fix hash

update ota/recovery url
update sentry
2026-07-19 11:52:12 +08:00 · 2020-11-10 16:04:17 +10:00 · 2020-11-10 12:39:42 +10:00 · 2020-09-23 15:02:33 +10:00 · 2020-08-11 15:00:27 +10:00 · 2020-08-11 14:56:03 +10:00
805 changed files with 13074 additions and 112829 deletions
@@ -1,25 +0,0 @@
---
-name: Bug report
-about: Create a report to help us improve openpilot
-title: ''
-labels: 'bug'
-assignees: ''
-
---
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**How to reproduce or log data**
-Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Device/Version information (please complete the following information):**
- - Device: [e.g. EON/EON Gold]
- - Version: [e.g. 0.6.4], or commit hash when on devel
- - Car make/model [e.g. Toyota Prius 2016]
-
-**Additional context**
-Add any other context about the problem here.
@@ -1,21 +0,0 @@
-Choose one of the templates below:
-
-# Fingerprint
-This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-
-# Car support
-This pull requests adds support for <Make - Model - Year - Trim>.
-
-This is an explorer link to a drive with the stock system enabled: ...
-This is an explorer link to a drive with openpilot system enabled: ...
-
-# Feature
-This pull requests adds feature X
-
-## Description
-Explain what the feature does
-
-## Testing
-Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
@@ -54,11 +54,15 @@ openpilot
 notebooks
 xx
 panda_jungle
+apks
+openpilot-apks

 .coverage*
 coverage.xml
-cppcheck_report.txt
 htmlcov
 pandaextra

 .mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
@@ -0,0 +1,491 @@
+dragonpilot 0.7.7.2
+========================
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
+dragonpilot 0.7.7.1
+========================
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+
+dragonpilot 0.7.7.0
+========================
+* 基於最新 openpilot 0.7.7 devel.
+* Based on latest openpilot 0.7.7 devel.
+* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
+* When Manager failed, display IP address. (Thanks to  @dingliangxue)
+* 加回 sr learner 開關。
+* Re-added sr learner toggle.
+* 加回 加速模式 開關。
+* Re-added Accel Profile toggle.
+* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
+* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
+* 介面加入盲點偵測顯示。(感謝 @wabes)
+* Added BSM indicator to UI. (Thanks to @wabes)
+* 加回彎道減速功能。(感謝 @Mojo)
+* re-added Slow On Curve functionality. (Thanks to @Mojo)
+
+dragonpilot 0.7.6.2
+========================
+* 修正無法正確關閉駕駛監控的問題。
+* Fixed unable to properly turn off driver monitor issue.
+
+dragonpilot 0.7.6.1
+========================
+* 基於最新 openpilot 0.7.6.1 devel.
+* Based on latest openpilot 0.7.6.1 devel.
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+
+dragonpilot 0.7.5.4
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+dragonpilot 0.7.5.3
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+dragonpilot 0.7.5.2
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+dragonpilot 0.7.5.1
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+dragonpilot 0.7.5.0
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
+
+2020-05-06
+========================
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* 中文版整合進 i18n 版。  
+* 刪除指紋暫存功能。
+* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
+* 新增行駛時關閉畫面功能。
+* 新增倒車時關閉畫面功能。
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* 新增自定義車型。
+
+2020-04-16
+========================
+* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
+* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
+* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
+
+2020-04-13
+========================
+* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
+* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
+* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
+
+2020-04-10
+========================
+* [DEVEL] 更新 panda 至最新的 comma:master 分支。
+* [DEVEL] 移除所有的第三方應用改為自動下載。
+* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+
+2020-03-31
+========================
+* [DEVEL] 更新至 2020-03-31 testing 分支。
+
+2020-03-27
+========================
+* [DEVEL] 更新至最新的 testing 分支:
+  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+  * 加入韓文支持。(感謝 crwusiz 提供)
+  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+2020-03-22
+========================
+* [DEVEL] 更新至最新的 testing 分支。
+
+2020-03-17
+========================
+* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
+* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+
+2020-03-14
+========================
+* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
+* [DEVEL] 調高 Toyota 扭力容錯值。
+* [DEVEL] 優化讀取 dp 設定值。
+* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [DEVEL] dp 功能加入對 Subaru 車系的支援。
+
+2020-03-06
+========================
+* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [DEVEL] 建立 devel-i18n 取代 devel-en。
+* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
+
+2020-03-04
+========================
+* [DEVEL] 加入顯示駕駛監控畫面。
+* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+2020-02-25
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-21
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-14
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] 修正錯誤。
+
+2020-02-08
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [DEVEL] 加入神盾測速照相自動啟動的開關。
+* [DEVEL] 更新高德地圖至 v4.5.0.600053。
+* [DEVEL] 使用 0.6.6 版的更新系統。
+* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
+
+2020-01-31
+========================
+* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+
+2020-01-29
+========================
+* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+
+2020-01-23
+========================
+* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [DEVEL] 優化 appd。
+
+2020-01-19
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
+* [DEVEL] 調整 appd 和 ALC 邏輯。 
+
+2020-01-14
+========================
+* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+
+2020-01-08
+========================
+* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+2019-12-31
+========================
+* [DEVEL-ZHS] 加回第三方應用。
+
+2019-12-29
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+
+2019-12-18
+========================
+* [DEVEL] 修正自動換道邏輯。
+* [DEVEL] 更新 offroad 翻譯。
+* [DEVEL] 錯誤修正。
+* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+
+2019-12-17
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
+* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
+* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+
+2019-12-10
+========================
+* [DEVEL] 加入位智車機模式。 (Waze Mode)
+
+2019-11-21
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [DEVEL] 調整前車靜止移動偵測參數。
+* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
+
+2019-11-18
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+
+2019-11-18
+========================
+* [DEVEL] 修正 frame 翻譯。
+
+2019-11-15
+========================
+* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+
+2019-11-15
+========================
+* [DEVEL] 修正充電控制。 (感謝 KT 反應)
+* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-12
+========================
+* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
+
+2019-11-12
+========================
+* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
+
+2019-11-11
+========================
+* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [DEVEL] 更新 MiXplorer 至 v6.40.3
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+* [DEVEL] 前車靜止移動偵測加入偵測警示。
+
+2019-11-07
+========================
+* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+
+2019-11-06
+========================
+* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-05
+========================
+* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+
+2019-11-01
+========================
+* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+
+2019-11-01
+========================
+* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
+* [DEVEL] 更新 offroad 為多語言版
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+
+2019-10-29
+========================
+* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
+
+2019-10-28
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+
+2019-10-18
+========================
+* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
+* [DEVEL] 修正 allow_gas 功能。
+
+2019-10-18
+========================
+* [DEVEL] 加入彎道減速功能開關。
+* [DEVEL] 強迫使用 dp 版 Panda 韌體。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+
+2019-10-17
+========================
+* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
+* [DEVEL] 修正充電控制讀取預設值的錯誤。
+* [DEVEL] 修正無法顯示更新記錄的錯誤。
+
+2019-10-16
+========================
+* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
+* [DEVEL] 更新高德地圖至 v4.3.0
+* [DEVEL] 刪除 bs (Branch Switcher)
+
+2019-10-14
+========================
+* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [DEVEL] 清除不再使用的 dp params。
+* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
+* [DEVEL] 加入刷新 Panda 韌體按鈕。
+
+2019-10-11
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+
+2019-10-09
+========================
+* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+2019-10-08
+========================
+* [DEVEL] 加回駕駛監控開關。
+* [DEVEL] 加入 bs (branch switcher) 程式。
+
+2019-10-07
+========================
+* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+
+2019-10-05
+========================
+* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 
+
+2019-09-30
+========================
+* [DEVEL] 更新 curvature learner 版本至 v4。
+* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+
+2019-09-27
+========================
+* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [DEVEL] 加入可開關駕駛監控的程式碼。
+* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+
+2019-09-26
+========================
+* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+
+2019-09-24
+========================
+* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+
+2019-09-23
+========================
+* [DEVEL] 優化讀取 params 的次數。
+* [DEVEL] 加入可開關的車道偏移警示。
+* [DEVEL] 修正充電控制邏輯。
+* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+
+2019-09-20
+========================
+* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+
+2019-09-16
+========================
+* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+
+2019-09-13
+========================
+* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
+
+2019-09-09
+========================
+* [DEVEL] 加入 GreyPanda 模式。
+
+2019-08-28
+========================
+* [DEVEL] 加入可調警示音量。
+
+2019-08-27
+========================
+* [DEVEL] 自動關機改為可調時長。
@@ -0,0 +1,245 @@
+dragonpilot 0.7.7
+========================
+* 基於 openpilot 0.7.7 devel.
+* Based on openpilot 0.7.7 devel.
+* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
+* When Manager failed, display IP address. (Thanks to  @dingliangxue)
+* 加回 sr learner 開關。
+* Re-added sr learner toggle.
+* 加回 加速模式 開關。
+* Re-added Accel Profile toggle.
+* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
+* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
+* 介面加入盲點偵測顯示。(感謝 @wabes)
+* Added BSM indicator to UI. (Thanks to @wabes)
+* 加回彎道減速功能。(感謝 @Mojo)
+* re-added Slow On Curve functionality. (Thanks to @Mojo)
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
+dragonpilot 0.7.6
+========================
+* 基於最新 openpilot 0.7.6.1 devel.
+* Based on latest openpilot 0.7.6.1 devel.
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+* 加入 2020 Toyota Prius 指紋v2。(感謝 @Trae)
+* Added Toyota Prius 2020 FPv2. (Thanks to @Trae)
+* 優化 Honda CR-V Hybrid 轉向。(感謝 @martint1980)
+× Optomised Honda CR-V Hybrid lateral control. (Thanks to @martint1980) 
+
+dragonpilot 0.7.5
+========================
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+
+dragonpilot 0.7.4
+========================
+* [2020-04-10] 移除所有的第三方應用改為自動下載。
+* [2020-04-10] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+* [2020-03-31] 還原部分修改代碼以達到 comma ai 安全準則。 (Reverted changes to panda safety code to comply with comma ai safety guideline.)
+* [2020-03-31] 調整「啟用原廠 DSU 模式」為踩剎車時會暫時斷開控制 。(Enable Stock DSU Mode will temporary disable controls when brake is pressed.)
+* [2020-03-27] 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+* [2020-03-27] 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+* [2020-03-27] 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+* [2020-03-27] 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+* [2020-03-27] 加入韓文支持。(感謝 crwusiz 提供)
+* [2020-03-27] 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+dragonpilot 0.7.3
+========================
+* [2020-03-17] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+* [2020-03-14] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [2020-03-14] 加入自動關機開關。(感謝 Rzxd 建議)
+* [2020-03-14] 調高 Toyota 扭力容錯值。
+* [2020-03-14] 優化讀取 dp 設定值。
+* [2020-03-14] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [2020-03-14] dp 功能加入對 Subaru 車系的支援。
+* [2020-03-06] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [2020-03-06] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [2020-03-04] 加入顯示駕駛監控畫面。
+* [2020-03-04] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [2020-03-04] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+dragonpilot 0.7.2
+========================
+* [2020-02-08] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [2020-02-08] 加入神盾測速照相自動啟動的開關。
+* [2020-02-08] 更新高德地圖至 v4.5.0.600053。
+* [2020-02-08] 使用 0.6.6 版的更新系統。
+* [2020-02-08] 修正急剎問題。(感謝 kumar 提供)
+* [2020-01-31] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+* [2020-01-29] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+* [2020-01-23] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [2020-01-23] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [2020-01-23] 優化 appd。
+
+dragonpilot 0.7.1
+========================
+* [2020-01-19] 調整 appd 和 ALC 邏輯。 
+* [2020-01-14] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+* [2020-01-18] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [2020-01-18] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+dragonpilot 0.7.0
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [2019-12-29] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [2019-12-29] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+* [2019-12-18] 修正自動換道邏輯。
+* [2019-12-18] 更新 offroad 翻譯。
+* [2019-12-18] 錯誤修正。
+* [2019-12-18] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+* [2019-12-17] 加入輔助換道開關。（24mph / 40kph 以上)
+* [2019-12-17] 加入自動換道開關。（40mph / 65kph 以上)
+* [2019-12-17] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+* [2019-12-10] 加入位智車機模式。 (Waze Mode)
+* [2019-11-21] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [2019-11-21] 調整前車靜止移動偵測參數。
+* [2019-11-21] 前車靜止移動偵測可在未啟用 dp 時運作。
+* [2019-11-18] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+* [2019-11-18] 修正 frame 翻譯。
+
+dragonpilot 0.6.6
+========================
+* [2019-11-15] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+* [2019-11-15] 修正充電控制。 (感謝 KT 反應)
+* [2019-11-15] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [2019-11-12] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [2019-11-12] 自動偵測並鎖定硬體 (EON / UNO)。
+* [2019-11-12] 加入鎖定硬體 (EON / UNO) 的程式碼。
+* [2019-11-11] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [2019-11-11] 更新 MiXplorer 至 v6.40.3
+* [2019-11-11] 前車靜止移動偵測加入偵測警示。
+* [2019-11-07] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [2019-11-07] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+* [2019-11-06] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+
+dragonpilot 0.6.5
+========================
+* [2019-11-05] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+* [2019-11-01] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [2019-11-01] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+* [2019-11-01] 移除 Miui 字型，縮小 dp 使用空間。
+* [2019-11-01] 更新 offroad 為多語言版
+* [2019-10-29] 加入 SnG 補丁。（感謝 楊雅智)
+* [2019-10-28] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+* [2019-10-22] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [2019-10-18] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 修正 allow_gas 功能。
+* [2019-10-18] 加入彎道減速功能開關。
+* [2019-10-18] 強迫使用 dp 版 Panda 韌體。
+* [2019-10-17] 加入「車型」顯示於 dp 設定畫面。
+* [2019-10-17] 修正充電控制讀取預設值的錯誤。
+* [2019-10-17] 修正無法顯示更新記錄的錯誤。
+* [2019-10-17] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [2019-10-17] 下載更新記錄時使用 "no-cache" 標頭。
+* [2019-10-17] 更新高德地圖至 v4.3.0
+* [2019-10-14] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [2019-10-14] 清除不再使用的 dp params。
+* [2019-10-14] 加入數字電量指示。(感謝 鄧育林 建議)
+* [2019-10-14] 加入刷新 Panda 韌體按鈕。
+* [2019-10-11] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+* [2019-10-11] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+dragonpilot 0.6.4
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
+* [2019-10-08] 加回駕駛監控開關。
+* [2019-10-07] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+* [2019-10-05] 移除 curvature learner: 轉角明顯比原廠小。
+* [2019-09-30] 更新 curvature learner 版本至 v4。
+* [2019-09-30] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+* [2019-09-27] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [2019-09-27] 加入可開關駕駛監控的程式碼。
+* [2019-09-27] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [2019-09-27] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+* [2019-09-26] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+* [2019-09-24] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [2019-09-24] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+* [2019-09-23] 優化讀取 params 的次數。
+* [2019-09-23] 加入可開關的車道偏移警示。
+* [2019-09-23] 修正充電控制邏輯。
+* [2019-09-23] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+* [2019-09-20] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+* [2019-09-16] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [2019-09-16] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+* [2019-09-13] 行車介面加入可開關的「速度顯示」設定。
+* [2019-09-09] 加入 GreyPanda 模式。
+* [2019-08-28] 加入可調警示音量。
+* [2019-08-27] 自動關機改為可調時長。
+
+dragonpilot 0.6.3
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
@@ -0,0 +1,243 @@
+2020-08-11 (0.7.7.0)
+========================
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+
+2020-08-05 (0.7.7.0)
+========================
+* 修正 Dev UI 顯示。
+* Fixed Dev UI display.
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
+2020-08-04 (0.7.7.0)
+========================
+* 嘗試修正非 Toyota 使用 lqr 產生的錯誤。
+* Attempted to fix lqr issue on non-Toyota Cars.
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+
+2020-08-02 (0.7.7.0)
+========================
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+
+2020-07-28 (0.7.7.0)
+========================
+* 修正 steer ratio learner 關閉。(感謝 @Mojo 回報, @ShaneSmiskol 提供代碼)
+* Fixed steer ratio learner toggle. (Thanks to @Mojo, @ShaneSmiskol)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+
+2020-07-28 (0.7.7.0)
+========================
+* 修正無法上傳記錄的問題。(感謝 @Mojo)
+* Fixed unable to upload log issue. (Thanks to @Mojo)
+* 修正無法關閉警示音的問題。(感謝 @Mojo)
+* Fixed unable to disable audio alert (-100%) issue. ($Thanks to @Mojo)
+
+2020-07-27 (0.7.7.0)
+========================
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+
+2020-07-27 (0.7.7.0)
+========================
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+
+2020-07-23 (0.7.7.0)
+========================
+* 修正 appd。(感謝 @cgw1968)
+* Fixed appd. (Thanks to @cgw1968)
+
+2020-07-22 (0.7.7.0)
+========================
+* 修正 waze 顯示。(感謝 @Mojo)
+* Fixed waze display. (Thanks to @Mojo)
+* 加回彎道減速功能。(感謝 @Mojo)
+* re-added Slow On Curve functionality. (Thanks to @Mojo)
+* 加入日文支援。(特別感謝 @ponzu07 提供)
+* Added Japanese support. (Special thanks to @ponzu07)
+* 刪除部分設定對 dp_steering_on_signal 的依賴。
+* Removed dp_steering_on_signal dependencies.
+* 介面加入盲點偵測顯示。(感謝 @wabes)
+* Added BSM indicator to UI. (Thanks to @wabes)
+
+2020-07-21 (0.7.7.0)
+========================
+* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
+* Added Toyota to override lowest cruise speed. (Thanks to @Mojo)
+* 修正 gm 錯誤。
+* Fixed bugs in gm cars.
+
+2020-07-20 (0.7.7.0)
+========================
+* 加回 加速模式 開關。
+* Re-added Accel Profile toggle.
+* 修正 gm 錯誤。
+* Fixed bugs in gm cars.
+
+2020-07-19 (0.7.7.0)
+========================
+* 限制 dp_conf int / float 範圍。
+* Limited dp_conf int/float range.
+* 修復行車記錄文件夾不存在的錯誤。
+* Fixed dashcam folder not exist error.
+
+2020-07-18 (0.7.7.0)
+========================
+* 優化 camera offset 讀取。
+* optomised loading camera offset value.
+* 更換模型延遲警示為一般警示。
+* Replaced model lagging loud alert to normal alert.
+
+2020-07-17 (0.7.7.0)
+========================
+* 更新至最新 openpilot 0.7.7 devel。
+* Updated to latest openpilot 0.7.7 devel.
+
+2020-07-17 (0.7.7.0)
+========================
+* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
+* When Manager failed, display IP address. (Thanks to  @dingliangxue)
+* 加回 sr learner 開關。
+* Re-added sr learner toggle.
+
+2020-07-13 (0.7.7.0)
+========================
+* 基於最新 openpilot 0.7.7 devel.
+* Based on latest openpilot 0.7.7 devel.
+
+2020-06-22 (0.7.6.1)
+========================
+* 更新至 openpilot 0.7.6.1。 (特別感謝 @rockindy 協助更新)
+* Updated to openpilot 0.7.6.1. (Special thanks to @rockindy for initial merge)
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+
+2020-06-18 (0.7.5)
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+2020-05-30 (0.7.5)
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+
+2020-05-28 (0.7.5)
+========================
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+
+2020-05-26 (0.7.5)
+========================
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+2020-05-25 (0.7.5)
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+
+2020-05-21 (0.7.5)
+========================
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+
+2020-05-20 (0.7.5)
+========================
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+2020-05-19 (0.7.5)
+========================
+* 加入 DragonEnableAutoUpdate 預設值。
+* Added DragonEnableAutoUpdate default value.
+
+2020-05-18 (0.7.5)
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model"
+
+2020-05-16 (0.7.5)
+========================
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+
+2020-05-15 (0.7.5)
+========================
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+2020-05-10
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camry Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
@@ -22,7 +22,7 @@ All PRs and commits are automatically checked by Github Actions. Check out `.git

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

 ## Car Ports (openpilot)

@@ -0,0 +1,89 @@
+pipeline {
+  agent {
+    docker {
+      image 'python:3.7.3'
+      args '--user=root'
+    }
+  }
+  environment {
+    COMMA_JWT = credentials('athena-test-jwt')
+  }
+
+  stages {
+
+    stage('Release Build') {
+      when {
+        branch 'devel-staging'
+      }
+      steps {
+        lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
+          timeout(time: 60, unit: 'MINUTES') {
+            dir(path: 'selfdrive/test') {
+              sh 'pip install paramiko'
+              sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
+            }
+          }
+        }
+      }
+    }
+
+    stage('On-device Tests') {
+      when {
+        not {
+          anyOf {
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'
+          }
+        }
+      }
+
+      parallel {
+
+        stage('Build') {
+          environment {
+            CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
+          }
+
+          steps {
+            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
+              timeout(time: 60, unit: 'MINUTES') {
+                dir(path: 'selfdrive/test') {
+                  sh 'pip install paramiko'
+                  sh 'python phone_ci.py "cd release && ./build_devel.sh"'
+                }
+              }
+            }
+          }
+        }
+
+        stage('Replay Tests') {
+          steps {
+            lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
+              timeout(time: 60, unit: 'MINUTES') {
+                dir(path: 'selfdrive/test') {
+                  sh 'pip install paramiko'
+                  sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
+                }
+              }
+            }
+          }
+        }
+
+        stage('HW Tests') {
+          steps {
+            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
+              timeout(time: 60, unit: 'MINUTES') {
+                dir(path: 'selfdrive/test') {
+                  sh 'pip install paramiko'
+                  sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
+                                          nosetests -s selfdrive/test/test_sounds.py && \
+                                          nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
+                }
+              }
+            }
+          }
+        }
+
+      }
+    }
+  }
+}
@@ -67,7 +67,7 @@ Supported Cars
 | Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2019-20     | Honda Sensing     | Stock            | 0mph               | 2mph<sup>2</sup>  |
@@ -82,6 +82,7 @@ Supported Cars
 | Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Hyundai   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
@@ -107,7 +108,7 @@ Supported Cars
 | Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016                    | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2017-20                 | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Rav4 2017-18                  | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
@@ -117,9 +118,9 @@ Supported Cars
 | Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |

-<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</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>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
 <sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />

 Community Maintained Cars and Features
@@ -135,33 +136,37 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Genesis   | G80 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
-| Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Palisade 2020<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq Electric Premium SE 2020| SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq Electric Limited 2019   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Kona 2017-19                  | SCC + LKAS        | Stock            | 22mph              | 0mph         |
+| Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2019-20                | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2019                   | All               | Stock            | 0mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-19<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Optima 2017<sup>2</sup>       | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
-| Kia       | Optima 2019<sup>2</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Optima 2017                   | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
+| Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-19<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |

-<sup>1</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>2</sup>May require a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
+<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built giraffe](https://github.com/commaai/openpilot/wiki/GM). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Requires a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />

 Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)

@@ -174,7 +179,7 @@ Installation Instructions

 Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.

-Follow these [video instructions](https://youtu.be/3nlkomHathI) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
+Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.

 Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.

@@ -277,7 +282,7 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w

 You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.

-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). We also have a [bounty program](https://comma.ai/bounties.html).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).

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

@@ -327,7 +332,7 @@ NO WARRANTY EXPRESSED OR IMPLIED.**

 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>

-[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg)](https://github.com/commaai/openpilot/actions)
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
 [![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
 [![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
 [![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
@@ -1,3 +1,17 @@
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
 Version 0.7.6.1 (2020-06-16)
 ========================
 * Hotfix: update kernel on some comma twos (orders #8570-#8680)
@@ -1,7 +1,7 @@
 openpilot Safety
 ======

-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.

@@ -22,7 +22,7 @@ hardware-in-the-loop and in-vehicle tests before each software release.
 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.

-1. The driver must always be capable to immediately retake manual control of the vehicle, 
+1. The driver must always be capable to immediately retake manual control of the vehicle,
   by stepping on either pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
   react. This means that while the system is engaged, the actuators are constrained
@@ -1,4 +1,5 @@
 import os
+import shutil
 import subprocess
 import sys
 import platform
@@ -18,6 +19,7 @@ if arch == "aarch64" and not os.path.isdir("/system"):
  arch = "larch64"

 webcam = bool(ARGUMENTS.get("use_webcam", 0))
+QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None

 if arch == "aarch64" or arch == "larch64":
  lenv = {
@@ -43,20 +45,31 @@ if arch == "aarch64" or arch == "larch64":
  ]

  if arch == "larch64":
-    libpath += ["#phonelibs/snpe/larch64"]
-    libpath += ["#phonelibs/libyuv/larch64/lib"]
-    libpath += ["/usr/lib/aarch64-linux-gnu"]
+    libpath += [
+      "#phonelibs/snpe/larch64",
+      "#phonelibs/libyuv/larch64/lib",
+      "/usr/lib/aarch64-linux-gnu"
+    ]
    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    rpath = ["/usr/local/lib"]
  else:
-    libpath += ["#phonelibs/snpe/aarch64"]
-    libpath += ["#phonelibs/libyuv/lib"]
+    libpath += [
+      "#phonelibs/snpe/aarch64",
+      "#phonelibs/libyuv/lib"
+    ]
    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
    rpath = ["/system/vendor/lib64"]

+    if QCOM_REPLAY:
+      cflags += ["-DQCOM_REPLAY"]
+      cxxflags += ["-DQCOM_REPLAY"]
+
 else:
+  cflags = []
+  cxxflags = []
+
  lenv = {
    "PATH": "#external/bin:" + os.environ['PATH'],
  }
@@ -72,6 +85,8 @@ else:
      "/usr/local/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
  else:
    libpath = [
      "#phonelibs/snpe/x86_64-linux-clang",
@@ -84,18 +99,20 @@ else:
    ]

  rpath = [
-           "external/tensorflow/lib",
-           "cereal",
-           "selfdrive/common"]
+    "external/tensorflow/lib",
+    "cereal",
+    "selfdrive/common"
+  ]

  # allows shared libraries to work globally
  rpath = [os.path.join(os.getcwd(), x) for x in rpath]

-  cflags = []
-  cxxflags = []
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+if GetOption('asan'):
+  ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags_asan = ["-fsanitize=address"]
+else:
+  ccflags_asan = []
+  ldflags_asan = []

 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
@@ -106,6 +123,7 @@ env = Environment(
    "-g",
    "-fPIC",
    "-O2",
+    "-Wunused",
    "-Werror",
    "-Wno-deprecated-register",
    "-Wno-inconsistent-missing-override",
@@ -145,8 +163,7 @@ env = Environment(

  CFLAGS=["-std=gnu11"] + cflags,
  CXXFLAGS=["-std=c++14"] + cxxflags,
-  LIBPATH=libpath +
-  [
+  LIBPATH=libpath + [
    "#cereal",
    "#selfdrive/common",
    "#phonelibs",
@@ -154,7 +171,19 @@ env = Environment(
 )

 if os.environ.get('SCONS_CACHE'):
-  CacheDir('/tmp/scons_cache')
+  cache_dir = '/tmp/scons_cache'
+
+  if os.getenv('CI'):
+    branch = os.getenv('GIT_BRANCH')
+
+    if QCOM_REPLAY:
+      cache_dir = '/tmp/scons_cache_qcom_replay'
+    elif branch is not None and branch != 'master':
+      cache_dir_branch = '/tmp/scons_cache_' + branch
+      if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
+        shutil.copytree(cache_dir, cache_dir_branch)
+      cache_dir = cache_dir_branch
+  CacheDir(cache_dir)

 node_interval = 5
 node_count = 0
@@ -179,7 +208,7 @@ def abspath(x):

 # still needed for apks
 zmq = 'zmq'
-Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -207,11 +236,11 @@ SConscript(['opendbc/can/SConscript'])

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

-if arch != "Darwin":
-  SConscript(['selfdrive/camerad/SConscript'])
-  SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])

 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
@@ -1 +0,0 @@
-.sconsign.dblite
@@ -1,25 +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: Static analysis
-      run: |
-        docker run cereal bash -c "git init && git add -A && pre-commit run --all"
-    - name: Unit Tests
-      run: |
-        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    - name: Test ZMQ
-      run: |
-        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    - name: Test MSGQ
-      run: |
-        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
@@ -1,27 +0,0 @@
-repos:
-   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: master
-    hooks:
-    -   id: check-ast
-    -   id: check-json
-    -   id: check-xml
-    -   id: check-yaml
-   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: master
-    hooks:
-    -   id: mypy
-   repo: https://github.com/PyCQA/flake8
-    rev: master
-    hooks:
-    -   id: flake8
-        args:
-        - --select=F
-   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
-        args:
-        - --disable=R,C,W
@@ -1,18 +0,0 @@
-FROM ubuntu:16.04
-
-RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4 pre-commit==2.4.0 pylint==2.5.2
-
-WORKDIR /project/cereal
-
-ENV PYTHONPATH=/project
-
-COPY . .
-RUN rm -rf .git
-RUN scons -c && scons -j$(nproc)
@@ -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)
-```
@@ -20,7 +20,6 @@ if shutil.which('capnpc-java'):
 cereal_objects = env.SharedObject([
    'gen/cpp/car.capnp.c++',
    'gen/cpp/log.capnp.c++',
-    'messaging/socketmaster.cc',
  ])

 env.Library('cereal', cereal_objects)
@@ -37,6 +36,7 @@ messaging_objects = env.SharedObject([
  'messaging/impl_zmq.cc',
  'messaging/impl_msgq.cc',
  'messaging/msgq.cc',
+  'messaging/socketmaster.cc',
 ])

 messaging_lib = env.Library('messaging', messaging_objects)
@@ -46,7 +46,7 @@ Depends('messaging/impl_zmq.cc', services_h)
 # TODO: get APK to load system zmq to remove the static link
 if arch == "aarch64":
  zmq_static = FindFile("libzmq.a", "/usr/lib")
-  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared"]
+  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)

 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
@@ -1,49 +0,0 @@
-import os
-import subprocess
-
-zmq = 'zmq'
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-cereal_dir = Dir('.')
-
-cpppath = [
-    cereal_dir,
-    '/usr/lib/include',
-]
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++14",
-  CPPPATH=cpppath,
-)
-
-
-Export('env', 'zmq', 'arch')
-SConscript(['SConscript'])
@@ -93,7 +93,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    driverMonitorLowAcc @68;
    invalidLkasSetting @69;
    speedTooHigh @70;
-    laneChangeBlockedDEPRECATED @71;
+    laneChangeBlocked @71;
    relayMalfunction @72;
    gasPressed @73;
    stockFcw @74;
@@ -105,8 +105,21 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    steerSaturated @80;
    whitePandaUnsupported @81;
    startupWhitePanda @82;
-    canErrorPersistent @83;
+    canErrorPersistentDEPRECATED @83;
    belowEngageSpeed @84;
+    noGps @85;
+    focusRecoverActive @86;
+    wrongCruiseMode @87;
+    neosUpdateRequired @88;
+    modeldLagging @89;
+
+    #dp
+    preLaneChangeLeftALC @90;
+    preLaneChangeRightALC @91;
+    laneChangeALC @92;
+    manualSteeringRequired @93;
+    manualSteeringRequiredBlinkersOn @94;
+    leadCarMoving @95;
  }
 }

@@ -174,6 +187,9 @@ struct CarState {
  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change

+  # dp
+  lkMode @37 :Bool;
+
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -188,6 +204,7 @@ struct CarState {
    available @2 :Bool;
    speedOffset @3 :Float32;
    standstill @4 :Bool;
+    nonAdaptive @5 :Bool;
  }

  enum GearShifter {
@@ -467,6 +484,7 @@ struct CarParams {
    hondaBoschHarness @20;
    volkswagenPq @21;
    subaruLegacy @22;  # pre-Global platform
+    hyundaiLegacy @23;
  }

  enum SteerControlType {
@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
-  TOKEN=`echo $line | sed 's/\./_/g'`
-  ROOT=`echo $line | sed 's/\..*$//g'`
-  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
-  if [[ "$?" == "1" ]]
-  then
-    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
-  fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
@@ -1,12 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j$(nproc)
-make install
@@ -130,6 +130,7 @@ struct FrameData {
  focusVal @16 :List(Int16);
  focusConf @17 :List(UInt8);
  sharpnessScore @18 :List(UInt16);
+  recoverState @19 :Int32;

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -371,6 +372,7 @@ struct HealthData {
    interruptRateTim1 @16;
    interruptRateTim3 @17;
    registerDivergent @18;
+    interruptRateKlineInit @19;
    # Update max fault type in boardd when adding faults
  }

@@ -381,6 +383,7 @@ struct HealthData {
    blackPanda @3;
    pedal @4;
    uno @5;
+    dos @6;
  }

  enum UsbPowerMode {
@@ -596,8 +599,6 @@ struct ControlsState @0x97ff69c53601abf1 {
    lqrOutput @4 :Float32;
    saturated @5 :Bool;
   }
-
-
 }

 struct LiveEventData {
@@ -607,6 +608,8 @@ struct LiveEventData {

 struct ModelData {
  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
  timestampEof @9 :UInt64;

  path @1 :PathData;
@@ -627,6 +630,7 @@ struct ModelData {
    std @2 :Float32;
    stds @3 :List(Float32);
    poly @4 :List(Float32);
+    validLen @5 :Float32;
  }

  struct LeadData {
@@ -799,6 +803,9 @@ struct PathPlan {
  laneChangeState @18 :LaneChangeState;
  laneChangeDirection @19 :LaneChangeDirection;

+  # dp
+  dpALCAllowed @20 :Bool;
+
  enum Desire {
    none @0;
    turnLeft @1;
@@ -839,6 +846,7 @@ struct LiveLocationKalman {
  # These angles are all eulers and roll, pitch, yaw
  # orientationECEF transforms to rot matrix: ecef_from_device
  orientationECEF @6 : Measurement;
+  calibratedOrientationECEF @20 : Measurement;
  orientationNED @7 : Measurement;
  angularVelocityDevice @8 : Measurement;

@@ -858,6 +866,7 @@ struct LiveLocationKalman {
  inputsOK @17 :Bool = true;
  posenetOK @18 :Bool = true;
  gpsOK @19 :Bool = true;
+  sensorsOK @21 :Bool = true;

  enum Status {
    uninitialized @0;
@@ -1885,6 +1894,7 @@ struct DriverState {
  irPwrDEPRECATED @10 :Float32;
  faceOrientationStd @11 :List(Float32);
  facePositionStd @12 :List(Float32);
+  sgProb @13 :Float32;
 }

 struct DMonitoringState {
@@ -2050,5 +2060,82 @@ struct Event {
    dMonitoringState @71: DMonitoringState;
    liveLocationKalman @72 :LiveLocationKalman;
    sentinel @73 :Sentinel;
+    dragonConf @74 :DragonConf;
  }
 }
+
+# dp
+struct DragonConf {
+  dpAtl @0 :Bool;
+  dpAppWaze @1 :Bool;
+  dpAppWazeManual @2 :Int8;
+  dpDashcam @3 :Bool;
+  dpDashcamHoursStored @4 :UInt8;
+  dpAutoShutdown @5 :Bool;
+  dpAutoShutdownIn @6 :UInt16;
+  dpAthenad @7 :Bool;
+  dpUploader @8 :Bool;
+  dpUploadOnMobile @9 :Bool;
+  dpUploadOnHotspot @10 :Bool;
+  dpLatCtrl @11 :Bool;
+  dpSteeringLimitAlert @12 :Bool;
+  dpSteeringOnSignal @13 :Bool;
+  dpSignalOffDelay @14 :UInt8;
+  dpAssistedLcMinMph @15 :UInt8;
+  dpAutoLc @16 :Bool;
+  dpAutoLcCont @17 :Bool;
+  dpAutoLcMinMph @18 :UInt8;
+  dpAutoLcDelay @19 :UInt8;
+  dpSlowOnCurve @20 :Bool;
+  dpAllowGas @21 :Bool;
+  dpMaxCtrlSpeed @22 :Float32;
+  dpLeadCarAlert @23 :Bool;
+  dpDynamicFollow @24 :UInt8;
+  dpAccelProfile @25 :UInt8;
+  dpDriverMonitor @26 :Bool;
+  dpSteeringMonitor @27 :Bool;
+  dpSteeringMonitorTimer @28 :UInt8;
+  dpGearCheck @29 :Bool;
+  dpTempMonitor @30 :Bool;
+  dpDrivingUi @31 :Bool;
+  dpUiScreenOffReversing @32 :Bool;
+  dpUiScreenOffDriving @33 :Bool;
+  dpUiSpeed @34 :Bool;
+  dpUiEvent @35 :Bool;
+  dpUiMaxSpeed @36 :Bool;
+  dpUiFace @37 :Bool;
+  dpUiLane @38 :Bool;
+  dpUiPath @39 :Bool;
+  dpUiLead @40 :Bool;
+  dpUiDev @41 :Bool;
+  dpUiBlinker @42 :Bool;
+  dpUiBrightness @43 :UInt8;
+  dpUiVolumeBoost @44 :Int8;
+  dpAppAutoUpdate @45 :Bool;
+  dpAppExtGps @46 :Bool;
+  dpAppTomtom @47 :Bool;
+  dpAppTomtomAuto @48 :Bool;
+  dpAppTomtomManual @49 :Int8;
+  dpAppAutonavi @50 :Bool;
+  dpAppAutonaviAuto @51 :Bool;
+  dpAppAutonaviManual @52 :Int8;
+  dpAppAegis @53 :Bool;
+  dpAppAegisAuto @54 :Bool;
+  dpAppAegisManual @55 :Int8;
+  dpAppMixplorer @56 :Bool;
+  dpAppMixplorerManual @57 :Int8;
+  dpToyotaLdw @58 :Bool;
+  dpToyotaSng @59 :Bool;
+  dpToyotaLowestCruiseOverride @60 :Bool;
+  dpToyotaLowestCruiseOverrideAt @61 :Float32;
+  dpToyotaLowestCruiseOverrideSpeed @62 :Float32;
+  dpIpAddr @63 :Text;
+  dpCameraOffset @64 :Int8;
+  dpLocale @65 :Text;
+  dpChargingCtrl @66 :Bool;
+  dpChargingAt @67 :UInt8;
+  dpDischargingAt @68 :UInt8;
+  dpIsUpdating @69 :Bool;
+  dpThermalStarted @70 :Bool;
+  dpThermalOverheat @71 :Bool;
+}
@@ -1,53 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
@@ -3,12 +3,12 @@ from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disa
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
 import capnp

-assert MultiplePublishersError
-assert MessagingError
-
 from cereal import log
 from cereal.services import service_list

+assert MultiplePublishersError
+assert MessagingError
+
 # sec_since_boot is faster, but allow to run standalone too
 try:
  from common.realtime import sec_since_boot
@@ -73,7 +73,7 @@ def drain_sock(sock, wait_for_one=False):
    else:
      dat = sock.receive(non_blocking=True)

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

    dat = log.Event.from_bytes(dat)
@@ -93,7 +93,7 @@ def recv_sock(sock, wait=False):
    else:
      rcv = sock.receive(non_blocking=True)

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

    dat = rcv
@@ -133,10 +133,10 @@ class SubMaster():
  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
    self.poller = Poller()
    self.frame = -1
-    self.updated = {s : False for s in services}
-    self.rcv_time = {s : 0. for s in services}
-    self.rcv_frame = {s : 0 for s in services}
-    self.alive = {s : False for s in services}
+    self.updated = {s: False for s in services}
+    self.rcv_time = {s: 0. for s in services}
+    self.rcv_frame = {s: 0 for s in services}
+    self.alive = {s: False for s in services}
    self.sock = {}
    self.freq = {}
    self.data = {}
@@ -1,50 +0,0 @@
-#include <iostream>
-#include <cstddef>
-#include <chrono>
-#include <thread>
-#include <cassert>
-
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-
-#define MSGS 1e5
-
-int main() {
-  Context * c = Context::create();
-  SubSocket * sub_sock = SubSocket::create(c, "controlsState");
-  PubSocket * pub_sock = PubSocket::create(c, "controlsState");
-
-  char data[8];
-
-  Poller * poller = Poller::create({sub_sock});
-
-  auto start = std::chrono::steady_clock::now();
-
-  for (uint64_t i = 0; i < MSGS; i++){
-    *(uint64_t*)data = i;
-    pub_sock->send(data, 8);
-
-    auto r = poller->poll(100);
-
-    for (auto p : r){
-      Message * m = p->receive();
-      uint64_t ii = *(uint64_t*)m->getData();
-      assert(i == ii);
-      delete m;
-    }
-  }
-
-
-  auto end = std::chrono::steady_clock::now();
-  double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
-  double throughput = ((double) MSGS / (double) elapsed);
-  std::cout << throughput << " msg/s" << std::endl;
-
-  delete poller;
-  delete sub_sock;
-  delete pub_sock;
-  delete c;
-
-
-  return 0;
-}
@@ -1,30 +0,0 @@
-import time
-
-from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
-
-MSGS = 1e5
-
-if __name__ == "__main__":
-  c = Context()
-  sub_sock = SubSocket()
-  pub_sock = PubSocket()
-
-  sub_sock.connect(c, "controlsState")
-  pub_sock.connect(c, "controlsState")
-
-
-  poller = Poller()
-  poller.registerSocket(sub_sock)
-
-  t = time.time()
-  for i in range(int(MSGS)):
-    bts = i.to_bytes(4, 'little')
-    pub_sock.send(bts)
-
-    for s in poller.poll(100):
-      dat = s.receive()
-      ii = int.from_bytes(dat, 'little')
-      assert(i == ii)
-
-  dt = time.time() - t
-  print("%.1f msg/s" % (MSGS / dt))
@@ -31,7 +31,13 @@ uint64_t msgq_get_uid(void){
  std::random_device rd("/dev/urandom");
  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());

-  uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
+  #ifdef __APPLE__
+    // TODO: this doesn't work
+    uint64_t uid = distribution(rd) << 32 | getpid();
+  #else
+    uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
+  #endif
+
  return uid;
 }

@@ -88,12 +94,12 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  strcat(full_path, path);

  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
-  delete[] full_path;
-
  if (fd < 0) {
    std::cout << "Warning, could not open: " << full_path << std::endl;
+    delete[] full_path;
    return -1;
  }
+  delete[] full_path;

  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
  if (rc < 0)
@@ -1,56 +0,0 @@
-# MSGQ: A lock free single producer multi consumer message queue
-
-[![Build Status](https://dev.azure.com/commaai/default/_apis/build/status/commaai.msgq?branchName=master)](https://dev.azure.com/commaai/default/_build/latest?definitionId=21&branchName=master)
-
-## What is MSGQ?
-MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
-
-## Storage
-The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
-
-1. A counter to the number of readers that are active
-2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
-3. A cycle counter for the writer. This counter is incremented when the writer wraps around
-4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
-5. N counters,  counting the number of cycles for all the readers
-6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
-
-The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
-
-The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
-
-
-## Writing
-Writing involves the following steps:
-
-1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
-2. Write the message
-3. Increase the write pointer by the size of the message
-
-In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
-
-There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
-
-## Reset reader
-When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
-
-1. Set valid flag
-2. Set read cycle counter to that of the writer
-3. Set read pointer to write pointer
-
-## Reading
-Reading involves the following steps:
-
-1. Read the size field at the current read pointer
-2. Read the validity flag
-3. Copy the data out of the buffer
-4. Increase the read pointer by the size of the message
-5. Check the validity flag again
-
-Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
-
-If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
-
-If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
-
-If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
@@ -1,395 +0,0 @@
-#include "catch2/catch.hpp"
-#include "msgq.hpp"
-
-TEST_CASE("ALIGN"){
-  REQUIRE(ALIGN(0) == 0);
-  REQUIRE(ALIGN(1) == 8);
-  REQUIRE(ALIGN(7) == 8);
-  REQUIRE(ALIGN(8) == 8);
-  REQUIRE(ALIGN(99999) == 100000);
-}
-
-TEST_CASE("msgq_msg_init_size"){
-  const size_t msg_size = 30;
-  msgq_msg_t msg;
-
-  msgq_msg_init_size(&msg, msg_size);
-  REQUIRE(msg.size == msg_size);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_init_data"){
-  const size_t msg_size = 30;
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-  REQUIRE(msg.size == msg_size);
-  REQUIRE(memcmp(msg.data, data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-
-TEST_CASE("msgq_init_subscriber"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  REQUIRE(*q.num_readers == 0);
-
-  q.reader_id = 1;
-  *q.read_valids[0] = false;
-  *q.read_pointers[0] = ((uint64_t)1 << 32);
-
-  *q.write_pointer = 255;
-
-  msgq_init_subscriber(&q);
-  REQUIRE(q.read_conflate == false);
-  REQUIRE(*q.read_valids[0] == true);
-  REQUIRE((*q.read_pointers[0] >> 32) == 0);
-  REQUIRE((*q.read_pointers[0]  & 0xFFFFFFFF) == 255);
-}
-
-TEST_CASE("msgq_msg_send first message"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE(*q.write_pointer == 0);
-
-  size_t msg_size = 128;
-
-  SECTION("Aligned message size"){
-  }
-  SECTION("Unaligned message size"){
-    msg_size--;
-  }
-
-  char * data = new char[msg_size];
-
-  for (size_t i = 0; i < msg_size; i++){
-    data[i] = i;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_data(&msg, data, msg_size);
-
-
-  msgq_msg_send(&msg, &q);
-  REQUIRE(*(int64_t*)q.data == msg_size); // Check size tag
-  REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
-  REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
-
-  delete[] data;
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_send test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q;
-  msgq_new_queue(&q, "test_queue", 1024);
-  msgq_init_publisher(&q);
-
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
-  REQUIRE((*q.write_pointer >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, msg_size);
-
-  for (int i = 0; i < 8; i++) {
-    msgq_msg_send(&msg, &q);
-  }
-  // Check 8th message was written at the beginning
-  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
-
-  // Check cycle count
-  REQUIRE((*q.write_pointer >> 32) == 1);
-
-  // Check wraparound tag
-  char * tag_location = q.data;
-  tag_location += 7 * (msg_size + sizeof(int64_t));
-  REQUIRE(*(int64_t*)tag_location == -1);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_msg_recv test wraparound"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-
-  REQUIRE((*q_pub.write_pointer >> 32) == 0);
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
-
-  const size_t msg_size = 120;
-  msgq_msg_t msg1;
-  msgq_msg_init_size(&msg1, msg_size);
-
-
-  SECTION("Check cycle counter after reset") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-    }
-
-    msgq_msg_t msg2;
-    msgq_msg_recv(&msg2, &q_sub);
-    REQUIRE(msg2.size == 0); // Reader had to reset
-    msgq_msg_close(&msg2);
-
-  }
-  SECTION("Check cycle counter while keeping up with writer") {
-    for (int i = 0; i < 8; i++) {
-      msgq_msg_send(&msg1, &q_pub);
-
-      msgq_msg_t msg2;
-      msgq_msg_recv(&msg2, &q_sub);
-      REQUIRE(msg2.size > 0);
-      msgq_msg_close(&msg2);
-    }
-  }
-
-  REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
-  msgq_msg_close(&msg1);
-}
-
-TEST_CASE("msgq_msg_send test invalidation"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q_pub, q_sub;
-  msgq_new_queue(&q_pub, "test_queue", 1024);
-  msgq_new_queue(&q_sub, "test_queue", 1024);
-
-  msgq_init_publisher(&q_pub);
-  msgq_init_subscriber(&q_sub);
-  *q_sub.write_pointer = (uint64_t)1 << 32;
-
-  REQUIRE(*q_sub.read_valids[0] == true);
-
-  SECTION("read pointer in tag"){
-    *q_sub.read_pointers[0] = 0;
-  }
-  SECTION("read pointer in data section"){
-    *q_sub.read_pointers[0] = 64;
-  }
-  SECTION("read pointer in wraparound section"){
-    *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
-    *q_sub.read_pointers[0] = 1020;
-  }
-
-  msgq_msg_t msg;
-  msgq_msg_init_size(&msg, 128);
-  msgq_msg_send(&msg, &q_pub);
-
-  REQUIRE(*q_sub.read_valids[0] == false);
-
-  msgq_msg_close(&msg);
-}
-
-TEST_CASE("msgq_init_subscriber init 2 subscribers"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t q1, q2;
-  msgq_new_queue(&q1, "test_queue", 1024);
-  msgq_new_queue(&q2, "test_queue", 1024);
-
-  *q1.num_readers = 0;
-
-  REQUIRE(*q1.num_readers == 0);
-  REQUIRE(*q2.num_readers == 0);
-
-  msgq_init_subscriber(&q1);
-  REQUIRE(*q1.num_readers == 1);
-  REQUIRE(*q2.num_readers == 1);
-  REQUIRE(q1.reader_id == 0);
-
-  msgq_init_subscriber(&q2);
-  REQUIRE(*q1.num_readers == 2);
-  REQUIRE(*q2.num_readers == 2);
-  REQUIRE(q2.reader_id == 1);
-}
-
-
-TEST_CASE("Write 1 msg, read 1 msg", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]"){
-  remove("/dev/shm/test_queue");
-  const size_t msg_size = 128;
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-  reader.read_conflate = true;
-
-  // Build 128 byte message
-  msgq_msg_t outgoing_msg;
-  msgq_msg_init_size(&outgoing_msg, msg_size);
-
-  for (size_t i = 0; i < msg_size; i++){
-    outgoing_msg.data[i] = i;
-  }
-
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
-
-  msgq_msg_t incoming_msg1;
-  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
-  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
-
-  // Verify that there are no more messages
-  msgq_msg_t incoming_msg2;
-  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
-
-  msgq_msg_close(&outgoing_msg);
-  msgq_msg_close(&incoming_msg1);
-  msgq_msg_close(&incoming_msg2);
-}
-
-TEST_CASE("1 publisher, 1 slow subscriber", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader);
-
-  int n_received = 0;
-  int n_skipped = 0;
-
-  for (uint64_t i = 0; i < 1e5; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-    msgq_msg_close(&outgoing_msg);
-
-    if (i % 10 == 0){
-      msgq_msg_t msg1;
-      msgq_msg_recv(&msg1, &reader);
-
-      if (msg1.size == 0){
-        n_skipped++;
-      } else {
-        n_received++;
-      }
-      msgq_msg_close(&msg1);
-    }
-  }
-
-  // TODO: verify these numbers by hand
-  REQUIRE(n_received == 8572);
-  REQUIRE(n_skipped == 1428);
-}
-
-TEST_CASE("1 publisher, 2 subscribers", "[integration]"){
-  remove("/dev/shm/test_queue");
-  msgq_queue_t writer, reader1, reader2;
-
-  msgq_new_queue(&writer, "test_queue", 1024);
-  msgq_new_queue(&reader1, "test_queue", 1024);
-  msgq_new_queue(&reader2, "test_queue", 1024);
-
-  msgq_init_publisher(&writer);
-  msgq_init_subscriber(&reader1);
-  msgq_init_subscriber(&reader2);
-
-  for (uint64_t i = 0; i < 1024 * 3; i++) {
-    msgq_msg_t outgoing_msg;
-    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
-    msgq_msg_send(&outgoing_msg, &writer);
-
-    msgq_msg_t msg1, msg2;
-    msgq_msg_recv(&msg1, &reader1);
-    msgq_msg_recv(&msg2, &reader2);
-
-    REQUIRE(msg1.size == sizeof(uint64_t));
-    REQUIRE(msg2.size == sizeof(uint64_t));
-    REQUIRE(*(uint64_t*)msg1.data == i);
-    REQUIRE(*(uint64_t*)msg2.data == i);
-
-    msgq_msg_close(&outgoing_msg);
-    msgq_msg_close(&msg1);
-    msgq_msg_close(&msg2);
-  }
-}
@@ -1,14 +0,0 @@
-from messaging_pyx import Context, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-
-if __name__ == "__main__":
-  c = Context()
-  pub_sock = PubSocket()
-  pub_sock.connect(c, "controlsState")
-
-  for i in range(int(1e10)):
-    print(i)
-    sub_sock = SubSocket()
-    sub_sock.connect(c, "controlsState")
-
-    pub_sock.send(b'a')
-    print(sub_sock.receive())
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
@@ -1,142 +0,0 @@
-import unittest
-import time
-import cereal.messaging as messaging
-
-import concurrent.futures
-
-
-def poller():
-  context = messaging.Context()
-
-  p = messaging.Poller()
-
-  sub = messaging.SubSocket()
-  sub.connect(context, 'controlsState')
-  p.registerSocket(sub)
-
-  socks = p.poll(10000)
-  r = [s.receive(non_blocking=True) for s in socks]
-
-  return r
-
-
-class TestPoller(unittest.TestCase):
-  def test_poll_once(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_poll_and_create_many_subscribers(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    with concurrent.futures.ThreadPoolExecutor() as e:
-      poll = e.submit(poller)
-
-      time.sleep(0.1)  # Slow joiner syndrome
-      c = messaging.Context()
-      for _ in range(10):
-        messaging.SubSocket().connect(c, 'controlsState')
-
-      time.sleep(0.1)
-
-      # Send message
-      pub.send("a")
-
-      # Wait for poll result
-      result = poll.result()
-
-    del pub
-    context.term()
-
-    self.assertEqual(result, [b"a"])
-
-  def test_multiple_publishers_exception(self):
-    context = messaging.Context()
-
-    with self.assertRaises(messaging.MultiplePublishersError):
-      pub1 = messaging.PubSocket()
-      pub1.connect(context, 'controlsState')
-
-      pub2 = messaging.PubSocket()
-      pub2.connect(context, 'controlsState')
-
-      pub1.send("a")
-
-    del pub1
-    del pub2
-    context.term()
-
-  def test_multiple_messages(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState')
-
-    time.sleep(0.1)  # Slow joiner
-
-    for i in range(100):
-      pub.send(str(i))
-
-    msg_seen = False
-    i = 0
-    while True:
-      r = sub.receive(non_blocking=True)
-
-      if r is not None:
-        self.assertEqual(str(i), r.decode('utf8'))
-
-        msg_seen = True
-        i += 1
-
-      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
-        break
-
-    del pub
-    del sub
-    context.term()
-
-  def test_conflate(self):
-    context = messaging.Context()
-
-    pub = messaging.PubSocket()
-    pub.connect(context, 'controlsState')
-
-    sub = messaging.SubSocket()
-    sub.connect(context, 'controlsState', conflate=True)
-
-    time.sleep(0.1)  # Slow joiner
-    pub.send('a')
-    pub.send('b')
-
-    self.assertEqual(b'b', sub.receive())
-
-    del pub
-    del sub
-    context.term()
-
-
-if __name__ == "__main__":
-  unittest.main()
@@ -30,7 +30,7 @@ androidLog: [8020, true, 0.]
 carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
 carControl: [8023, true, 100., 10]
-plan: [8024, true, 20.]
+plan: [8024, true, 20., 2]
 liveLocation: [8025, true, 0., 1]
 gpsLocation: [8026, true, 1., 1]
 ethernetData: [8027, 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, 20., 2]
 uiNavigationEvent: [8055, true, 0.]
 orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]
@@ -66,10 +66,10 @@ uiLayoutState: [8060, true, 0.]
 frontEncodeIdx: [8061, true, 5.]
 orbFeaturesSummary: [8062, true, 0.]
 driverState: [8063, true, 5., 1]
-liveParameters: [8064, true, 10.]
+liveParameters: [8064, true, 20., 2]
 liveMapData: [8065, true, 0.]
 cameraOdometry: [8066, true, 20., 5]
-pathPlan: [8067, true, 20.]
+pathPlan: [8067, true, 20., 2]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]
 carEvents: [8070, true, 1., 1]
@@ -78,6 +78,8 @@ frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
 offroadLayout: [8074, false, 0.]

+dragonConf: [8075, false, 2.]
+
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
 testJoystick: [8056, false, 0.]
@@ -113,7 +115,7 @@ testJoystick: [8056, false, 0.]

 # **** stateful data transformers ****

-# modeld -- runs & publishes the model 
+# modeld -- runs & publishes the model
 #   publishes: model, cameraOdometry
 #   subscribes: liveCalibration, pathPlan

@@ -2,6 +2,7 @@
 import os
 import yaml

+
 class Service():
  def __init__(self, port, should_log, frequency, decimation=None):
    self.port = port
@@ -9,6 +10,7 @@ class Service():
    self.frequency = frequency
    self.decimation = decimation

+
 service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")

 service_list = {}
@@ -24,10 +26,9 @@ if __name__ == "__main__":
  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
  print("#ifndef __SERVICES_H")
  print("#define __SERVICES_H")
-  print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
+  print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
  print("static struct service services[] = {")
  for k, v in service_list.items():
    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
  print("};")
  print("#endif")
-
@@ -1,8 +0,0 @@
-comment: false
-coverage:
-  status:
-    project:
-      default:
-        informational: true
-    patch: off
-
@@ -12,6 +12,10 @@ NetworkStrength = log.ThermalData.NetworkStrength

 ANDROID = os.path.isfile('/EON')

+def get_sound_card_online():
+  return (os.path.isfile('/proc/asound/card0/state') and
+          open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+
 def getprop(key):
  if not ANDROID:
    return ""
@@ -47,10 +51,10 @@ def reboot(reason=None):
    reason_args = ["s16", reason]

  subprocess.check_output([
-    "service", "call", "power", "16", # IPowerManager.reboot
-    "i32", "0", # no confirmation,
+    "service", "call", "power", "16",  # IPowerManager.reboot
+    "i32", "0",  # no confirmation,
    *reason_args,
-    "i32", "1" # wait
+    "i32", "1"  # wait
  ])

 def service_call(call):
@@ -71,7 +75,7 @@ def parse_service_call_unpack(r, fmt):

 def parse_service_call_string(r):
  try:
-    r = r[8:] # Cut off length field
+    r = r[8:]  # Cut off length field
    r = r.decode('utf_16_be')

    # All pairs of two characters seem to be swapped. Not sure why
@@ -38,4 +38,4 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):

  headers['User-Agent'] = "openpilot-" + version

-  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
+  return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3.7
+import subprocess
+from cereal import car
+from common.params import Params
+params = Params()
+
+def is_online():
+  try:
+    return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+  except ProcessLookupError:
+    return False
+
+def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
+  if enabled:
+    if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
+      steer_req = 0 if isinstance(steer_req, int) else False
+  return steer_req
+
+def common_interface_atl(ret, atl):
+  # dp
+  enable_acc = ret.cruiseState.enabled
+  if atl and ret.cruiseState.available:
+    enable_acc = True
+    if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
+      enable_acc = False
+    if ret.seatbeltUnlatched or ret.doorOpen:
+      enable_acc = False
+  return enable_acc
+
+def common_interface_get_params_lqr(ret):
+  if params.get('dp_lqr') == b'1':
+    ret.lateralTuning.init('lqr')
+    ret.lateralTuning.lqr.scale = 1500.0
+    ret.lateralTuning.lqr.ki = 0.05
+
+    ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    ret.lateralTuning.lqr.c = [1., 0.]
+    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+  return ret
@@ -0,0 +1,234 @@
+#!/usr/bin/env python3.7
+import os
+import json
+import time
+from math import floor
+
+confs = [
+  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
+  # waze
+  {'name': 'dp_app_waze', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_waze_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_waze', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # dashcam related
+  {'name': 'dp_dashcam', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_dashcam_hours_stored', 'default': 24, 'type': 'UInt8', 'min': 1, 'max': 255, 'depends': [{'name': 'dp_dashcam', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # auto shutdown related
+  {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 1, 'max': 65535, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # service
+  {'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_upload_on_mobile', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_upload_on_hotspot', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # lat ctrl
+  {'name': 'dp_lat_ctrl', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_steering_limit_alert', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_steering_on_signal', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_signal_off_delay', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 10, 'conf_type': ['param', 'struct']},
+  # assist/auto lane change
+  {'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'UInt8', 'min': 0, 'max': 10, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # long ctrl
+  {'name': 'dp_slow_on_curve', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_max_ctrl_speed', 'default': 92, 'type': 'Float32', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # safety
+  {'name': 'dp_driver_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_steering_monitor', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_steering_monitor_timer', 'default': 70, 'type': 'UInt8', 'min': 70, 'max': 360, 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}, {'name': 'dp_steering_monitor', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # UIs
+  {'name': 'dp_driving_ui', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_screen_off_reversing', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_screen_off_driving', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_driver_monitor', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_path', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_volume_boost', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  # Apps
+  {'name': 'dp_app_auto_update', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_ext_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_tomtom', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_tomtom_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_tomtom_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_autonavi', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_autonavi_auto', 'default':  False, 'type': 'Bool', 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_autonavi_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_aegis', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_aegis_auto', 'default':  False, 'type': 'Bool', 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_aegis_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_mixplorer', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_mixplorer_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_mixplorer', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # toyota
+  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 44, 'max': 46, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 27, 'max': 44, 'conf_type': ['param', 'struct']},
+  # custom car
+  {'name': 'dp_car_selected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_detected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  #misc
+  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
+  {'name': 'dp_full_speed_fan', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_uno_fan_mode', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -255, 'max': 255, 'conf_type': ['param', 'struct']},
+
+  {'name': 'dp_locale', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_charging_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_charging_at', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_discharging_at', 'default': 70, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_is_updating', 'default': False, 'type': 'Bool', 'set_param_only': True, 'conf_type': ['param', 'struct']},
+
+  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+
+  # including thermal data
+  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+]
+
+def get_definition(name):
+  for conf in confs:
+    if conf['name'] == name:
+      return conf
+  return None
+
+def to_param_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    type = conf['type'].lower()
+    try:
+      if 'bool' in type:
+        val = '1' if val else '0'
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return str(val)
+    except (ValueError, TypeError):
+      return ''
+  return ''
+
+def to_struct_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    try:
+      type = conf['type'].lower()
+      if 'bool' in type:
+        val = True if val == '1' else False
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return val
+    except (ValueError, TypeError):
+      return None
+  return None
+
+'''
+function to convert param name into struct name.
+'''
+def get_struct_name(snake_str):
+  components = snake_str.split('_')
+  # We capitalize the first letter of each component except the first one
+  # with the 'title' method and join them together.
+  return components[0] + ''.join(x.title() for x in components[1:])
+
+'''
+function to generate struct for log.capnp
+'''
+def gen_log_struct():
+  count = 0
+  str = "# dp\n"
+  str += "struct DragonConf {\n"
+  for conf in confs:
+    name = get_struct_name(conf['name'])
+    if 'struct' in conf['conf_type']:
+      str += f"  {name} @{count} :{conf['type']};\n"
+      count += 1
+  str += "}"
+  print(str)
+
+'''
+function to append new keys to params.py
+'''
+def init_params_keys(keys, type):
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      keys[conf['name']] = type
+  return keys
+
+'''
+function to generate support car list
+'''
+def get_support_car_list():
+  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
+  cars = dict()
+  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      if car_name != "mock":
+        names = []
+        for attr in attrs:
+          values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
+          if hasattr(values, attr):
+            attr_values = getattr(values, attr)
+          else:
+            continue
+
+          if isinstance(attr_values, dict):
+            for f, v in attr_values.items():
+              if f not in names:
+                names.append(f)
+          names.sort()
+        cars[car_name] = names
+    except (ImportError, IOError, ValueError):
+      pass
+  return json.dumps(cars)
+
+'''
+function to init param value.
+should add this into manager.py
+'''
+def init_params_vals(params, put_nonblocking):
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      if conf['name'] == 'dp_car_list':
+        params.put(conf['name'], get_support_car_list())
+      elif params.get(conf['name']) is None:
+        print('name: %s' % conf['name'])
+        print('to_param_val: %s' % to_param_val(conf['name'], conf['default']))
+        params.put(conf['name'], to_param_val(conf['name'], conf['default']))
+
+'''
+function to conditionally update params
+should add this after init_params_vals 
+'''
+def update_params_vals(params):
+  pass
+
+if __name__ == "__main__":
+  gen_log_struct()
@@ -3,13 +3,17 @@ import shutil
 import tempfile
 from atomicwrites import AtomicWriter

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

+
 def rm_not_exists_ok(path):
  try:
    os.remove(path)
@@ -17,12 +21,14 @@ def rm_not_exists_ok(path):
    if os.path.exists(path):
      raise

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

+
 def get_tmpdir_on_same_filesystem(path):
  normpath = os.path.normpath(path)
  parts = normpath.split("/")
@@ -32,6 +38,7 @@ def get_tmpdir_on_same_filesystem(path):
    return "/{}/runner/tmp".format(parts[1])
  return "/tmp"

+
 class AutoMoveTempdir():
  def __init__(self, target_path, temp_dir=None):
    self._target_path = target_path
@@ -47,12 +54,13 @@ class AutoMoveTempdir():
  def __enter__(self):
    return self

-  def __exit__(self, type, value, traceback):
-    if type is None:
+  def __exit__(self, exc_type, exc_value, traceback):
+    if exc_type is None:
      self.close()
    else:
      shutil.rmtree(self._path)

+
 class NamedTemporaryDir():
  def __init__(self, temp_dir=None):
    self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -67,9 +75,10 @@ class NamedTemporaryDir():
  def __enter__(self):
    return self

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

+
 def _get_fileobject_func(writer, temp_dir):
  def _get_fileobject():
    file_obj = writer.get_fileobject(dir=temp_dir)
@@ -77,6 +86,7 @@ def _get_fileobject_func(writer, temp_dir):
    return file_obj
  return _get_fileobject

+
 def atomic_write_on_fs_tmp(path, **kwargs):
  """Creates an atomic writer using a temporary file in a temporary directory
     on the same filesystem as path.
@@ -94,6 +104,7 @@ def atomic_write_in_dir(path, **kwargs):
  writer = AtomicWriter(path, **kwargs)
  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

+
 def atomic_write_in_dir_neos(path, contents, mode=None):
  """
  Atomically writes contents to path using a temporary file in the same directory
@@ -0,0 +1,12 @@
+import gettext
+from common import android
+
+is_android = android.ANDROID
+locale_dir = '/data/openpilot/selfdrive/assets/locales'
+supported_language = ['en-US', 'zh-TW', 'zh-CN']
+locale = android.getprop("persist.sys.locale") if is_android else 'en-US'
+
+def events():
+  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[locale])
+  i18n.install()
+  return i18n.gettext
@@ -50,7 +50,6 @@ class TestSimpleKalman(unittest.TestCase):
      self.assertAlmostEqual(x_old[0], x[0])
      self.assertAlmostEqual(x_old[1], x[1])

-
  def test_new_is_faster(self):
    setup = """
 import numpy as np
@@ -115,9 +115,6 @@ class SwagLogger(logging.Logger):
    if args:
      evt['args'] = args
    evt.update(kwargs)
-    ctx = self.get_ctx()
-    if ctx:
-      evt['ctx'] = self.get_ctx()
    if 'error' in kwargs:
      self.error(evt)
    else:
@@ -143,7 +140,9 @@ class SwagLogger(logging.Logger):
    while hasattr(f, "f_code"):
        co = f.f_code
        filename = os.path.normcase(co.co_filename)
-        if filename == _srcfile:
+
+        # TODO: is this pylint exception correct?
+        if filename == _srcfile:  # pylint: disable=comparison-with-callable
            f = f.f_back
            continue
        sinfo = None
@@ -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", 6.75),
-      ("./loggerd", 28.49),
-      ("selfdrive.controls.plannerd", 19.77),
-      ("selfdrive.controls.radard", 9.54),
-      ("./_ui", 9.54),
-      ("./camerad", 7.07),
-      ("selfdrive.locationd.locationd", 27.46),
-      ("./_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
@@ -29,6 +29,8 @@ import tempfile
 import threading
 from enum import Enum
 from common.basedir import PARAMS
+from common.dp_conf import init_params_keys
+

 def mkdirs_exists_ok(path):
  try:
@@ -59,6 +61,7 @@ keys = {
  "CompletedTrainingVersion": [TxType.PERSISTENT],
  "ControlsParams": [TxType.PERSISTENT],
  "DisablePowerDown": [TxType.PERSISTENT],
+  "DisableUpdates": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
@@ -105,8 +108,10 @@ keys = {
  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
 }

+keys = init_params_keys(keys, [TxType.PERSISTENT])

 def fsync_dir(path):
  fd = os.open(path, os.O_RDONLY)
@@ -143,6 +148,10 @@ class DBAccessor():

  def get(self, key):
    self._check_entered()
+
+    if self._vals is None:
+      return None
+
    try:
      return self._vals[key]
    except KeyError:
@@ -195,7 +204,7 @@ class DBReader(DBAccessor):
    finally:
      lock.release()

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


@@ -221,14 +230,14 @@ class DBWriter(DBAccessor):
      os.chmod(self._path, 0o777)
      self._lock = self._get_lock(True)
      self._vals = self._read_values_locked()
-    except:
+    except Exception:
      os.umask(self._prev_umask)
      self._prev_umask = None
      raise

    return self

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

    try:
@@ -302,12 +311,13 @@ def read_db(params_path, key):
  except IOError:
    return None

+
 def write_db(params_path, key, value):
  if isinstance(value, str):
    value = value.encode('utf8')

  prev_umask = os.umask(0)
-  lock = FileLock(params_path+"/.lock", True)
+  lock = FileLock(params_path + "/.lock", True)
  lock.acquire()

  try:
@@ -324,12 +334,13 @@ def write_db(params_path, key, value):
    os.umask(prev_umask)
    lock.release()

+
 class Params():
  def __init__(self, db=PARAMS):
    self.db = db

    # create the database if it doesn't exist...
-    if not os.path.exists(self.db+"/d"):
+    if not os.path.exists(self.db + "/d"):
      with self.transaction(write=True):
        pass

@@ -6,6 +6,7 @@ import subprocess
 import multiprocessing
 from cffi import FFI

+from common.android import ANDROID
 from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error


@@ -20,11 +21,7 @@ ffi = FFI()
 ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)

-
-def set_realtime_priority(level):
-  if os.getuid() != 0:
-    print("not setting priority, not root")
-    return
+def _get_tid():
  if platform.machine() == "x86_64":
    NR_gettid = 186
  elif platform.machine() == "aarch64":
@@ -32,8 +29,25 @@ def set_realtime_priority(level):
  else:
    raise NotImplementedError

-  tid = libc.syscall(NR_gettid)
-  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
+  return libc.syscall(NR_gettid)
+
+
+def set_realtime_priority(level):
+  if os.getuid() != 0:
+    print("not setting priority, not root")
+    return
+
+  return subprocess.call(['chrt', '-f', '-p', str(level), str(_get_tid())])
+
+def set_core_affinity(core):
+  if os.getuid() != 0:
+    print("not setting affinity, not root")
+    return
+
+  if ANDROID:
+    return subprocess.call(['taskset', '-p', str(core), str(_get_tid())])
+  else:
+    return -1


 class Ratekeeper():
@@ -36,12 +36,12 @@ class Spinner():
  def __del__(self):
    self.close()

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


 class FakeSpinner(Spinner):
-  def __init__(self):
+  def __init__(self):  # pylint: disable=super-init-not-called
    pass

  def __enter__(self):
@@ -53,7 +53,7 @@ class FakeSpinner(Spinner):
  def close(self):
    pass

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


@@ -1,8 +0,0 @@
-import os
-from nose.tools import nottest
-
-def phone_only(x):
-  if os.path.isfile("/init.qcom.rc"):
-    return x
-  else:
-    return nottest(x)
@@ -39,12 +39,12 @@ class TextWindow():
  def __del__(self):
    self.close()

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


 class FakeTextWindow(TextWindow):
-  def __init__(self, s):
+  def __init__(self, s):  # pylint: disable=super-init-not-called
    pass

  def get_status(self):
@@ -62,7 +62,7 @@ class FakeTextWindow(TextWindow):
  def close(self):
    pass

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


@@ -0,0 +1,9 @@
+Import('env')
+
+d = Dir('.')
+
+env.Command(
+  ['transformations.so'],
+  ['transformations.pxd', 'transformations.pyx',
+   'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
+  'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
@@ -0,0 +1,104 @@
+#define _USE_MATH_DEFINES
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+#include "coordinates.hpp"
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
+
+double a = 6378137;
+double b = 6356752.3142;
+double esq = 6.69437999014 * 0.001;
+double e1sq = 6.73949674228 * 0.001;
+
+
+static Geodetic to_degrees(Geodetic geodetic){
+  geodetic.lat = RAD2DEG(geodetic.lat);
+  geodetic.lon = RAD2DEG(geodetic.lon);
+  return geodetic;
+}
+
+static Geodetic to_radians(Geodetic geodetic){
+  geodetic.lat = DEG2RAD(geodetic.lat);
+  geodetic.lon = DEG2RAD(geodetic.lon);
+  return geodetic;
+}
+
+
+ECEF geodetic2ecef(Geodetic g){
+  g = to_radians(g);
+  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
+  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
+  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
+  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
+  return {x, y, z};
+}
+
+Geodetic ecef2geodetic(ECEF e){
+  // Convert from ECEF to geodetic using Ferrari's methods
+  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  double x = e.x;
+  double y = e.y;
+  double z = e.z;
+
+  double r = sqrt(x * x + y * y);
+  double Esq = a * a - b * b;
+  double F = 54 * b * b * z * z;
+  double G = r * r + (1 - esq) * z * z - esq * Esq;
+  double C = (esq * esq * F * r * r) / (pow(G, 3));
+  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
+  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
+  double Q = sqrt(1 + 2 * esq * esq * P);
+  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
+  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
+  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
+  double Z_0 = b * b * z / (a * V);
+  double h = U * (1 - b * b / (a * V));
+
+  double lat = atan((z + e1sq * Z_0) / r);
+  double lon = atan2(y, x);
+
+  return to_degrees({lat, lon, h});
+}
+
+LocalCoord::LocalCoord(Geodetic g, ECEF e){
+  init_ecef <<  e.x, e.y, e.z;
+
+  g = to_radians(g);
+
+  ned2ecef_matrix <<
+    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
+    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
+    cos(g.lat), 0, -sin(g.lat);
+  ecef2ned_matrix = ned2ecef_matrix.transpose();
+}
+
+NED LocalCoord::ecef2ned(ECEF e) {
+  Eigen::Vector3d ecef;
+  ecef << e.x, e.y, e.z;
+
+  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
+  return {ned[0], ned[1], ned[2]};
+}
+
+ECEF LocalCoord::ned2ecef(NED n) {
+  Eigen::Vector3d ned;
+  ned << n.n, n.e, n.d;
+
+  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
+  return {ecef[0], ecef[1], ecef[2]};
+}
+
+NED LocalCoord::geodetic2ned(Geodetic g) {
+  ECEF e = ::geodetic2ecef(g);
+  return ecef2ned(e);
+}
+
+Geodetic LocalCoord::ned2geodetic(NED n){
+  ECEF e = ned2ecef(n);
+  return ::ecef2geodetic(e);
+}
@@ -0,0 +1,35 @@
+#pragma once
+
+struct ECEF {
+  double x, y, z;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(x, y, z);
+  }
+};
+
+struct NED {
+  double n, e, d;
+};
+
+struct Geodetic {
+  double lat, lon, alt;
+  bool radians=false;
+};
+
+ECEF geodetic2ecef(Geodetic g);
+Geodetic ecef2geodetic(ECEF e);
+
+class LocalCoord {
+public:
+  Eigen::Matrix3d ned2ecef_matrix;
+  Eigen::Matrix3d ecef2ned_matrix;
+  Eigen::Vector3d init_ecef;
+  LocalCoord(Geodetic g, ECEF e);
+  LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
+  LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
+
+  NED ecef2ned(ECEF e);
+  ECEF ned2ecef(NED n);
+  NED geodetic2ned(Geodetic g);
+  Geodetic ned2geodetic(NED n);
+};
@@ -1,110 +1,19 @@
-import numpy as np
-"""
-Coordinate transformation module. All methods accept arrays as input
-with each row as a position.
-"""
+# pylint: skip-file
+from common.transformations.orientation import numpy_wrap
+from common.transformations.transformations import (ecef2geodetic_single,
+                                                    geodetic2ecef_single)
+from common.transformations.transformations import LocalCoord as LocalCoord_single


-
-a = 6378137
-b = 6356752.3142
-esq = 6.69437999014 * 0.001
-e1sq = 6.73949674228 * 0.001
+class LocalCoord(LocalCoord_single):
+  ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,))
+  ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,))
+  geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,))
+  ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,))


-def geodetic2ecef(geodetic, radians=False):
-  geodetic = np.array(geodetic)
-  input_shape = geodetic.shape
-  geodetic = np.atleast_2d(geodetic)
+geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,))
+ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,))

-  ratio = 1.0 if radians else (np.pi / 180.0)
-  lat = ratio*geodetic[:, 0]
-  lon = ratio*geodetic[:, 1]
-  alt = geodetic[:, 2]
-
-  xi = np.sqrt(1 - esq * np.sin(lat)**2)
-  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
-  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
-  z = (a / xi * (1 - esq) + alt) * np.sin(lat)
-  ecef = np.array([x, y, z]).T
-  return ecef.reshape(input_shape)
-
-
-def ecef2geodetic(ecef, radians=False):
-  """
-  Convert ECEF coordinates to geodetic using ferrari's method
-  """
-  # Save shape and export column
-  ecef = np.atleast_1d(ecef)
-  input_shape = ecef.shape
-  ecef = np.atleast_2d(ecef)
-  x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
-
-  ratio = 1.0 if radians else (180.0 / np.pi)
-
-  # Conver from ECEF to geodetic using Ferrari's methods
-  # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  r = np.sqrt(x * x + y * y)
-  Esq = a * a - b * b
-  F = 54 * b * b * z * z
-  G = r * r + (1 - esq) * z * z - esq * Esq
-  C = (esq * esq * F * r * r) / (pow(G, 3))
-  S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
-  P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
-  Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
-        P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
-  U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
-  V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
-  Z_0 = b * b * z / (a * V)
-  h = U * (1 - b * b / (a * V))
-  lat = ratio*np.arctan((z + e1sq * Z_0) / r)
-  lon = ratio*np.arctan2(y, x)
-
-  # stack the new columns and return to the original shape
-  geodetic = np.column_stack((lat, lon, h))
-  return geodetic.reshape(input_shape)
-
-class LocalCoord():
-  """
-   Allows conversions to local frames. In this case NED.
-   That is: North East Down from the start position in
-   meters.
-  """
-  def __init__(self, init_geodetic, init_ecef):
-    self.init_ecef = init_ecef
-    lat, lon, _ = (np.pi/180)*np.array(init_geodetic)
-    self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)],
-                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
-                                     [np.cos(lat), 0, -np.sin(lat)]])
-    self.ecef2ned_matrix = self.ned2ecef_matrix.T
-    self.ecef_from_ned_matrix = self.ned2ecef_matrix
-    self.ned_from_ecef_matrix = self.ecef2ned_matrix
-
-  @classmethod
-  def from_geodetic(cls, init_geodetic):
-    init_ecef = geodetic2ecef(init_geodetic)
-    return LocalCoord(init_geodetic, init_ecef)
-
-  @classmethod
-  def from_ecef(cls, init_ecef):
-    init_geodetic = ecef2geodetic(init_ecef)
-    return LocalCoord(init_geodetic, init_ecef)
-
-
-  def ecef2ned(self, ecef):
-    ecef = np.array(ecef)
-    return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T
-
-  def ned2ecef(self, ned):
-    ned = np.array(ned)
-    # Transpose so that init_ecef will broadcast correctly for 1d or 2d ned.
-    return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef)
-
-  def geodetic2ned(self, geodetic):
-    ecef = geodetic2ecef(geodetic)
-    return self.ecef2ned(ecef)
-
-  def ned2geodetic(self, ned):
-    ecef = self.ned2ecef(ned)
-    return ecef2geodetic(ecef)
+geodetic_from_ecef = ecef2geodetic
+ecef_from_geodetic = geodetic2ecef
@@ -41,6 +41,17 @@ medmodel_intrinsics = np.array(
   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
   [   0. ,                            0. ,   1.]])

+# CAL model
+CALMODEL_INPUT_SIZE = (512, 256)
+CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
+CALMODEL_CY = 47.6
+
+calmodel_zoom = 1.5
+calmodel_intrinsics = np.array(
+  [[ eon_focal_length / calmodel_zoom,    0. ,  0.5 * CALMODEL_INPUT_SIZE[0]],
+   [   0. ,  eon_focal_length / calmodel_zoom,  CALMODEL_CY],
+   [   0. ,                            0. ,   1.]])
+

 # BIG model

@@ -100,7 +111,7 @@ def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model

  # This function is super slow, so skip it if height is very close to canonical
  # TODO: speed it up!
-  if abs(height - model_height) > 0.001: #
+  if abs(height - model_height) > 0.001:
    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
  else:
    camera_from_model_camera = np.eye(3)
@@ -0,0 +1,147 @@
+#define _USE_MATH_DEFINES
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+#include "orientation.hpp"
+#include "coordinates.hpp"
+
+Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
+  if (quat.w() > 0){
+    return quat;
+  } else {
+    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
+  }
+}
+
+Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){
+  Eigen::Quaterniond q;
+
+  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
+    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
+    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
+  return ensure_unique(q);
+}
+
+
+Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
+  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
+  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
+  // return {euler(2), euler(1), euler(0)};
+  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
+  double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
+  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
+  return {gamma, theta, psi};
+}
+
+Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
+  return quat.toRotationMatrix();
+}
+
+Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
+  return ensure_unique(Eigen::Quaterniond(rot));
+}
+
+Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
+  return quat2rot(euler2quat(euler));
+}
+
+Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
+  return quat2euler(rot2quat(rot));
+}
+
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw){
+  return euler2rot({roll, pitch, yaw});
+}
+
+Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle){
+  Eigen::Quaterniond q;
+  q = Eigen::AngleAxisd(angle, axis);
+  return q.toRotationMatrix();
+}
+
+
+Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) {
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+  Eigen::Vector3d zero = ecef_init.to_vector();
+
+  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
+
+
+  x0 = Eigen::Vector3d(1, 0, 0);
+  y0 = Eigen::Vector3d(0, 1, 0);
+  z0 = Eigen::Vector3d(0, 0, 1);
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+
+Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+
+  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
+  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
+  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
+
+  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
+
+  Eigen::Vector3d zero = ecef_init.to_vector();
+  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+
+
+
+int main(void){
+}
@@ -0,0 +1,17 @@
+#pragma once
+#include <eigen3/Eigen/Dense>
+#include "coordinates.hpp"
+
+
+Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
+
+Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
+Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
+Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
+Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
+Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
+Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
+Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
+Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
+Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose);
@@ -1,125 +1,46 @@
+# pylint: skip-file
 import numpy as np
-from numpy import dot, inner, array, linalg
-from common.transformations.coordinates import LocalCoord
+
+from common.transformations.transformations import (ecef_euler_from_ned_single,
+                                                    euler2quat_single,
+                                                    euler2rot_single,
+                                                    ned_euler_from_ecef_single,
+                                                    quat2euler_single,
+                                                    quat2rot_single,
+                                                    rot2euler_single,
+                                                    rot2quat_single)


-'''
-Vectorized functions that transform between
-rotation matrices, euler angles and quaternions.
-All support lists, array or array of arrays as inputs.
-Supports both x2y and y_from_x format (y_from_x preferred!).
-'''
+def numpy_wrap(function, input_shape, output_shape):
+  """Wrap a function to take either an input or list of inputs and return the correct shape"""
+  def f(*inps):
+    *args, inp = inps
+    inp = np.array(inp)
+    shape = inp.shape

-def euler2quat(eulers):
-  eulers = array(eulers)
-  if len(eulers.shape) > 1:
-    output_shape = (-1, 4)
-  else:
-    output_shape = (4,)
-  eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:, 0],  eulers[:, 1],  eulers[:, 2]
+    if len(shape) == len(input_shape):
+      out_shape = output_shape
+    else:
+      out_shape = (shape[0],) + output_shape

-  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
-       np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
-  q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
+    # Add empty dimension if inputs is not a list
+    if len(shape) == len(input_shape):
+      inp.shape = (1, ) + inp.shape

-  quats = array([q0, q1, q2, q3]).T
-  for i in range(len(quats)):
-    if quats[i, 0] < 0:
-      quats[i] = -quats[i]
-  return quats.reshape(output_shape)
+    result = np.asarray([function(*args, i) for i in inp])
+    result.shape = out_shape
+    return result
+  return f


-def quat2euler(quats):
-  quats = array(quats)
-  if len(quats.shape) > 1:
-    output_shape = (-1, 3)
-  else:
-    output_shape = (3,)
-  quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:, 0], quats[:, 1], quats[:, 2], quats[:, 3]
-
-  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
-  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
-  psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
-
-  eulers = array([gamma, theta, psi]).T
-  return eulers.reshape(output_shape)
-
-
-def quat2rot(quats):
-  quats = array(quats)
-  input_shape = quats.shape
-  quats = np.atleast_2d(quats)
-  Rs = np.zeros((quats.shape[0], 3, 3))
-  q0 = quats[:, 0]
-  q1 = quats[:, 1]
-  q2 = quats[:, 2]
-  q3 = quats[:, 3]
-  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
-  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
-  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
-  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
-  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
-  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
-  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
-  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
-  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
-
-  if len(input_shape) < 2:
-    return Rs[0]
-  else:
-    return Rs
-
-
-def rot2quat(rots):
-  input_shape = rots.shape
-  if len(input_shape) < 3:
-    rots = array([rots])
-  K3 = np.empty((len(rots), 4, 4))
-  K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
-  K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
-  K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
-  K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
-  K3[:, 1, 0] = K3[:, 0, 1]
-  K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
-  K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
-  K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
-  K3[:, 2, 0] = K3[:, 0, 2]
-  K3[:, 2, 1] = K3[:, 1, 2]
-  K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
-  K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
-  K3[:, 3, 0] = K3[:, 0, 3]
-  K3[:, 3, 1] = K3[:, 1, 3]
-  K3[:, 3, 2] = K3[:, 2, 3]
-  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
-  q = np.empty((len(rots), 4))
-  for i in range(len(rots)):
-    _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:, 3:]
-    q[i, 0] = eigvecs[-1]
-    q[i, 1:] = -eigvecs[:-1].flatten()
-    if q[i, 0] < 0:
-      q[i] = -q[i]
-
-  if len(input_shape) < 3:
-    return q[0]
-  else:
-    return q
-
-
-def euler2rot(eulers):
-  return rotations_from_quats(euler2quat(eulers))
-
-
-def rot2euler(rots):
-  return quat2euler(quats_from_rotations(rots))
-
+euler2quat = numpy_wrap(euler2quat_single, (3,), (4,))
+quat2euler = numpy_wrap(quat2euler_single, (4,), (3,))
+quat2rot = numpy_wrap(quat2rot_single, (4,), (3, 3))
+rot2quat = numpy_wrap(rot2quat_single, (3, 3), (4,))
+euler2rot = numpy_wrap(euler2rot_single, (3,), (3, 3))
+rot2euler = numpy_wrap(rot2euler_single, (3, 3), (3,))
+ecef_euler_from_ned = numpy_wrap(ecef_euler_from_ned_single, (3,), (3,))
+ned_euler_from_ecef = numpy_wrap(ned_euler_from_ecef_single, (3,), (3,))

 quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
@@ -130,166 +51,3 @@ euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot
 quat_from_euler = euler2quat
-
-
-
-
-
-
-'''
-Random helpers below
-'''
-
-
-def quat_product(q, r):
-  t = np.zeros(4)
-  t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
-  t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
-  t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
-  t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
-  return t
-
-
-def rot_matrix(roll, pitch, yaw):
-  cr, sr = np.cos(roll), np.sin(roll)
-  cp, sp = np.cos(pitch), np.sin(pitch)
-  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1, 0, 0], [0, cr, -sr], [0, sr, cr]])
-  rp = array([[cp, 0, sp], [0, 1, 0], [-sp, 0, cp]])
-  ry = array([[cy, -sy, 0], [sy, cy, 0], [0, 0, 1]])
-  return ry.dot(rp.dot(rr))
-
-
-def rot(axis, angle):
-  # Rotates around an arbitrary axis
-  ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
-    axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
-  ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
-  ret_2 = np.cos(angle) * np.eye(3)
-  ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
-                              [-axis[1], axis[0], 0]])
-  return ret_1 + ret_2 + ret_3
-
-
-def ecef_euler_from_ned(ned_ecef_init, ned_pose):
-  '''
-  Got it from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-  '''
-  converter = LocalCoord.from_ecef(ned_ecef_init)
-  x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-  y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-  z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-  x1 = rot(z0, ned_pose[2]).dot(x0)
-  y1 = rot(z0, ned_pose[2]).dot(y0)
-  z1 = rot(z0, ned_pose[2]).dot(z0)
-
-  x2 = rot(y1, ned_pose[1]).dot(x1)
-  y2 = rot(y1, ned_pose[1]).dot(y1)
-  z2 = rot(y1, ned_pose[1]).dot(z1)
-
-  x3 = rot(x2, ned_pose[0]).dot(x2)
-  y3 = rot(x2, ned_pose[0]).dot(y2)
-  #z3 = rot(x2, ned_pose[0]).dot(z2)
-
-  x0 = array([1, 0, 0])
-  y0 = array([0, 1, 0])
-  z0 = array([0, 0, 1])
-
-  psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-  theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-  y2 = rot(z0, psi).dot(y0)
-  z2 = rot(y2, theta).dot(z0)
-  phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-
-  ret = array([phi, theta, psi])
-  return ret
-
-
-def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
-  '''
-  Got the math from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-
-  Also accepts array of ecef_poses and array of ned_ecef_inits.
-  Where each row is a pose and an ecef_init.
-  '''
-  ned_ecef_init = array(ned_ecef_init)
-  ecef_poses = array(ecef_poses)
-  output_shape = ecef_poses.shape
-  ned_ecef_init = np.atleast_2d(ned_ecef_init)
-  if ned_ecef_init.shape[0] == 1:
-    ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
-  ecef_poses = np.atleast_2d(ecef_poses)
-
-  ned_poses = np.zeros(ecef_poses.shape)
-  for i, ecef_pose in enumerate(ecef_poses):
-    converter = LocalCoord.from_ecef(ned_ecef_init[i])
-    x0 = array([1, 0, 0])
-    y0 = array([0, 1, 0])
-    z0 = array([0, 0, 1])
-
-    x1 = rot(z0, ecef_pose[2]).dot(x0)
-    y1 = rot(z0, ecef_pose[2]).dot(y0)
-    z1 = rot(z0, ecef_pose[2]).dot(z0)
-
-    x2 = rot(y1, ecef_pose[1]).dot(x1)
-    y2 = rot(y1, ecef_pose[1]).dot(y1)
-    z2 = rot(y1, ecef_pose[1]).dot(z1)
-
-    x3 = rot(x2, ecef_pose[0]).dot(x2)
-    y3 = rot(x2, ecef_pose[0]).dot(y2)
-    #z3 = rot(x2, ecef_pose[0]).dot(z2)
-
-    x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-    y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-    z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-    psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-    theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-    y2 = rot(z0, psi).dot(y0)
-    z2 = rot(y2, theta).dot(z0)
-    phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-    ned_poses[i] = array([phi, theta, psi])
-
-  return ned_poses.reshape(output_shape)
-
-
-def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
-  """
-  TODO: add roll rotation
-  Converts an array of points in ecef coordinates into
-  x-forward, y-left, z-up coordinates
-  Parameters
-  ----------
-  psi: yaw, radian
-  theta: pitch, radian
-  Returns
-  -------
-  [x, y, z] coordinates in car frame
-  """
-
-  # input is an array of points in ecef cocrdinates
-  # output is an array of points in car's coordinate (x-front, y-left, z-up)
-
-  # convert points to NED
-  points_ned = []
-  for p in points_ecef:
-    points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
-
-  points_ned = np.vstack(points_ned).T
-
-  # n, e, d -> x, y, z
-  # Calculate relative postions and rotate wrt to heading and pitch of car
-  invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
-
-  c, s = np.cos(psi), np.sin(psi)
-  yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
-
-  c, s = np.cos(theta), np.sin(theta)
-  pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
-
-  return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
@@ -0,0 +1,42 @@
+import os
+import numpy
+import sysconfig
+
+from Cython.Build import cythonize
+from Cython.Distutils import build_ext
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
+
+
+setup(
+  name='Cython transformations wrapper',
+  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+  ext_modules=cythonize(
+  Extension(
+    "transformations",
+    sources=["transformations.pyx"],
+    language="c++",
+    extra_compile_args=["-std=c++14"],
+    include_dirs=[numpy.get_include()],
+  )
+))
@@ -0,0 +1,71 @@
+from libcpp cimport bool
+
+cdef extern from "orientation.cc":
+  pass
+
+cdef extern from "orientation.hpp":
+  cdef cppclass Quaternion "Eigen::Quaterniond":
+    Quaternion()
+    Quaternion(double, double, double, double)
+    double w()
+    double x()
+    double y()
+    double z()
+
+  cdef cppclass Vector3 "Eigen::Vector3d":
+    Vector3()
+    Vector3(double, double, double)
+    double operator()(int)
+
+  cdef cppclass Matrix3 "Eigen::Matrix3d":
+    Matrix3()
+    Matrix3(double*)
+
+    double operator()(int, int)
+
+  Quaternion euler2quat(Vector3)
+  Vector3 quat2euler(Quaternion)
+  Matrix3 quat2rot(Quaternion)
+  Quaternion rot2quat(Matrix3)
+  Vector3 rot2euler(Matrix3)
+  Matrix3 euler2rot(Vector3)
+  Matrix3 rot_matrix(double, double, double)
+  Vector3 ecef_euler_from_ned(ECEF, Vector3)
+  Vector3 ned_euler_from_ecef(ECEF, Vector3)
+
+
+cdef extern from "coordinates.cc":
+  cdef struct ECEF:
+    double x
+    double y
+    double z
+
+  cdef struct NED:
+    double n
+    double e
+    double d
+
+  cdef struct Geodetic:
+    double lat
+    double lon
+    double alt
+    bool radians
+
+  ECEF geodetic2ecef(Geodetic)
+  Geodetic ecef2geodetic(ECEF)
+
+  cdef cppclass LocalCoord_c "LocalCoord":
+    Matrix3 ned2ecef_matrix
+    Matrix3 ecef2ned_matrix
+
+    LocalCoord_c(Geodetic, ECEF)
+    LocalCoord_c(Geodetic)
+    LocalCoord_c(ECEF)
+
+    NED ecef2ned(ECEF)
+    ECEF ned2ecef(NED)
+    NED geodetic2ned(Geodetic)
+    Geodetic ned2geodetic(NED)
+
+cdef extern from "coordinates.hpp":
+  pass
@@ -0,0 +1,172 @@
+from transformations cimport Matrix3, Vector3, Quaternion
+from transformations cimport ECEF, NED, Geodetic
+
+from transformations cimport euler2quat as euler2quat_c
+from transformations cimport quat2euler as quat2euler_c
+from transformations cimport quat2rot as quat2rot_c
+from transformations cimport rot2quat as rot2quat_c
+from transformations cimport euler2rot as euler2rot_c
+from transformations cimport rot2euler as rot2euler_c
+from transformations cimport rot_matrix as rot_matrix_c
+from transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from transformations cimport geodetic2ecef as geodetic2ecef_c
+from transformations cimport ecef2geodetic as ecef2geodetic_c
+from transformations cimport LocalCoord_c
+
+
+import cython
+import numpy as np
+cimport numpy as np
+
+cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
+    return np.array([
+        [m(0, 0), m(0, 1), m(0, 2)],
+        [m(1, 0), m(1, 1), m(1, 2)],
+        [m(2, 0), m(2, 1), m(2, 2)],
+    ])
+
+cdef Matrix3 numpy2matrix (np.ndarray[double, ndim=2, mode="fortran"] m):
+    assert m.shape[0] == 3
+    assert m.shape[1] == 3
+    return Matrix3(<double*>m.data)
+
+cdef ECEF list2ecef(ecef):
+    cdef ECEF e;
+    e.x = ecef[0]
+    e.y = ecef[1]
+    e.z = ecef[2]
+    return e
+
+cdef NED list2ned(ned):
+    cdef NED n;
+    n.n = ned[0]
+    n.e = ned[1]
+    n.d = ned[2]
+    return n
+
+cdef Geodetic list2geodetic(geodetic):
+    cdef Geodetic g
+    g.lat = geodetic[0]
+    g.lon = geodetic[1]
+    g.alt = geodetic[2]
+    return g
+
+def euler2quat_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Quaternion q = euler2quat_c(e)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def quat2euler_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Vector3 e = quat2euler_c(q);
+    return [e(0), e(1), e(2)]
+
+def quat2rot_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Matrix3 r = quat2rot_c(q)
+    return matrix2numpy(r)
+
+def rot2quat_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Quaternion q = rot2quat_c(r)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def euler2rot_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Matrix3 r = euler2rot_c(e)
+    return matrix2numpy(r)
+
+def rot2euler_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Vector3 e = rot2euler_c(r)
+    return [e(0), e(1), e(2)]
+
+def rot_matrix(roll, pitch, yaw):
+    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
+
+    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
+
+    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def geodetic2ecef_single(geodetic):
+    cdef Geodetic g = list2geodetic(geodetic)
+    cdef ECEF e = geodetic2ecef_c(g)
+    return [e.x, e.y, e.z]
+
+def ecef2geodetic_single(ecef):
+    cdef ECEF e = list2ecef(ecef)
+    cdef Geodetic g = ecef2geodetic_c(e)
+    return [g.lat, g.lon, g.alt]
+
+
+cdef class LocalCoord:
+    cdef LocalCoord_c * lc
+
+    def __init__(self, geodetic=None, ecef=None):
+        assert (geodetic is not None) or (ecef is not None)
+        if geodetic is not None:
+            self.lc = new LocalCoord_c(list2geodetic(geodetic))
+        elif ecef is not None:
+            self.lc = new LocalCoord_c(list2ecef(ecef))
+
+    @property
+    def ned2ecef_matrix(self):
+        return matrix2numpy(self.lc.ned2ecef_matrix)
+
+    @property
+    def ecef2ned_matrix(self):
+        return matrix2numpy(self.lc.ecef2ned_matrix)
+
+    @property
+    def ned_from_ecef_matrix(self):
+        return self.ecef2ned_matrix
+
+    @property
+    def ecef_from_ned_matrix(self):
+        return self.ned2ecef_matrix
+
+    @classmethod
+    def from_geodetic(cls, geodetic):
+        return cls(geodetic=geodetic)
+
+    @classmethod
+    def from_ecef(cls, ecef):
+        return cls(ecef=ecef)
+
+    def ecef2ned_single(self, ecef):
+        assert self.lc
+        cdef ECEF e = list2ecef(ecef)
+        cdef NED n = self.lc.ecef2ned(e)
+        return [n.n, n.e, n.d]
+
+    def ned2ecef_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef ECEF e = self.lc.ned2ecef(n)
+        return [e.x, e.y, e.z]
+
+    def geodetic2ned_single(self, geodetic):
+        assert self.lc
+        cdef Geodetic g = list2geodetic(geodetic)
+        cdef NED n = self.lc.geodetic2ned(g)
+        return [n.n, n.e, n.d]
+
+    def ned2geodetic_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef Geodetic g = self.lc.ned2geodetic(n)
+        return [g.lat, g.lon, g.alt]
+
+    def __dealloc__(self):
+        del self.lc
@@ -0,0 +1,56 @@
+Make a python script translatable
+--
+1. add following codes to the top
+```python
+# This Python file uses the following encoding: utf-8
+# -*- coding: utf-8 -*-
+from common.i18n import events
+_ = events()
+``` 
+2. wrap ```_()``` function around the string.
+
+3. generate pot file (template file)
+```bash
+# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
+xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
+```
+
+4. add po file to languages
+```bash
+# e.g. cp /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po
+cp <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.po
+```
+
+5. translate po file with your favorite editor.
+
+6. generate mo file.
+```bash
+# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
+msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
+```
+
+Update translations
+---
+1. add ```_()``` around the new strings
+
+2. generate pot file again (template file)
+```bash
+# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
+xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
+```
+
+3. update already translated file (merge)
+```bash
+# e.g. msgmerge --update /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po /data/openpilot/selfdrive/assets/locales/events.pot
+msgmerge --update <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<file_to_translate>.po <openpilot_path>/selfdrive/assets/locales/<template_file>.pot
+```
+
+4. generate mo file again.
+```bash
+# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
+msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
+```
+
+Reference
+---
+https://simpleit.rocks/python/how-to-translate-a-python-project-with-gettext-the-easy-way/
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
@@ -0,0 +1,92 @@
+This Font Software is licensed under the SIL Open Font License,
+Version 1.1.
+
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font
+creation efforts of academic and linguistic communities, and to
+provide a free and open framework in which fonts may be shared and
+improved in partnership with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply to
+any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software
+components as distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to,
+deleting, or substituting -- in part or in whole -- any of the
+components of the Original Version, by changing formats or by porting
+the Font Software to a new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed,
+modify, redistribute, and sell modified and unmodified copies of the
+Font Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components, in
+Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the
+corresponding Copyright Holder. This restriction only applies to the
+primary font name as presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created using
+the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
@@ -0,0 +1,372 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+    NOTE: this is the newer (L) version of the system font configuration,
+    supporting richer weight selection. Some apps will expect the older
+    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
+    with any changes, even though framework will only read this file.
+
+    All fonts withohut names are added to the default list. Fonts are chosen
+    based on a match: full BCP-47 language tag including script, then just
+    language, and finally order (the first font containing the glyph).
+
+    Order of appearance is also the tiebreaker for weight matching. This is
+    the reason why the 900 weights of Roboto precede the 700 weights - we
+    prefer the former when an 800 weight is requested. Since bold spans
+    effectively add 300 to the weight, this ensures that 900 is the bold
+    paired with the 500 weight, ensuring adequate contrast.
+-->
+<familyset version="22">
+    <!-- first font is default -->
+    <family name="sans-serif">
+        <font weight="100" style="normal">Roboto-Thin.ttf</font>
+        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
+        <font weight="300" style="normal">Roboto-Light.ttf</font>
+        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
+        <font weight="400" style="normal">Roboto-Regular.ttf</font>
+        <font weight="400" style="italic">Roboto-Italic.ttf</font>
+        <font weight="500" style="normal">Roboto-Medium.ttf</font>
+        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
+        <font weight="900" style="normal">Roboto-Black.ttf</font>
+        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
+        <font weight="700" style="normal">Roboto-Bold.ttf</font>
+        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
+    </family>
+
+    <!-- Note that aliases must come after the fonts they reference. -->
+    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
+    <alias name="sans-serif-light" to="sans-serif" weight="300" />
+    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
+    <alias name="sans-serif-black" to="sans-serif" weight="900" />
+    <alias name="arial" to="sans-serif" />
+    <alias name="helvetica" to="sans-serif" />
+    <alias name="tahoma" to="sans-serif" />
+    <alias name="verdana" to="sans-serif" />
+
+    <family name="sans-serif-condensed">
+        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
+        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
+        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
+        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
+        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
+        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
+    </family>
+    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
+
+    <family name="serif">
+        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
+        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
+        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
+    </family>
+    <alias name="times" to="serif" />
+    <alias name="times new roman" to="serif" />
+    <alias name="palatino" to="serif" />
+    <alias name="georgia" to="serif" />
+    <alias name="baskerville" to="serif" />
+    <alias name="goudy" to="serif" />
+    <alias name="fantasy" to="serif" />
+    <alias name="ITC Stone Serif" to="serif" />
+
+    <family name="monospace">
+        <font weight="400" style="normal">DroidSansMono.ttf</font>
+    </family>
+    <alias name="sans-serif-monospace" to="monospace" />
+    <alias name="monaco" to="monospace" />
+
+    <family name="serif-monospace">
+        <font weight="400" style="normal">CutiveMono.ttf</font>
+    </family>
+    <alias name="courier" to="serif-monospace" />
+    <alias name="courier new" to="serif-monospace" />
+
+    <family name="casual">
+        <font weight="400" style="normal">ComingSoon.ttf</font>
+    </family>
+
+    <family name="cursive">
+        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
+        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
+    </family>
+
+    <family name="sans-serif-smallcaps">
+        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
+    </family>
+
+    <!-- fallback fonts -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
+    </family>
+    <!-- Gujarati should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
+    </family>
+    <!-- Gurmukhi should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
+    </family>
+    <family lang="ko">
+        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NanumGothic.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
+    </family>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">MTLmr3m.ttf</font>
+    </family>
+    <!--
+        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
+        the East Asian punctuation for Chinese.
+    -->
+    <family>
+        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
+    </family>
+</familyset>
@@ -0,0 +1,62 @@
+#!/usr/bin/bash
+
+###############################################################################
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Noto is a trademark of Google Inc. Noto fonts are open source.
+# All Noto fonts are published under the SIL Open Font License,
+# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
+#
+###############################################################################
+
+
+# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+#lang=en
+
+update_font=0
+remove_old_font=0
+
+# check regular font
+if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
+    update_font=1
+fi
+
+if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is re-mountable
+    sleep 3
+    mount -o remount,rw /system
+    if [ $update_font -eq "1" ]; then
+        # install font
+        cp -rf /data/openpilot/dragonpilot/cjk-fonts/NotoSansCJKtc-* /system/fonts/
+        # install font mapping
+        cp -rf /data/openpilot/dragonpilot/cjk-fonts/fonts.xml /system/etc/fonts.xml
+        # change permissions
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/NotoSansCJKtc-*
+    fi
+    mount -o remount,r /system
+    # change system locale
+fi
+
+#setprop persist.sys.locale $lang
+#setprop persist.sys.local $lang
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
-  "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
-  "recovery_len": 15861036,
-  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
+  "ota_url": "http://dpp.cool/neosupdate/ota-signed-5c366df88020863525f80f6803afaca9f852854b4b1aef9184189844b7979f0b.zip",
+  "ota_hash": "5c366df88020863525f80f6803afaca9f852854b4b1aef9184189844b7979f0b",
+  "recovery_url": "http://dpp.cool/neosupdate/recovery-4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110.img",
+  "recovery_len": 15922476,
+  "recovery_hash": "4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110"
 }
@@ -30,10 +30,10 @@ function launch {
  #    that completed successfully and synced to disk.

  if [ -f "${BASEDIR}/.overlay_init" ]; then
-    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${BASEDIR} has been modified, skipping overlay update installation"
-    else
+#    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+#    if [ $? -eq 0 ]; then
+#      echo "${BASEDIR} has been modified, skipping overlay update installation"
+#    else
      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
        if [ ! -d /data/safe_staging/old_openpilot ]; then
          echo "Valid overlay update found, installing"
@@ -41,9 +41,12 @@ function launch {

          mv $BASEDIR /data/safe_staging/old_openpilot
          mv "${STAGING_ROOT}/finalized" $BASEDIR
+          cd $BASEDIR

-          # The mv changed our working directory to /data/safe_staging/old_openpilot
-          cd "${BASEDIR}"
+          # Partial mitigation for symlink-related filesystem corruption
+          # Ensure all files match the repo versions after update
+          git reset --hard
+          git submodule foreach --recursive git reset --hard

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          exec "${LAUNCHER_LOCATION}"
@@ -52,21 +55,25 @@ function launch {
          # TODO: restore backup? This means the updater didn't start after swapping
        fi
      fi
-    fi
+#    fi
  fi

-  # no cpu rationing for now
-  echo 0-3 > /dev/cpuset/background/cpus
-  echo 0-3 > /dev/cpuset/system-background/cpus
-  echo 0-3 > /dev/cpuset/foreground/boost/cpus
-  echo 0-3 > /dev/cpuset/foreground/cpus
-  echo 0-3 > /dev/cpuset/android/cpus
+  # Android and other system processes are not permitted to run on CPU 3
+  # NEOS installed app processes can run anywhere
+  echo 0-2 > /dev/cpuset/background/cpus
+  echo 0-2 > /dev/cpuset/system-background/cpus
+  [ -d "/dev/cpuset/foreground/boost/cpus" ] && echo 0-2 > /dev/cpuset/foreground/boost/cpus  # Not present in < NEOS 15
+  echo 0-2 > /dev/cpuset/foreground/cpus
+  echo 0-2 > /dev/cpuset/android/cpus
+  echo 0-3 > /dev/cpuset/app/cpus

-  # change interrupt affinity
-  echo 3 > /proc/irq/6/smp_affinity_list # MDSS
-  echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
-  echo 2 > /proc/irq/733/smp_affinity_list # USB
-  echo 2 > /proc/irq/736/smp_affinity_list # USB
+  # Collect RIL and other possibly long-running I/O interrupts onto CPU 1
+  echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
+  echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
+  echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
+  # USB traffic needs realtime handling on cpu 3
+  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
+  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T

  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

@@ -82,18 +89,40 @@ function launch {
      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
    fi

+    if [ ! -f "$BASEDIR/prebuilt" ]; then
+      echo "Clearing build products and resetting scons state prior to NEOS update"
+      cd $BASEDIR && scons --clean
+      rm -rf /tmp/scons_cache
+      rm -r $BASEDIR/.sconsign.dblite
+    fi
    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
  else
-      if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
-          "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
-      fi
+    if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
+      "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
+    fi
  fi

+  # One-time fix for a subset of OP3T with gyro orientation offsets.
+  # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
+  # Performed exactly once. The old registry is preserved just-in-case, and
+  # doubles as a flag denoting we've already done the reset.
+  # TODO: we should really grow per-platform detect and setup routines
+  if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
+    echo "Performing OP3T sensor registry reset"
+    mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
+      rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
+      echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
+      sleep 5  # Give Android sensor subsystem a moment to recover
+  fi

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

+  if [ -f "/sdcard/dp_patcher.py" ]; then
+    /data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
+  fi
+
  # start manager
  cd selfdrive
  ./manager.py
@@ -1,5 +1,5 @@
 #!/usr/bin/bash
-
+/usr/bin/sh /data/openpilot/dragonpilot/cjk-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh

@@ -1,17 +0,0 @@
-path_classifiers:
-  library:
-    - external
-    - phonelibs
-    - pyextra
-    - tools/lib/mkvparse
-extraction:
-  cpp:
-    after_prepare:
-      - "pip3 install jinja2 pyyaml cython pycapnp numpy sympy tqdm cffi logentries zmq"
-      - "export PATH=$PWD/external/bin:$PATH"
-    index:
-      build_command: "python3 $(which scons)"
-  javascript:
-    index:
-      filters:
-      - exclude: "*"
@@ -1,27 +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"
-      - name: Static analysis
-        run: |
-          docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
-      - 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"
@@ -5,10 +5,13 @@
 *.dylib
 .*.swp
 .DS_Store
+.sconsign.dblite

 can/*.so
 can/build/
 can/obj/
 can/packer_pyx.cpp
 can/parser_pyx.cpp
+can/packer_pyx.html
+can/parser_pyx.html
 can/packer_impl.cpp
@@ -1,27 +0,0 @@
-repos:
-   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: master
-    hooks:
-    -   id: check-ast
-    -   id: check-json
-    -   id: check-xml
-    -   id: check-yaml
-   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: master
-    hooks:
-    -   id: mypy
-   repo: https://github.com/PyCQA/flake8
-    rev: master
-    hooks:
-    -   id: flake8
-        args:
-        - --select=F
-   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
-        args:
-        - --disable=R,C,W
@@ -1,25 +0,0 @@
-from ubuntu:16.04
-
-RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
-RUN pip install pre-commit==2.4.0 pylint==2.5.2
-
-ENV PYTHONPATH=/project
-
-WORKDIR /project
-# TODO: Add tag to cereal
-RUN git clone https://github.com/commaai/cereal.git /project/cereal
-
-COPY SConstruct .
-COPY . /project/opendbc
-
-RUN rm -rf /project/opendbc/.git
-RUN scons -c && scons -j$(nproc)
@@ -1,56 +0,0 @@
-opendbc
-======
-
-The project to democratize access to the decoder ring of your car.
-
-
-
-### DBC file basics
-
-A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
-Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) and [Here](https://github.com/stefanhoelzl/CANpy/blob/master/docs/DBC_Specification.md) a couple of good overviews.
-
-### How to start reverse engineering cars
-
-[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
-
-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.
-
-### Good practices for contributing to opendbc
-
- Comments: the best way to store comments is to add them directly to the DBC files. For example:
-    ```
-    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-    ```
-    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
-
- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better.
-For example:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
-    ```
-    is better than:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
-    ```
-    However, the cleanest option is really:
-    ```
-    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
-    ```
-
- Signal size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
-    ```
-    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
-    ```
-    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
-    ```
-    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
-    ```
-    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.
@@ -1,57 +0,0 @@
-import os
-import subprocess
-
-zmq = 'zmq'
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-
-cereal_dir = Dir('.')
-
-cpppath = [
-    '#',
-    '#cereal',
-    "#cereal/messaging",
-    "#opendbc/can",
-    '/usr/lib/include',
-]
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++14",
-  CPPPATH=cpppath,
-)
-
-Export('env', 'zmq', 'arch')
-
-cereal = [File('#cereal/libcereal.a')]
-messaging = [File('#cereal/libmessaging.a')]
-Export('cereal', 'messaging')
-
-SConscript(['cereal/SConscript'])
-SConscript(['opendbc/can/SConscript'])
@@ -1,291 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX EON Vector__XXX
-
-
-BO_ 170 AccPedal: 8 XXX
- SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
- SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
- SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
- SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
- SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ EngineSpeed : 32|16@1- (1,0) [0|65535] "" XXX
- SG_ uknown : 7|8@0- (1,0) [0|65535] "" XXX
-
-BO_ 404 CruiseControl: 4 XXX
- SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
- SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ Counter1 : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ Counter2 : 11|4@0+ (1,0) [0|15] "" XXX
- SG_ notCancel_0xF : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 512 CruiseControlStatus: 8 XXX
- SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
-
-BO_ 168 EngineAndBrake: 8 XXX
- SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
- SG_ EngineTorque : 8|16@1- (1,0) [0|65535] "" XXX
- SG_ EngineTorqueWoInterv : 24|16@1- (1,0) [0|65535] "" XXX
-
-BO_ 470 SteeringButtons: 2 XXX
- SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 403 DynamicCruiseControlStatus: 8 XXX
- SG_ Counter : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
- SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "mph" XXX
-
-BO_ 201 SteeringWheelAngle_DSC: 8 XXX
- SG_ Counter1 : 23|4@0+ (1,0) [0|15] "" XXX
- SG_ WeirdCounter : 44|4@1+ (1,0) [0|3] "" XXX
- SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" XXX
- SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "deg" XXX
-
-BO_ 206 WheelSpeeds: 8 XXX
- SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
-
-BO_ 884 WheelToleranceAdjustment: 8 XXX
-
-BO_ 678 WiperSwitch: 8 XXX
- SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 304 TerminalStatus: 8 XXX
- SG_ AccOn : 23|1@0+ (1,0) [0|255] "" XXX
- SG_ IgnitionOff : 22|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 169 Torque2: 8 XXX
-
-BO_ 184 TorqueTransmisionRequest: 8 XXX
-
-BO_ 196 SteeringWheelAngle: 7 XXX
- SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
- SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [0|255] "degree/s" XXX
-
-BO_ 180 WheelTorqueDriveTrain1: 8 XXX
-
-BO_ 182 DynamicCruiseControlTorqueDemand: 8 XXX
-
-BO_ 186 TransmissionData: 8 XXX
-
-BO_ 191 RequestedWheelTorqueDriveTrainActiveCruiseControl: 8 XXX
- SG_ Counter : 11|4@0- (1,0) [0|255] "" XXX
- SG_ TorqueReq : 16|11@1+ (1,0) [0|65535] "" XXX
-
-BO_ 414 Status_DSC: 8 XXX
-
-BO_ 416 Speed: 8 XXX
- SG_ VehicleSpeed : 0|12@1+ (0.103,0) [0|255] "kph" XXX
-
-BO_ 418 TransimissionData2: 8 XXX
-
-BO_ 690 WheelPressure: 8 XXX
-
-BO_ 691 AccelerationData: 8 XXX
-
-BO_ 408 GearSelectorSwitch: 8 XXX
- SG_ Gear : 0|8@1+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 422 Distance: 8 XXX
-
-BO_ 436 InstrumentClusterStatus_KOMBI: 8 XXX
-
-BO_ 464 EngineData: 8 XXX
-
-BO_ 945 TransmissionData3: 8 XXX
-
-BO_ 200 SteeringWheelAngle_slow: 8 XXX
- SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
- SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [-65535|65535] "degree/s" XXX
-
-BO_ 466 TransmissionDataDisplay: 8 XXX
-
-BO_ 437 HeatFlow_LoadMomentClimate: 8 XXX
-
-BO_ 1152 NetworkManagment1: 8 XXX
-
-BO_ 1170 NetworkManagment2: 8 XXX
-
-BO_ 1175 NetworkManagment3: 8 XXX
-
-BO_ 1176 NetworkManagment4: 8 XXX
-
-BO_ 1193 NetworkManagment5: 8 XXX
-
-BO_ 1246 NetworkManagment6: 8 XXX
-
-BO_ 438 HeatFlowEngine: 8 XXX
-
-BO_ 784 AmbientTemperature: 8 XXX
-
-BO_ 821 ElectricFuelPumpStatus: 8 XXX
-
-BO_ 1007 EngineOBD_data: 8 XXX
-
-BO_ 1432 ServicesDKG: 8 XXX
-
-BO_ 309 CrashDisconnectControl: 8 XXX
-
-BO_ 502 TurnSignals: 2 XXX
- SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
- SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 514 Dimming: 8 XXX
-
-BO_ 538 LampsCondition: 8 XXX
-
-BO_ 550 RainSensorWiperSpeed: 8 XXX
-
-BO_ 578 ClimateFrontStatus: 8 XXX
-
-BO_ 704 LCD_lighting: 8 XXX
-
-BO_ 758 LightControl: 8 XXX
-
-BO_ 760 Time_Date: 8 XXX
-
-BO_ 762 SeatBeltContact: 8 XXX
-
-BO_ 764 TrunkStatus: 8 XXX
-
-BO_ 797 TirePressureStatus: 8 XXX
-
-BO_ 816 Range_Mileage: 8 XXX
-
-BO_ 823 StatusFuelControl: 8 XXX
-
-BO_ 897 EngineOilLevelStatus: 8 XXX
-
-BO_ 940 Terminal30Eerror: 8 XXX
-
-BO_ 947 PowerManagmentConsumptionControl: 8 XXX
-
-BO_ 948 PowerBatteryVoltage: 8 XXX
- SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
-
-BO_ 958 PowerRunningTime: 8 XXX
-
-BO_ 1408 ServicesKGM: 8 XXX
-
-BO_ 1426 ServicesDME: 8 XXX
-
-BO_ 1449 ServicesDSC: 8 XXX
-
-BO_ 1504 ServicesKOMBI: 8 XXX
-
-BO_ 1522 ServicesKBM: 8 XXX
-
-BO_ 209 Accelerometer: 8 XXX
- SG_ LateralAcceleration : 0|16@1- (1,0) [0|7] "" XXX
- SG_ LongitudalAcceleration : 32|16@1- (1,0) [0|65535] "" XXX
-
-BO_ 172 WheelTorqueDrivetrain2: 8 XXX
-
-BO_ 128 Unknown80: 5 XXX
- SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ State1 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter1 : 31|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 320 Unknown140: 2 XXX
- SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 212 Unknown_d4: 8 XXX
- SG_ State1 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter2 : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 205 Unknown_cd: 8 XXX
- SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter1 : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 63|8@0- (1,0) [0|255] "" XXX
-
-BO_ 1577 NEW_MSG_1: 8 XXX
-
-
-
-
-CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control drives";
-CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
-CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
-CM_ SG_ 170 EngineSpeed "It's hard to say that is even a rate";
-CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
-CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
-CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
-CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
-CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
-CM_ SG_ 404 Counter1 "It accelerates when requests are being sent";
-CM_ SG_ 404 Counter2 "It accelerates when requests are being sent";
-CM_ SG_ 404 notCancel_0xF "0xF unless cancel is requested then 0x0";
-CM_ SG_ 168 Brake_active2 "";
-CM_ SG_ 168 BrakePressed "Brake when driver presses the brake";
-CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
-CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
-CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target";
-CM_ SG_ 408 Gear "This is just provision, needs to be reverse engineered";
-CM_ SG_ 502 TurnSignalIdle "Turn signal off";
-CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
-CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
-CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
-CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
-VAL_ 408 Gear 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;
@@ -1,95 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM
-
-
-
-BO_ 823 PACMParkAssitCmd: 7 NEO
- SG_ RollingCounter : 35|2@0+ (1,0) [0|0] ""  NEO
- SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] ""  NEO
- SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] ""  NEO
-
-BO_ 560 EBCMRegen: 6 K17_EBCM
- SG_ Regen : 1|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 338 ASCMLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASMode : 36|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 340 ASCMBLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASteeringCmdActive2 : 35|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM
- SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] ""  NEO
-
-BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM
- SG_ RollingCounter : 37|6@0+ (1,0) [0|0] ""  NEO
- SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
- SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
- SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO
-
-BO_TX_BU_ 823 : K43_PSCM,NEO;
-BO_TX_BU_ 789 : NEO,K17_EBCM;
-
-
-CM_ BU_ K182_PACM "Parking Assist Control Module";
-CM_ BU_ K43_PSCM "Power Steering Control Module";
-CM_ BU_ K17_EBCM "Electronic Brake Control Module";
-CM_ BU_ NEO "Comma NEO";
-CM_ BU_ K124_ASCM "Active Safety Control Module";
-BA_DEF_  "UseGMParameterIDs" INT 0 0;
-BA_DEF_  "ProtocolType" STRING ;
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "UseGMParameterIDs" 1;
-BA_DEF_DEF_  "ProtocolType" "GMLAN";
-BA_DEF_DEF_  "BusType" "";
-BA_ "UseGMParameterIDs" 0;
-BA_ "BusType" "CAN";
-BA_ "ProtocolType" "GMLAN";
-
-VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ;
@@ -1,243 +0,0 @@
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM
-VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
-VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
-VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
-VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
-VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
-VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
-VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
-VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
-VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
-VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
-
-
-BO_ 717 ASCM_2CD: 5 K124_ASCM
-
-BO_ 869 ASCM_365: 4 K124_ASCM
-
-BO_ 1034 ASCM_40A: 7 K124_ASCM
-
-BO_ 1296 ASCM_510: 4 K124_ASCM
-
-BO_ 1930 ASCM_78A: 7 K124_ASCM
-
-BO_ 190 ECMAcceleratorPos: 6 K20_ECM
- SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
- SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 201 ECMEngineStatus: 8 K20_ECM
- SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%"  NEO
- SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM"  NEO
-
-BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
- SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
-
-BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
- SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
- SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] ""  NEO
- SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] ""  NEO
- SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] ""  NEO
- SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] ""  NEO
- SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] ""  NEO
- SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 309 ECMPRDNL: 8 K20_ECM
- SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
-
-BO_ 320 BCMTurnSignals: 3 K9_BCM
- SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
-
-BO_ 336 ASCMLKASStatus: 1 NEO
- SG_ Available : 7|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 338 ASCMLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASMode : 36|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 340 ASCMBLKASteeringCmd: 6 NEO
- SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 23|2@0+ (1,0) [0|0] ""  NEO
- SG_ SetMe1 : 21|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
- SG_ LKASMode : 36|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] ""  NEO
-
-BO_ 381 MSG_17D: 8 K20_ECM
- SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] ""  NEO
-
-BO_ 356 PSCMStatus: 8 K43_PSCM
- SG_ LKATorqueDeliveredStatus : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ LKADriverAppldTrq : 2|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
- SG_ LKATBDTorque : 21|14@0- (-0.005,0) [-10.24|10.23] "Nm"  NEO
- SG_ RollingCounter : 39|2@0+ (1,0) [0|0] ""  NEO
- SG_ LKATotalTorqueDelivered : 37|14@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
-
-BO_ 417 AcceleratorPedal: 7 XXX
- SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 451 GasAndAcc: 8 XXX
- SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 452 AcceleratorPedal2: 8 XXX
- SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] ""  NEO
-
-BO_ 481 ASCMSteeringButton: 7 K124_ASCM
- SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
- SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
-
-BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
- SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
-
-BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
- SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s"  NEO
- SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2"  NEO
- SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
- SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
- SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
-
-BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne : 9|1@0+ (1,1) [1|1] ""  NEO
- SG_ GasRegenAlwaysThree : 15|2@0+ (1,1) [1|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ RollingCounter2 : 36|4@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne2 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|15@0+ (1,0) [0|0] ""  NEO
-
-BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
- SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
- SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
-
-BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
- SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
-
-BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
- SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
-
-BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
- SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
- SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
- SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
- SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
- SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
-
-BO_ 1033 ASCMKeepAlive: 7 NEO
- SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO
-
-BO_ 1249 VIN_Part2: 8 K20_ECM
- SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1300 VIN_Part1: 8 K20_ECM
- SG_ VINPart1 : 7|64@0+ (1,0) [0|0] ""  NEO
-
-BO_ 1912 PSCM_778: 8 K43_PSCM
-
-BO_TX_BU_ 338 : K124_ASCM,NEO;
-BO_TX_BU_ 880 : NEO,K124_ASCM;
-BO_TX_BU_ 1033 : K124_ASCM,NEO;
-BO_TX_BU_ 715 : NEO,K124_ASCM;
-
-
-CM_ BU_ K16_BECM "Battery Energy Control Module";
-CM_ BU_ K73_TCIC "Telematics Communication Control Module";
-CM_ BU_ K9_BCM "Body Control Module";
-CM_ BU_ K43_PSCM "Power Steering Control Module";
-CM_ BU_ K17_EBCM "Electronic Brake Control Module";
-CM_ BU_ K20_ECM "Engine Control Module";
-CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
-CM_ BU_ NEO "Comma NEO";
-CM_ BU_ K124_ASCM "Active Safety Control Module";
-CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
-CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
-CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
-CM_ SG_ 715 RollingCounter2 "Values cycle between 0, 7, 10, 13";
-BA_DEF_  "UseGMParameterIDs" INT 0 0;
-BA_DEF_  "ProtocolType" STRING ;
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "UseGMParameterIDs" 1;
-BA_DEF_DEF_  "ProtocolType" "GMLAN";
-BA_DEF_DEF_  "BusType" "";
-BA_ "BusType" "CAN";
-BA_ "ProtocolType" "GMLAN";
-BA_ "UseGMParameterIDs" 0;
-VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
-VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
-VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
-VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ;
-VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
-VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
-VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
-VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsive" 5 "TBD but Responsive" 4 "TBD but Responsive" 3 "Fault" 1 "Active" 0 "Inactive" ;
-VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
-VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
-VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
@@ -16,12 +16,8 @@ for x in sorted(os.listdir('../')):

 libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])

-# packer
-env.Command(['packer_pyx.so'],
-  [libdbc, 'packer_pyx.pyx', 'packer_pyx_setup.py'],
-  "cd opendbc/can && python3 packer_pyx_setup.py build_ext --inplace")
+# Build packer and parser

-# parser
-env.Command(['parser_pyx.so'],
-  [libdbc, cereal, 'parser_pyx_setup.py', 'parser_pyx.pyx', 'common.pxd'],
-  "cd opendbc/can && python3 parser_pyx_setup.py build_ext --inplace")
+env.Command(['packer_pyx.so', 'parser_pyx.so'],
+  [libdbc, cereal, 'common_pyx_setup.py', 'packer_pyx.pyx', 'parser_pyx.pyx', 'common.pxd'],
+  "cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
@@ -1,12 +1,14 @@
 import os
-import sysconfig
 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
 from Cython.Distutils import build_ext

+
+ANNOTATE = os.getenv('ANNOTATE') is not None
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))


@@ -32,10 +34,8 @@ class BuildExtWithoutPlatformSuffix(build_ext):
    return get_ext_filename_without_platform_suffix(filename)


-sourcefiles = ['packer_pyx.pyx']
 extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
 if ARCH == "aarch64":
  extra_compile_args += ["-Wno-deprecated-register"]

@@ -44,25 +44,51 @@ if platform.system() == "Darwin":
 else:
  libdbc = "libdbc.so"

+extra_link_args = [os.path.join(BASEDIR, 'opendbc', 'can', libdbc)]
+include_dirs = [
+  BASEDIR,
+  os.path.join(BASEDIR, 'phonelibs'),
+]
+
+# Build CAN Parser
+
+setup(name='CAN parser',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "parser_pyx",
+          language="c++",
+          sources=['parser_pyx.pyx'],
+          extra_compile_args=extra_compile_args,
+          include_dirs=include_dirs,
+          extra_link_args=extra_link_args,
+        ),
+        annotate=ANNOTATE
+      ),
+      nthreads=4,
+)
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib parser_pyx.so")
+
+
+# Build CAN Packer
+
 setup(name='CAN packer',
      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
      ext_modules=cythonize(
        Extension(
          "packer_pyx",
          language="c++",
-          sources=sourcefiles,
+          sources=['packer_pyx.pyx'],
          extra_compile_args=extra_compile_args,
-          include_dirs=[
-            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs'),
-          ],
-          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
-          ],
-        )
+          include_dirs=include_dirs,
+          extra_link_args=extra_link_args,
+        ),
+        annotate=ANNOTATE
      ),
      nthreads=4,
 )

 if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib packer_pyx.so")
@@ -12,6 +12,7 @@ def int_or_float(s):
  else:
    return float(s)

+
 DBCSignal = namedtuple(
  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
                "factor", "offset", "tmin", "tmax", "units"])
@@ -41,7 +42,7 @@ class dbc():
    self.def_vals = defaultdict(list)

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

    for l in self.txt:
      l = l.strip()
@@ -103,7 +104,7 @@ class dbc():

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

        self.def_vals[ids].append((sgname, defvals))

@@ -193,12 +194,12 @@ class dbc():
    if arr is None:
      out = {}
    else:
-      out = [None]*len(arr)
+      out = [None] * len(arr)

    msg = self.msgs.get(x[0])
    if msg is None:
      if x[0] not in self._warned_addresses:
-        #print("WARNING: Unknown message address {}".format(x[0]))
+        # print("WARNING: Unknown message address {}".format(x[0]))
        self._warned_addresses.add(x[0])
      return None, None

@@ -171,7 +171,6 @@ CANParser::CANParser(int abus, const std::string& dbc_name,

 void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
    int msg_count = cans.size();
-    uint64_t p;

    DEBUG("got %d messages\n", msg_count);

@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANParser # pylint: disable=no-name-in-module, import-error
+from opendbc.can.parser_pyx import CANParser  # pylint: disable=no-name-in-module, import-error
 assert CANParser
@@ -49,7 +49,8 @@ cdef class CANParser:

    self.can_invalid_cnt = CAN_INVALID_CNT

-    num_msgs = self.dbc[0].num_msgs
+    cdef int i
+    cdef int num_msgs = self.dbc[0].num_msgs
    for i in range(num_msgs):
      msg = self.dbc[0].msgs[i]
      name = msg.name.decode('utf8')
@@ -1,68 +0,0 @@
-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
-from Cython.Distutils import build_ext
-
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
-
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
-
-sourcefiles = ['parser_pyx.pyx']
-extra_compile_args = ["-std=c++14"]
-ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
-
-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(
-        Extension(
-          "parser_pyx",
-          language="c++",
-          sources=sourcefiles,
-          extra_compile_args=extra_compile_args,
-          include_dirs=[
-            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs'),
-          ],
-          extra_link_args=[
-            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
-          ],
-        )
-      ),
-      nthreads=4,
-)
-
-if platform.system() == "Darwin":
-  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
@@ -10,7 +10,7 @@ from opendbc.can.dbc import dbc

 def process(in_fn, out_fn):
  dbc_name = os.path.split(out_fn)[-1].replace('.cc', '')
-  #print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))
+  # print("processing %s: %s -> %s" % (dbc_name, in_fn, out_fn))

  template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")

@@ -70,7 +70,7 @@ def process(in_fn, out_fn):
    little_endian = None

  # sanity checks on expected COUNTER and CHECKSUM rules, as packer and parser auto-compute those signals
-  for address, msg_name, msg_size, sigs in msgs:
+  for address, msg_name, _, sigs in msgs:
    dbc_msg_name = dbc_name + " " + msg_name
    for sig in sigs:
      if checksum_type is not None:
@@ -122,5 +122,6 @@ def main():

  process(in_fn, out_fn)

+
 if __name__ == '__main__':
  main()
@@ -1 +0,0 @@
-*.bz2
@@ -1,585 +0,0 @@
-[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
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-
-RESULT=$(python3 -m flake8 --select=F $(find ../../../ -type f | grep "\.py$"))
-if [[ $RESULT  ]]; then
-	echo "Pyflakes found errors in the code. Please fix and try again"
-	echo "$RESULT"
-	exit 1
-fi
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-python3 -m pylint --disable=R,C,W $(find ../../../ -type f | grep "\.py$")
-
-exit_status=$?
-(( res = exit_status & 3 ))
-
-if [[ $res != 0  ]]; then
-	echo "Pylint found errors in the code. Please fix and try again"
-	exit 1
-fi
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-
-from opendbc.can.can_define import CANDefine
-
-
-class TestCADNDefine(unittest.TestCase):
-  def test_civic(self):
-
-    dbc_file = "honda_civic_touring_2016_can_generated"
-    defs = CANDefine(dbc_file)
-
-    self.assertDictEqual(defs.dv[399], defs.dv['STEER_STATUS'])
-    self.assertDictEqual(defs.dv[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'}
-                          }
-                         )
-
-
-if __name__ == "__main__":
-  unittest.main()
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Rick Lan	565f53ff8f	fix hash	2020-11-10 16:04:17 +10:00
Rick Lan	1fc12cfdeb	update ota/recovery url	2020-11-10 12:39:42 +10:00
Rick Lan	589a90e585	update sentry	2020-09-23 15:02:33 +10:00
Rick Lan	2f340da85d	update changelogs	2020-08-11 15:00:27 +10:00
Rick Lan	fc73a3b5ee	dragonpilot 0.7.7.2 ======================== * Added d_poly offset. (Thanks to @ShaneSmiskol) * Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing) * Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol) * Added LQR Controller toggle to settings.	2020-08-11 14:56:03 +10:00
Rick Lan	84b6ee1947	dragonpilot 0.7.7.1 ======================== * Added C2 quiet fan mode. (Thanks to @dingliangxue) * Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings. * Re-added Dev UI. (Thanks to @Kent) * Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)	2020-08-02 17:59:37 +10:00
Rick Lan	1095df55ac	dragonpilot 0.7.7.0 ======================== * Based on latest openpilot 0.7.7 devel. * When Manager failed, display IP address. (Thanks to @dingliangxue) * Re-added sr learner toggle. * Re-added Accel Profile toggle. * Added Toyota to override lowerest cruise speed. (Thanks to @Mojo) * Added BSM indicator to UI. (Thanks to @wabes) * re-added Slow On Curve functionality. (Thanks to @Mojo)	2020-07-24 14:59:45 +10:00
Adeeb Shihadeh	f370bf5ba6	fix tested branch detection	2020-07-20 14:02:01 -07:00
Adeeb Shihadeh	d6074e554d	Fix Nissan harness malfunction detection (#1897 )	2020-07-20 12:43:34 -07:00
Vehicle Researcher	b205dd6954	openpilot v0.7.7 release	2020-07-17 11:43:45 -07:00