127,8 +127,6 @@ struct FrameData {
  lensTruePos @14 :Float32;
  image @6 :Data;
  gainFrac @15 :Float32;
-  focusVal @16 :List(Int16);
-  focusConf @17 :List(UInt8);

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -281,9 +279,6 @@ struct ThermalData {
  batteryCurrent @15 :Int32;
  batteryVoltage @16 :Int32;
  usbOnline @12 :Bool;
-  networkType @22 :NetworkType;
-  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
-  networkStrength @24 :NetworkStrength;

  fanSpeed @10 :UInt16;
  started @11 :Bool;
@@ -296,7 +291,7 @@ struct ThermalData {
  memUsedPercent @19 :Int8;
  cpuPerc @20 :Int8;

-  ipAddr @25 :Text; # dragonpilot
+  ipAddr @22 :Text; # dragonpilot

  enum ThermalStatus {
    green @0;   # all processes run
@@ -304,23 +299,6 @@ struct ThermalData {
    red @2;     # no engage, will disengage
    danger @3;  # immediate process shutdown
  }
-
-  enum NetworkType {
-    none @0;
-    wifi @1;
-    cell2G @2;
-    cell3G @3;
-    cell4G @4;
-    cell5G @5;
-  }
-
-  enum NetworkStrength {
-    unknown @0;
-    poor @1;
-    moderate @2;
-    good @3;
-    great @4;
-  }
 }

 struct HealthData {
@@ -334,7 +312,6 @@ struct HealthData {
  hasGps @6 :Bool;
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
-  canRxErrs @19 :UInt32;
  gmlanSendErrs @9 :UInt32;
  hwType @10 :HwType;
  fanSpeedRpm @11 :UInt16;
@@ -509,7 +486,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  decelForTurn @47 :Bool;

  decelForModel @54 :Bool;
-  canErrorCounter @57 :UInt32;

  lateralControlState :union {
    indiState @52 :LateralINDIState;
@@ -601,7 +577,6 @@ struct ModelData {
  leadFuture @7 :LeadData;
  speed @8 :List(Float32);
  meta @10 :MetaData;
-  longitudinal @11 :LongitudinalData;

  struct PathData {
    points @0 :List(Float32);
@@ -632,20 +607,12 @@ struct ModelData {
    yuvCorrection @5 :List(Float32);
    inputTransform @6 :List(Float32);
  }
-
  struct MetaData {
    engagedProb @0 :Float32;
    desirePrediction @1 :List(Float32);
    brakeDisengageProb @2 :Float32;
    gasDisengageProb @3 :Float32;
    steerOverrideProb @4 :Float32;
-    desireState @5 :List(Float32);
-  }
-
-  struct LongitudinalData {
-    distances @2 :List(Float32);
-    speeds @0 :List(Float32);
-    accelerations @1 :List(Float32);
  }
 }

@@ -807,52 +774,6 @@ struct PathPlan {
  }
 }

-struct LiveLocationKalman {
-
-  # More info on reference frames: 
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
-
-  positionECEF @0 : Measurement;
-  positionGeodetic @1 : Measurement;
-  velocityECEF @2 : Measurement;
-  velocityNED @3 : Measurement;
-  velocityDevice @4 : Measurement;
-  accelerationDevice @5: Measurement;
-
-
-  # These angles are all eulers and roll, pitch, yaw
-  # orientationECEF transforms to rot matrix: ecef_from_device
-  orientationECEF @6 : Measurement;
-  orientationNED @7 : Measurement;
-  angularVelocityDevice @8 : Measurement;
-  
-  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
-  orientationNEDCalibrated @9 : Measurement;
-  
-  # Calibrated frame is simply device frame
-  # aligned with the vehicle
-  velocityCalibrated @10 : Measurement;
-  accelerationCalibrated @11 : Measurement;
-  angularVelocityCalibrated @12 : Measurement;
-
-  gpsWeek @13 :Int32;
-  gpsTimeOfWeek @14 :Float64;
-  status @15 :Status;
-  unixTimestampMillis @16 :Int64;
-  
-  enum Status {
-    uninitialized @0;
-    uncalibrated @1;
-    valid @2;
-  }
-
-  struct Measurement {
-    value @0 : List(Float64);
-    std @1 : List(Float64);
-    valid @2 : Bool;
-  }
-}
-
 struct LiveLocationData {
  status @0 :UInt8;

@@ -1496,7 +1417,6 @@ struct UbloxGnss {
    measurementReport @0 :MeasurementReport;
    ephemeris @1 :Ephemeris;
    ionoData @2 :IonoData;
-    hwStatus @3 :HwStatus;
  }

  struct MeasurementReport {
@@ -1620,30 +1540,9 @@ struct UbloxGnss {
    healthValid @5 :Bool;
    ionoCoeffsValid @6 :Bool;
  }
-
-  struct HwStatus {
-    noisePerMS @0 :UInt16;
-    agcCnt @1 :UInt16;
-    aStatus @2 :AntennaSupervisorState;
-    aPower @3 :AntennaPowerStatus;
-    jamInd @4 :UInt8;
-
-    enum AntennaSupervisorState {
-      init @0;
-      dontknow @1;
-      ok @2;
-      short @3;
-      open @4;
-    }
-
-    enum AntennaPowerStatus {
-      off @0;
-      on @1;
-      dontknow @2;
-    }
-  }
 }

+
 struct Clocks {
  bootTimeNanos @0 :UInt64;
  monotonicNanos @1 :UInt64;
@@ -1850,7 +1749,7 @@ struct OrbKeyFrame {
  descriptors @3 :Data;
 }

-struct DriverState {
+struct DriverMonitoring {
  frameId @0 :UInt32;
  descriptorDEPRECATED @1 :List(Float32);
  stdDEPRECATED @2 :Float32;
@@ -1862,27 +1761,6 @@ struct DriverState {
  leftBlinkProb @8 :Float32;
  rightBlinkProb @9 :Float32;
  irPwrDEPRECATED @10 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-}
-
-struct DMonitoringState {
-  # TODO: deprecate old fields in controlsState
-  events @0 :List(Car.CarEvent);
-  faceDetected @1 :Bool;
-  isDistracted @2 :Bool;
-  awarenessStatus @3 :Float32;
-  isRHD @4 :Bool;
-  rhdChecked @5 :Bool;
-  posePitchOffset @6 :Float32;
-  posePitchValidCount @7 :UInt32;
-  poseYawOffset @8 :Float32;
-  poseYawValidCount @9 :UInt32;
-  stepChange @10 :Float32;
-  awarenessActive @11 :Float32;
-  awarenessPassive @12 :Float32;
-  isLowStd @13 :Bool;
-  hiStdCount @14 :UInt32;
 }

 struct Boot {
@@ -1940,16 +1818,6 @@ struct KalmanOdometry {
  rotStd @3 :List(Float32); # std rad/s in device frame
 }

-struct Sentinel {
-  enum SentinelType {
-    endOfSegment @0;
-    endOfRoute @1;
-    startOfSegment @2;
-    startOfRoute @3;
-  }
-  type @0 :SentinelType;
-}
-
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -2006,7 +1874,7 @@ struct Event {
    gpsLocationExternal @48 :GpsLocationData;
    location @49 :LiveLocationData;
    uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalmanDEPRECATED @51 :LiveLocationData;
+    liveLocationKalman @51 :LiveLocationData;
    testJoystick @52 :Joystick;
    orbOdometry @53 :OrbOdometry;
    orbFeatures @54 :OrbFeatures;
@@ -2014,7 +1882,7 @@ struct Event {
    orbKeyFrame @56 :OrbKeyFrame;
    uiLayoutState @57 :UiLayoutState;
    orbFeaturesSummary @58 :OrbFeaturesSummary;
-    driverState @59 :DriverState;
+    driverMonitoring @59 :DriverMonitoring;
    boot @60 :Boot;
    liveParameters @61 :LiveParametersData;
    liveMapData @62 :LiveMapData;
@@ -2025,8 +1893,5 @@ struct Event {
    carEvents @68: List(Car.CarEvent);
    carParams @69: Car.CarParams;
    frontFrame @70: FrameData;
-    dMonitoringState @71: DMonitoringState;
-    liveLocationKalman @72 :LiveLocationKalman;
-    sentinel @73 :Sentinel;
  }
 }
@@ -1,7 +1,6 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
-import capnp

 assert MultiplePublishersError
 assert MessagingError
@@ -19,15 +18,10 @@ except ImportError:

 context = Context()

-def new_message(service=None, size=None):
+def new_message():
  dat = log.Event.new_message()
  dat.logMonoTime = int(sec_since_boot() * 1e9)
  dat.valid = True
-  if service is not None:
-    if size is None:
-      dat.init(service)
-    else:
-      dat.init(service, size)
  return dat

 def pub_sock(endpoint):
@@ -122,7 +116,6 @@ def recv_one_retry(sock):
    if dat is not None:
      return log.Event.from_bytes(dat)

-# TODO: This does not belong in messaging
 def get_one_can(logcan):
  while True:
    can = recv_one_retry(logcan)
@@ -153,12 +146,13 @@ class SubMaster():
        self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
      self.freq[s] = service_list[s].frequency

-      try:
-        data = new_message(s)
-      except capnp.lib.capnp.KjException:
-        # lists
-        data = new_message(s, 0)
-
+      data = new_message()
+      if s in ['can', 'sensorEvents', 'liveTracks', 'sendCan',
+               'ethernetData', 'cellInfo', 'wifiScan',
+               'trafficEvents', 'orbObservation', 'carEvents']:
+        data.init(s, 0)
+      else:
+        data.init(s)
      self.data[s] = getattr(data, s)
      self.logMonoTime[s] = 0
      self.valid[s] = data.valid
@@ -4,8 +4,6 @@
 #include <csignal>
 #include <map>

-typedef void (*sighandler_t)(int sig);
-
 #include "services.h"

 #include "impl_msgq.hpp"
@@ -85,6 +85,7 @@ Message * MSGQSubSocket::receive(bool non_blocking){
  msgq_msg_t msg;

  MSGQMessage *r = NULL;
+  r = NULL;

  int rc = msgq_msg_recv(&msg, q);

@@ -108,23 +109,17 @@ Message * MSGQSubSocket::receive(bool non_blocking){
    }
  }

+  if (rc > 0){
+    r = new MSGQMessage;
+    r->takeOwnership(msg.data, msg.size);
+  }
+  errno = msgq_do_exit ? EINTR : 0;

  if (!non_blocking){
    std::signal(SIGINT, prev_handler_sigint);
    std::signal(SIGTERM, prev_handler_sigterm);
  }

-  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;
 }

@@ -4,20 +4,20 @@

 Context * Context::create(){
  Context * c;
-  if (std::getenv("ZMQ")){
-    c = new ZMQContext();
-  } else {
+  if (std::getenv("MSGQ")){
    c = new MSGQContext();
+  } else {
+    c = new ZMQContext();
  }
  return c;
 }

 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (std::getenv("ZMQ")){
-    s = new ZMQSubSocket();
-  } else {
+  if (std::getenv("MSGQ")){
    s = new MSGQSubSocket();
+  } else {
+    s = new ZMQSubSocket();
  }
  return s;
 }
@@ -60,10 +60,10 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri

 PubSocket * PubSocket::create(){
  PubSocket * s;
-  if (std::getenv("ZMQ")){
-    s = new ZMQPubSocket();
-  } else {
+  if (std::getenv("MSGQ")){
    s = new MSGQPubSocket();
+  } else {
+    s = new ZMQPubSocket();
  }
  return s;
 }
@@ -82,10 +82,10 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){

 Poller * Poller::create(){
  Poller * p;
-  if (std::getenv("ZMQ")){
-    p = new ZMQPoller();
-  } else {
+  if (std::getenv("MSGQ")){
    p = new MSGQPoller();
+  } else {
+    p = new ZMQPoller();
  }
  return p;
 }
@@ -23,8 +23,8 @@

 #include "msgq.hpp"

-void sigusr2_handler(int signal) {
-  assert(signal == SIGUSR2);
+void sigusr1_handler(int signal) {
+  assert(signal == SIGUSR1);
 }

 uint64_t msgq_get_uid(void){
@@ -80,7 +80,7 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
 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);
+  std::signal(SIGUSR1, sigusr1_handler);

  const char * prefix = "/dev/shm/";
  char * full_path = new char[strlen(path) + strlen(prefix) + 1];
@@ -136,7 +136,7 @@ void msgq_close_queue(msgq_queue_t *q){


 void msgq_init_publisher(msgq_queue_t * q) {
-  //std::cout << "Starting publisher" << std::endl;
+  std::cout << "Starting publisher" << std::endl;
  uint64_t uid = msgq_get_uid();

  *q->write_uid = uid;
@@ -150,15 +150,6 @@ void msgq_init_publisher(msgq_queue_t * q) {
  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);
@@ -182,7 +173,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
        *q->read_uids[i] = 0;

        // Wake up reader in case they are in a poll
-        thread_signal(old_uid & 0xFFFFFFFF);
+        syscall(SYS_tkill, old_uid & 0xFFFFFFFF, SIGUSR1);
      }

      continue;
@@ -205,7 +196,7 @@ void msgq_init_subscriber(msgq_queue_t * q) {
    }
  }

-  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
+  std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
  msgq_reset_reader(q);
 }

@@ -287,7 +278,8 @@ int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
  // Notify readers
  for (uint64_t i = 0; i < num_readers; i++){
    uint64_t reader_uid = *q->read_uids[i];
-    thread_signal(reader_uid & 0xFFFFFFFF);
+
+    syscall(SYS_tkill, reader_uid & 0xFFFFFFFF, SIGUSR1);
  }

  return msg->size;
@@ -19,19 +19,19 @@ controlsState: [8007, true, 100., 100]
 model: [8009, true, 20., 5]
 features: [8010, true, 0.]
 health: [8011, true, 2., 1]
-radarState: [8012, true, 20., 5]
+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]
+liveCalibration: [8019, true, 5.]
 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]
+liveLocation: [8025, true, 0.]
 gpsLocation: [8026, true, 1., 1]
 ethernetData: [8027, true, 0.]
 navUpdate: [8028, true, 0.]
@@ -57,7 +57,7 @@ orbslamCorrection: [8050, true, 0.]
 liveLocationCorrected: [8051, true, 0.]
 orbObservation: [8052, true, 0.]
 applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 0., 1]
+liveLocationKalman: [8054, true, 0.]
 uiNavigationEvent: [8055, true, 0.]
 orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]
@@ -65,17 +65,16 @@ orbKeyFrame: [8059, true, 0.]
 uiLayoutState: [8060, true, 0.]
 frontEncodeIdx: [8061, true, 5.]
 orbFeaturesSummary: [8062, true, 0.]
-driverState: [8063, true, 5., 1]
+driverMonitoring: [8063, true, 5., 1]
 liveParameters: [8064, true, 10.]
 liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20., 5]
+cameraOdometry: [8066, true, 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.]
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# Only pyflakes checks (--select=F)
+flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+RESULT=$?
+if [ $RESULT -eq 0 ]; then
+    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+    RESULT=$? & 3
+fi
+
+[ $RESULT -ne 0 ] && exit 1
+exit 0
@@ -1,41 +1,23 @@
-import os
 import binascii
 import itertools
 import re
 import struct
 import subprocess
-import random
-from cereal import log
-
-NetworkType = log.ThermalData.NetworkType
-NetworkStrength = log.ThermalData.NetworkStrength
-
-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)
+def get_imei():
+  ret = getprop("oem.device.imeicache")
+  if ret == "":
+    ret = "000000000000000"
  return ret

 def get_serial():
-  ret = getprop("ro.serialno")
-  if ret == "":
-    ret = "cccccccc"
-  return ret
+  return getprop("ro.serialno")

 def get_subscriber_info():
-  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
+  ret = parse_service_call_string(["iphonesubinfo", "7"])
  if ret is None or len(ret) < 8:
    return ""
  return ret
@@ -53,23 +35,15 @@ def reboot(reason=None):
    "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):
+def parse_service_call_unpack(call, fmt):
+  r = parse_service_call_bytes(call)
  try:
    return struct.unpack(fmt, r)[0]
  except Exception:
    return None

-def parse_service_call_string(r):
+def parse_service_call_string(call):
+  r = parse_service_call_bytes(call)
  try:
    r = r[8:] # Cut off length field
    r = r.decode('utf_16_be')
@@ -85,7 +59,11 @@ def parse_service_call_string(r):
  except Exception:
    return None

-def parse_service_call_bytes(ret):
+def parse_service_call_bytes(call):
+  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
+  if 'Parcel' not in ret:
+    return None
+
  try:
    r = b""
    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
@@ -93,192 +71,3 @@ def parse_service_call_bytes(ret):
    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)
-
-def get_network_strength(network_type):
-  network_strength = NetworkStrength.unknown
-  # from SignalStrength.java
-  def get_lte_level(rsrp, rssnr):
-    INT_MAX = 2147483647
-    lvl_rsrp = NetworkStrength.unknown
-    lvl_rssnr = NetworkStrength.unknown
-    if rsrp == INT_MAX:
-      lvl_rsrp = NetworkStrength.unknown
-    elif rsrp >= -95:
-      lvl_rsrp = NetworkStrength.great
-    elif rsrp >= -105:
-      lvl_rsrp = NetworkStrength.good
-    elif rsrp >= -115:
-      lvl_rsrp = NetworkStrength.moderate
-    else:
-      lvl_rsrp = NetworkStrength.poor
-    if rssnr == INT_MAX:
-      lvl_rssnr = NetworkStrength.unknown
-    elif rssnr >= 45:
-      lvl_rssnr = NetworkStrength.great
-    elif rssnr >= 10:
-      lvl_rssnr = NetworkStrength.good
-    elif rssnr >= -30:
-      lvl_rssnr = NetworkStrength.moderate
-    else:
-      lvl_rssnr = NetworkStrength.poor
-    return max(lvl_rsrp, lvl_rssnr)
-
-  def get_tdscdma_level(tdscmadbm):
-    lvl = NetworkStrength.unknown
-    if tdscmadbm > -25:
-      lvl = NetworkStrength.unknown
-    elif tdscmadbm >= -49:
-      lvl = NetworkStrength.great
-    elif tdscmadbm >= -73:
-      lvl = NetworkStrength.good
-    elif tdscmadbm >= -97:
-      lvl = NetworkStrength.moderate
-    elif tdscmadbm >= -110:
-      lvl = NetworkStrength.poor
-    return lvl
-
-  def get_gsm_level(asu):
-    lvl = NetworkStrength.unknown
-    if asu <= 2 or asu == 99:
-      lvl = NetworkStrength.unknown
-    elif asu >= 12:
-      lvl = NetworkStrength.great
-    elif asu >= 8:
-      lvl = NetworkStrength.good
-    elif asu >= 5:
-      lvl = NetworkStrength.moderate
-    else:
-      lvl = NetworkStrength.poor
-    return lvl
-
-  def get_evdo_level(evdodbm, evdosnr):
-    lvl_evdodbm = NetworkStrength.unknown
-    lvl_evdosnr = NetworkStrength.unknown
-    if evdodbm >= -65:
-      lvl_evdodbm = NetworkStrength.great
-    elif evdodbm >= -75:
-      lvl_evdodbm = NetworkStrength.good
-    elif evdodbm >= -90:
-      lvl_evdodbm = NetworkStrength.moderate
-    elif evdodbm >= -105:
-      lvl_evdodbm = NetworkStrength.poor
-    if evdosnr >= 7:
-      lvl_evdosnr = NetworkStrength.great
-    elif evdosnr >= 5:
-      lvl_evdosnr = NetworkStrength.good
-    elif evdosnr >= 3:
-      lvl_evdosnr = NetworkStrength.moderate
-    elif evdosnr >= 1:
-      lvl_evdosnr = NetworkStrength.poor
-    return max(lvl_evdodbm, lvl_evdosnr)
-
-  def get_cdma_level(cdmadbm, cdmaecio):
-    lvl_cdmadbm = NetworkStrength.unknown
-    lvl_cdmaecio = NetworkStrength.unknown
-    if cdmadbm >= -75:
-      lvl_cdmadbm = NetworkStrength.great
-    elif cdmadbm >= -85:
-      lvl_cdmadbm = NetworkStrength.good
-    elif cdmadbm >= -95:
-      lvl_cdmadbm = NetworkStrength.moderate
-    elif cdmadbm >= -100:
-      lvl_cdmadbm = NetworkStrength.poor
-    if cdmaecio >= -90:
-      lvl_cdmaecio = NetworkStrength.great
-    elif cdmaecio >= -110:
-      lvl_cdmaecio = NetworkStrength.good
-    elif cdmaecio >= -130:
-      lvl_cdmaecio = NetworkStrength.moderate
-    elif cdmaecio >= -150:
-      lvl_cdmaecio = NetworkStrength.poor
-    return max(lvl_cdmadbm, lvl_cdmaecio)
-
-  if network_type == NetworkType.none:
-    return network_strength
-  if network_type == NetworkType.wifi:
-    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('ascii')
-    network_strength = NetworkStrength.unknown
-    for line in out.split('\n'):
-      signal_str = "SignalStrength: "
-      if signal_str in line:
-        lvl_idx_start = line.find(signal_str) + len(signal_str)
-        lvl_idx_end = line.find(']', lvl_idx_start)
-        lvl = int(line[lvl_idx_start : lvl_idx_end])
-        if lvl >= -50:
-          network_strength = NetworkStrength.great
-        elif lvl >= -60:
-          network_strength = NetworkStrength.good
-        elif lvl >= -70:
-          network_strength = NetworkStrength.moderate
-        else:
-          network_strength = NetworkStrength.poor
-    return network_strength
-  else:
-    # check cell strength
-    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('ascii')
-    for line in out.split('\n'):
-      if "mSignalStrength" in line:
-        arr = line.split(' ')
-        ns = 0
-        if ("gsm" in arr[14]):
-          rsrp = int(arr[9])
-          rssnr = int(arr[11])
-          ns = get_lte_level(rsrp, rssnr)
-          if ns == NetworkStrength.unknown:
-            tdscmadbm = int(arr[13])
-            ns = get_tdscdma_level(tdscmadbm)
-            if ns == NetworkStrength.unknown:
-              asu = int(arr[1])
-              ns = get_gsm_level(asu)
-        else:
-          cdmadbm = int(arr[3])
-          cdmaecio = int(arr[4])
-          evdodbm = int(arr[5])
-          evdosnr = int(arr[7])
-          lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
-          lvl_edmo = get_evdo_level(evdodbm, evdosnr)
-          if lvl_edmo == NetworkStrength.unknown:
-            ns = lvl_cdma
-          elif lvl_cdma == NetworkStrength.unknown:
-            ns = lvl_edmo
-          else:
-            ns = min(lvl_cdma, lvl_edmo)
-        network_strength = max(network_strength, ns)
-
-    return network_strength
@@ -1,13 +1,13 @@
 import jwt
 import requests
 from datetime import datetime, timedelta
-from common.basedir import PERSIST
+
 from selfdrive.version import version

 class Api():
  def __init__(self, dongle_id):
    self.dongle_id = dongle_id
-    with open(PERSIST+'/comma/id_rsa') as f:
+    with open('/persist/comma/id_rsa') as f:
      self.private_key = f.read()

  def get(self, *args, **kwargs):
@@ -6,7 +6,7 @@ import shutil
 from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog

-android_packages = ("ai.comma.plus.offroad",)
+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")
@@ -26,16 +26,16 @@ def install_apk(path):
  os.remove(install_path)
  return ret == 0

-def start_offroad():
+def start_frame():
  set_package_permissions()
-  system("am start -n ai.comma.plus.offroad/.MainActivity")
+  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")
+  appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
+  appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")

 def appops_set(package, op, mode):
  system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
@@ -95,3 +95,4 @@ def pm_apply_packages(cmd):

 if __name__ == "__main__":
  update_apks()
+
@@ -1,11 +1,4 @@
 import os
 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"
-else:
-  PERSIST = os.path.join(BASEDIR, "persist")
-  PARAMS = os.path.join(BASEDIR, "persist", "params")

@@ -1,22 +1,16 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
+from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW

-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(int clock_id):
+    cdef timespec ts
+    cdef double current

-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

-  clock_gettime(clock_id, &ts)
-  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-  return current

 def monotonic_time():
-  return readclock(CLOCK_MONOTONIC_RAW)
+    return readclock(CLOCK_MONOTONIC_RAW)

 def sec_since_boot():
-  return readclock(CLOCK_BOOTTIME)
-
+    return readclock(CLOCK_BOOTTIME)
@@ -2,14 +2,8 @@ import os
 import sys
 import fcntl
 import hashlib
-import platform
 from cffi import FFI

-def suffix():
-  if platform.system() == "Darwin":
-    return ".dylib"
-  else:
-    return ".so"

 def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
  if libraries is None:
@@ -1,11 +1,9 @@
-import io
 import os
 import sys
 import copy
 import json
 import socket
 import logging
-import traceback
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -80,6 +78,28 @@ class SwagLogger(logging.Logger):
    self.log_local = local()
    self.log_local.ctx = {}

+  def findCaller(self, stack_info=None):
+    """
+      Find the stack frame of the caller so that we can note the source
+      file name, line number and function name.
+      """
+    # f = currentframe()
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+      f = f.f_back
+    rv = "(unknown file)", 0, "(unknown function)"
+    while hasattr(f, "f_code"):
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+      if filename in (logging._srcfile, _srcfile):
+        f = f.f_back
+        continue
+      rv = (co.co_filename, f.f_lineno, co.co_name)
+      break
+    return rv
+
  def local_ctx(self):
    try:
      return self.log_local.ctx
@@ -120,42 +140,6 @@ class SwagLogger(logging.Logger):
    else:
      self.info(evt)

-  def findCaller(self, stack_info=False, stacklevel=1):
-    """
-    Find the stack frame of the caller so that we can note the source
-    file name, line number and function name.
-    """
-    f = sys._getframe(3)
-    #On some versions of IronPython, currentframe() returns None if
-    #IronPython isn't run with -X:Frames.
-    if f is not None:
-        f = f.f_back
-    orig_f = f
-    while f and stacklevel > 1:
-        f = f.f_back
-        stacklevel -= 1
-    if not f:
-        f = orig_f
-    rv = "(unknown file)", 0, "(unknown function)", None
-    while hasattr(f, "f_code"):
-        co = f.f_code
-        filename = os.path.normcase(co.co_filename)
-        if filename == _srcfile:
-            f = f.f_back
-            continue
-        sinfo = None
-        if stack_info:
-            sio = io.StringIO()
-            sio.write('Stack (most recent call last):\n')
-            traceback.print_stack(f, file=sio)
-            sinfo = sio.getvalue()
-            if sinfo[-1] == '\n':
-                sinfo = sinfo[:-1]
-            sio.close()
-        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
-        break
-    return rv
-
 if __name__ == "__main__":
  log = SwagLogger()

@@ -1,50 +0,0 @@
-def cputime_total(ct):
-  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
-
-
-def print_cpu_usage(first_proc, last_proc):
-  r = 0
-  procs = [
-      ("selfdrive.controls.controlsd", 59.46),
-      ("./_modeld", 48.94),
-      ("./loggerd", 28.49),
-      ("selfdrive.controls.plannerd", 19.77),
-      ("selfdrive.controls.radard", 9.54),
-      ("./_ui", 9.54),
-      ("./camerad", 7.07),
-      ("selfdrive.locationd.locationd", 7.13),
-      ("./_sensord", 6.17),
-      ("selfdrive.controls.dmonitoringd", 5.48),
-      ("./boardd", 3.63),
-      ("./_dmonitoringmodeld", 2.67),
-      ("selfdrive.logmessaged", 2.71),
-      ("selfdrive.thermald", 2.41),
-      ("./paramsd", 2.18),
-      ("selfdrive.locationd.calibrationd", 1.76),
-      ("./proclogd", 1.54),
-      ("./_gpsd", 0.09),
-      ("./clocksd", 0.02),
-      ("./ubloxd", 0.02),
-      ("selfdrive.tombstoned", 0),
-      ("./logcatd", 0),
-      ("selfdrive.updated", 0),
-  ]
-
-  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
-  print("------------------------------------------------")
-  for proc_name, normal_cpu_usage in procs:
-    try:
-      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
-      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
-      cpu_time = cputime_total(last) - cputime_total(first)
-      cpu_usage = cpu_time / dt * 100.
-      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
-        print(f"Warning {proc_name} using more CPU than normal")
-        r = 1
-
-      print(f"{proc_name.ljust(35)}  {cpu_usage:.2f}%")
-    except IndexError:
-      print(f"{proc_name.ljust(35)}  NO METRICS FOUND")
-  print("------------------------------------------------")
-
-  return r
@@ -22,8 +22,6 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
-import string
-import binascii
 import errno
 import sys
 import shutil
@@ -31,7 +29,7 @@ import fcntl
 import tempfile
 import threading
 from enum import Enum
-from common.basedir import PARAMS
+

 def mkdirs_exists_ok(path):
  try:
@@ -56,12 +54,10 @@ keys = {
  "AthenadPid": [TxType.PERSISTENT],
  "CalibrationParams": [TxType.PERSISTENT],
  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "CommunityFeaturesToggle": [TxType.PERSISTENT],
  "CompletedTrainingVersion": [TxType.PERSISTENT],
  "ControlsParams": [TxType.PERSISTENT],
-  "DisablePowerDown": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
@@ -73,10 +69,9 @@ keys = {
  "IsLdwEnabled": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
-  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
  "IsRHD": [TxType.PERSISTENT],
  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  "IsUpdateAvailable": [TxType.PERSISTENT],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "LastUpdateTime": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
@@ -84,9 +79,7 @@ keys = {
  "LiveParameters": [TxType.PERSISTENT],
  "LongitudinalControl": [TxType.PERSISTENT],
  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  "LaneChangeEnabled": [TxType.PERSISTENT],
  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Passive": [TxType.PERSISTENT],
  "RecordFront": [TxType.PERSISTENT],
@@ -97,7 +90,6 @@ keys = {
  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  "UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
  "Version": [TxType.PERSISTENT],
  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
@@ -109,7 +101,6 @@ keys = {
  #dragonpilot config
  "DragonEnableDashcam": [TxType.PERSISTENT],
  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
-  "DragonEnableAutoShutdown": [TxType.PERSISTENT],
  "DragonAutoShutdownAt": [TxType.PERSISTENT],
  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
  "DragonEnableLogger": [TxType.PERSISTENT],
@@ -119,8 +110,6 @@ keys = {
  "DragonCachedModel": [TxType.PERSISTENT],
  "DragonCachedFP": [TxType.PERSISTENT],
  "DragonCachedVIN": [TxType.PERSISTENT],
-  "DragonCachedCarFW": [TxType.PERSISTENT],
-  "DragonCachedSource": [TxType.PERSISTENT],
  "DragonAllowGas": [TxType.PERSISTENT],
  "DragonToyotaStockDSU": [TxType.PERSISTENT],
  "DragonLatCtrl": [TxType.PERSISTENT],
@@ -155,31 +144,22 @@ keys = {
  "DragonUILead": [TxType.PERSISTENT],
  "DragonUIPath": [TxType.PERSISTENT],
  "DragonUIBlinker": [TxType.PERSISTENT],
-  "DragonUIDMView": [TxType.PERSISTENT],
  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
  "DragonCarModel": [TxType.PERSISTENT],
+  "DragonCarVIN": [TxType.PERSISTENT],
  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
  "DragonToyotaSnGMod": [TxType.PERSISTENT],
+  "DragonIsEON": [TxType.PERSISTENT],
+  "DragonHWChecked": [TxType.PERSISTENT],
  "DragonEnableSRLearner": [TxType.PERSISTENT],
  "DragonWazeMode": [TxType.PERSISTENT],
  "DragonRunWaze": [TxType.PERSISTENT],
+  "DragonEnableAssistedLC": [TxType.PERSISTENT],
  "DragonEnableAutoLC": [TxType.PERSISTENT],
  "DragonAssistedLCMinMPH": [TxType.PERSISTENT],
  "DragonAutoLCMinMPH": [TxType.PERSISTENT],
  "DragonAutoLCDelay": [TxType.PERSISTENT],
-  "DragonBTG": [TxType.PERSISTENT],
-  "DragonBootHotspot": [TxType.PERSISTENT],
-  "DragonAccelProfile": [TxType.PERSISTENT],
-  "DragonLastModified": [TxType.PERSISTENT],
-  "DragonEnableRegistration": [TxType.PERSISTENT],
-  "DragonDynamicFollow": [TxType.PERSISTENT],
-  "DragonEnableGearCheck": [TxType.PERSISTENT],
-  "DragonEnableTempMonitor": [TxType.PERSISTENT],
-  "DragonEnableCurvatureLearner": [TxType.PERSISTENT],
-  "DragonCurvatureLearnerOffset": [TxType.PERSISTENT],
-  "DragonAppAutoUpdate": [TxType.PERSISTENT],
-  "DragonUpdating": [TxType.CLEAR_ON_MANAGER_START],
 }


@@ -399,7 +379,7 @@ def write_db(params_path, key, value):
    lock.release()

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

    # create the database if it doesn't exist...
@@ -407,11 +387,6 @@ class Params():
      with self.transaction(write=True):
        pass

-  def clear_all(self):
-    shutil.rmtree(self.db, ignore_errors=True)
-    with self.transaction(write=True):
-      pass
-
  def transaction(self, write=False):
    if write:
      return DBWriter(self.db)
@@ -484,10 +459,10 @@ if __name__ == "__main__":
      pp = params.get(k)
      if pp is None:
        print("%s is None" % k)
-      elif all(chr(c) in string.printable for c in pp):
+      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
        print("%s = %s" % (k, pp))
      else:
-        print("%s = %s" % (k, binascii.hexlify(pp)))
+        print("%s = %s" % (k, pp.encode("hex")))

  # Test multiprocess:
  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
@@ -5,31 +5,21 @@ from common.basedir import BASEDIR

 class Spinner():
  def __init__(self):
-    try:
-      self.spinner_proc = subprocess.Popen(["./spinner"],
-                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
-                                           close_fds=True)
-    except OSError:
-      self.spinner_proc = None
+    self.spinner_proc = subprocess.Popen(["./spinner"],
+                                         stdin=subprocess.PIPE,
+                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                         close_fds=True)

  def __enter__(self):
    return self

  def update(self, spinner_text):
-    if self.spinner_proc is not None:
-      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-      try:
-        self.spinner_proc.stdin.flush()
-      except BrokenPipeError:
-        pass
+    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+    self.spinner_proc.stdin.flush()

  def close(self):
    if self.spinner_proc is not None:
-      try:
-        self.spinner_proc.stdin.close()
-      except BrokenPipeError:
-        pass
+      self.spinner_proc.stdin.close()
      self.spinner_proc.terminate()
      self.spinner_proc = None

@@ -2,35 +2,31 @@
 import sympy as sp
 import numpy as np

-
 def cross(x):
-  ret = sp.Matrix(np.zeros((3, 3)))
-  ret[0, 1], ret[0, 2] = -x[2], x[1]
-  ret[1, 0], ret[1, 2] = x[2], -x[0]
-  ret[2, 0], ret[2, 1] = -x[1], x[0]
+  ret = sp.Matrix(np.zeros((3,3)))
+  ret[0,1], ret[0,2] = -x[2], x[1]
+  ret[1,0], ret[1,2] = x[2], -x[0]
+  ret[2,0], ret[2,1] = -x[1], x[0]
  return ret

-
 def euler_rotate(roll, pitch, yaw):
  # make symbolic rotation matrix from eulers
-  matrix_roll = sp.Matrix([[1, 0, 0],
-                           [0, sp.cos(roll), -sp.sin(roll)],
-                           [0, sp.sin(roll), sp.cos(roll)]])
-  matrix_pitch = sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
-                            [0, 1, 0],
-                            [-sp.sin(pitch), 0, sp.cos(pitch)]])
-  matrix_yaw = sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
-                          [sp.sin(yaw), sp.cos(yaw), 0],
-                          [0, 0, 1]])
-  return matrix_yaw * matrix_pitch * matrix_roll
-
+  matrix_roll =  sp.Matrix([[1, 0, 0],
+                            [0, sp.cos(roll), -sp.sin(roll)],
+                            [0, sp.sin(roll), sp.cos(roll)]])
+  matrix_pitch =  sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
+                             [0, 1, 0],
+                             [-sp.sin(pitch), 0, sp.cos(pitch)]])
+  matrix_yaw =  sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
+                           [sp.sin(yaw), sp.cos(yaw), 0],
+                           [0, 0, 1]])
+  return matrix_yaw*matrix_pitch*matrix_roll

 def quat_rotate(q0, q1, q2, q3):
  # make symbolic rotation matrix from quat
-  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2 * (q1 * q2 + q0 * q3), 2 * (q1 * q3 - q0 * q2)],
-                    [2 * (q1 * q2 - q0 * q3), q0**2 - q1**2 + q2**2 - q3**2, 2 * (q2 * q3 + q0 * q1)],
-                    [2 * (q1 * q3 + q0 * q2), 2 * (q2 * q3 - q0 * q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
-
+  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)],
+                    [2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)],
+                    [2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T

 def quat_matrix_l(p):
  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
@@ -38,7 +34,6 @@ def quat_matrix_l(p):
                    [p[2],  p[3],  p[0], -p[1]],
                    [p[3], -p[2],  p[1],  p[0]]])

-
 def quat_matrix_r(p):
  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
                    [p[1],  p[0],  p[3], -p[2]],
@@ -46,19 +41,18 @@ def quat_matrix_r(p):
                    [p[3],  p[2], -p[1],  p[0]]])


-def sympy_into_c(sympy_functions, global_vars=None):
+def sympy_into_c(sympy_functions):
  from sympy.utilities import codegen
  routines = []
  for name, expr, args in sympy_functions:
-    r = codegen.make_routine(name, expr, language="C99", global_vars=global_vars)
+    r = codegen.make_routine(name, expr, language="C99")

    # argument ordering input to sympy is broken with function with output arguments
    nargs = []
-
    # reorder the input arguments
    for aa in args:
      if aa is None:
-        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1, 1]))
+        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1]))
        continue
      found = False
      for a in r.arguments:
@@ -68,23 +62,20 @@ def sympy_into_c(sympy_functions, global_vars=None):
          break
      if not found:
        # [1,1] is a hack for Matrices
-        nargs.append(codegen.InputArgument(aa, dimensions=[1, 1]))
-
+        nargs.append(codegen.InputArgument(aa, dimensions=[1,1]))
    # add the output arguments
    for a in r.arguments:
      if type(a) == codegen.OutputArgument:
        nargs.append(a)

-    # assert len(r.arguments) == len(args)+1
+    #assert len(r.arguments) == len(args)+1
    r.arguments = nargs

    # add routine to list
    routines.append(r)

  [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
-  c_header = '\n'.join(x for x in c_header.split("\n") if len(x) > 0 and x[0] != '#')
-
  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
-  c_code = 'extern "C" {\n#include <math.h>\n' + c_code + "\n}\n"
+  c_header = '\n'.join(x for x in  c_header.split("\n") if len(x) > 0 and x[0] != '#')

  return c_header, c_code
@@ -44,7 +44,6 @@ def get_calib_from_vp(vp):
  roll_calib = 0
  return roll_calib, pitch_calib, yaw_calib

-
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -62,13 +61,6 @@ def vp_from_ke(m):
  """
  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])

-
-def vp_from_rpy(rpy):
-  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(eon_intrinsics, e)
-  return vp_from_ke(ke)
-
-
 def roll_from_ke(m):
  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
  return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
@@ -131,6 +123,37 @@ def img_from_device(pt_device):
  return pt_img.reshape(input_shape)[:,:2]


+#TODO please use generic img transform below
+def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  import cv2  # pylint: disable=import-error
+
+  size = img.shape[:2]
+  rot = orient.rot_from_euler(eulers)
+  quadrangle = np.array([[0, 0],
+                         [size[1]-1, 0],
+                         [0, size[0]-1],
+                         [size[1]-1, size[0]-1]], dtype=np.float32)
+  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
+  warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
+  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+  if crop:
+    W_border = (size[1] - crop[0])//2
+    H_border = (size[0] - crop[1])//2
+    outside_crop = (((warped_quadrangle[:,0] < W_border) |
+                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
+                    ((warped_quadrangle[:,1] < H_border) |
+                     (warped_quadrangle[:,1] >= size[0] - H_border)))
+    if not outside_crop.all():
+      raise ValueError("warped image not contained inside crop")
+  else:
+    H_border, W_border = 0, 0
+  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
+  img_warped = cv2.warpPerspective(img, M, size[::-1])
+  return img_warped[H_border: size[0] - H_border,
+                    W_border: size[1] - W_border]
+
+
 def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
  calib_frame_from_ground = np.dot(eon_intrinsics,
@@ -31,7 +31,7 @@


 # Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-#lang=en
+lang=en

 update_font=0
 remove_old_font=0
@@ -67,5 +67,5 @@ if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
    # change system locale
 fi

-#setprop persist.sys.locale $lang
-#setprop persist.sys.local $lang
+setprop persist.sys.locale $lang
+setprop persist.sys.local $lang
@@ -1,7 +1,7 @@
 {
-  "ota_url": "http://dpp.cool/neosupdate/ota-signed-e5cb30d3c0c8f7903fa2d04047296605a0136324201c30f59013c614a9fc6804.zip",
-  "ota_hash": "e5cb30d3c0c8f7903fa2d04047296605a0136324201c30f59013c614a9fc6804",
-  "recovery_url": "http://dpp.cool/neosupdate/recovery-b905c42c54fbd69b6ad6152b434b3567f24169f31ad8409aee8858ceb2918bba.img",
-  "recovery_len": 15926572,
-  "recovery_hash": "b905c42c54fbd69b6ad6152b434b3567f24169f31ad8409aee8858ceb2918bba"
+  "ota_url": "http://dpp.cool/neosupdate/ota-signed-07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e.zip",
+  "ota_hash": "07df505453684371b6c22583ffbb74ee414fcd389a46ff369ffd1b6bac75414e",
+  "recovery_url": "http://dpp.cool/neosupdate/recovery-3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6.img",
+  "recovery_len": 15848748,
+  "recovery_hash": "3a6f973295ded6e4ff5cfff3b12e19c80d3bf45e2e8dd8699da3fc25b23ed7c6"
 }
@@ -155,6 +155,8 @@ struct Updater {
  TouchState touch;

  int fb_w, fb_h;
+  EGLDisplay display;
+  EGLSurface surface;

  FramebufferState *fb = NULL;
  NVGcontext *vg = NULL;
@@ -196,7 +198,7 @@ struct Updater {
    touch_init(&touch);

    fb = framebuffer_init("updater", 0x00001000, false,
-                          &fb_w, &fb_h);
+                          &display, &surface, &fb_w, &fb_h);
    assert(fb);

    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
@@ -706,7 +708,7 @@ struct Updater {

      glDisable(GL_BLEND);

-      framebuffer_swap(fb);
+      eglSwapBuffers(display, surface);

      assert(glGetError() == GL_NO_ERROR);

@@ -6,54 +6,21 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

-if [ -z "$BASEDIR" ]; then
-  BASEDIR="/data/openpilot"
-fi
-
 if [ -z "$PASSIVE" ]; then
  export PASSIVE="1"
 fi

-STAGING_ROOT="/data/safe_staging"
-
 function launch {
  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN

-  # Check to see if there's a valid overlay-based update available. Conditions
-  # are as follows:
+  ## apply update
+  #if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+  #  git reset --hard @{u} &&
+  #  git clean -xdf &&
  #
-  # 1. The BASEDIR init file has to exist, with a newer modtime than anything in
-  #    the BASEDIR Git repo. This checks for local development work or the user
-  #    switching branches/forks, which should not be overwritten.
-  # 2. The FINALIZED consistent file has to exist, indicating there's an update
-  #    that completed successfully and synced to disk.
-
-  if [ -f "${BASEDIR}/.overlay_init" ]; then
-    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${BASEDIR} has been modified, skipping overlay update installation"
-    else
-      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
-        if [ ! -d /data/safe_staging/old_openpilot ]; then
-          echo "Valid overlay update found, installing"
-          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
-
-          mv $BASEDIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $BASEDIR
-
-          # The mv changed our working directory to /data/safe_staging/old_openpilot
-          cd "${BASEDIR}"
-
-          echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          exec "${LAUNCHER_LOCATION}"
-        else
-          echo "openpilot backup found, not updating"
-          # TODO: restore backup? This means the updater didn't start after swapping
-        fi
-      fi
-    fi
-  fi
+  #  exec "${BASH_SOURCE[0]}"
+  #fi

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
@@ -65,17 +32,17 @@ function launch {
  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

  # Remove old NEOS update file
-  # TODO: move this code to the updater
  if [ -d /data/neoupdate ]; then
    rm -rf /data/neoupdate
  fi

  # Check for NEOS update
-  if [ $(< /VERSION) != "14" ]; then
+  if [ $(< /VERSION) != "13" ]; then
    if [ -f "$DIR/scripts/continue.sh" ]; then
      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
    fi

+    git clean -xdf
    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
  fi

@@ -1,24 +0,0 @@
-name: Tests
-
-on: [push, pull_request]
-
-jobs:
-  test:
-    runs-on: ubuntu-16.04
-
-    steps:
-      - uses: actions/checkout@v2
-      - run: |
-          set -e
-          docker build -t opendbc .
-        name: "Build"
-      - run: |
-          docker run opendbc bash -c "python -m unittest discover opendbc"
-        name: "Unit tests"
-      - run: |
-          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
-          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
-        name: "Python linter"
-      - run: |
-          docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
-        name: "Generator test"
@@ -1,10 +1,7 @@
 *.pyc
 *.os
 *.tmp
-*.dylib
 .*.swp
-.DS_Store
-
 can/*.so
 can/build/
 can/obj/
@@ -16,9 +16,6 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind

 Use [panda](https://github.com/commaai/panda) to connect your car to a computer.

-### How to use reverse engineered DBC
-To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project.
-
 ### DBC file preprocessor

 DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.
@@ -86,13 +86,6 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -281,10 +274,9 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -86,13 +86,6 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -269,7 +262,7 @@ BO_ 392 GEARBOX: 6 XXX

 BO_ 399 STEER_STATUS: 6 EPS
 SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
@@ -0,0 +1,16 @@
+pr: none
+
+pool:
+  vmImage: 'ubuntu-16.04'
+steps:
+- script: |
+    set -e
+    docker build -t opendbc .
+  displayName: 'Build'
+- script: |
+    docker run opendbc bash -c "python -m unittest discover opendbc"
+  displayName: 'Unit tests'
+- script: |
+    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
+    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
+  displayName: 'Python linter'
@@ -85,12 +85,6 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x117: // ACC_10 Automatic Cruise Control
      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
      break;
-    case 0x120: // TSK_06 Drivetrain Coordinator
-      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
-      break;
-    case 0x121: // Motor_20 Driver Throttle Inputs
-      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
-      break;
    case 0x122: // ACC_06 Automatic Cruise Control
      crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
      break;
@@ -1,7 +1,6 @@
 import os
 import sysconfig
 import subprocess
-import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module

 from Cython.Build import cythonize
@@ -39,10 +38,6 @@ ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pyl
 if ARCH == "aarch64":
  extra_compile_args += ["-Wno-deprecated-register"]

-if platform.system() == "Darwin":
-  libdbc = "libdbc.dylib"
-else:
-  libdbc = "libdbc.so"

 setup(name='CAN packer',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
@@ -57,13 +52,9 @@ setup(name='CAN packer',
            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
          ],
          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
+            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
          ],
        )
      ),
      nthreads=4,
 )
-
-if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
-
@@ -1,7 +1,6 @@
 import os
 import subprocess
 import sysconfig
-import platform
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module

 from Cython.Build import cythonize
@@ -39,11 +38,6 @@ ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pyl
 if ARCH == "aarch64":
  extra_compile_args += ["-Wno-deprecated-register"]

-if platform.system() == "Darwin":
-  libdbc = "libdbc.dylib"
-else:
-  libdbc = "libdbc.so"
-
 setup(name='CAN parser',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
@@ -57,13 +51,9 @@ setup(name='CAN parser',
            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
          ],
          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
+            os.path.join(BASEDIR, 'opendbc', 'can', 'libdbc.so'),
          ],
        )
      ),
      nthreads=4,
 )
-
-if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
-
@@ -1,13 +0,0 @@
-#!/bin/bash -e
-
-cd ../../generator/
-
-# run generator
-./generator.py
-
-if [ -n "$(git status --untracked-files=no --porcelain)" ]; then
-  echo "Unexpected changes after running generator.py";
-  exit 1
-else
-  echo "Success";
-fi
@@ -429,5 +429,5 @@ CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
-VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 746 PRNDL 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
@@ -54,12 +54,17 @@ BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX

+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
@@ -87,10 +92,9 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

@@ -102,13 +106,6 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
 BO_ 450 EPB_STATUS: 8 EPB
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
@@ -160,82 +157,6 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

-BO_ 576 LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 577 LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
- 
-BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -360,9 +281,5 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
-CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
-CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
-CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
-CM_ SG_ 577 LINE_SOLID "1 = line is solid";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
@@ -56,7 +56,6 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -64,13 +63,6 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -101,15 +93,12 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
- SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -149,7 +138,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -159,12 +148,10 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
- SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -214,7 +201,6 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -224,7 +210,6 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
@@ -64,13 +64,6 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

-BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
- SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
- SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
- SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
-
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -149,7 +142,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -159,12 +152,10 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
- SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -27,10 +27,9 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -15,7 +15,7 @@ BO_ 392 GEARBOX: 6 XXX

 BO_ 399 STEER_STATUS: 6 EPS
 SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
@@ -1,12 +1,5 @@
 CM_ "IMPORT _bosch_2018.dbc"

-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
 SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
@@ -1,12 +1,5 @@
 CM_ "IMPORT _bosch_2018.dbc"

-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
 BO_ 419 GEARBOX: 8 PCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
@@ -1,12 +1,5 @@
 CM_ "IMPORT _bosch_2018.dbc"

-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
 SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
@@ -1,57 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 316 GAS_PEDAL_2: 8 XXX
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 419 GEARBOX: 8 XXX
- SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 892 CRUISE_PARAMS: 8 PCM
- SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P" ;
-VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -25,19 +25,16 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
 SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -1,12 +1,5 @@
 CM_ "IMPORT _bosch_2018.dbc"

-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
 SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
@@ -1,65 +0,0 @@
-CM_ "IMPORT _honda_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 6 EPS
- SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
- SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
- SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] ""  EON
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 404 STEERING_CONTROL: 4 EON
- SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
- SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 487 BRAKE_PRESSURE: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
- SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
-
-BO_ 660 SCM_FEEDBACK: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 891 WIPERS: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -1,12 +1,5 @@
 CM_ "IMPORT _bosch_2018.dbc"

-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
 BO_ 419 GEARBOX: 8 PCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
@@ -9,7 +9,7 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 6 EPS
 SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd"  EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd"  EON
 SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
 SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
@@ -27,10 +27,9 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -27,10 +27,9 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -1,12 +1,5 @@
 CM_ "IMPORT _bosch_2018.dbc"

-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
 BO_ 419 GEARBOX: 8 PCM
 SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
@@ -19,10 +19,9 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -12,12 +12,11 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
- SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON

 BO_ 401 GEARBOX: 8 PCM
 SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
@@ -27,10 +27,9 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -22,10 +22,9 @@ BO_ 342 STEERING_SENSORS: 6 EPS

 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
 SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

@@ -1,14 +0,0 @@
-BO_ 1014 BSM: 8 XXX
- SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
-CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
-CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
-CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
-CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
-CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
@@ -2,8 +2,9 @@ CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"

 BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
- SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX

 BO_ 581 GAS_PEDAL: 5 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -13,7 +14,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,7 +14,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -1,38 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 956 SPORT_ON 0 "off" 1 "on";
-VAL_ 956 ECON_ON 0 "off" 1 "on";
@@ -11,7 +11,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,7 +14,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -15,7 +15,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Rick Lan	9f83a79b4b	update ota/recovery url	2020-11-10 14:01:42 +10:00
Rick Lan	d7cdacb5c8	re-add apks	2020-04-07 19:32:16 +10:00
Rick Lan	c7ef64f60b	re-add apks	2020-04-07 19:05:22 +10:00
Rick Lan	846461f699	Merge branch '0.7.0-en' of https://github.com/dragonpilot-community/dragonpilot into 0.7.0-en	2020-04-07 17:55:00 +10:00
Rick Lan	94518f7761	0.7.0-en	2020-03-31 17:01:49 +10:00