init

date: 2025-12-18T23:23:16
master commit: 154c2334110373950bac1c36fc6e943cb1208326

.dockerignore

@@ -0,0 +1,18 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+
+venv/
+.venv/

.editorconfig

@@ -0,0 +1,11 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[*.{py,pyx,pxd}]
+charset = utf-8
+indent_style = space
+indent_size = 2

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,47 @@
+name: Bug report
+description: For issues with running openpilot on your comma device
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,14 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Car bug report
+    url: https://github.com/commaai/opendbc/issues/new
+    about: For issues with a particular car make or model
+  - name: Join the Discord
+    url: https://discord.comma.ai
+    about: The community Discord is for both openpilot development and experience discussion
+  - name: Report driving behavior feedback
+    url: https://discord.com/channels/469524606043160576/1254834193066623017
+    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
+  - name: Community Wiki
+    url: https://github.com/commaai/openpilot/wiki
+    about: Check out our community wiki

.github/ISSUE_TEMPLATE/enhancement.md

@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+name: PC bug report
+description: For issues with running openpilot on PC
+labels: ["PC"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: os-version
+    attributes:
+      label: OS Version
+      placeholder: Ubuntu 24.04
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version or commit
+      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/labeler.yaml

@@ -0,0 +1,27 @@
+CI / testing:
+  - changed-files:
+    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
+
+car:
+  - changed-files:
+    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+
+simulation:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/sim/**'
+
+ui:
+  - changed-files:
+    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+
+tools:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/**'
+
+multilanguage:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+
+autonomy:
+  - changed-files:
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/pull_request_template.md

@@ -0,0 +1,68 @@
+<!-- Please copy and paste the relevant template -->
+
+<!--- ***** Template: Fingerprint *****
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint
+
+-->
+
+<!--- ***** Template: Car Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+**Route**
+
+Route: [a route with the bug fix]
+
+
+-->
+
+<!--- ***** Template: Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+
+-->
+
+<!--- ***** Template: Car Port *****
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
+
+
+-->
+
+<!--- ***** Template: Refactor *****
+
+**Description**
+
+A description of the refactor, including the goals it accomplishes. 
+
+**Verification**
+
+Explain how you tested the refactor for regressions. 
+
+
+-->
+

.gitignore

@@ -1,4 +1,7 @@
 venv/
+.venv/
+.ci_cache
+.env
 .clang-format
 .DS_Store
 .tags
@@ -7,11 +10,13 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode*
-model2.png
 a.out
 .hypothesis
+.cache/
 
+/docs_site/
+
+*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -31,35 +36,22 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+*.mo
+*_pyx.cpp
+*.stats
 config.json
 clcache
 compile_commands.json
+compare_runtime*.html
 
-persist
-board/obj/
-selfdrive/boardd/boardd
-selfdrive/logcatd/logcatd
-selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
-selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/loggerd/bootlog
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
-selfdrive/modeld/_modeld
-selfdrive/modeld/_dmonitoringmodeld
-/src/
-
-one
-openpilot
-notebooks
-xx
-hyperthneed
-panda_jungle
-provisioning
+selfdrive/pandad/pandad
+cereal/services.h
+cereal/gen
+cereal/messaging/bridge
+selfdrive/ui/translations/tmp
+selfdrive/car/tests/cars_dump
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml
@@ -72,5 +64,37 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh
 
-selfdrive/modeld/thneed/compile
-models/*.thneed
+selfdrive/modeld/models/*.pkl
+
+# openpilot log files
+*.bz2
+*.zst
+
+build/
+
+!**/.gitkeep
+
+poetry.toml
+Pipfile
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+# rick - keep panda_tici standalone
+panda_tici/

.vscode/extensions.json

@@ -0,0 +1,11 @@
+{
+  "recommendations": [
+    "ms-python.python",
+    "ms-vscode.cpptools",
+    "elagil.pre-commit-helper",
+    "charliermarsh.ruff",
+    "JamiTech.simply-blame",
+    "k--kato.intellij-idea-keybindings",
+    "trinm1709.dracula-theme-from-intellij"
+  ]
+}

.vscode/launch.json

@@ -0,0 +1,85 @@
+{
+  "version": "0.2.0",
+  "inputs": [
+    {
+      "id": "python_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/controls/controlsd.py",
+        "system/timed/timed.py",
+        "tools/sim/run_bridge.py"
+      ]
+    },
+    {
+      "id": "cpp_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/ui/ui"
+      ]
+    },
+    {
+      "id": "args",
+      "description": "Arguments to pass to the process",
+      "type": "promptString"
+    },
+    {
+      "id": "replayArg",
+      "type": "promptString",
+      "description": "Enter route or segment to replay."
+    }
+  ],
+  "configurations": [
+    {
+      "name": "Python: openpilot Process",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${input:python_process}",
+      "console": "integratedTerminal",
+      "justMyCode": true,
+      "args": "${input:args}"
+    },
+    {
+      "name": "C++: openpilot Process",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/${input:cpp_process}",
+      "cwd": "${workspaceFolder}"
+    },
+    {
+      "name": "Attach LLDB to Replay drive",
+      "type": "lldb",
+      "request": "attach",
+      "pid": "${command:pickMyProcess}",
+      "initCommands": [
+        "script import time; time.sleep(3)"
+      ]
+    },
+    {
+      "name": "Replay drive",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
+      "args": [
+        "${input:replayArg}"
+      ],
+      "console": "integratedTerminal",
+      "justMyCode": false,
+      "env": {
+        "PYTHONPATH": "${workspaceFolder}"
+      },
+      "subProcess": true,
+      "stopOnEntry": false
+    }
+  ],
+  "compounds": [
+    {
+      "name": "Replay drive + Safety LLDB",
+      "configurations": [
+        "Replay drive",
+        "Attach LLDB to Replay drive"
+      ]
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,41 @@
+{
+  "editor.tabSize": 2,
+  "editor.insertSpaces": true,
+  "editor.renderWhitespace": "trailing",
+  "files.trimTrailingWhitespace": true,
+  "terminal.integrated.defaultProfile.linux": "dragonpilot",
+  "terminal.integrated.profiles.linux": {
+    "dragonpilot": {
+      "path": "bash",
+      "args": ["-c", "distrobox enter dp"]
+    }
+  },
+  "search.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true,
+    "msgq_repo/": true,
+    "rednose/": true,
+    "rednose_repo/": true,
+    "openpilot/": true,
+    "teleoprtc_repo/": true,
+    "tinygrad/": true,
+    "tinygrad_repo/": true
+  },
+  "files.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "third_party/**",
+    "tools/**",
+  ]
+}

ALKA_DESIGN.md

@@ -0,0 +1,140 @@
+# ALKA (Always-on Lane Keeping Assist) Design v3
+
+## Overview
+
+ALKA enables lateral control (steering) when ACC Main is ON, without requiring cruise to be engaged. This allows lane keeping assist to function independently of longitudinal control.
+
+**Simplified Behavior (v3):**
+- All brands use direct tracking: `lkas_on = acc_main_on`
+- No button/toggle tracking (removed TJA, LKAS button, LKAS HUD)
+- ACC Main ON = ALKA enabled, ACC Main OFF = ALKA disabled
+
+---
+
+## Per-Brand Summary
+
+| Brand | Status | ACC Main Source | Notes |
+|-------|--------|-----------------|-------|
+| Body | Disabled | - | No steering capability |
+| Chrysler | Disabled | - | Needs special handling |
+| Ford | Enabled | EngBrakeData (0x165) CcStat | |
+| GM | Disabled | - | No ACC Main signal |
+| Honda Nidec | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
+| Honda Bosch | Enabled | SCM_FEEDBACK (0x326) MAIN_ON | |
+| Hyundai | Enabled | SCC11 (0x420) bit 0 | |
+| Hyundai CAN-FD | Enabled | SCC_CONTROL (0x1A0) bit 66 | |
+| Hyundai Legacy | Enabled | SCC11 (0x420) bit 0 | |
+| Mazda | Enabled | CRZ_CTRL (0x21C) bit 17 | |
+| Nissan | Enabled | CRUISE_THROTTLE (0x239) bit 17 | |
+| PSA | Disabled | - | Not implemented |
+| Rivian | Disabled | - | Different architecture |
+| Subaru | Enabled | CruiseControl (0x240) bit 40 | |
+| Subaru Preglobal | Enabled | CruiseControl (0x144) bit 48 | |
+| Tesla | Disabled | - | Different architecture |
+| Toyota | Enabled | PCM_CRUISE_2 (0x1D3) bit 15 | |
+| Toyota (UNSUPPORTED_DSU) | Enabled | DSU_CRUISE (0x365) bit 0 | |
+| VW MQB | Enabled | TSK_06 TSK_Status (>=2) | |
+| VW PQ | Enabled | Motor_5 (0x480) bit 50 (long) | |
+
+---
+
+## Permission Model
+
+Lateral control requires checks at both layers. Normal path uses `controls_allowed`, ALKA path uses additional checks.
+
+| Check | Panda | openpilot | Notes |
+|-------|:-----:|:---------:|-------|
+| **Normal Path** |
+| `controls_allowed` (cruise engaged) | ✓ | ✓ | Either this OR ALKA path |
+| **ALKA Path** |
+| `alka_allowed` (brand supports) | ✓ | ✓ | Set per brand in safety init |
+| `ALT_EXP_ALKA` (user enabled) | ✓ | ✓ | alternativeExperience flag |
+| `lkas_on` (ACC Main ON) | ✓ | ✓ | Tracked via CAN messages |
+| `vehicle_moving` / `!standstill` | ✓ | ✓ | |
+| **openpilot Additional** |
+| `gear_ok` (not P/N/R) | ✗ | ✓ | Python layer only |
+| `calibrated` | ✗ | ✓ | Python layer only |
+| `seatbelt latched` | ✗ | ✓ | Python layer only |
+| `doors closed` | ✗ | ✓ | Python layer only |
+| `!steerFaultTemporary` | ✗ | ✓ | Python layer only |
+| `!steerFaultPermanent` | ✗ | ✓ | Python layer only |
+
+---
+
+## Data Flow
+
+```
+┌─────────────────────────────────────────────────────────────────────┐
+│                         CAN Bus                                      │
+└─────────────────────────────────────────────────────────────────────┘
+                    │                              │
+                    ▼                              ▼
+┌─────────────────────────────────┐  ┌─────────────────────────────────┐
+│  Safety Layer (panda C code)    │  │  Python Layer                   │
+│                                 │  │                                 │
+│  rx_hook:                       │  │  carstate.py:                   │
+│  - Parse ACC Main signal        │  │  - Parse cruiseState.available  │
+│  - Set lkas_on = acc_main_on    │  │  - Set self.lkas_on             │
+│                                 │  │                                 │
+│  lat_control_allowed():         │  └─────────────┬───────────────────┘
+│  - Check lkas_on + other flags  │                │
+│  - Gate steering commands       │                ▼
+└─────────────────────────────────┘  ┌─────────────────────────────────┐
+                                     │  card.py:                       │
+                                     │  - Publish carStateExt.lkasOn   │
+                                     └─────────────┬───────────────────┘
+                                                   │
+                                                   ▼
+                                     ┌─────────────────────────────────┐
+                                     │  controlsd.py:                  │
+                                     │  - Read carStateExt.lkasOn      │
+                                     │  - Check ALKA conditions        │
+                                     │  - Set CC.latActive             │
+                                     └─────────────────────────────────┘
+```
+
+### Key Files
+
+| File | Purpose |
+|------|---------|
+| `custom.capnp` | Defines `CarStateExt` struct with `lkasOn` field |
+| `log.capnp` | Includes `carStateExt` in event union |
+| `interfaces.py` | Defines `self.lkas_on = False` default in `CarStateBase` |
+| `carstate.py` (per brand) | Tracks `lkas_on` based on ACC Main |
+| `card.py` | Publishes `carStateExt.lkasOn` from `CI.CS.lkas_on` |
+| `controlsd.py` | Reads `carStateExt.lkasOn` to determine `alka_active` |
+
+---
+
+## ACC Main Tracking
+
+All brands use simple direct tracking:
+
+```c
+// Panda (C code)
+if (alka_allowed && (alternative_experience & ALT_EXP_ALKA)) {
+  lkas_on = acc_main_on;  // or GET_BIT(msg, bit_position)
+}
+```
+
+```python
+# Python carstate.py
+self.lkas_on = ret.cruiseState.available
+```
+
+This guard ensures:
+1. Brand supports ALKA (`alka_allowed`)
+2. User enabled ALKA (`ALT_EXP_ALKA`)
+
+Without both conditions, no ACC Main tracking occurs, and ALKA remains disabled.
+
+---
+
+## Testing
+
+Safety tests verify:
+- `alka_allowed` flag set correctly per brand
+- ACC Main tracking updates `lkas_on` directly
+- `lat_control_allowed()` returns true only when all conditions met
+- Steering TX blocked when ALKA conditions not met
+- Bus routing variants (camera_scc, unsupported_dsu)

CHANGELOGS-DEV.md

@@ -1,670 +0,0 @@
-dragonpilot 0.8.6-1
-========================
-* Based on openpilot 0.8.6 devel.
-* Support 1+3t / C2 / Jetson Xavier NX.
-* Support White / Grey Panda.
-
-dragonpilot 0.8.5-4
-========================
-* Added multiple toggles.
-* Code clean up.
-* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
-* Better support for VW MPQ (Thanks to @Saber)
-
-dragonpilot 0.8.5-3
-========================
-* Added Jetson support toggle.
-* Added Steering Ratio controller.
-* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
-* Bug fixes.
-
-dragonpilot 0.8.5-2
-========================
-* Added black panda simulation toggle.
-* Added No GPS toggle.
-* Added No Battery Toggle.
-* Bug fixes.
-
-dragonpilot 0.8.5-1
-========================
-* Based on openpilot 0.8.5 devel.
-* 基於 openpilot 0.8.5 devel.
-* Support 1+3t / C2 / Jetson Xavier NX. 
-* 支持 1+3t / C2 / Jetson Xavier NX.
-* No White/Grey Panda Support.
-* 不支持白灰熊.
-
-dragonpilot 0.8.4-3
-========================
-* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
-* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
-* 加回舊 ssh 登錄.
-* Good old ssh key.
-* 修復本田錯誤. (感謝 @loveloveses)
-* Fixed Honda bug. (Thanks to @loveloveses)
-
-dragonpilot 0.8.4-2
-========================
-* 加回可調整加速/跟車設定.
-* Added back Accel/Following Profile.
-* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
-* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
-* 支持 1+3t (需額外安裝手續)
-* Support 1+3t (Require additional install procedure)
-* 支持白/灰熊
-* Support White/Grey Panda.
-
-dragonpilot 0.8.4-1
-========================
-* 基於 openpilot 0.8.4 devel.
-* Based on openpilot 0.8.4 devel.
-
-dragonpilot 0.8.1
-========================
-* 基於最新 openpilot 0.8.1 devel.
-* Based on latest openpilot 0.8.1 devel.
-* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
-* Added REC screen button. (Thanks to @toyboxZ)
-
-dragonpilot 0.8.0
-========================
-* 基於最新 openpilot 0.8.0 devel.
-* Based on latest openpilot 0.8.0 devel.
-* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
-* Added git error fix. (Thanks to @toyboxZ)
-
-dragonpilot 0.7.10.1
-========================
-* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
-* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
-* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
-* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
-* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
-* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
-* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
-* Use openpilot v0.8 model. (Thanks to @eisenheim)
-* 加入 0.8 測試版的部分優化。
-* Added optimizations from pre-0.8.
-* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
-* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
-* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
-* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
-* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
-* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
-* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
-* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
-* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
-* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
-* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
-* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) 
-* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
-* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
-
-dragonpilot 0.7.10.0
-========================
-* 基於最新 openpilot 0.7.10 devel.
-* Based on latest openpilot 0.7.10 devel.
-* 修正 Prius 特定情況下無法操控方向盤的問題。
-* Fixed unable to regain Prius steering control under certain condition.
-* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
-* Updated support of VW MQB. (scripts/vw.sh script required)
-* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
-* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
-* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
-* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
-* 優化 nanovg。(感謝 @piggy 提供)
-* Optomized nanovg. (Thanks to @piggy)
-* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
-* Added complete_setup.sh (Thanks to @深鲸希西)
-* Based on latest openpilot 0.7.10 devel.
-* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
-* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
-* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
-* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
-
-dragonpilot 0.7.8.3
-========================
-* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
-* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
-
-dragonpilot 0.7.8.2
-========================
-* 修正在沒網路的情況下，開機超過五分鐘的問題。
-* Fixed 5+ minutes boot time issue when there is no internet connection.
-* 錯誤回傳改使用 dp 的主機。
-* Used dp server for error reporting.
-* 更新服務改使用 gitee 的 IP 檢查連線狀態。
-* updated service uses gitee IP address instead.
-
-dragonpilot 0.7.8.1
-========================
-* 加入 ko-KR 翻譯。
-* Added ko-KR translation.
-* 加入 Honda Jade 支援。(感謝 @李俊灝)
-* Added Honda Jade support. (Thanks to @lijunhao731)
-* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
-* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
-* gpxd 記錄改自動存成 zip 格式。
-* gpxd now store in zip format.
-* 強制關閉 panda 檢查 DOS 硬體。
-* Force disabled DOS hardware check in panda.
-
-dragonpilot 0.7.8.0
-========================
-* 基於最新 openpilot 0.7.8 devel.
-* Based on latest openpilot 0.7.8 devel.
-* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
-* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
-* 將警示訊息更改為類似於概念 UI 的設計。
-* Alert messages changed to concept UI alike design.
-* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
-* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors. 
-
-dragonpilot 0.7.7.3
-========================
-* 修正方向盤監控。
-* Fixed steering monitor timer param.
-* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
-* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
-* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
-* Re-added Dev Mini UI. (Thanks to @Ninjaa)
-* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
-* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
-* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
-* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
-* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
-* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
-* 使用德國的車道寬度估算值。 （感謝 @arne182）
-* Used lane width estimate value from Germany. (Thanks to @arne182)
-
-dragonpilot 0.7.7.2
-========================
-* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
-* Added d_poly offset. (Thanks to @ShaneSmiskol)
-* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
-* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
-* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
-* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
-* 加入 LQR 控制器開關進設定畫面。
-* Added LQR Controller toggle to settings.
-
-dragonpilot 0.7.7.1
-========================
-* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
-* Added C2 quiet fan mode. (Thanks to @dingliangxue)
-* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
-* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
-* 加入回調校介面。(感謝 @Kent)
-* Re-added Dev UI. (Thanks to @Kent)
-* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
-* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
-
-dragonpilot 0.7.7.0
-========================
-* 基於最新 openpilot 0.7.7 devel.
-* Based on latest openpilot 0.7.7 devel.
-* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
-* When Manager failed, display IP address. (Thanks to  @dingliangxue)
-* 加回 sr learner 開關。
-* Re-added sr learner toggle.
-* 加回 加速模式 開關。
-* Re-added Accel Profile toggle.
-* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
-* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
-* 介面加入盲點偵測顯示。(感謝 @wabes)
-* Added BSM indicator to UI. (Thanks to @wabes)
-* 加回彎道減速功能。(感謝 @Mojo)
-* re-added Slow On Curve functionality. (Thanks to @Mojo)
-
-dragonpilot 0.7.6.2
-========================
-* 修正無法正確關閉駕駛監控的問題。
-* Fixed unable to properly turn off driver monitor issue.
-
-dragonpilot 0.7.6.1
-========================
-* 基於最新 openpilot 0.7.6.1 devel.
-* Based on latest openpilot 0.7.6.1 devel.
-* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
-* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
-* 完全關閉 steer ratio learner。
-* Completely disabled steer ratio learner.
-* 移除「加速模式」。
-* Removed Accel Profile.
-* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
-* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
-* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
-* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
-
-dragonpilot 0.7.5.4
-========================
-* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
-* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
-
-dragonpilot 0.7.5.3
-========================
-* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
-* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
-* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
-* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
-* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
-* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
-* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
-* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
-* 將剎車狀熊顯示於 dp 資訊欄。
-* Added brake indicator to dp infobar.
-* 修正「溫度監控」燈示。
-* Fixed "Temp monitor" indicator.
-* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
-* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
-* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
-* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
-
-dragonpilot 0.7.5.2
-========================
-* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
-* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
-* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
-* Updated to stop charging after 3 hrs. (Thanks to @Wei)
-* 移除行車記錄下的「碰撞偵測」功能。
-* Removed Impact Detection in Dashcam.
-* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
-* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
-* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
-* Fixed alert issue in waze mode. (Thanks to @axandres)
-* 修正無法顯示更新中圖示的問題。
-* Fixed unable to display "UPDATING" icon issue. 
-* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
-* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
-* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
-* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
-* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
-* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
-
-dragonpilot 0.7.5.1
-========================
-* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
-* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
-* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
-* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
-* 更新 appd 使用 cnpmjs 來下載 APKs。
-* Updated appd to use cnpmjs to download APKs.
-* 修正更新服務。(感謝 @Wei)
-* Fixed Update Service. (Thanks to @Wei)
-* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
-* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
-* 新增「通過移動網路上傳」開關
-* Added Upload Over Mobile Network toggle.
-* 新增「通過熱點上傳」開關
-* Added Upload Over Hotspot toggle.
-* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
-* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
-* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
-* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
-
-dragonpilot 0.7.5.0
-========================
-* 基於最新 openpilot 0.7.5 devel-staging.
-* Based on latest openpilot 0.7.5 devel-staging.
-* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
-* Updated dp logo, special thanks to @wabes for the design.
-* 簡/繁中文版和 i18n 整合成為單一版本。  
-* Merged zhs/zht/i18n versions into one.
-* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
-* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
-* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
-* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
-* 新增行駛時關閉畫面功能。
-* Added Screen off while driving feature.
-* 新增倒車時關閉畫面功能。
-* Added Screen off while reversing feature.
-* 新增駕駛介面加入「加速模式」切換鈕。 
-* Added acceleration profile toggle onto driving UI.
-* 新增自定車型功能，取代指紋暫存功能。
-* Replaced fingerprint cache with custom car model selector.
-* 新增可調亮度。
-* Added Brightness changer.
-* 新增部分德語支持。(特別感謝 @arne182 提供)
-* Added partial de_DE language support (Thanks to @arne182)
-* 新增停車碰撞偵測記錄功能。
-* Added off road impact detection to dashcam.
-
-2020-05-06
-========================
-* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
-* 中文版整合進 i18n 版。  
-* 刪除指紋暫存功能。
-* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
-* 新增行駛時關閉畫面功能。
-* 新增倒車時關閉畫面功能。
-* 新增駕駛介面加入「加速模式」切換鈕。 
-* 新增自定義車型。
-
-2020-04-16
-========================
-* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
-* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
-* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
-* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
-* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
-
-2020-04-13
-========================
-* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
-* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
-* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
-
-2020-04-10
-========================
-* [DEVEL] 更新 panda 至最新的 comma:master 分支。
-* [DEVEL] 移除所有的第三方應用改為自動下載。
-* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
-
-2020-03-31
-========================
-* [DEVEL] 更新至 2020-03-31 testing 分支。
-
-2020-03-27
-========================
-* [DEVEL] 更新至最新的 testing 分支:
-  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
-  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
-  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
-  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
-  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
-  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
-  * 加入韓文支持。(感謝 crwusiz 提供)
-  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
-
-2020-03-22
-========================
-* [DEVEL] 更新至最新的 testing 分支。
-
-2020-03-17
-========================
-* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
-* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
-
-2020-03-14
-========================
-* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
-* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
-* [DEVEL] 調高 Toyota 扭力容錯值。
-* [DEVEL] 優化讀取 dp 設定值。
-* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
-* [DEVEL] dp 功能加入對 Subaru 車系的支援。
-
-2020-03-06
-========================
-* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
-* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
-* [DEVEL] 建立 devel-i18n 取代 devel-en。
-* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
-
-2020-03-04
-========================
-* [DEVEL] 加入顯示駕駛監控畫面。
-* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
-* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
-
-2020-02-25
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
-
-2020-02-21
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
-
-2020-02-14
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
-* [DEVEL] 修正錯誤。
-
-2020-02-08
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
-* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
-* [DEVEL] 加入神盾測速照相自動啟動的開關。
-* [DEVEL] 更新高德地圖至 v4.5.0.600053。
-* [DEVEL] 使用 0.6.6 版的更新系統。
-* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
-
-2020-01-31
-========================
-* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
-
-2020-01-29
-========================
-* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
-
-2020-01-23
-========================
-* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
-* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
-* [DEVEL] 優化 appd。
-
-2020-01-19
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
-* [DEVEL] 調整 appd 和 ALC 邏輯。 
-
-2020-01-14
-========================
-* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
-
-2020-01-08
-========================
-* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
-* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
-
-2019-12-31
-========================
-* [DEVEL-ZHS] 加回第三方應用。
-
-2019-12-29
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
-* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
-* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
-
-2019-12-18
-========================
-* [DEVEL] 修正自動換道邏輯。
-* [DEVEL] 更新 offroad 翻譯。
-* [DEVEL] 錯誤修正。
-* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
-
-2019-12-17
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
-* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
-* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
-* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
-* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
-* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
-
-2019-12-10
-========================
-* [DEVEL] 加入位智車機模式。 (Waze Mode)
-
-2019-11-21
-========================
-* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
-* [DEVEL] 調整前車靜止移動偵測參數。
-* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
-
-2019-11-18
-========================
-* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
-
-2019-11-18
-========================
-* [DEVEL] 修正 frame 翻譯。
-
-2019-11-15
-========================
-* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
-
-2019-11-15
-========================
-* [DEVEL] 修正充電控制。 (感謝 KT 反應)
-* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
-* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
-
-2019-11-12
-========================
-* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
-* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
-
-2019-11-12
-========================
-* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
-
-2019-11-11
-========================
-* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
-* [DEVEL] 更新 MiXplorer 至 v6.40.3
-* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
-* [DEVEL] 前車靜止移動偵測加入偵測警示。
-
-2019-11-07
-========================
-* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
-* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
-
-2019-11-06
-========================
-* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
-* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
-
-2019-11-05
-========================
-* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
-
-2019-11-01
-========================
-* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
-* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
-
-2019-11-01
-========================
-* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
-* [DEVEL] 更新 offroad 為多語言版
-* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
-
-2019-10-29
-========================
-* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
-
-2019-10-28
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
-* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
-
-2019-10-18
-========================
-* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
-* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
-* [DEVEL] 修正 allow_gas 功能。
-
-2019-10-18
-========================
-* [DEVEL] 加入彎道減速功能開關。
-* [DEVEL] 強迫使用 dp 版 Panda 韌體。
-* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
-
-2019-10-17
-========================
-* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
-* [DEVEL] 修正充電控制讀取預設值的錯誤。
-* [DEVEL] 修正無法顯示更新記錄的錯誤。
-
-2019-10-16
-========================
-* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
-* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
-* [DEVEL] 更新高德地圖至 v4.3.0
-* [DEVEL] 刪除 bs (Branch Switcher)
-
-2019-10-14
-========================
-* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
-* [DEVEL] 清除不再使用的 dp params。
-* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
-* [DEVEL] 加入刷新 Panda 韌體按鈕。
-
-2019-10-11
-========================
-* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
-* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
-
-2019-10-09
-========================
-* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
-
-2019-10-08
-========================
-* [DEVEL] 加回駕駛監控開關。
-* [DEVEL] 加入 bs (branch switcher) 程式。
-
-2019-10-07
-========================
-* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
-
-2019-10-05
-========================
-* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
-* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 
-
-2019-09-30
-========================
-* [DEVEL] 更新 curvature learner 版本至 v4。
-* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
-
-2019-09-27
-========================
-* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
-* [DEVEL] 加入可開關駕駛監控的程式碼。
-* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
-* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
-
-2019-09-26
-========================
-* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
-
-2019-09-24
-========================
-* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
-* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
-
-2019-09-23
-========================
-* [DEVEL] 優化讀取 params 的次數。
-* [DEVEL] 加入可開關的車道偏移警示。
-* [DEVEL] 修正充電控制邏輯。
-* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
-
-2019-09-20
-========================
-* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
-
-2019-09-16
-========================
-* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
-* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
-
-2019-09-13
-========================
-* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
-
-2019-09-09
-========================
-* [DEVEL] 加入 GreyPanda 模式。
-
-2019-08-28
-========================
-* [DEVEL] 加入可調警示音量。
-
-2019-08-27
-========================
-* [DEVEL] 自動關機改為可調時長。

CONTRIBUTING.md

@@ -1,45 +0,0 @@
-# How to contribute
-
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
-
-Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
-
-## Getting Started
-
- * Join our [Discord](https://discord.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
-
-## Testing
-
-### Automated Testing
-
-All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
-
-### Code Style and Linting
-
-Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
-
-## Car Ports (openpilot)
-
-We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
-
-## Pull Requests
-
-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
-```
-git clone https://github.com/commaai/openpilot.git --recursive
-```
-Or alternatively, when on the master branch:
-```
-git submodule update --init
-```
-The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
-Modules that are in seperate repositories include:
-* cereal
-* laika
-* opendbc
-* panda
-* rednose

CONTRIBUTORS.md

@@ -1,28 +0,0 @@
-# CONTRIBUTORS
-
-Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
-
-If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
-
-name                                                         | github                                                       | contribution
------------------------------------------------------------- | ------------------------------------------------------------ | ------------------------------------------------------------
-andy741217                                                   | [andy741217](https://github.com/andy741217)                  | New features, bug fixes
-Arne Schwarck                                                | [arne182](https://github.com/arne182)                        | New features, bug fixes
-berno22                                                      | [berno22](https://github.com/berno22)                        | New car fingerprint
-Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)                  | Bug fixes
-Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)    | New Features
-DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                      | New features, bug fixes
-dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)              | New features, bug fixes
-eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                  | Tester
-kegman                                                       | [kegman](https://github.com/kegman)                          | New features, bug fixes
-kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | DP main maintainer, New features, bug fixes
-lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)                | New car fingerprint
-lirudy                                                       | [lirudy](https://github.com/lirudy)                          | Bug fixes
-LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                      | Bug fixes
-loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Bug fixes, DP wiki main maintainer
-menwenliang                                                  | [menwenliang](https://github.com/menwenliang)                | New features
-Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Project lead
-rming                                                        | [Rming](https://github.com/rming)                            | Bug fixes, wiki contributor
-sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)                | Bug fixes
-Shane Smiskol                                                | [sshane](https://github.com/sshane)                          | New features, bug fixes
-toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                        | New features, bug fixes

Dockerfile.openpilot

@@ -0,0 +1,14 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+ENV UV_BIN="/home/batman/.local/bin/"
+ENV PATH="$UV_BIN:$PATH"
+RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,81 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

HOWTO-ONEPLUS.md

@@ -1,25 +0,0 @@
-How to install on Oneplus 3t?
-------
-1. clone dragonpilot to /data/ and make sure it's named openpilot:
-   (手動安裝切換至 dragonpilot 0.8.6 branch)
-```
-cd /data/ && rm -fr openpilot; && git clone https://github.com/dragonpilot-community/dragonpilot.git -b 0.8.4
-```
-
-2. run command:
-   (在 ssh 畫面下，輸入)
-```
-cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
-```
-
-3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
-   (等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
-
-4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
-   (在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
-
-5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
-   (在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
-   
-6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
-   (你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)

Jenkinsfile

@@ -1,257 +1,269 @@
-def phone(String ip, String step_label, String cmd) {
+def retryWithDelay(int maxRetries, int delay, Closure body) {
+  for (int i = 0; i < maxRetries; i++) {
+    try {
+      return body()
+    } catch (Exception e) {
+      sleep(delay)
+    }
+  }
+  throw Exception("Failed after ${maxRetries} retries")
+}
+
+def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
+ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
+export TERM=xterm-256color
+
+shopt -s huponexit # kill all child processes when the shell exits
+
 export CI=1
+export PYTHONWARNINGS=error
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
+export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
+# only use 1 thread for tici tests since most require HIL
+export PYTEST_ADDOPTS="-n0 -s"
+
+
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
+
+  rm -rf /tmp/tmp*
+  rm -rf ~/.commacache
+  rm -rf /dev/shm/*
+  rm -rf /dev/tmp/tmp*
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
 fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
-if [ -f /EON ]; then
-  echo \$\$ > /dev/cpuset/app/tasks || true
-  echo \$PPID > /dev/cpuset/app/tasks || true
-  mkdir -p /dev/shm
-  chmod 777 /dev/shm
-fi
-
 cd ${env.TEST_DIR} || true
-${cmd}
-exit 0
-
-EOF"""
+time ${cmd}
+END"""
 
     sh script: ssh_cmd, label: step_label
   }
 }
 
-def phone_steps(String device_type, steps) {
-  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 150, unit: 'MINUTES') {
-      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
+def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    if (isReplay()) {
+      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
+    }
+
+    def extra = extra_env.collect { "export ${it}" }.join('\n');
+    def branch = env.BRANCH_NAME ?: 'master';
+    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
+
+    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
+      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+        timeout(time: 35, unit: 'MINUTES') {
+          retry (3) {
+            def date = sh(script: 'date', returnStdout: true).trim();
+            device(device_ip, "set time", "date -s '" + date + "'")
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          }
+          steps.each { item ->
+            def name = item[0]
+            def cmd = item[1]
+
+            def args = item[2]
+            def diffPaths = args.diffPaths ?: []
+            def cmdTimeout = args.timeout ?: 9999
+
+            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
+              println "Skipping ${name}: no changes in ${diffPaths}."
+              return
+            } else {
+              timeout(time: cmdTimeout, unit: 'SECONDS') {
+                device(device_ip, name, cmd)
+              }
+            }
+          }
+        }
       }
     }
   }
 }
 
-pipeline {
-  agent none
-  environment {
-    COMMA_JWT = credentials('athena-test-jwt')
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
+def hasPathChanged(String gitDiff, List<String> paths) {
+  for (path in paths) {
+    if (gitDiff.contains(path)) {
+      return true
+    }
   }
-  options {
-      timeout(time: 3, unit: 'HOURS')
+  return false
+}
+
+def isReplay() {
+  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
+  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
+}
+
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
   }
 
-  stages {
+  withCredentials([
+    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
+  ]) {
+    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
+  }
 
-    stage('Build release2') {
-      agent {
-        docker {
-          image 'python:3.7.3'
-          args '--user=root'
-        }
-      }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("eon-build", [
-          ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+  withCredentials([
+    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
+  ]) {
+    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
+  }
+}
+
+def step(String name, String cmd, Map args = [:]) {
+  return [name, cmd, args]
+}
+
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
+
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
+
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
+
+  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
+
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
+      ])
+    }
+
+    if (env.BRANCH_NAME == '__nightly') {
+      parallel (
+        'nightly': {
+          deviceStage("build nightly", "tizi-needs-can", [], [
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+          ])
+        },
+        'nightly-dev': {
+          deviceStage("build nightly-dev", "tizi-needs-can", [], [
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+          ])
+        },
+      )
+    }
+
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      'onroad tests': {
+        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("check dirty", "release/check-dirty.sh"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
-      }
-    }
-
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
-          }
-        }
-      }
-
-      stages {
-
-        /*
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilotci'
-              args '--privileged --shm-size=1G --user=root'
-            }
-          }
-          stages {
-            stage('Build') {
-              steps {
-                sh 'scons -j$(nproc)'
-              }
-            }
-          }
-          post {
-            always {
-              // fix permissions since docker runs as another user
-              sh "chmod -R 777 ."
-            }
-          }
-        }
-        */
-
-        stage('On-device Tests') {
-          agent {
-            docker {
-              /*
-              filename 'Dockerfile.ondevice_ci'
-              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
-              */
-              image 'python:3.7.3'
-              args '--user=root'
-            }
-          }
-
-          stages {
-            stage('parallel tests') {
-              parallel {
-                stage('Devel Tests') {
-                  steps {
-                    phone_steps("eon-build", [
-                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('Replay Tests') {
-                  steps {
-                    phone_steps("eon2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-                stage('HW + Unit Tests') {
-                  steps {
-                    phone_steps("eon", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
-                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
-                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
-                      //["test updater", "python installer/updater/test_updater.py"],
-                    ])
-                  }
-                }
-
-                /*
-                stage('Power Consumption Tests') {
-                  steps {
-                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-                      timeout(time: 90, unit: 'MINUTES') {
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-                        phone(device_ip, "build", "scons -j4 && sync")
-                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
-                      }
-                    }
-                  }
-                }
-                */
-
-                stage('tici Build') {
-                  environment {
-                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-                  }
-                  steps {
-                    phone_steps("tici", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
-                    ])
-                  }
-                }
-
-                stage('Unit Tests (tici)') {
-                  steps {
-                    phone_steps("tici2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-                    ])
-                  }
-                }
-
-                stage('camerad') {
-                  steps {
-                    phone_steps("eon-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('Tici camerad') {
-                  steps {
-                    phone_steps("tici-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-              }
-            }
-
-            stage('Push master-ci') {
-              when {
-                branch 'master'
-              }
-              steps {
-                phone_steps("eon-build", [
-                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
-                ])
-              }
-            }
-
-          }
-
-          post {
-            always {
-              cleanWs()
-            }
-          }
-
-        }
-
-      }
+      },
+      'HW + Unit Tests': {
+        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          step("test manager", "pytest system/manager/test/test_manager.py"),
+        ])
+      },
+      'loopback': {
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+        ])
+      },
+      'camerad OX03C10': {
+        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+        ])
+      },
+      'camerad OS04C10': {
+        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+        ])
+      },
+      'replay': {
+        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          // TODO: enable once new AGNOS is available
+          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
+        ])
+      },
+
+    )
     }
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
   }
 }
-

LICENSE.md

@@ -0,0 +1,30 @@
+Copyright (c) 2019, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense, 
+for non-commercial purposes only, 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.
+- Commercial use (e.g. use in a product, service, or activity intended to 
+  generate revenue) is prohibited without explicit written permission from 
+  the copyright holder.
+
+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.
+
+---
+Copyright (c) 2018, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy 
+of this software and associated documentation files (the "Software"), to deal 
+in the Software without restriction, including without limitation the rights 
+to use, copy, modify, merge, publish, distribute, sublicense, 
+and/or sell copies of the Software, and to permit persons to whom the 
+Software is furnished to do so, subject to the following conditions:
+
+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.

README.md

@@ -1,392 +1,74 @@
-[![](https://i.imgur.com/UelUjKAh.png)](#)
-
-Table of Contents
-=======================
-
-* [What is openpilot?](#what-is-openpilot)
-* [Integration with Stock Features](#integration-with-stock-features)
-* [Supported Hardware](#supported-hardware)
-* [Supported Cars](#supported-cars)
-* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
-* [Installation Instructions](#installation-instructions)
-* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
-* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
-* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
-* [User Data and comma Account](#user-data-and-comma-account)
-* [Safety and Testing](#safety-and-testing)
-* [Testing on PC](#testing-on-pc)
-* [Community and Contributing](#community-and-contributing)
-* [Directory Structure](#directory-structure)
-* [Licensing](#licensing)
-
----
-
-What is openpilot?
-------
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
-
-<table>
-  <tr>
-    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
-  </tr>
-  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
-  </tr>
-</table>
-
-Integration with Stock Features
-------
-
-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
-
-Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
-
-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
-
-Supported Hardware
-------
-
-At the moment, openpilot supports the EON Gold DevKit and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
-
-Supported Cars
-------
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
-| Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | Civic Sedan 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Sedan 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | CR-V 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Insight 2019-21               | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
-| Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
-| Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Alphard 2020                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry 2021                    | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2021             | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Corolla 2020-21               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hatchback 2019-21     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Mirai 2021	                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius Prime 2021              | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-
-<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
-<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. ***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
-------
-
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
-| Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
-| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Elantra 2021                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Elantra Hybrid 2021           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Ioniq PHEV 2020               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Veloster 2019-20              | SCC + LKAS        | Stock            | 5mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-2021               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Niro PHEV 2019                | SCC + LKAS        | Stock            | 10mph              | 32mph        |
-| Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
-| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Octavia 2015, 2019            | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Octavia RS 2016               | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf SportWagen 2015          | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |
-
-<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
-
-Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
-
-To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
-
-Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
-
-Installation Instructions
-------
-
-Install openpilot on an EON Gold or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
-
-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.
-
-You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
-
-Limitations of openpilot ALC and LDW
-------
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot ACC and FCW
-------
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-Limitations of openpilot DM
-------
-
-openpilot DM should not be considered an exact measurement of the alertness of the driver.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the driver facing camera.
-* The driver facing camera is obstructed, covered, or damaged.
+![](dragonpilot/selfdrive/assets/dragonpilot.png)
 
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
+[Read this in English](README_EN.md)
 
-User Data and comma Account
-------
+# **🐲 dragonpilot - 賦予您的愛車「龍」之魂**
 
-By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
+**我們與您一同翱翔於更智慧、更貼心的駕駛旅程。**
 
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
+## **👋 嘿, 朋友，歡迎您的到來！**
 
-openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+`dragonpilot` 誕生於 2019 年，由三位早期的 openpilot 華人玩家共同創立。初衷很簡單：為廣大的華人用戶、玩家們提供一個友善的交流環境、更簡便的設定協助，並加入更多適合在地使用的貼心功能。
 
-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+我們深知在地化的重要性，特別是語言的親切感。因此，我們率先導入了完整的中文介面，讓 `dragonpilot` 迅速在華語地區累積了口碑，也讓華人的使用者數量在全球名列前茅。這份來自在地的支持，是我們持續前進的最大動力。
 
-Safety and Testing
-----
+我們以功能強大的 [openpilot](https://github.com/commaai/openpilot) 為基礎——這套據美國消費者報告評測優於市售車方案的開源輔助駕駛系統——融入了更多在地化的巧思與客製化的溫度，希望能打造出最符合您需求的駕駛夥伴。(您也可以參考我們 repo 中保留的 [openpilot 原始說明檔案](README_OPENPILOT.md))
 
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
-* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+取名 `dragonpilot`，是因為我們希望它能像神話中的「龍」一樣，既強大又充滿智慧，為您的行車安全保駕護航。龍，在我們華人文化中，更是吉祥與力量的象徵，也代表著我們的根源與驕傲。
 
-Testing on PC
-------
-For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
+## **✨ dragonpilot 的里程碑**
 
-Steps:
-1) Start the CARLA server on first terminal
-```
-bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
-```
-2) Start openpilot on second terminal
-```
-bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
-```
-3) Press 1 to engage openpilot
+我們不僅保留了 openpilot 的核心優勢，更達成了許多從社群回饋中誕生的里程碑，這些是我們引以為傲的足跡：
 
-See the full [README](tools/sim/README.md)
+* **🚘 全時置中車道維持 (ALKA)**
 
-You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
+  這不只是一個功能，更是 `dragonpilot` 的哲學。我們最早於 [0.6.2 版本](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199) 時便實現了這個功能，其開發歷程始於 2017 Lexus IS300h，接著擴展至 Toyota 全車系，並逐步延伸到其他支援的品牌。它能溫柔地輔助您，讓車輛始終穩定地保持在車道中央，提供一份額外的安心與從容。
 
+* **🌐 率先導入多國語言介面**
 
-Community and Contributing
-------
-
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
-
-You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
-
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
-
-And [follow us on Twitter](https://twitter.com/comma_ai).
-
-Directory Structure
-------
-    .
-    ├── cereal              # The messaging spec and libs used for all logs
-    ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages updates of NEOS
-    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # External libraries
-    ├── pyextra             # Extra python packages not shipped in NEOS
-    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts, images, and sounds for UI
-        ├── athena          # Allows communication with the app
-        ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
-        ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Planning and controls
-        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── logcatd         # Android logcat as a service
-        ├── loggerd         # Logger and uploader of car data
-        ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU interface code
-        ├── test            # Unit tests, system tests, and a car simulator
-        └── ui              # The UI
-
-Licensing
-------
+  在官方 openpilot 還未支援前，我們便已將多國語言介面實現。`dragonpilot` 完整支援繁體中文、簡體中文與英文，讓操作毫無隔閡。
 
-openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+* **💻 唯一同時支援多硬體平台**
 
-Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+  我們是唯一曾致力於讓專案同時兼容 EON、comma two、comma 3 與 Jetson 平台的社群分支，這份努力是為了服務最廣大的玩家社群。
+  此外，在 comma.ai 團隊於 0.10.0 版本宣布停止支持 comma 3 後，我們仍是唯一一個完整同時支援 comma 3、comma 3X 以及 O3、O3L、O3XL（O3 系列為副廠硬體）的社群分支。
 
-**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-NO WARRANTY EXPRESSED OR IMPLIED.**
+* **📜 曾榮獲官方認證第一大分支**
 
----
-
-<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>
+  基於活躍的社群與功能創新，`dragonpilot` 曾一度成長為 comma ai 官方認證的第一大 openpilot 分支，這份榮耀屬於每一位參與者。
 
-[![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)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+## **🧑‍💻 設計理念 - 少即是多 (Less is More)**
+
+隨著 openpilot 的 AI 模型日益強大，許多過去需要手動微調的功能，現在都已能透過更先進的模型來實現。因此，我們現在的開發重心回歸到 **「最小化修改」(minimal changes)** 的核心原則上。
+
+我們的目標是為您提供最純粹、最接近官方的 openpilot 駕駛感受，同時保留 `dragonpilot` 那些經過時間考驗、最受社群喜愛的經典功能。我們相信，在強大的 AI 基礎上，簡潔即是力量。
+
+## **🛠️ 硬件的足跡 - 一路走來的夥伴們**
+
+從最早的 **EON**，到官方的 **comma two / three (C2/C3/C3X)**，再到社群中各式各樣充滿智慧的**副廠機 (如 C1.5, O2, O3, O3L, O3XL 等)**，甚至我們也曾探索過在 [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot) 上的可能性。
+
+目前最新版本主要支援： comma3 / 3X 以及 O3 / O3L / O3XL 等社群硬體。
+針對 EON / C1.5 / C2 等舊款硬體，最後支援的版本位於 [d2 分支](https://github.com/dragonpilot-community/dragonpilot/tree/d2)。
+無論您手上是哪一款設備，都代表著您對開源駕駛輔助的一份熱情。
+
+## **🫂 加入我們，成為「尋龍者」的一份子**
+
+`dragonpilot` 的成長，離不開每一位使用者的貢獻與回饋。我們是一個以**公開、透明**為原則的溫暖社群，希望在這裡能與所有對 openpilot / dragonpilot 有興趣的用戶分享、交流開發與使用上的經驗。
+
+[**歡迎加入我們的 Facebook 社團進行交流！**](https://www.facebook.com/groups/930190251238639)
+
+## **❤️ 特別感謝**
+
+`dragonpilot` 從創立至今，從未打算透過 Patreon 等平台進行任何形式的募資。我們的初衷是建立一個讓大家能一起學習、一起成長的社群。It's all about fun, not money.
+
+然而，我們仍要對那些自發性支持本專案的朋友們，致上最誠摯的感謝。正是因為有您們的鼓勵，我們才有更大的動力持續前進。
+
+[**我們的贊助者名單**](SPONSORS.md)
+
+### **安全聲明**
+
+`dragonpilot` 是一種駕駛**輔助**系統，並非全自動駕駛。它旨在減輕您的駕駛疲勞，提升行車安全，但駕駛人仍需時刻保持專注，並隨時準備接管車輛。請務必遵守您所在地區的交通法規。
+
+**最後，再次感謝您的到來。**
+
+**期待與您一同在智慧駕駛的道路上，乘「龍」而行！**

README_EN.md

@@ -0,0 +1,74 @@
+![](dragonpilot/selfdrive/assets/dragonpilot.png)
+
+[Read this in Chinese](README.md)
+
+# **🐲 dragonpilot - Bringing the Spirit of the Dragon to Your Car**
+
+**Join us on a smarter, more thoughtful driving journey.**
+
+## **👋 Welcome, friend!**
+
+`dragonpilot` was launched in 2019 by three early openpilot enthusiasts from the Chinese community. Our mission was simple: create a friendly space for users to share experiences, provide easier setup help, and add features tailored for local needs.
+
+Localization has always been at the heart of what we do—starting with a fully Chinese interface. This made `dragonpilot` quickly popular in Chinese-speaking regions and helped our user base grow into one of the largest worldwide. That community support is what keeps us moving forward.
+
+Built on top of the powerful [openpilot](https://github.com/commaai/openpilot)—an open-source driver assistance system rated by Consumer Reports as outperforming commercial offerings—we add localized refinements and user-focused features to create a driving companion that truly fits your needs. (You can also see the [original openpilot README](README_OPENPILOT.md) preserved in our repo.)
+
+The name `dragonpilot` reflects our vision: like the dragon of mythology, it is strong and wise, guarding your safety on the road. In Chinese culture, the dragon is also a symbol of luck and strength, representing our roots and pride.
+
+## **✨ Milestones**
+
+Beyond carrying forward openpilot's core strengths, we've reached several milestones inspired by community feedback:
+
+* **🚘 Always Lane Keep Assist (ALKA)**
+
+  More than a feature—it's part of the `dragonpilot` philosophy. Introduced as early as [version 0.6.2](https://github.com/dragonpilot-community/dragonpilot/blob/2861467183d62151024320447ba04d18fc3fe1e6/selfdrive/car/toyota/carstate.py#L199), first tested on a 2017 Lexus IS300h, then expanded to Toyota's lineup and beyond. ALKA helps keep your vehicle steadily centered, giving you extra confidence on the road.
+
+* **🌐 First to add multilingual support**
+
+  Before openpilot officially supported it, we had already introduced multiple languages. `dragonpilot` fully supports Traditional Chinese, Simplified Chinese, and English.
+
+* **💻 Only community fork to support multiple hardware platforms at once**
+
+  We uniquely worked to make the project run on EON, comma two, comma 3, and Jetson—serving the widest range of users possible.
+  Additionally, after the comma.ai team deprecated the comma 3 in version 0.10.0, we remain the only community fork to offer full, simultaneous support for the comma 3, comma 3X, and the O3, O3L, and O3XL (the O3 series being third-party hardware).
+
+* **📜 Once recognized as the #1 openpilot fork**
+
+  Thanks to an active community and continuous innovation, `dragonpilot` was once the largest openpilot fork officially recognized by comma ai. This honor belongs to everyone who contributed.
+
+## **🧑‍💻 Design Philosophy - Less is More**
+
+As openpilot's AI grows stronger, many features that once required manual tuning are now handled by advanced models. That's why our focus has returned to **“minimal changes.”**
+
+We aim to give you the purest, most official-like openpilot driving experience—while preserving `dragonpilot`'s classic, community-loved features. With a solid AI foundation, simplicity is strength.
+
+## **🛠️ Hardware Journey**
+
+From the early **EON**, to official devices like **comma two / three (C2/C3/C3X)**, to creative community builds (**C1.5, O2, O3, O3L, O3XL, etc.**), and even experiments with [**Jetson Xavier NX**](https://github.com/eFiniLan/xnxpilot).
+
+Currently, the latest versions support: **comma3 / 3X** and community hardware like **O3 / O3L / O3XL**.
+Older devices such as **EON / C1.5 / C2** are supported in the [d2 branch](https://github.com/dragonpilot-community/dragonpilot/tree/d2).
+Whatever device you're on, it represents your passion for open-source driver assistance.
+
+## **🫂 Join Us – Become a “Dragon Seeker”**
+
+`dragonpilot` thrives thanks to every user's contributions and feedback. We're an open, transparent, and welcoming community where enthusiasts can share experiences with openpilot and `dragonpilot`.
+
+[**Join our Facebook group here!**](https://www.facebook.com/groups/930190251238639)
+
+## **❤️ Special Thanks**
+
+Since day one, `dragonpilot` has never asked for funding through Patreon or similar platforms. Our vision is a community where everyone learns and grows together. It's about fun, not money.
+
+That said, we're deeply grateful to those who voluntarily supported the project. Your encouragement keeps us motivated to keep building.
+
+[**See our sponsors**](SPONSORS.md)
+
+### **Safety Notice**
+
+`dragonpilot` is a driver **assistance** system, not full self-driving. It reduces fatigue and improves safety, but you must remain alert and ready to take control at all times. Always follow your local traffic laws.
+
+**Thanks again for being here.**
+
+**We look forward to riding the “dragon” with you on the road to smarter driving!**

README_OPENPILOT.md

@@ -0,0 +1,111 @@
+<div align="center" style="text-align: center;">
+
+<h1>openpilot</h1>
+
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 300+ supported cars.
+</p>
+
+<h3>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>
+
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
+
+[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
+
+</div>
+
+<table>
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+  </tr>
+</table>
+
+
+Using openpilot in a car
+------
+
+To use openpilot in a car, you need four things:
+1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
+
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
+
+
+### Branches
+
+Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
+
+| comma four branch      | comma 3X branch        | URL                                    | description                                                                         |
+|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
+| `release-mici`         | `release-tizi`         | openpilot.comma.ai                     | This is openpilot's release branch.                                                 |
+| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
+| `nightly`              | `nightly`              | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
+| `nightly-dev`          | `nightly-dev`          | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+
+To start developing openpilot
+------
+
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
+
+* Join the [community Discord](https://discord.comma.ai)
+* Check out [the contributing docs](docs/CONTRIBUTING.md)
+* Check out the [openpilot tools](tools/)
+* Code documentation lives at https://docs.comma.ai
+* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
+
+Safety and Testing
+----
+
+* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+
+<details>
+<summary>MIT Licensed</summary>
+
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**
+</details>
+
+<details>
+<summary>User Data and comma Account</summary>
+
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+</details>

RELEASES.md

@@ -1,3 +1,423 @@
+Version 0.10.3 (2025-12-17)
+========================
+* New driving model #36249
+  * New temporal policy architecture
+  * New on-policy training physics noise model
+* New driver monitoring model #36409
+  * Trained on a new dataset, including comma four data
+* Improved inter-process communication memory efficiency
+
+Version 0.10.2 (2025-11-19)
+========================
+* comma four support
+
+Version 0.10.1 (2025-09-08)
+========================
+* New driving model #36276
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
+  * VAE Compression Model: new architecture and training objective
+  * Driving Vision Model: trained on 4x the number of segments
+* New Driver Monitoring model #36198
+* Acura TLX 2021 support thanks to MVL!
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
+
+Version 0.10.0 (2025-08-05)
+========================
+* New driving model
+  * New training architecture
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
+  * Low-speed lead car ground-truth fixes
+* Enable live-learned steering actuation delay
+* Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
+
+Version 0.9.9 (2025-05-23)
+========================
+* New driving model
+  * New training architecture using parts from MLSIM
+* Steering actuation delay is now learned online
+* Ford Escape 2023-24 support thanks to incognitojam!
+* Ford Kuga 2024 support thanks to incognitojam!
+* Hyundai Nexo 2021 support thanks to sunnyhaibin!
+* Tesla Model 3 and Y support thanks to lukasloetkolben!
+* Lexus RC 2023 support thanks to nelsonjchen!
+
+Version 0.9.8 (2025-02-28)
+========================
+* New driving model
+  * Model now gates applying positive acceleration in Chill mode
+* New driver monitoring model
+  * Reduced false positives related to passengers
+* Image processing pipeline moved to the ISP
+  * More GPU time for bigger driving models
+  * Power draw reduced 0.5W, which means your device runs cooler
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Localizer rewritten to remove GPS dependency at runtime
+* Firehose Mode for maximizing your training data uploads
+* Enable openpilot longitudinal control for Ford Q3 vehicles
+* New Toyota TSS2 longitudinal tune
+* Rivian R1S and R1T support thanks to lukasloetkolben!
+* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
+
+Version 0.9.7 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+
+Version 0.9.6 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+
+Version 0.9.5 (2023-11-17)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
+* Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
+
+Version 0.9.0 (2022-11-21)
+========================
+* New driving model
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
+  * Less reliance on previous frames makes model more reactive and snappy
+  * Trained in new reprojective simulator
+  * Trained in 36 hours from scratch, compared to one week for previous releases
+  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for traffic lights and stop signs
+  * Slows down for turns
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
+* Self-tuning torque controller: learns parameters live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
+* UI updates
+  * Matched speeds shown on car's dash
+  * Multi-language in navigation
+  * Improved update experience
+  * Border turns grey while overriding steering
+  * Bookmark events while driving; view them in comma connect
+  * New onroad visualization for experimental mode
+* tools: new and improved cabana thanks to deanlee!
+* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
+* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
+* Kia Sportage 2023 support thanks to sunnyhaibin!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!
+
+Version 0.8.16 (2022-08-26)
+========================
+* New driving model
+  * Reduced turn cutting
+* Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
+========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
+* New lateral controller based on physical wheel torque model
+  * Much smoother control that's consistent across the speed range
+  * Effective feedforward that uses road roll
+  * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
+* AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
+
+Version 0.8.14 (2022-06-01)
+========================
+ * New driving model
+   * Bigger model, using both of comma three's road-facing cameras
+   * Better at cut-in detection and tight turns
+ * New driver monitoring model
+   * Tweaked network structure to improve output resolution for DSP
+   * Fixed bug in quantization aware training to reduce quantizing errors
+   * Resulted in 7x less MSE and no more random biases at runtime
+ * Added toggle to disable disengaging on the accelerator pedal
+ * comma body support
+ * Audi RS3 support thanks to jyoung8607!
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
+ * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 2022 support
+ * Toyota RAV4 Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Re-tuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
 Version 0.8.6 (2021-07-21)
 ========================
  * Revamp lateral and longitudinal planners
@@ -34,7 +454,7 @@ Version 0.8.4 (2021-05-17)
  * Delay controls start until system is ready
  * Fuzzy car identification, enabled with Community Features toggle
  * Localizer optimized for increased precision and less CPU usage
- * Retuned lateral control to be more aggressive when model is confident
+ * Re-tuned lateral control to be more aggressive when model is confident
  * Toyota Mirai 2021 support
  * Lexus NX 300 2020 support thanks to goesreallyfast!
  * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -199,7 +619,7 @@ Version 0.7 (2019-12-13)
  * Improve GM longitudinal control: proper computations for 15Hz radar
  * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
  * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Refactor Panda code towards ISO26262 and SIL2 compliance
  * Forward stock FCW for Honda Nidec
  * Volkswagen port now standard: comma Harness intercepts stock camera
 
@@ -290,7 +710,7 @@ Version 0.5.13 (2019-05-31)
  * Reduce CPU utilization by 20% and improve stability
  * Temporarily remove mapd functionalities to improve stability
  * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to boardd to reduce latency
+ * Synchronize controlsd to pandad to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -626,7 +1046,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
+ * Fix ptr alignment issue in pandad
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -658,7 +1078,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix boardd process priority
+ * Fix pandad process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SAFETY.md

@@ -1,34 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.

SConstruct

@@ -1,447 +1,224 @@
 import os
-import shutil
 import subprocess
 import sys
 import sysconfig
 import platform
+import shlex
 import numpy as np
 
-TICI = os.path.isfile('/TICI')
-JETSON = os.path.isfile('/JETSON')
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
 
-AddOption('--test',
-          action='store_true',
-          help='build test files')
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
-AddOption('--setup',
-          action='store_true',
-          help='build setup and installer files')
+AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
+AddOption('--asan', action='store_true', help='turn on ASAN')
+AddOption('--ubsan', action='store_true', help='turn on UBSan')
+AddOption('--mutation', action='store_true', help='generate mutation-ready code')
+AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          help='the minimum build to run openpilot. no tests, tools, etc.')
 
-AddOption('--kaitai',
-          action='store_true',
-          help='Regenerate kaitai struct parsers')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
-AddOption('--compile_db',
-          action='store_true',
-          help='build clang compilation database')
-
-AddOption('--mpc-generate',
-          action='store_true',
-          help='regenerates the mpc sources')
-
-AddOption('--snpe',
-          action='store_true',
-          help='use SNPE on PC')
-
-AddOption('--external-sconscript',
-          action='store',
-          metavar='FILE',
-          dest='external_sconscript',
-          help='add an external SConscript to the build')
-
-AddOption('--no-thneed',
-          action='store_true',
-          dest='no_thneed',
-          help='avoid using thneed')
-
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+# Detect platform
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-
-if arch == "aarch64" and TICI:
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and os.path.isfile('/TICI'):
   arch = "larch64"
-
-USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-
-USE_MIPI = os.getenv("USE_MIPI") is not None
-if arch == "aarch64" and JETSON:
-  arch = "jarch64"
-
-lenv = {
-  "PATH": os.environ['PATH'],
-}
-
-if arch == "aarch64" or arch == "larch64":
-  lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
-
-  if arch == "aarch64":
-    # android
-    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
-    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
-
-  cpppath = [
-    "#phonelibs/opencl/include",
-  ]
-
-  libpath = [
-    "/usr/local/lib",
-    "/usr/lib",
-    "/system/vendor/lib64",
-    "/system/comma/usr/lib",
-    "#phonelibs/nanovg",
-  ]
-
-  if arch == "larch64":
-    libpath += [
-      "#phonelibs/snpe/larch64",
-      "#phonelibs/libyuv/larch64/lib",
-      "/usr/lib/aarch64-linux-gnu"
-    ]
-    cpppath += [
-      "#selfdrive/camerad/include",
-    ]
-    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-    rpath = ["/usr/local/lib"]
-  else:
-    libpath += [
-      "#phonelibs/snpe/aarch64",
-      "#phonelibs/libyuv/lib",
-      "/system/vendor/lib64"
-    ]
-    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
-    rpath = []
-else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-  rpath = []
-
-  if arch == "jarch64":
-    libpath = [
-      "#phonelibs/libyuv/larch64/lib",
-      "#selfdrive/common",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-    cflags = ["-DXNX", "-march=armv8.2-a"]
-    cxxflags = ["-DXNX", "-march=armv8.2-a"]
-    rpath += ["/usr/local/lib"]
-  elif arch == "Darwin":
-    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
-    libpath = [
-      f"#phonelibs/libyuv/{yuv_dir}/lib",
-      "/usr/local/lib",
-      "/opt/homebrew/lib",
-      "/usr/local/opt/openssl/lib",
-      "/opt/homebrew/opt/openssl/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-    cflags += ["-DGL_SILENCE_DEPRECATION"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += [
-      "/opt/homebrew/include",
-      "/usr/local/opt/openssl/include",
-      "/opt/homebrew/opt/openssl/include"
-    ]
-  else:
-    libpath = [
-      "#phonelibs/snpe/x86_64-linux-clang",
-      "#phonelibs/libyuv/x64/lib",
-      "#phonelibs/mapbox-gl-native-qt/x86_64",
-      "#cereal",
-      "#selfdrive/common",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-  if arch != "jarch64":
-    rpath += ["phonelibs/snpe/x86_64-linux-clang"]
-  rpath += [
-    "cereal",
-    "selfdrive/common"
-  ]
-
-  # allows shared libraries to work globally
-  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed"]
-
-# change pythonpath to this
-lenv["PYTHONPATH"] = Dir("#").path
+assert arch in [
+  "larch64",  # linux tici arm64
+  "aarch64",  # linux pc arm64
+  "x86_64",   # linux pc x64
+  "Darwin",   # macOS arm64 (x86 not supported)
+]
 
 env = Environment(
-  ENV=lenv,
+  ENV={
+    "PATH": os.environ['PATH'],
+    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+  },
+  CC='clang',
+  CXX='clang++',
   CCFLAGS=[
     "-g",
     "-fPIC",
     "-O2",
     "-Wunused",
     "-Werror",
+    "-Wshadow",
     "-Wno-unknown-warning-option",
-    "-Wno-deprecated-register",
-    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
+    "-Wno-vla-cxx-extension",
+  ],
+  CFLAGS=["-std=gnu11"],
+  CXXFLAGS=["-std=c++1z"],
+  CPPPATH=[
     "#",
-    "#phonelibs/catch2/include",
-    "#phonelibs/bzip2",
-    "#phonelibs/libyuv/include",
-    "#phonelibs/openmax/include",
-    "#phonelibs/json11",
-    "#phonelibs/curl/include",
-    "#phonelibs/libgralloc/include",
-    "#phonelibs/android_frameworks_native/include",
-    "#phonelibs/android_hardware_libhardware/include",
-    "#phonelibs/android_system_core/include",
-    "#phonelibs/linux/include",
-    "#phonelibs/snpe/include",
-    "#phonelibs/mapbox-gl-native-qt/include",
-    "#phonelibs/nanovg",
-    "#phonelibs/qrcode",
-    "#phonelibs",
-    "#cereal",
-    "#opendbc/can",
+    "#msgq",
+    "#third_party",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/libyuv/include",
   ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
-    "#cereal",
-    "#phonelibs",
-    "#opendbc/can",
-    "#selfdrive/boardd",
-    "#selfdrive/common",
+  LIBPATH=[
+    "#common",
+    "#msgq_repo",
+    "#third_party",
+    "#selfdrive/pandad",
+    "#rednose/helpers",
+    f"#third_party/libyuv/{arch}/lib",
+    f"#third_party/acados/{arch}/lib",
   ],
+  RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  tools=["default", "cython", "compilation_db"],
+  REDNOSE_ROOT="#",
+  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
-if GetOption('compile_db'):
-  env.CompilationDatabase('compile_commands.json')
+# Arch-specific flags and paths
+if arch == "larch64":
+  env.Append(CPPPATH=["#third_party/opencl/include"])
+  env.Append(LIBPATH=[
+    "/usr/local/lib",
+    "/system/vendor/lib64",
+    "/usr/lib/aarch64-linux-gnu",
+  ])
+  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
+  env.Append(CCFLAGS=arch_flags)
+  env.Append(CXXFLAGS=arch_flags)
+elif arch == "Darwin":
+  env.Append(LIBPATH=[
+    f"{brew_prefix}/lib",
+    f"{brew_prefix}/opt/openssl@3.0/lib",
+    f"{brew_prefix}/opt/llvm/lib/c++",
+    "/System/Library/Frameworks/OpenGL.framework/Libraries",
+  ])
+  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CPPPATH=[
+    f"{brew_prefix}/include",
+    f"{brew_prefix}/opt/openssl@3.0/include",
+  ])
+else:
+  env.Append(LIBPATH=[
+    "/usr/lib",
+    "/usr/local/lib",
+  ])
 
-# Setup cache dir
-cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
+# Sanitizers and extra CCFLAGS from CLI
+if GetOption('asan'):
+  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
+  env.Append(LINKFLAGS=["-fsanitize=address"])
+elif GetOption('ubsan'):
+  env.Append(CCFLAGS=["-fsanitize=undefined"])
+  env.Append(LINKFLAGS=["-fsanitize=undefined"])
 
+_extra_cc = shlex.split(GetOption('ccflags') or '')
+if _extra_cc:
+  env.Append(CCFLAGS=_extra_cc)
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
+
+# progress output
 node_interval = 5
 node_count = 0
 def progress_function(node):
   global node_count
   node_count += node_interval
   sys.stderr.write("progress: %d\n" % node_count)
-
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
-
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
-# Cython build enviroment
+# ********** Cython build environment **********
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
-elif arch == "aarch64":
-  envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(py_include)]
+  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
 
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
-if arch != "aarch64":
-  qt_modules += ["DBus"]
+Export('env', 'arch')
 
-qt_libs = []
-if arch == "Darwin":
-  if real_arch == "arm64":
-    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
-  else:
-    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-elif arch == "aarch64":
-  qt_env['QTDIR'] = "/system/comma/usr"
-  qt_dirs = [
-    f"/system/comma/usr/include/qt",
-  ]
-  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
+# Setup cache dir
+cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
-else:
-  qt_env['QTDIR'] = "/usr"
-  qt_dirs = [
-    f"/usr/include/{real_arch}-linux-gnu/qt5",
-    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
-  ]
-  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+# ********** start building stuff **********
 
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64" or arch == "jarch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
+# Build common module
+SConscript(['common/SConscript'])
+Import('_common')
+common = [_common, 'json11', 'zmq']
+Export('common')
 
-qt_env.Tool('qt')
-qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_QUICK_LIB",
-  "-DQT_QUICKWIDGETS_LIB",
-  "-DQT_QML_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui']
-qt_env['LIBS'] = qt_libs
+# Build messaging (cereal + msgq + socketmaster + their dependencies)
+# Enable swaglog include in submodules
+env_swaglog = env.Clone()
+env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
+SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
-if GetOption("clazy"):
-  checks = [
-    "level0",
-    "level1",
-    "no-range-loop",
-    "no-non-pod-global-static",
-  ]
-  qt_env['CXX'] = 'clazy'
-  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-
-zmq = 'zmq'
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
-
-# cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
 
-Export('cereal', 'messaging')
+Import('socketmaster', 'msgq')
+messaging = [socketmaster, msgq, 'capnp', 'kj',]
+Export('messaging')
 
-SConscript(['selfdrive/common/SConscript'])
-Import('_common', '_gpucommon', '_gpu_libs')
 
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon] + _gpu_libs
+# Build other submodules
+SConscript(['panda/SConscript'])
+SConscript(['panda_tici/SConscript'])
 
-Export('common', 'gpucommon', 'visionipc')
-
-# Build rednose library and ekf models
-
-rednose_config = {
-  'generated_folder': '#selfdrive/locationd/models/generated',
-  'to_build': {
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
-  },
-}
-
-if arch != "aarch64":
-  rednose_config['to_build'].update({
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
-  })
-
-Export('rednose_config')
+# Build rednose library
 SConscript(['rednose/SConscript'])
 
+# Build system services
+SConscript([
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
+])
+
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
 # Build openpilot
+SConscript(['third_party/SConscript'])
 
-SConscript(['cereal/SConscript'])
-SConscript(['panda/board/SConscript'])
-SConscript(['opendbc/can/SConscript'])
+SConscript(['selfdrive/SConscript'])
 
-SConscript(['phonelibs/SConscript'])
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
-SConscript(['common/SConscript'])
-SConscript(['common/kalman/SConscript'])
-SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
-SConscript(['selfdrive/modeld/SConscript'])
-
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
-SConscript(['selfdrive/controls/lib/lead_mpc_lib/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
-SConscript(['selfdrive/clocksd/SConscript'])
-
-SConscript(['selfdrive/loggerd/SConscript'])
-
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
-
-if arch != "Darwin":
-  SConscript(['selfdrive/logcatd/SConscript'])
-
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])
+env.CompilationDatabase('compile_commands.json')

SECURITY.md

@@ -0,0 +1,5 @@
+# Security Policy
+
+## Reporting a Vulnerability
+
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

cereal/.gitignore

@@ -1,21 +0,0 @@
-gen
-node_modules
-package-lock.json
-*.tmp
-*.pyc
-__pycache__
-.*.swp
-.*.swo
-*.os
-*.o
-*.a
-
-test_runner
-
-libmessaging.*
-libmessaging_shared.*
-services.h
-.sconsign.dblite
-libcereal_shared.*
-.mypy_cache/
-catch2/

cereal/README.md

@@ -0,0 +1,95 @@
+# What is cereal?
+
+cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
+
+
+## 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.
+
+### Best Practices
+
+- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
+- In the context of the message they are in, field names should be completely unambiguous.
+- All values should be easy to plot and be human-readable with minimal parsing.
+
+### Maintaining backwards-compatibility
+
+When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
+be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
+things are not. Read more details [here](https://capnproto.org/language.html).
+
+### Custom forks
+
+Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
+spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
+[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
+
+An example of compatible changes:
+```diff
+diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+index 3348e859e..3365c7b98 100644
+--- a/cereal/custom.capnp
++++ b/cereal/custom.capnp
+@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
+ # DO rename the structs
+ # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
+-struct CustomReserved0 @0x81c2f05a394cf4af {
++struct SteeringInfo @0x81c2f05a394cf4af {
++  active @0 :Bool;
++  steeringAngleDeg @1 :Float32;
++  steeringRateDeg @2 :Float32;
++  steeringAccelDeg @3 :Float32;
+ }
+
+ struct CustomReserved1 @0xaedffd8f31e7b55d {
+diff --git a/cereal/log.capnp b/cereal/log.capnp
+index 1209f3fd9..b189f58b6 100644
+--- a/cereal/log.capnp
++++ b/cereal/log.capnp
+@@ -2558,14 +2558,14 @@ struct Event {
+
+     # DO change the name of the field
+     # DON'T change anything after the "@"
+-    customReservedRawData0 @124 :Data;
++    rawCanData @124 :Data;
+     customReservedRawData1 @125 :Data;
+     customReservedRawData2 @126 :Data;
+
+     # DO change the name of the field and struct
+     # DON'T change the ID (e.g. @107)
+     # DON'T change which struct it points to
+-    customReserved0 @107 :Custom.CustomReserved0;
++    steeringInfo @107 :Custom.SteeringInfo;
+     customReserved1 @108 :Custom.CustomReserved1;
+     customReserved2 @109 :Custom.CustomReserved2;
+     customReserved3 @110 :Custom.CustomReserved3;
+```
+
+---
+
+Example
+---
+```python
+import cereal.messaging as messaging
+
+# in subscriber
+sm = messaging.SubMaster(['sensorEvents'])
+while 1:
+  sm.update()
+  print(sm['sensorEvents'])
+
+```
+
+```python
+# 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)
+```

cereal/SConscript

@@ -1,84 +1,20 @@
-Import('env', 'envCython', 'arch', 'zmq')
-
-import shutil
+Import('env', 'common', 'msgq')
 
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
-messaging_dir = Dir('messaging')
 
 # Build cereal
-
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
-env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
 
-if shutil.which('capnpc-java'):
-  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
-              schema_files,
-              f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
-
-# TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
-
-env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
-
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
-messaging_objects = env.SharedObject([
-  'messaging/messaging.cc',
-  'messaging/impl_zmq.cc',
-  'messaging/impl_msgq.cc',
-  'messaging/msgq.cc',
-  'messaging/socketmaster.cc',
-])
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 
-messaging_lib = env.Library('messaging', messaging_objects)
-Depends('messaging/impl_zmq.cc', services_h)
-
-# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
-# TODO: get APK to load system zmq to remove the static link
-if arch == "aarch64":
-  zmq_static = FindFile("libzmq.a", "/usr/lib")
-  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'])
-Depends('messaging/bridge.cc', services_h)
-
-envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
-
-
-# Build Vision IPC
-vipc_sources = [
-  'visionipc/ipc.cc',
-  'visionipc/visionipc_server.cc',
-  'visionipc/visionipc_client.cc',
-  'visionipc/visionbuf.cc',
-]
-
-if arch in ["aarch64", "larch64"]:
-  vipc_sources += ['visionipc/visionbuf_ion.cc']
-else:
-  vipc_sources += ['visionipc/visionbuf_cl.cc']
-
-vipc_objects = env.SharedObject(vipc_sources)
-vipc = env.Library('visionipc', vipc_objects)
-
-
-libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
-if arch == "aarch64":
-  libs += ["adreno_utils"]
-if arch == "Darwin":
-  del libs[libs.index('OpenCL')]
-  envCython['FRAMEWORKS'] += ['OpenCL']
-envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
-
-
-if GetOption('test'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
-  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
+Export('cereal', 'socketmaster')

cereal/_SConstruct

@@ -1,73 +0,0 @@
-import os
-import platform
-import subprocess
-import sysconfig
-
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-
-cereal_dir = Dir('.')
-messaging_dir = Dir('./messaging')
-
-cpppath = [
-  cereal_dir,
-  messaging_dir,
-  '/usr/lib/include',
-  '/opt/homebrew/include',
-  sysconfig.get_paths()['include'],
-]
-
-libpath = [
-  '/opt/homebrew/lib',
-]
-
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
-
-env = Environment(
-  ENV=os.environ,
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
-
-  CFLAGS="-std=gnu11",
-  CXXFLAGS="-std=c++1z",
-  CPPPATH=cpppath,
-  LIBPATH=libpath,
-  CYTHONCFILESUFFIX=".cpp",
-  tools=["default", "cython"]
-)
-
-Export('env', 'arch')
-
-envCython = env.Clone(LIBS=[])
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
-elif arch == "aarch64":
-  envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-Export('envCython')
-
-
-SConscript(['SConscript'])

cereal/__init__.py

@@ -1,9 +1,11 @@
-# pylint: skip-file
 import os
 import capnp
+from importlib.resources import as_file, files
 
-CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()
 
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+with as_file(files("cereal")) as fspath:
+  CEREAL_PATH = fspath.as_posix()
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

@@ -1,584 +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("Car");
-
-@0x8e2af1e708af8b8d;
-
-# ******* events causing controls state machine transition *******
-
-struct CarEvent @0x9b1657f34caf3ad3 {
-  name @0 :EventName;
-
-  # event types
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool; # alerts presented regardless of openpilot state
-
-  enum EventName @0xbaa8c5d505f727de {
-    canError @0;
-    steerUnavailable @1;
-    brakeUnavailable @2;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTempUnavailable @9;
-    reverseGear @10;
-    buttonCancel @11;
-    buttonEnable @12;
-    pedalPressed @13;
-    cruiseDisabled @14;
-    speedTooLow @17;
-    outOfSpace @18;
-    overheat @19;
-    calibrationIncomplete @20;
-    calibrationInvalid @21;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    noTarget @25;
-    radarFault @26;
-    brakeHold @28;
-    parkBrake @29;
-    manualRestart @30;
-    lowSpeedLockout @31;
-    plannerError @32;
-    joystickDebug @34;
-    steerTempUnavailableSilent @35;
-    resumeRequired @36;
-    preDriverDistracted @37;
-    promptDriverDistracted @38;
-    driverDistracted @39;
-    preDriverUnresponsive @43;
-    promptDriverUnresponsive @44;
-    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    lowBattery @48;
-    vehicleModelInvalid @50;
-    accFaulted @51;
-    sensorDataInvalid @52;
-    commIssue @53;
-    tooDistracted @54;
-    posenetInvalid @55;
-    soundsUnavailable @56;
-    preLaneChangeLeft @57;
-    preLaneChangeRight @58;
-    laneChange @59;
-    communityFeatureDisallowed @62;
-    lowMemory @63;
-    stockAeb @64;
-    ldw @65;
-    carUnrecognized @66;
-    invalidLkasSetting @69;
-    speedTooHigh @70;
-    laneChangeBlocked @71;
-    relayMalfunction @72;
-    gasPressed @73;
-    stockFcw @74;
-    startup @75;
-    startupNoCar @76;
-    startupNoControl @77;
-    startupMaster @78;
-    startupFuzzyFingerprint @97;
-    startupNoFw @104;
-    fcw @79;
-    steerSaturated @80;
-    belowEngageSpeed @84;
-    noGps @85;
-    wrongCruiseMode @87;
-    modeldLagging @89;
-    deviceFalling @90;
-    fanMalfunction @91;
-    cameraMalfunction @92;
-    gpsMalfunction @94;
-    processNotRunning @95;
-    dashcamMode @96;
-    controlsInitializing @98;
-    usbError @99;
-    roadCameraError @100;
-    driverCameraError @101;
-    wideRoadCameraError @102;
-    localizerMalfunction @103;
-
-    driverMonitorLowAccDEPRECATED @68;
-    radarCanErrorDEPRECATED @15;
-    radarCommIssueDEPRECATED @67;
-    gasUnavailableDEPRECATED @3;
-    dataNeededDEPRECATED @16;
-    modelCommIssueDEPRECATED @27;
-    ipasOverrideDEPRECATED @33;
-    geofenceDEPRECATED @40;
-    driverMonitorOnDEPRECATED @41;
-    driverMonitorOffDEPRECATED @42;
-    calibrationProgressDEPRECATED @47;
-    invalidGiraffeHondaDEPRECATED @49;
-    invalidGiraffeToyotaDEPRECATED @60;
-    internetConnectivityNeededDEPRECATED @61;
-    whitePandaUnsupportedDEPRECATED @81;
-    commIssueWarningDEPRECATED @83;
-    focusRecoverActiveDEPRECATED @86;
-    neosUpdateRequiredDEPRECATED @88;
-    modelLagWarningDEPRECATED @93;
-    startupOneplusDEPRECATED @82;
-
-    #dp
-    preLaneChangeLeftALC @105;
-    preLaneChangeRightALC @106;
-    manualSteeringRequired @107;
-    manualSteeringRequiredBlinkersOn @108;
-    leadCarMoving @109;
-
-    # timebomb assist
-    timebombWarn @110;
-    timebombBypassing @111;
-    timebombBypassed @112;
-  }
-}
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  events @13 :List(CarEvent);
-
-  # car speed
-  vEgo @1 :Float32;         # best estimate of speed
-  aEgo @16 :Float32;        # best estimate of acceleration
-  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
-  yawRate @22 :Float32;     # best estimate of yaw rate
-  standstill @18 :Bool;
-  wheelSpeeds @2 :WheelSpeeds;
-
-  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user + computer
-  gasPressed @4 :Bool;    # this is user pedal only
-
-  # brake pedal, 0.0-1.0
-  brake @5 :Float32;      # this is user pedal only
-  brakePressed @6 :Bool;  # this is user pedal only
-
-  # steering wheel
-  steeringAngleDeg @7 :Float32;
-  steeringRateDeg @15 :Float32;
-  steeringTorque @8 :Float32;      # TODO: standardize units
-  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;        # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
-  steerWarning @35 :Bool;          # temporary steer unavailble
-  steerError @36 :Bool;            # permanent steer error
-  stockAeb @30 :Bool;
-  stockFcw @31 :Bool;
-  espDisabled @32 :Bool;
-
-  # cruise state
-  cruiseState @10 :CruiseState;
-
-  # gear
-  gearShifter @14 :GearShifter;
-
-  # button presses
-  buttonEvents @11 :List(ButtonEvent);
-  leftBlinker @20 :Bool;
-  rightBlinker @21 :Bool;
-  genericToggle @23 :Bool;
-
-  # lock info
-  doorOpen @24 :Bool;
-  seatbeltUnlatched @25 :Bool;
-  canValid @26 :Bool;
-
-  # clutch (manual transmission only)
-  clutchPressed @28 :Bool;
-
-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
-
-  # blindspot sensors
-  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
-  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
-
-  # dp
-  lkMode @37 :Bool;
-  stopSteering @38 :Bool; # timebomb - stopSteering
-
-  struct WheelSpeeds {
-    # optional wheel speeds
-    fl @0 :Float32;
-    fr @1 :Float32;
-    rl @2 :Float32;
-    rr @3 :Float32;
-  }
-
-  struct CruiseState {
-    enabled @0 :Bool;
-    speed @1 :Float32;
-    available @2 :Bool;
-    speedOffset @3 :Float32;
-    standstill @4 :Bool;
-    nonAdaptive @5 :Bool;
-  }
-
-  enum GearShifter {
-    unknown @0;
-    park @1;
-    drive @2;
-    neutral @3;
-    reverse @4;
-    sport @5;
-    low @6;
-    brake @7;
-    eco @8;
-    manumatic @9;
-  }
-
-  # send on change
-  struct ButtonEvent {
-    pressed @0 :Bool;
-    type @1 :Type;
-
-    enum Type {
-      unknown @0;
-      leftBlinker @1;
-      rightBlinker @2;
-      accelCruise @3;
-      decelCruise @4;
-      cancel @5;
-      altButton1 @6;
-      altButton2 @7;
-      altButton3 @8;
-      setCruise @9;
-      resumeCruise @10;
-      gapAdjustCruise @11;
-    }
-  }
-
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
-  brakeLights @19 :Bool;
-}
-
-# ******* radar state @ 20hz *******
-
-struct RadarData @0x888ad6581cf0aacb {
-  errors @0 :List(Error);
-  points @1 :List(RadarPoint);
-
-  # which packets this state came from
-  canMonoTimes @2 :List(UInt64);
-
-  enum Error {
-    canError @0;
-    fault @1;
-    wrongConfig @2;
-  }
-
-  # similar to LiveTracks
-  # is one timestamp valid for all? I think so
-  struct RadarPoint {
-    trackId @0 :UInt64;  # no trackId reuse
-
-    # these 3 are the minimum required
-    dRel @1 :Float32; # m from the front bumper of the car
-    yRel @2 :Float32; # m
-    vRel @3 :Float32; # m/s
-
-    # these are optional and valid if they are not NaN
-    aRel @4 :Float32; # m/s^2
-    yvRel @5 :Float32; # m/s
-
-    # some radars flag measurements VS estimates
-    measured @6 :Bool;
-  }
-}
-
-# ******* car controls @ 100hz *******
-
-struct CarControl {
-  # must be true for any actuator commands to work
-  enabled @0 :Bool;
-  active @7 :Bool;
-
-  actuators @6 :Actuators;
-
-  cruiseControl @4 :CruiseControl;
-  hudControl @5 :HUDControl;
-
-  struct Actuators {
-    # range from 0.0 - 1.0
-    gas @0: Float32;
-    brake @1: Float32;
-    # range from -1.0 - 1.0
-    steer @2: Float32;
-    steeringAngleDeg @3: Float32;
-  }
-
-  struct CruiseControl {
-    cancel @0: Bool;
-    override @1: Bool;
-    speedOverride @2: Float32;
-    accelOverride @3: Float32;
-  }
-
-  struct HUDControl {
-    speedVisible @0: Bool;
-    setSpeed @1: Float32;
-    lanesVisible @2: Bool;
-    leadVisible @3: Bool;
-    visualAlert @4: VisualAlert;
-    audibleAlert @5: AudibleAlert;
-    rightLaneVisible @6: Bool;
-    leftLaneVisible @7: Bool;
-    rightLaneDepart @8: Bool;
-    leftLaneDepart @9: Bool;
-
-    enum VisualAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      fcw @1;
-      steerRequired @2;
-      brakePressed @3;
-      wrongGear @4;
-      seatbeltUnbuckled @5;
-      speedTooHigh @6;
-      ldw @7;
-    }
-
-    enum AudibleAlert {
-      none @0;
-      chimeEngage @1;
-      chimeDisengage @2;
-      chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
-      chimePrompt @7;
-      chimeWarning2Repeat @8;
-    }
-  }
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-}
-
-# ****** car param ******
-
-struct CarParams {
-  carName @0 :Text;
-  carFingerprint @1 :Text;
-  fuzzyFingerprint @55 :Bool;
-
-  enableGasInterceptor @2 :Bool;
-  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
-  enableApgs @6 :Bool;       # advanced parking guidance system
-  enableBsm @56 :Bool;       # blind spot monitoring
-  hasStockCamera @57 :Bool;  # factory LKAS/LDW camera is present
-
-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  maxSteeringAngleDeg @54 :Float32;
-  safetyModel @9 :SafetyModel;
-  safetyModelPassive @42 :SafetyModel = silent;
-  safetyParam @10 :Int16;
-
-  steerMaxBP @11 :List(Float32);
-  steerMaxV @12 :List(Float32);
-  gasMaxBP @13 :List(Float32);
-  gasMaxV @14 :List(Float32);
-  brakeMaxBP @15 :List(Float32);
-  brakeMaxV @16 :List(Float32);
-
-  # things about the car in the manual
-  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
-  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
-  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
-  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
-
-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
-  lateralTuning :union {
-    pid @26 :LateralPIDTuning;
-    indi @27 :LateralINDITuning;
-    lqr @40 :LateralLQRTuning;
-  }
-
-  steerLimitAlert @28 :Bool;
-  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
-
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
-  steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
-  minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
-  stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
-  startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
-
-  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-  dashcamOnly @41: Bool;
-  transmissionType @43 :TransmissionType;
-  carFw @44 :List(CarFw);
-
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
-  communityFeature @46: Bool;  # true if a community maintained feature is detected
-  fingerprintSource @49: FingerprintSource;
-  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
-
-  struct LateralParams {
-    torqueBP @0 :List(Int32);
-    torqueV @1 :List(Int32);
-  }
-
-  struct LateralPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @4 :Float32;
-  }
-
-  struct LongitudinalPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
-  }
-
-  struct LateralINDITuning {
-    outerLoopGainBP @4 :List(Float32);
-    outerLoopGainV @5 :List(Float32);
-    innerLoopGainBP @6 :List(Float32);
-    innerLoopGainV @7 :List(Float32);
-    timeConstantBP @8 :List(Float32);
-    timeConstantV @9 :List(Float32);
-    actuatorEffectivenessBP @10 :List(Float32);
-    actuatorEffectivenessV @11 :List(Float32);
-
-    outerLoopGainDEPRECATED @0 :Float32;
-    innerLoopGainDEPRECATED @1 :Float32;
-    timeConstantDEPRECATED @2 :Float32;
-    actuatorEffectivenessDEPRECATED @3 :Float32;
-  }
-
-  struct LateralLQRTuning {
-    scale @0 :Float32;
-    ki @1 :Float32;
-    dcGain @2 :Float32;
-
-    # State space system
-    a @3 :List(Float32);
-    b @4 :List(Float32);
-    c @5 :List(Float32);
-
-    k @6 :List(Float32);  # LQR gain
-    l @7 :List(Float32);  # Kalman gain
-  }
-
-  enum SafetyModel {
-    silent @0;
-    hondaNidec @1;
-    toyota @2;
-    elm327 @3;
-    gm @4;
-    hondaBoschGiraffe @5;
-    ford @6;
-    cadillac @7;
-    hyundai @8;
-    chrysler @9;
-    tesla @10;
-    subaru @11;
-    gmPassive @12;
-    mazda @13;
-    nissan @14;
-    volkswagen @15;
-    toyotaIpas @16;
-    allOutput @17;
-    gmAscm @18;
-    noOutput @19;  # like silent but without silent CAN TXs
-    hondaBoschHarness @20;
-    volkswagenPq @21;
-    subaruLegacy @22;  # pre-Global platform
-    hyundaiLegacy @23;
-    hyundaiCommunity @24;
-  }
-
-  enum SteerControlType {
-    torque @0;
-    angle @1;
-  }
-
-  enum TransmissionType {
-    unknown @0;
-    automatic @1;  # Traditional auto, including DSG
-    manual @2;  # True "stick shift" only
-    direct @3;  # Electric vehicle or other direct drive
-    cvt @4;
-  }
-
-  struct CarFw {
-    ecu @0 :Ecu;
-    fwVersion @1 :Data;
-    address @2: UInt32;
-    subAddress @3: UInt8;
-  }
-
-  enum Ecu {
-    eps @0;
-    esp @1;
-    fwdRadar @2;
-    fwdCamera @3;
-    engine @4;
-    unknown @5;
-    transmission @8; # Transmission Control Module
-    srs @9; # airbag
-    gateway @10; # can gateway
-    hud @11; # heads up display
-    combinationMeter @12; # instrument cluster
-
-    # Toyota only
-    dsu @6;
-    apgs @7;
-
-    # Honda only
-    vsa @13; # Vehicle Stability Assist
-    programmedFuelInjection @14;
-    electricBrakeBooster @15;
-    shiftByWire @16;
-  }
-
-  enum FingerprintSource {
-    can @0;
-    fw @1;
-    fixed @2;
-  }
-
-  enum NetworkLocation {
-    fwdCamera @0;  # Standard/default integration at LKAS camera
-    gateway @1;    # Integration at vehicle's CAN gateway
-  }
-
-  enableCameraDEPRECATED @4 :Bool;
-  isPandaBlackDEPRECATED @39: Bool;
-}

cereal/car.capnp

@@ -0,0 +1 @@
+../opendbc_repo/opendbc/car/car.capnp

cereal/custom.capnp

@@ -0,0 +1,105 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xb526ba661d550a59;
+
+# custom.capnp: a home for empty structs reserved for custom forks
+# These structs are guaranteed to remain reserved and empty in mainline
+# cereal, so use these if you want custom events in your fork.
+
+# DO rename the structs
+# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
+struct ControlsStateExt @0x81c2f05a394cf4af {
+  alkaActive @0 :Bool;
+}
+
+struct CarStateExt @0xaedffd8f31e7b55d {
+  # dp - ALKA: lkasOn state from carstate (mirrors panda's lkas_on)
+  lkasOn @0 :Bool;
+}
+
+struct ModelExt @0xf35cc4560bbf6ec2 {
+  leftEdgeDetected @0 :Bool;
+  rightEdgeDetected @1 :Bool;
+}
+
+struct LiveGPS @0xda96579883444c35 {
+  # Position
+  latitude @0 :Float64;                # degrees
+  longitude @1 :Float64;               # degrees
+  altitude @2 :Float64;                # meters (WGS84)
+
+  # Motion
+  speed @3 :Float32;                   # m/s (horizontal speed)
+  bearingDeg @4 :Float32;              # degrees (heading)
+
+  # Accuracy
+  horizontalAccuracy @5 :Float32;      # meters
+  verticalAccuracy @6 :Float32;        # meters
+
+  # Status
+  gpsOK @7 :Bool;                      # livePose valid + GPS fresh
+  status @8 :Status;
+
+  enum Status {
+    noGps @0;
+    initializing @1;
+    calibrating @2;
+    valid @3;
+    recalibrating @4;
+    gpsStale @5;
+  }
+
+  # Metadata
+  unixTimestampMillis @9 :Int64;
+  lastGpsTimestamp @10 :UInt64;        # logMonoTime of last GPS
+}
+
+struct CustomReserved4 @0x80ae746ee2596b11 {
+}
+
+struct CustomReserved5 @0xa5cd762cd951a455 {
+}
+
+struct CustomReserved6 @0xf98d843bfd7004a3 {
+}
+
+struct CustomReserved7 @0xb86e6369214c01c8 {
+}
+
+struct CustomReserved8 @0xf416ec09499d9d19 {
+}
+
+struct CustomReserved9 @0xa1680744031fdb2d {
+}
+
+struct CustomReserved10 @0xcb9fd56c7057593a {
+}
+
+struct CustomReserved11 @0xc2243c65e0340384 {
+}
+
+struct CustomReserved12 @0x9ccdc8676701b412 {
+}
+
+struct CustomReserved13 @0xcd96dafb67a082d0 {
+}
+
+struct CustomReserved14 @0xb057204d7deadf3f {
+}
+
+struct CustomReserved15 @0xbd443b539493bc68 {
+}
+
+struct CustomReserved16 @0xfc6241ed8877b611 {
+}
+
+struct CustomReserved17 @0xa30662f84033036c {
+}
+
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
+}
+
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
+}

cereal/dp.capnp

@@ -1,57 +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("dp");
-
-@0xbfa7e645486440c7;
-
-# dp.capnp: a home for deprecated structs
-
-# dp
-struct DragonConf {
-  dpThermalStarted @0 :Bool;
-  dpThermalOverheat @1 :Bool;
-  dpAtl @2 :Bool;
-  dpDashcamd @3 :Bool;
-  dpAutoShutdown @4 :Bool;
-  dpAthenad @5 :Bool;
-  dpUploader @6 :Bool;
-  dpLateralMode @7 :UInt8;
-  dpSignalOffDelay @8 :Float32;
-  dpLcMinMph @9 :UInt8;
-  dpLcAutoCont @10 :Bool;
-  dpLcAutoMinMph @11 :UInt8;
-  dpLcAutoDelay @12 :Float32;
-  dpAllowGas @13 :Bool;
-  dpFollowingProfileCtrl @14 :Bool;
-  dpFollowingProfile @15 :UInt8;
-  dpAccelProfileCtrl @16 :Bool;
-  dpAccelProfile @17 :UInt8;
-  dpGearCheck @18 :Bool;
-  dpSpeedCheck @19 :Bool;
-  dpUiDisplayMode @20 :UInt8;
-  dpUiSpeed @21 :Bool;
-  dpUiEvent @22 :Bool;
-  dpUiMaxSpeed @23 :Bool;
-  dpUiFace @24 :Bool;
-  dpUiLane @25 :Bool;
-  dpUiLead @26 :Bool;
-  dpUiDev @27 :Bool;
-  dpUiDevMini @28 :Bool;
-  dpUiBlinker @29 :Bool;
-  dpUiBrightness @30 :UInt8;
-  dpUiVolume @31 :Int8;
-  dpToyotaLdw @32 :Bool;
-  dpToyotaSng @33 :Bool;
-  dpVwTimebombAssist @34 :Bool;
-  dpIpAddr @35 :Text;
-  dpCameraOffset @36 :Int8;
-  dpPathOffset @37 :Int8;
-  dpLocale @38 :Text;
-  dpSrLearner @39 :Bool;
-  dpSrCustom @40 :Float32;
-  dpAppd @41 :Bool;
-  dpDebug @42 :Bool;
-}

cereal/include/java.capnp

@@ -1,28 +0,0 @@
-# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xc5f1af96651f70ea;
-
-annotation package @0x9ee4c8f803b3b596 (file) : Text;
-# Name of the package, such as "org.example.foo", in which the generated code will reside.
-
-annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
-# Name of the outer class that will wrap the generated code.

cereal/legacy.capnp

@@ -1,10 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Legacy");
-
 @0x80ef1ec4889c2a63;
 
 # legacy.capnp: a home for deprecated structs
@@ -563,293 +559,6 @@ struct AndroidGnss @0xdfdf30d03fc485bd {
   }
 }
 
-struct QcomGnss @0xde94674b07ae51c1 {
-  logTs @0 :UInt64;
-  union {
-    measurementReport @1 :MeasurementReport;
-    clockReport @2 :ClockReport;
-    drMeasurementReport @3 :DrMeasurementReport;
-    drSvPoly @4 :DrSvPolyReport;
-    rawLog @5 :Data;
-  }
-
-  enum MeasurementSource @0xd71a12b6faada7ee {
-    gps @0;
-    glonass @1;
-    beidou @2;
-  }
-
-  enum SVObservationState @0xe81e829a0d6c83e9 {
-    idle @0;
-    search @1;
-    searchVerify @2;
-    bitEdge @3;
-    trackVerify @4;
-    track @5;
-    restart @6;
-    dpo @7;
-    glo10msBe @8;
-    glo10msAt @9;
-  }
-
-  struct MeasurementStatus @0xe501010e1bcae83b {
-    subMillisecondIsValid @0 :Bool;
-    subBitTimeIsKnown @1 :Bool;
-    satelliteTimeIsKnown @2 :Bool;
-    bitEdgeConfirmedFromSignal @3 :Bool;
-    measuredVelocity @4 :Bool;
-    fineOrCoarseVelocity @5 :Bool;
-    lockPointValid @6 :Bool;
-    lockPointPositive @7 :Bool;
-    lastUpdateFromDifference @8 :Bool;
-    lastUpdateFromVelocityDifference @9 :Bool;
-    strongIndicationOfCrossCorelation @10 :Bool;
-    tentativeMeasurement @11 :Bool;
-    measurementNotUsable @12 :Bool;
-    sirCheckIsNeeded @13 :Bool;
-    probationMode @14 :Bool;
-
-    glonassMeanderBitEdgeValid @15 :Bool;
-    glonassTimeMarkValid @16 :Bool;
-
-    gpsRoundRobinRxDiversity @17 :Bool;
-    gpsRxDiversity @18 :Bool;
-    gpsLowBandwidthRxDiversityCombined @19 :Bool;
-    gpsHighBandwidthNu4 @20 :Bool;
-    gpsHighBandwidthNu8 @21 :Bool;
-    gpsHighBandwidthUniform @22 :Bool;
-    multipathIndicator @23 :Bool;
-
-    imdJammingIndicator @24 :Bool;
-    lteB13TxJammingIndicator @25 :Bool;
-    freshMeasurementIndicator @26 :Bool;
-
-    multipathEstimateIsValid @27 :Bool;
-    directionIsValid @28 :Bool;
-  }
-
-  struct MeasurementReport @0xf580d7d86b7b8692 {
-    source @0 :MeasurementSource;
-
-    fCount @1 :UInt32;
-
-    gpsWeek @2 :UInt16;
-    glonassCycleNumber @3 :UInt8;
-    glonassNumberOfDays @4 :UInt16;
-
-    milliseconds @5 :UInt32;
-    timeBias @6 :Float32;
-    clockTimeUncertainty @7 :Float32;
-    clockFrequencyBias @8 :Float32;
-    clockFrequencyUncertainty @9 :Float32;
-
-    sv @10 :List(SV);
-
-    struct SV @0xf10c595ae7bb2c27 {
-      svId @0 :UInt8;
-      observationState @2 :SVObservationState;
-      observations @3 :UInt8;
-      goodObservations @4 :UInt8;
-      gpsParityErrorCount @5 :UInt16;
-      glonassFrequencyIndex @1 :Int8;
-      glonassHemmingErrorCount @6 :UInt8;
-      filterStages @7 :UInt8;
-      carrierNoise @8 :UInt16;
-      latency @9 :Int16;
-      predetectInterval @10 :UInt8;
-      postdetections @11 :UInt16;
-
-      unfilteredMeasurementIntegral @12 :UInt32;
-      unfilteredMeasurementFraction @13 :Float32;
-      unfilteredTimeUncertainty @14 :Float32;
-      unfilteredSpeed @15 :Float32;
-      unfilteredSpeedUncertainty @16 :Float32;
-      measurementStatus @17 :MeasurementStatus;
-      multipathEstimate @18 :UInt32;
-      azimuth @19 :Float32;
-      elevation @20 :Float32;
-      carrierPhaseCyclesIntegral @21 :Int32;
-      carrierPhaseCyclesFraction @22 :UInt16;
-      fineSpeed @23 :Float32;
-      fineSpeedUncertainty @24 :Float32;
-      cycleSlipCount @25 :UInt8;
-    }
-
-  }
-
-  struct ClockReport @0xca965e4add8f4f0b {
-    hasFCount @0 :Bool;
-    fCount @1 :UInt32;
-
-    hasGpsWeek @2 :Bool;
-    gpsWeek @3 :UInt16;
-    hasGpsMilliseconds @4 :Bool;
-    gpsMilliseconds @5 :UInt32;
-    gpsTimeBias @6 :Float32;
-    gpsClockTimeUncertainty @7 :Float32;
-    gpsClockSource @8 :UInt8;
-
-    hasGlonassYear @9 :Bool;
-    glonassYear @10 :UInt8;
-    hasGlonassDay @11 :Bool;
-    glonassDay @12 :UInt16;
-    hasGlonassMilliseconds @13 :Bool;
-    glonassMilliseconds @14 :UInt32;
-    glonassTimeBias @15 :Float32;
-    glonassClockTimeUncertainty @16 :Float32;
-    glonassClockSource @17 :UInt8;
-
-    bdsWeek @18 :UInt16;
-    bdsMilliseconds @19 :UInt32;
-    bdsTimeBias @20 :Float32;
-    bdsClockTimeUncertainty @21 :Float32;
-    bdsClockSource @22 :UInt8;
-
-    galWeek @23 :UInt16;
-    galMilliseconds @24 :UInt32;
-    galTimeBias @25 :Float32;
-    galClockTimeUncertainty @26 :Float32;
-    galClockSource @27 :UInt8;
-
-    clockFrequencyBias @28 :Float32;
-    clockFrequencyUncertainty @29 :Float32;
-    frequencySource @30 :UInt8;
-    gpsLeapSeconds @31 :UInt8;
-    gpsLeapSecondsUncertainty @32 :UInt8;
-    gpsLeapSecondsSource @33 :UInt8;
-
-    gpsToGlonassTimeBiasMilliseconds @34 :Float32;
-    gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
-    gpsToBdsTimeBiasMilliseconds @36 :Float32;
-    gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
-    bdsToGloTimeBiasMilliseconds @38 :Float32;
-    bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
-    gpsToGalTimeBiasMilliseconds @40 :Float32;
-    gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
-    galToGloTimeBiasMilliseconds @42 :Float32;
-    galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
-    galToBdsTimeBiasMilliseconds @44 :Float32;
-    galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
-
-    hasRtcTime @46 :Bool;
-    systemRtcTime @47 :UInt32;
-    fCountOffset @48 :UInt32;
-    lpmRtcCount @49 :UInt32;
-    clockResets @50 :UInt32;
-  }
-
-  struct DrMeasurementReport @0x8053c39445c6c75c {
-
-    reason @0 :UInt8;
-    seqNum @1 :UInt8;
-    seqMax @2 :UInt8;
-    rfLoss @3 :UInt16;
-
-    systemRtcValid @4 :Bool;
-    fCount @5 :UInt32;
-    clockResets @6 :UInt32;
-    systemRtcTime @7 :UInt64;
-
-    gpsLeapSeconds @8 :UInt8;
-    gpsLeapSecondsUncertainty @9 :UInt8;
-    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
-    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
-
-    gpsWeek @12 :UInt16;
-    gpsMilliseconds @13 :UInt32;
-    gpsTimeBiasMs @14 :UInt32;
-    gpsClockTimeUncertaintyMs @15 :UInt32;
-    gpsClockSource @16 :UInt8;
-
-    glonassClockSource @17 :UInt8;
-    glonassYear @18 :UInt8;
-    glonassDay @19 :UInt16;
-    glonassMilliseconds @20 :UInt32;
-    glonassTimeBias @21 :Float32;
-    glonassClockTimeUncertainty @22 :Float32;
-
-    clockFrequencyBias @23 :Float32;
-    clockFrequencyUncertainty @24 :Float32;
-    frequencySource @25 :UInt8;
-
-    source @26 :MeasurementSource;
-
-    sv @27 :List(SV);
-
-    struct SV @0xf08b81df8cbf459c {
-      svId @0 :UInt8;
-      glonassFrequencyIndex @1 :Int8;
-      observationState @2 :SVObservationState;
-      observations @3 :UInt8;
-      goodObservations @4 :UInt8;
-      filterStages @5 :UInt8;
-      predetectInterval @6 :UInt8;
-      cycleSlipCount @7 :UInt8;
-      postdetections @8 :UInt16;
-
-      measurementStatus @9 :MeasurementStatus;
-
-      carrierNoise @10 :UInt16;
-      rfLoss @11 :UInt16;
-      latency @12 :Int16;
-
-      filteredMeasurementFraction @13 :Float32;
-      filteredMeasurementIntegral @14 :UInt32;
-      filteredTimeUncertainty @15 :Float32;
-      filteredSpeed @16 :Float32;
-      filteredSpeedUncertainty @17 :Float32;
-
-      unfilteredMeasurementFraction @18 :Float32;
-      unfilteredMeasurementIntegral @19 :UInt32;
-      unfilteredTimeUncertainty @20 :Float32;
-      unfilteredSpeed @21 :Float32;
-      unfilteredSpeedUncertainty @22 :Float32;
-
-      multipathEstimate @23 :UInt32;
-      azimuth @24 :Float32;
-      elevation @25 :Float32;
-      dopplerAcceleration @26 :Float32;
-      fineSpeed @27 :Float32;
-      fineSpeedUncertainty @28 :Float32;
-
-      carrierPhase @29 :Float64;
-      fCount @30 :UInt32;
-
-      parityErrorCount @31 :UInt16;
-      goodParity @32 :Bool;
-    }
-  }
-
-  struct DrSvPolyReport @0xb1fb80811a673270 {
-    svId @0 :UInt16;
-    frequencyIndex @1 :Int8;
-
-    hasPosition @2 :Bool;
-    hasIono @3 :Bool;
-    hasTropo @4 :Bool;
-    hasElevation @5 :Bool;
-    polyFromXtra @6 :Bool;
-    hasSbasIono @7 :Bool;
-
-    iode @8 :UInt16;
-    t0 @9 :Float64;
-    xyz0 @10 :List(Float64);
-    xyzN @11 :List(Float64);
-    other @12 :List(Float32);
-
-    positionUncertainty @13 :Float32;
-    ionoDelay @14 :Float32;
-    ionoDot @15 :Float32;
-    sbasIonoDelay @16 :Float32;
-    sbasIonoDot @17 :Float32;
-    tropoDelay @18 :Float32;
-    elevation @19 :Float32;
-    elevationDot @20 :Float32;
-    elevationUncertainty @21 :Float32;
-    velocityCoeff @22 :List(Float64);
-  }
-}
-
 struct LidarPts @0xe3d6685d4e9d8f7a {
   r @0 :List(UInt16);        # uint16   m*500.0
   theta @1 :List(UInt16);    # uint16 deg*100.0

cereal/messaging/.gitignore

@@ -1,10 +0,0 @@
-demo
-bridge
-test_runner
-*.o
-*.os
-*.d
-*.a
-*.so
-messaging_pyx.cpp
-build/

cereal/messaging/__init__.py

@@ -1,35 +1,53 @@
-# must be build with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+# must be built with scons
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, drain_sock_raw
+import msgq
+
 import os
 import capnp
+import time
 
-from typing import Optional, List, Union
-from collections import deque
+from typing import Optional, List, Union, Dict
 
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
+from openpilot.common.util import MovingAverage
 
-assert MultiplePublishersError
-assert MessagingError
+NO_TRAVERSAL_LIMIT = 2**64-1
 
-AVG_FREQ_HISTORY = 100
-SIMULATION = "SIMULATION" in os.environ
 
-# sec_since_boot is faster, but allow to run standalone too
-try:
-  from common.realtime import sec_since_boot
-except ImportError:
-  import time
-  sec_since_boot = time.time
-  print("Warning, using python time.time() instead of faster sec_since_boot")
+def pub_sock(endpoint: str) -> PubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.pub_sock(endpoint, segment_size)
 
-context = Context()
 
-def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
-  dat = log.Event.new_message()
-  dat.logMonoTime = int(sec_since_boot() * 1e9)
-  dat.valid = True
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
+                       timeout=timeout, segment_size=segment_size)
+
+
+def reset_context():
+  msgq.context = Context()
+
+
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+    return msg
+
+
+def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
   if service is not None:
     if size is None:
       dat.init(service)
@@ -37,140 +55,155 @@ def new_message(service: Optional[str] = None, size: Optional[int] = None) -> ca
       dat.init(service, size)
   return dat
 
-def pub_sock(endpoint: str) -> PubSocket:
-  sock = PubSocket()
-  sock.connect(context, endpoint)
-  return sock
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  sock = SubSocket()
-  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
-
-  if timeout is not None:
-    sock.setTimeout(timeout)
-
-  if poller is not None:
-    poller.registerSocket(sock)
-  return sock
-
-
-def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
-  """Receive all message currently available on the queue"""
-  ret: List[bytes] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:
-      break
-
-    ret.append(dat)
-
-  return ret
 
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
-  ret: List[capnp.lib.capnp._DynamicStructReader] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:  # Timeout hit
-      break
-
-    dat = log.Event.from_bytes(dat)
-    ret.append(dat)
-
-  return ret
+  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
+  return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
   while 1:
     if wait and dat is None:
-      rcv = sock.receive()
+      recv = sock.receive()
     else:
-      rcv = sock.receive(non_blocking=True)
+      recv = sock.receive(non_blocking=True)
 
-    if rcv is None:  # Timeout hit
+    if recv is None:  # Timeout hit
       break
 
-    dat = rcv
+    dat = recv
 
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
 
   return dat
 
-def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+
+def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive()
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
   return dat
 
-def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
+
+def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
-    dat = log.Event.from_bytes(dat)
+    dat = log_from_bytes(dat)
   return dat
 
+
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
   """Keep receiving until we get a message"""
   while True:
     dat = sock.receive()
     if dat is not None:
-      return log.Event.from_bytes(dat)
+      return log_from_bytes(dat)
 
-class SubMaster():
-  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+
+class FrequencyTracker:
+  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
+    freq = max(min(service_freq, update_freq), 1.)
+    if is_poll:
+      min_freq = max_freq = freq
+    else:
+      max_freq = min(freq, update_freq)
+      if service_freq >= 2 * update_freq:
+        min_freq = update_freq
+      elif update_freq >= 2* service_freq:
+        min_freq = freq
+      else:
+        min_freq = min(freq, freq / 2.)
+
+    self.min_freq = min_freq * 0.8
+    self.max_freq = max_freq * 1.2
+    self.avg_dt = MovingAverage(int(10 * freq))
+    self.recent_avg_dt = MovingAverage(int(freq))
+    self.prev_time = 0.0
+
+  def record_recv_time(self, cur_time: float) -> None:
+    # TODO: Handle case where cur_time is less than prev_time
+    if self.prev_time > 1e-5:
+      dt = cur_time - self.prev_time
+
+      self.avg_dt.add_value(dt)
+      self.recent_avg_dt.add_value(dt)
+
+    self.prev_time = cur_time
+
+  @property
+  def valid(self) -> bool:
+    if self.avg_dt.count == 0:
+      return False
+
+    avg_freq = 1.0 / self.avg_dt.get_average()
+    if self.min_freq <= avg_freq <= self.max_freq:
+      return True
+
+    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
+    return self.min_freq <= avg_freq_recent <= self.max_freq
+
+
+class SubMaster:
+  def __init__(self, services: List[str], poll: Optional[str] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               addr: str = "127.0.0.1"):
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
     self.frame = -1
+    self.services = services
+    self.seen = {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.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
+    self.recv_time = {s: 0. for s in services}
+    self.recv_frame = {s: 0 for s in services}
     self.sock = {}
-    self.freq = {}
     self.data = {}
-    self.valid = {}
-    self.logMonoTime = {}
+    self.logMonoTime = {s: 0 for s in services}
 
+    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
+    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.alive = {s: on_demand[s] for s in services}
+    self.freq_ok = {s: on_demand[s] for s in services}
+    self.valid = {s: on_demand[s] for s in services}
+
+    self.freq_tracker: Dict[str, FrequencyTracker] = {}
     self.poller = Poller()
-    self.non_polled_services = [s for s in services if poll is not None and
-                                len(poll) and s not in poll]
+    polled_services = set([poll, ] if poll is not None else services)
+    self.non_polled_services = set(services) - polled_services
 
     self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
     self.ignore_alive = [] if ignore_alive is None else ignore_alive
+    self.ignore_valid = [] if ignore_valid is None else ignore_valid
+
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
+
+    # if freq and poll aren't specified, assume the max to be conservative
+    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
+    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
 
     for s in services:
-      if addr is not None:
-        p = self.poller if s not in self.non_polled_services else None
-        self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
-      self.freq[s] = service_list[s].frequency
+      p = self.poller if s not in self.non_polled_services else None
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
 
       try:
         data = new_message(s)
-      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
+      except capnp.lib.capnp.KjException:
         data = new_message(s, 0) # lists
 
-      self.data[s] = getattr(data, s)
-      self.logMonoTime[s] = 0
-      self.valid[s] = data.valid
+      self.data[s] = getattr(data.as_reader(), s)
+      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
-  def update(self, timeout: int = 1000) -> None:
+  def _check_avg_freq(self, s: str) -> bool:
+    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
+
+  def update(self, timeout: int = 100) -> None:
     msgs = []
     for sock in self.poller.poll(timeout):
       msgs.append(recv_one_or_none(sock))
@@ -178,61 +211,45 @@ class SubMaster():
     # non-blocking receive for non-polled sockets
     for s in self.non_polled_services:
       msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(sec_since_boot(), msgs)
+    self.update_msgs(time.monotonic(), msgs)
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
-    self.updated = dict.fromkeys(self.updated, False)
+    self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
       if msg is None:
         continue
 
       s = msg.which()
+      self.seen[s] = True
       self.updated[s] = True
 
-      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
-        and (s not in self.ignore_average_freq):
-        self.recv_dts[s].append(cur_time - self.rcv_time[s])
-
-      self.rcv_time[s] = cur_time
-      self.rcv_frame[s] = self.frame
+      self.freq_tracker[s].record_recv_time(cur_time)
+      self.recv_time[s] = cur_time
+      self.recv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-      if SIMULATION:
-        self.alive[s] = True
+    for s in self.static_freq_services:
+      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
+      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
+      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
-    if not SIMULATION:
-      for s in self.data:
-        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-        if self.freq[s] > 1e-5:
-          # alive if delay is within 10x the expected frequency
-          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
-          # alive if average frequency is higher than 90% of expected frequency
-          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
-          expected_dt = 1 / (self.freq[s] * 0.90)
-          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
-        else:
-          self.alive[s] = True
+  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
-  def all_alive(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
+  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
-  def all_valid(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.valid.keys()
-    return all(self.valid[s] for s in service_list)
+  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
-  def all_alive_and_valid(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
 
-class PubMaster():
+class PubMaster:
   def __init__(self, services: List[str]):
     self.sock = {}
     for s in services:
@@ -243,5 +260,12 @@ class PubMaster():
       dat = dat.to_bytes()
     self.sock[s].send(dat)
 
+  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False
+
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()
+    return self.sock[s].all_readers_updated()  # type: ignore

cereal/messaging/bridge.cc

@@ -1,27 +1,17 @@
-#include <algorithm>
 #include <cassert>
-#include <csignal>
-#include <iostream>
-#include <map>
-#include <string>
 
-typedef void (*sighandler_t)(int sig);
+#include "cereal/messaging/msgq_to_zmq.h"
+#include "cereal/services.h"
+#include "common/util.h"
 
-#include "impl_msgq.h"
-#include "impl_zmq.h"
-#include "services.h"
+ExitHandler do_exit;
 
-void sigpipe_handler(int sig) {
-  assert(sig == SIGPIPE);
-  std::cout << "SIGPIPE received" << std::endl;
-}
-
-static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
   for (const auto& it : services) {
-    std::string name = it.name;
+    std::string name = it.second.name;
     bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+    if (zmq_to_msgq && !in_whitelist) {
       continue;
     }
     service_list.push_back(name);
@@ -29,51 +19,53 @@ static std::vector<std::string> get_services(std::string whitelist_str, bool zmq
   return service_list;
 }
 
-int main(int argc, char** argv) {
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
+void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  MsgqToZmq bridge;
+  bridge.run(endpoints, ip);
+}
 
-  bool zmq_to_msgq = argc > 2;
-  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
+void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  auto poller = std::make_unique<ZMQPoller>();
+  auto pub_context = std::make_unique<MSGQContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
+  std::map<SubSocket *, PubSocket *> sub2pub;
 
-  Poller *poller;
-  Context *pub_context;
-  Context *sub_context;
-  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
-    poller = new ZMQPoller();
-    pub_context = new MSGQContext();
-    sub_context = new ZMQContext();
-  } else {
-    poller = new MSGQPoller();
-    pub_context = new ZMQContext();
-    sub_context = new MSGQContext();
-  }
-
-  std::map<SubSocket*, PubSocket*> sub2pub;
-  for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
-    PubSocket * pub_sock;
-    SubSocket * sub_sock;
-    if (zmq_to_msgq) {
-      pub_sock = new MSGQPubSocket();
-      sub_sock = new ZMQSubSocket();
-    } else {
-      pub_sock = new ZMQPubSocket();
-      sub_sock = new MSGQSubSocket();
-    }
-    pub_sock->connect(pub_context, endpoint);
-    sub_sock->connect(sub_context, endpoint, ip, false);
+  for (auto endpoint : endpoints) {
+    auto pub_sock = new MSGQPubSocket();
+    auto sub_sock = new ZMQSubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
+    sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);
     sub2pub[sub_sock] = pub_sock;
   }
 
-  while (true) {
+  while (!do_exit) {
     for (auto sub_sock : poller->poll(100)) {
-      Message * msg = sub_sock->receive();
-      if (msg == NULL) continue;
-      sub2pub[sub_sock]->sendMessage(msg);
-      delete msg;
+      std::unique_ptr<Message> msg(sub_sock->receive(true));
+      if (msg) {
+        sub2pub[sub_sock]->sendMessage(msg.get());
+      }
     }
   }
+
+  // Clean up allocated sockets
+  for (auto &[sub_sock, pub_sock] : sub2pub) {
+    delete sub_sock;
+    delete pub_sock;
+  }
+}
+
+int main(int argc, char **argv) {
+  bool is_zmq_to_msgq = argc > 2;
+  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
+  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
+  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
+
+  if (is_zmq_to_msgq) {
+    zmq_to_msgq(endpoints, ip);
+  } else {
+    msgq_to_zmq(endpoints, ip);
+  }
   return 0;
 }

cereal/messaging/impl_msgq.cc

@@ -1,230 +0,0 @@
-#include <cassert>
-#include <cstring>
-#include <iostream>
-#include <cstdlib>
-#include <csignal>
-#include <cerrno>
-
-#include "services.h"
-#include "impl_msgq.h"
-
-
-volatile sig_atomic_t msgq_do_exit = 0;
-
-void sig_handler(int signal) {
-  assert(signal == SIGINT || signal == SIGTERM);
-  msgq_do_exit = 1;
-}
-
-static bool service_exists(std::string path){
-  for (const auto& it : services) {
-    if (it.name == path) {
-      return true;
-    }
-  }
-  return false;
-}
-
-static size_t get_size(std::string endpoint){
-  size_t sz = DEFAULT_SEGMENT_SIZE;
-
-  if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
-    sz *= 10;
-  }
-
-  return sz;
-}
-
-
-MSGQContext::MSGQContext() {
-}
-
-MSGQContext::~MSGQContext() {
-}
-
-void MSGQMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void MSGQMessage::init(char * d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void MSGQMessage::takeOwnership(char * d, size_t sz) {
-  size = sz;
-  data = d;
-}
-
-void MSGQMessage::close() {
-  if (size > 0){
-    delete[] data;
-  }
-  size = 0;
-}
-
-MSGQMessage::~MSGQMessage() {
-  this->close();
-}
-
-int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
-  assert(context);
-  assert(address == "127.0.0.1");
-
-  if (check_endpoint && !service_exists(std::string(endpoint))){
-    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
-  }
-
-  q = new msgq_queue_t;
-  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
-  if (r != 0){
-    return r;
-  }
-
-  msgq_init_subscriber(q);
-
-  if (conflate){
-    q->read_conflate = true;
-  }
-
-  timeout = -1;
-
-  return 0;
-}
-
-
-Message * MSGQSubSocket::receive(bool non_blocking){
-  msgq_do_exit = 0;
-
-  void (*prev_handler_sigint)(int);
-  void (*prev_handler_sigterm)(int);
-  if (!non_blocking){
-    prev_handler_sigint = std::signal(SIGINT, sig_handler);
-    prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
-  }
-
-  msgq_msg_t msg;
-
-  MSGQMessage *r = NULL;
-
-  int rc = msgq_msg_recv(&msg, q);
-
-  // Hack to implement blocking read with a poller. Don't use this
-  while (!non_blocking && rc == 0 && msgq_do_exit == 0){
-    msgq_pollitem_t items[1];
-    items[0].q = q;
-
-    int t = (timeout != -1) ? timeout : 100;
-
-    int n = msgq_poll(items, 1, t);
-    rc = msgq_msg_recv(&msg, q);
-
-    // The poll indicated a message was ready, but the receive failed. Try again
-    if (n == 1 && rc == 0){
-      continue;
-    }
-
-    if (timeout != -1){
-      break;
-    }
-  }
-
-
-  if (!non_blocking){
-    std::signal(SIGINT, prev_handler_sigint);
-    std::signal(SIGTERM, prev_handler_sigterm);
-  }
-
-  errno = msgq_do_exit ? EINTR : 0;
-
-  if (rc > 0){
-    if (msgq_do_exit){
-      msgq_msg_close(&msg); // Free unused message on exit
-    } else {
-      r = new MSGQMessage;
-      r->takeOwnership(msg.data, msg.size);
-    }
-  }
-
-  return (Message*)r;
-}
-
-void MSGQSubSocket::setTimeout(int t){
-  timeout = t;
-}
-
-MSGQSubSocket::~MSGQSubSocket(){
-  if (q != NULL){
-    msgq_close_queue(q);
-    delete q;
-  }
-}
-
-int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
-  assert(context);
-
-  if (check_endpoint && !service_exists(std::string(endpoint))){
-    std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
-  }
-
-  q = new msgq_queue_t;
-  int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
-  if (r != 0){
-    return r;
-  }
-
-  msgq_init_publisher(q);
-
-  return 0;
-}
-
-int MSGQPubSocket::sendMessage(Message *message){
-  msgq_msg_t msg;
-  msg.data = message->getData();
-  msg.size = message->getSize();
-
-  return msgq_msg_send(&msg, q);
-}
-
-int MSGQPubSocket::send(char *data, size_t size){
-  msgq_msg_t msg;
-  msg.data = data;
-  msg.size = size;
-
-  return msgq_msg_send(&msg, q);
-}
-
-bool MSGQPubSocket::all_readers_updated() {
-  return msgq_all_readers_updated(q);
-}
-
-MSGQPubSocket::~MSGQPubSocket(){
-  if (q != NULL){
-    msgq_close_queue(q);
-    delete q;
-  }
-}
-
-
-void MSGQPoller::registerSocket(SubSocket * socket){
-  assert(num_polls + 1 < MAX_POLLERS);
-  polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<SubSocket*> MSGQPoller::poll(int timeout){
-  std::vector<SubSocket*> r;
-
-  msgq_poll(polls, num_polls, timeout);
-  for (size_t i = 0; i < num_polls; i++){
-    if (polls[i].revents){
-      r.push_back(sockets[i]);
-    }
-  }
-
-  return r;
-}

cereal/messaging/impl_zmq.cc

@@ -1,168 +0,0 @@
-#include <cassert>
-#include <cstring>
-#include <iostream>
-#include <cstdlib>
-#include <cerrno>
-
-#include <zmq.h>
-
-#include "services.h"
-#include "impl_zmq.h"
-
-static int get_port(std::string endpoint) {
-  int port = -1;
-  for (const auto& it : services) {
-    std::string name = it.name;
-    if (name == endpoint) {
-      port = it.port;
-      break;
-    }
-  }
-
-  assert(port >= 0);
-  return port;
-}
-
-ZMQContext::ZMQContext() {
-  context = zmq_ctx_new();
-}
-
-ZMQContext::~ZMQContext() {
-  zmq_ctx_term(context);
-}
-
-void ZMQMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void ZMQMessage::init(char * d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void ZMQMessage::close() {
-  if (size > 0){
-    delete[] data;
-  }
-  size = 0;
-}
-
-ZMQMessage::~ZMQMessage() {
-  this->close();
-}
-
-
-int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
-  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
-  if (sock == NULL){
-    return -1;
-  }
-
-  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
-
-  if (conflate){
-    int arg = 1;
-    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
-  }
-
-  int reconnect_ivl = 500;
-  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
-
-  full_endpoint = "tcp://" + address + ":";
-  if (check_endpoint){
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  return zmq_connect(sock, full_endpoint.c_str());
-}
-
-
-Message * ZMQSubSocket::receive(bool non_blocking){
-  zmq_msg_t msg;
-  assert(zmq_msg_init(&msg) == 0);
-
-  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
-  int rc = zmq_msg_recv(&msg, sock, flags);
-  Message *r = NULL;
-
-  if (rc >= 0){
-    // Make a copy to ensure the data is aligned
-    r = new ZMQMessage;
-    r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-
-  zmq_msg_close(&msg);
-  return r;
-}
-
-void ZMQSubSocket::setTimeout(int timeout){
-  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
-}
-
-ZMQSubSocket::~ZMQSubSocket(){
-  zmq_close(sock);
-}
-
-int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
-  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
-  if (sock == NULL){
-    return -1;
-  }
-
-  full_endpoint = "tcp://*:";
-  if (check_endpoint){
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  return zmq_bind(sock, full_endpoint.c_str());
-}
-
-int ZMQPubSocket::sendMessage(Message *message){
-  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
-}
-
-int ZMQPubSocket::send(char *data, size_t size){
-  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
-}
-
-bool ZMQPubSocket::all_readers_updated() {
-  assert(false); // TODO not implemented
-  return false;
-}
-
-ZMQPubSocket::~ZMQPubSocket(){
-  zmq_close(sock);
-}
-
-
-void ZMQPoller::registerSocket(SubSocket * socket){
-  assert(num_polls + 1 < MAX_POLLERS);
-  polls[num_polls].socket = socket->getRawSocket();
-  polls[num_polls].events = ZMQ_POLLIN;
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<SubSocket*> ZMQPoller::poll(int timeout){
-  std::vector<SubSocket*> r;
-
-  int rc = zmq_poll(polls, num_polls, timeout);
-  if (rc < 0){
-    return r;
-  }
-
-  for (size_t i = 0; i < num_polls; i++){
-    if (polls[i].revents){
-      r.push_back(sockets[i]);
-    }
-  }
-
-  return r;
-}

cereal/messaging/messaging.cc

@@ -1,103 +0,0 @@
-#include "messaging.h"
-#include "impl_zmq.h"
-#include "impl_msgq.h"
-
-#ifdef __APPLE__
-const bool MUST_USE_ZMQ = true;
-#else
-const bool MUST_USE_ZMQ = false;
-#endif
-
-bool messaging_use_zmq(){
-  return std::getenv("ZMQ") || MUST_USE_ZMQ;
-}
-
-Context * Context::create(){
-  Context * c;
-  if (messaging_use_zmq()){
-    c = new ZMQContext();
-  } else {
-    c = new MSGQContext();
-  }
-  return c;
-}
-
-SubSocket * SubSocket::create(){
-  SubSocket * s;
-  if (messaging_use_zmq()){
-    s = new ZMQSubSocket();
-  } else {
-    s = new MSGQSubSocket();
-  }
-  return s;
-}
-
-SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
-  SubSocket *s = SubSocket::create();
-  int r = s->connect(context, endpoint, address, conflate, check_endpoint);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-PubSocket * PubSocket::create(){
-  PubSocket * s;
-  if (messaging_use_zmq()){
-    s = new ZMQPubSocket();
-  } else {
-    s = new MSGQPubSocket();
-  }
-  return s;
-}
-
-PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
-  PubSocket *s = PubSocket::create();
-  int r = s->connect(context, endpoint, check_endpoint);
-
-  if (r == 0) {
-    return s;
-  } else {
-    delete s;
-    return NULL;
-  }
-}
-
-Poller * Poller::create(){
-  Poller * p;
-  if (messaging_use_zmq()){
-    p = new ZMQPoller();
-  } else {
-    p = new MSGQPoller();
-  }
-  return p;
-}
-
-Poller * Poller::create(std::vector<SubSocket*> sockets){
-  Poller * p = Poller::create();
-
-  for (auto s : sockets){
-    p->registerSocket(s);
-  }
-  return p;
-}
-
-extern "C" Context * messaging_context_create() {
-  return Context::create();
-}
-
-extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
-  return SubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
-  return PubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
-  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
-  return Poller::create(socketsVec);
-}

cereal/messaging/messaging.h

@@ -1,75 +1,23 @@
 #pragma once
+
 #include <cstddef>
 #include <map>
 #include <string>
 #include <vector>
+#include <utility>
+
 #include <capnp/serialize.h>
-#include "../gen/cpp/log.capnp.h"
 
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-bool messaging_use_zmq();
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){};
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){};
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
-  virtual ~SubSocket(){};
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  virtual bool all_readers_updated() = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
-  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
-  virtual ~PubSocket(){};
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
-};
+#include "cereal/gen/cpp/log.capnp.h"
+#include "common/timing.h"
+#include "msgq/ipc.h"
 
 class SubMaster {
 public:
-  SubMaster(const std::vector<const char *> &service_list,
+  SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
             const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
   void update(int timeout = 1000);
-  void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
+  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
   inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
   inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
   inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
@@ -98,10 +46,7 @@ public:
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
+    event.setLogMonoTime(nanos_since_boot());
     event.setValid(valid);
     return event;
   }
@@ -111,6 +56,18 @@ public:
     return heapArray_.asBytes();
   }
 
+  size_t getSerializedSize() {
+    return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
+  }
+
+  int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
+    size_t serialized_size = getSerializedSize();
+    if (serialized_size > buffer_size) { return -1; }
+    kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
+    capnp::writeMessage(out, *this);
+    return serialized_size;
+  }
+
 private:
   kj::Array<capnp::word> heapArray_;
 };

cereal/messaging/messaging.pxd

@@ -1,40 +0,0 @@
-# distutils: language = c++
-#cython: language_level=3
-
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp cimport bool
-
-
-cdef extern from "messaging.h":
-  cdef cppclass Context:
-    @staticmethod
-    Context * create()
-
-  cdef cppclass Message:
-    void init(size_t)
-    void init(char *, size_t)
-    void close()
-    size_t getSize()
-    char *getData()
-
-  cdef cppclass SubSocket:
-    @staticmethod
-    SubSocket * create()
-    int connect(Context *, string, string, bool)
-    Message * receive(bool)
-    void setTimeout(int)
-
-  cdef cppclass PubSocket:
-    @staticmethod
-    PubSocket * create()
-    int connect(Context *, string)
-    int sendMessage(Message *)
-    int send(char *, size_t)
-    bool all_readers_updated()
-
-  cdef cppclass Poller:
-    @staticmethod
-    Poller * create()
-    void registerSocket(SubSocket *)
-    vector[SubSocket*] poll(int) nogil

cereal/messaging/messaging_pyx.pyx

@@ -1,154 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import sys
-from libcpp.string cimport string
-from libcpp cimport bool
-from libc cimport errno
-
-
-from .messaging cimport Context as cppContext
-from .messaging cimport SubSocket as cppSubSocket
-from .messaging cimport PubSocket as cppPubSocket
-from .messaging cimport Poller as cppPoller
-from .messaging cimport Message as cppMessage
-
-
-class MessagingError(Exception):
-  pass
-
-
-class MultiplePublishersError(MessagingError):
-  pass
-
-
-cdef class Context:
-  cdef cppContext * context
-
-  def __cinit__(self):
-    self.context = cppContext.create()
-
-  def term(self):
-    del self.context
-    self.context = NULL
-
-  def __dealloc__(self):
-    pass
-    # Deleting the context will hang if sockets are still active
-    # TODO: Figure out a way to make sure the context is closed last
-    # del self.context
-
-
-cdef class Poller:
-  cdef cppPoller * poller
-  cdef list sub_sockets
-
-  def __cinit__(self):
-    self.sub_sockets = []
-    self.poller = cppPoller.create()
-
-  def __dealloc__(self):
-    del self.poller
-
-  def registerSocket(self, SubSocket socket):
-    self.sub_sockets.append(socket)
-    self.poller.registerSocket(socket.socket)
-
-  def poll(self, timeout):
-    sockets = []
-    cdef int t = timeout
-
-    with nogil:
-      result = self.poller.poll(t)
-
-    for s in result:
-      socket = SubSocket()
-      socket.setPtr(s)
-      sockets.append(socket)
-
-    return sockets
-
-cdef class SubSocket:
-  cdef cppSubSocket * socket
-  cdef bool is_owner
-
-  def __cinit__(self):
-    self.socket = cppSubSocket.create()
-    self.is_owner = True
-
-    if self.socket == NULL:
-      raise MessagingError
-
-  def __dealloc__(self):
-    if self.is_owner:
-      del self.socket
-
-  cdef setPtr(self, cppSubSocket * ptr):
-    if self.is_owner:
-      del self.socket
-
-    self.is_owner = False
-    self.socket = ptr
-
-  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
-    r = self.socket.connect(context.context, endpoint, address, conflate)
-
-    if r != 0:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
-
-  def setTimeout(self, int timeout):
-    self.socket.setTimeout(timeout)
-
-  def receive(self, bool non_blocking=False):
-    msg = self.socket.receive(non_blocking)
-
-    if msg == NULL:
-      # If a blocking read returns no message check errno if SIGINT was caught in the C++ code
-      if errno.errno == errno.EINTR:
-        print("SIGINT received, exiting")
-        sys.exit(1)
-
-      return None
-    else:
-      sz = msg.getSize()
-      m = msg.getData()[:sz]
-      del msg
-
-      return m
-
-
-cdef class PubSocket:
-  cdef cppPubSocket * socket
-
-  def __cinit__(self):
-    self.socket = cppPubSocket.create()
-    if self.socket == NULL:
-      raise MessagingError
-
-  def __dealloc__(self):
-    del self.socket
-
-  def connect(self, Context context, string endpoint):
-    r = self.socket.connect(context.context, endpoint)
-
-    if r != 0:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
-
-  def send(self, bytes data):
-    length = len(data)
-    r = self.socket.send(<char*>data, length)
-
-    if r != length:
-      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
-      else:
-        raise MessagingError
-
-  def all_readers_updated(self):
-    return self.socket.all_readers_updated()

cereal/messaging/msgq_to_zmq.cc

@@ -0,0 +1,144 @@
+#include "cereal/messaging/msgq_to_zmq.h"
+
+#include <cassert>
+
+#include "common/util.h"
+
+extern ExitHandler do_exit;
+
+// Max messages to process per socket per poll
+constexpr int MAX_MESSAGES_PER_SOCKET = 50;
+
+static std::string recv_zmq_msg(void *sock) {
+  zmq_msg_t msg;
+  zmq_msg_init(&msg);
+  std::string ret;
+  if (zmq_msg_recv(&msg, sock, 0) > 0) {
+    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+  zmq_msg_close(&msg);
+  return ret;
+}
+
+void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
+  zmq_context = std::make_unique<ZMQContext>();
+  msgq_context = std::make_unique<MSGQContext>();
+
+  // Create ZMQPubSockets for each endpoint
+  for (const auto &endpoint : endpoints) {
+    auto &socket_pair = socket_pairs.emplace_back();
+    socket_pair.endpoint = endpoint;
+    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
+    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
+    if (ret != 0) {
+      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
+      return;
+    }
+  }
+
+  // Start ZMQ monitoring thread to monitor socket events
+  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
+
+  // Main loop for processing messages
+  while (!do_exit) {
+    {
+      std::unique_lock lk(mutex);
+      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
+      if (do_exit) break;
+
+      for (auto sub_sock : msgq_poller->poll(100)) {
+        // Process messages for each socket
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
+        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
+          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
+          if (!msg) break;
+
+          while (pub_sock->sendMessage(msg.get()) == -1) {
+            if (errno != EINTR) break;
+          }
+        }
+      }
+    }
+    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
+  }
+
+  thread.join();
+}
+
+void MsgqToZmq::zmqMonitorThread() {
+  std::vector<zmq_pollitem_t> pollitems;
+
+  // Set up ZMQ monitor for each pub socket
+  for (int i = 0; i < socket_pairs.size(); ++i) {
+    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+
+    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
+    zmq_connect(monitor_socket, addr.c_str());
+    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
+  }
+
+  while (!do_exit) {
+    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
+    if (ret < 0) {
+      if (errno == EINTR) {
+        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
+        // to reduce CPU usage during retry attempts.
+        util::sleep_for(200);
+      }
+      continue;
+    }
+
+    for (int i = 0; i < pollitems.size(); ++i) {
+      if (pollitems[i].revents & ZMQ_POLLIN) {
+        // First frame in message contains event number and value
+        std::string frame = recv_zmq_msg(pollitems[i].socket);
+        if (frame.empty()) continue;
+
+        uint16_t event_type = *(uint16_t *)(frame.data());
+
+        // Second frame in message contains event address
+        frame = recv_zmq_msg(pollitems[i].socket);
+        if (frame.empty()) continue;
+
+        std::unique_lock lk(mutex);
+        auto &pair = socket_pairs[i];
+        if (event_type & ZMQ_EVENT_ACCEPTED) {
+          printf("socket [%s] connected\n", pair.endpoint.c_str());
+          if (++pair.connected_clients == 1) {
+            // Create new MSGQ subscriber socket and map to ZMQ publisher
+            pair.sub_sock = std::make_unique<MSGQSubSocket>();
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
+            registerSockets();
+          }
+        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
+          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
+          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
+            // Remove MSGQ subscriber socket from mapping and reset it
+            sub2pub.erase(pair.sub_sock.get());
+            pair.sub_sock.reset(nullptr);
+            registerSockets();
+          }
+        }
+        cv.notify_one();
+      }
+    }
+  }
+
+  // Clean up monitor sockets
+  for (int i = 0; i < pollitems.size(); ++i) {
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
+    zmq_close(pollitems[i].socket);
+  }
+  cv.notify_one();
+}
+
+void MsgqToZmq::registerSockets() {
+  msgq_poller = std::make_unique<MSGQPoller>();
+  for (const auto &socket_pair : socket_pairs) {
+    if (socket_pair.sub_sock) {
+      msgq_poller->registerSocket(socket_pair.sub_sock.get());
+    }
+  }
+}

cereal/messaging/msgq_to_zmq.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <condition_variable>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#define private public
+#include "msgq/impl_msgq.h"
+#include "msgq/impl_zmq.h"
+
+class MsgqToZmq {
+public:
+  MsgqToZmq() {}
+  void run(const std::vector<std::string> &endpoints, const std::string &ip);
+
+protected:
+  void registerSockets();
+  void zmqMonitorThread();
+
+  struct SocketPair {
+    std::string endpoint;
+    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<MSGQSubSocket> sub_sock;
+    int connected_clients = 0;
+  };
+
+  std::unique_ptr<MSGQContext> msgq_context;
+  std::unique_ptr<ZMQContext> zmq_context;
+  std::mutex mutex;
+  std::condition_variable cv;
+  std::unique_ptr<MSGQPoller> msgq_poller;
+  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::vector<SocketPair> socket_pairs;
+};

cereal/messaging/socketmaster.cc

@@ -1,27 +1,13 @@
-#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
 #include <mutex>
 
-#include "services.h"
-#include "messaging.h"
+#include "cereal/services.h"
+#include "cereal/messaging/messaging.h"
 
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
-static inline uint64_t nanos_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000000000ULL + t.tv_nsec;
-}
-
-static const service *get_service(const char *name) {
-  for (const auto &it : services) {
-    if (strcmp(it.name, name) == 0) return &it;
-  }
-  return nullptr;
-}
-
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;
@@ -31,7 +17,7 @@ static inline bool inList(const std::vector<const char *> &list, const char *val
 
 class MessageContext {
 public:
-  MessageContext() : ctx_(nullptr) {};
+  MessageContext() : ctx_(nullptr) {}
   ~MessageContext() { delete ctx_; }
   inline Context *context() {
     std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
@@ -47,30 +33,34 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  int freq = 0;
-  bool updated = false, alive = false, valid = true, ignore_alive;
+  float freq = 0.0f;
+  bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
+  bool is_polled = false;
   capnp::FlatArrayMessageReader *msg_reader = nullptr;
   AlignedBuffer aligned_buf;
   cereal::Event::Reader event;
 };
 
-SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
-                     const std::vector<const char *> &ignore_alive) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
+                     const char *address, const std::vector<const char *> &ignore_alive) {
   poller_ = Poller::create();
   for (auto name : service_list) {
-    const service *serv = get_service(name);
-    assert(serv != nullptr);
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
+    assert(services.count(std::string(name)) > 0);
+
+    service serv = services.at(std::string(name));
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
     assert(socket != 0);
-    poller_->registerSocket(socket);
+    bool is_polled = inList(poll, name) || poll.empty();
+    if (is_polled) poller_->registerSocket(socket);
     SubMessage *m = new SubMessage{
       .name = name,
       .socket = socket,
-      .freq = serv->frequency,
+      .freq = serv.frequency,
       .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
+      .is_polled = is_polled};
     m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
     messages_[socket] = m;
     services_[name] = m;
@@ -81,6 +71,14 @@ void SubMaster::update(int timeout) {
   for (auto &kv : messages_) kv.second->updated = false;
 
   auto sockets = poller_->poll(timeout);
+
+  // add non-polled sockets for non-blocking receive
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    SubSocket *s = kv.first;
+    if (!m->is_polled) sockets.push_back(s);
+  }
+
   uint64_t current_time = nanos_since_boot();
 
   std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
@@ -92,7 +90,9 @@ void SubMaster::update(int timeout) {
     SubMessage *m = messages_.at(s);
 
     m->msg_reader->~FlatArrayMessageReader();
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
+    capnp::ReaderOptions options;
+    options.traversalLimitInWords = kj::maxValue; // Don't limit
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
     delete msg;
     messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
   }
@@ -100,10 +100,10 @@ void SubMaster::update(int timeout) {
   update_msgs(current_time, messages);
 }
 
-void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
+void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
   if (++frame == UINT64_MAX) frame = 1;
 
-  for(auto &kv : messages) {
+  for (auto &kv : messages) {
     auto m_find = services_.find(kv.first);
     if (m_find == services_.end()){
       continue;
@@ -171,7 +171,7 @@ uint64_t SubMaster::rcv_time(const char *name) const {
 
 cereal::Event::Reader &SubMaster::operator[](const char *name) const {
   return services_.at(name)->event;
-};
+}
 
 SubMaster::~SubMaster() {
   delete poller_;
@@ -186,8 +186,9 @@ SubMaster::~SubMaster() {
 
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
-    assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
+    assert(services.count(name) > 0);
+    service serv = services.at(std::string(name));
+    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/messaging/tests/test_messaging.py

@@ -0,0 +1,185 @@
+import os
+import capnp
+import multiprocessing
+import numbers
+import random
+import threading
+import time
+from parameterized import parameterized
+import pytest
+
+from cereal import log, car
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+
+events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
+
+def random_sock():
+  return random.choice(events)
+
+def random_socks(num_socks=10):
+  return list({random_sock() for _ in range(num_socks)})
+
+def random_bytes(length=1000):
+  return bytes([random.randrange(0xFF) for _ in range(length)])
+
+def zmq_sleep(t=1):
+  if "ZMQ" in os.environ:
+    time.sleep(t)
+
+
+# TODO: this should take any capnp struct and returrn a msg with random populated data
+def random_carstate():
+  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
+  msg = messaging.new_message("carState")
+  cs = msg.carState
+  for f in fields:
+    setattr(cs, f, random.random() * 10)
+  return msg
+
+# TODO: this should compare any capnp structs
+def assert_carstate(cs1, cs2):
+  for f in car.CarState.schema.non_union_fields:
+    # TODO: check all types
+    val1, val2 = getattr(cs1, f), getattr(cs2, f)
+    if isinstance(val1, numbers.Number):
+      assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
+
+def delayed_send(delay, sock, dat):
+  def send_func():
+    sock.send(dat)
+  threading.Timer(delay, send_func).start()
+
+
+class TestMessaging:
+  def setUp(self):
+    # TODO: ZMQ tests are too slow; all sleeps will need to be
+    # replaced with logic to block on the necessary condition
+    if "ZMQ" in os.environ:
+      pytest.skip()
+
+    # ZMQ pub socket takes too long to die
+    # sleep to prevent multiple publishers error between tests
+    zmq_sleep()
+
+  @parameterized.expand(events)
+  def test_new_message(self, evt):
+    try:
+      msg = messaging.new_message(evt)
+    except capnp.lib.capnp.KjException:
+      msg = messaging.new_message(evt, random.randrange(200))
+    assert (time.monotonic() - msg.logMonoTime) < 0.1
+    assert not msg.valid
+    assert evt == msg.which()
+
+  @parameterized.expand(events)
+  def test_pub_sock(self, evt):
+    messaging.pub_sock(evt)
+
+  @parameterized.expand(events)
+  def test_sub_sock(self, evt):
+    messaging.sub_sock(evt)
+
+  @parameterized.expand([
+    (messaging.drain_sock, capnp._DynamicStructReader),
+    (messaging.drain_sock_raw, bytes),
+  ])
+  def test_drain_sock(self, func, expected_type):
+    sock = "carState"
+    pub_sock = messaging.pub_sock(sock)
+    sub_sock = messaging.sub_sock(sock, timeout=1000)
+    zmq_sleep()
+
+    # no wait and no msgs in queue
+    msgs = func(sub_sock)
+    assert isinstance(msgs, list)
+    assert len(msgs) == 0
+
+    # no wait but msgs are queued up
+    num_msgs = random.randrange(3, 10)
+    for _ in range(num_msgs):
+      pub_sock.send(messaging.new_message(sock).to_bytes())
+    time.sleep(0.1)
+    msgs = func(sub_sock)
+    assert isinstance(msgs, list)
+    assert all(isinstance(msg, expected_type) for msg in msgs)
+    assert len(msgs) == num_msgs
+
+  def test_recv_sock(self):
+    sock = "carState"
+    pub_sock = messaging.pub_sock(sock)
+    sub_sock = messaging.sub_sock(sock, timeout=100)
+    zmq_sleep()
+
+    # no wait and no msg in queue, socket should timeout
+    recvd = messaging.recv_sock(sub_sock)
+    assert recvd is None
+
+    # no wait and one msg in queue
+    msg = random_carstate()
+    pub_sock.send(msg.to_bytes())
+    time.sleep(0.01)
+    recvd = messaging.recv_sock(sub_sock)
+    assert isinstance(recvd, capnp._DynamicStructReader)
+    # https://github.com/python/mypy/issues/13038
+    assert_carstate(msg.carState, recvd.carState)
+
+  def test_recv_one(self):
+    sock = "carState"
+    pub_sock = messaging.pub_sock(sock)
+    sub_sock = messaging.sub_sock(sock, timeout=1000)
+    zmq_sleep()
+
+    # no msg in queue, socket should timeout
+    recvd = messaging.recv_one(sub_sock)
+    assert recvd is None
+
+    # one msg in queue
+    msg = random_carstate()
+    pub_sock.send(msg.to_bytes())
+    recvd = messaging.recv_one(sub_sock)
+    assert isinstance(recvd, capnp._DynamicStructReader)
+    assert_carstate(msg.carState, recvd.carState)
+
+  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
+  def test_recv_one_or_none(self):
+    sock = "carState"
+    pub_sock = messaging.pub_sock(sock)
+    sub_sock = messaging.sub_sock(sock)
+    zmq_sleep()
+
+    # no msg in queue, socket shouldn't block
+    recvd = messaging.recv_one_or_none(sub_sock)
+    assert recvd is None
+
+    # one msg in queue
+    msg = random_carstate()
+    pub_sock.send(msg.to_bytes())
+    recvd = messaging.recv_one_or_none(sub_sock)
+    assert isinstance(recvd, capnp._DynamicStructReader)
+    assert_carstate(msg.carState, recvd.carState)
+
+  def test_recv_one_retry(self):
+    sock = "carState"
+    sock_timeout = 0.1
+    pub_sock = messaging.pub_sock(sock)
+    sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
+    zmq_sleep()
+
+    # this test doesn't work with ZMQ since multiprocessing interrupts it
+    if "ZMQ" not in os.environ:
+      # wait 5 socket timeouts and make sure it's still retrying
+      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+      p.start()
+      time.sleep(sock_timeout*5)
+      assert p.is_alive()
+      p.terminate()
+
+    # wait 5 socket timeouts before sending
+    msg = random_carstate()
+    start_time = time.monotonic()
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
+    recvd = messaging.recv_one_retry(sub_sock)
+    assert (time.monotonic() - start_time) >= sock_timeout*5
+    assert isinstance(recvd, capnp._DynamicStructReader)
+    assert_carstate(msg.carState, recvd.carState)

cereal/messaging/tests/test_pub_sub_master.py

@@ -0,0 +1,160 @@
+import random
+import time
+from typing import Sized, cast
+
+import cereal.messaging as messaging
+from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+                                                  random_bytes, random_carstate, assert_carstate, \
+                                                  zmq_sleep
+from cereal.services import SERVICE_LIST
+
+
+class TestSubMaster:
+
+  def setup_method(self):
+    # ZMQ pub socket takes too long to die
+    # sleep to prevent multiple publishers error between tests
+    zmq_sleep(3)
+
+  def test_init(self):
+    sm = messaging.SubMaster(events)
+    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
+              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
+      assert len(cast(Sized, p)) == len(events)
+
+  def test_init_state(self):
+    socks = random_socks()
+    sm = messaging.SubMaster(socks)
+    assert sm.frame == -1
+    assert not any(sm.updated.values())
+    assert not any(sm.seen.values())
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
+    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
+    assert all(t == 0. for t in sm.recv_time.values())
+    assert all(f == 0 for f in sm.recv_frame.values())
+    assert all(t == 0 for t in sm.logMonoTime.values())
+
+    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
+              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
+      assert len(cast(Sized, p)) == len(socks)
+
+  def test_getitem(self):
+    sock = "carState"
+    pub_sock = messaging.pub_sock(sock)
+    sm = messaging.SubMaster([sock,])
+    zmq_sleep()
+
+    msg = random_carstate()
+    pub_sock.send(msg.to_bytes())
+    sm.update(1000)
+    assert_carstate(msg.carState, sm[sock])
+
+  # TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
+  def test_update(self):
+    sock = "carState"
+    pub_sock = messaging.pub_sock(sock)
+    sm = messaging.SubMaster([sock,])
+    zmq_sleep()
+
+    for i in range(10):
+      msg = messaging.new_message(sock)
+      pub_sock.send(msg.to_bytes())
+      sm.update(1000)
+      assert sm.frame == i
+      assert all(sm.updated.values())
+
+  def test_update_timeout(self):
+    sock = random_sock()
+    sm = messaging.SubMaster([sock,])
+    timeout = random.randrange(1000, 3000)
+    start_time = time.monotonic()
+    sm.update(timeout)
+    t = time.monotonic() - start_time
+    assert t >= timeout/1000.
+    assert t < 3
+    assert not any(sm.updated.values())
+
+  def test_avg_frequency_checks(self):
+    for poll in (True, False):
+      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
+                               poll=("modelV2" if poll else None),
+                               frequency=(20. if not poll else None))
+
+      checks = {
+        "carState": (20, 20),
+        "modelV2": (20, 20 if poll else 10),
+        "cameraOdometry": (20, 10),
+        "liveCalibration": (4, 4),
+        "carParams": (None, None),
+        "userBookmark": (None, None),
+      }
+
+      for service, (max_freq, min_freq) in checks.items():
+        if max_freq is not None:
+          assert sm._check_avg_freq(service)
+          assert sm.freq_tracker[service].max_freq == max_freq*1.2
+          assert sm.freq_tracker[service].min_freq == min_freq*0.8
+        else:
+          assert not sm._check_avg_freq(service)
+
+  def test_alive(self):
+    pass
+
+  def test_ignore_alive(self):
+    pass
+
+  def test_valid(self):
+    pass
+
+  # SubMaster should always conflate
+  def test_conflate(self):
+    sock = "carState"
+    pub_sock = messaging.pub_sock(sock)
+    sm = messaging.SubMaster([sock,])
+
+    n = 10
+    for i in range(n+1):
+      msg = messaging.new_message(sock)
+      msg.carState.vEgo = i
+      pub_sock.send(msg.to_bytes())
+      time.sleep(0.01)
+    sm.update(1000)
+    assert sm[sock].vEgo == n
+
+
+class TestPubMaster:
+
+  def setup_method(self):
+    # ZMQ pub socket takes too long to die
+    # sleep to prevent multiple publishers error between tests
+    zmq_sleep(3)
+
+  def test_init(self):
+    messaging.PubMaster(events)
+
+  def test_send(self):
+    socks = random_socks()
+    pm = messaging.PubMaster(socks)
+    sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
+    zmq_sleep()
+
+    # PubMaster accepts either a capnp msg builder or bytes
+    for capnp in [True, False]:
+      for i in range(100):
+        sock = socks[i % len(socks)]
+
+        if capnp:
+          try:
+            msg = messaging.new_message(sock)
+          except Exception:
+            msg = messaging.new_message(sock, random.randrange(50))
+        else:
+          msg = random_bytes()
+
+        pm.send(sock, msg)
+        recvd = sub_socks[sock].receive()
+
+        if capnp:
+          msg.clear_write_flag()
+          msg = msg.to_bytes()
+        assert msg == recvd, i

cereal/messaging/tests/test_services.py

@@ -0,0 +1,21 @@
+import os
+import tempfile
+from typing import Dict
+from parameterized import parameterized
+
+import cereal.services as services
+from cereal.services import SERVICE_LIST
+
+
+class TestServices:
+
+  @parameterized.expand(SERVICE_LIST.keys())
+  def test_services(self, s):
+    service = SERVICE_LIST[s]
+    assert service.frequency <= 104
+    assert service.decimation != 0
+
+  def test_generated_header(self):
+    with tempfile.NamedTemporaryFile(suffix=".h") as f:
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      assert ret == 0, "generated services header is not valid C"

cereal/services.py

@@ -1,73 +1,114 @@
 #!/usr/bin/env python3
-import os
+from enum import IntEnum
 from typing import Optional
 
-TICI = os.path.isfile('/TICI')
-RESERVED_PORT = 8022  # sshd
-STARTING_PORT = 8001
 
-
-def new_port(port: int):
-  port += STARTING_PORT
-  return port + 1 if port >= RESERVED_PORT else port
+# TODO: this should be automatically determined using the capnp schema
+class QueueSize(IntEnum):
+  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
+  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
+  SMALL = 250 * 1024          # 250KB - most services
 
 
 class Service:
-  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
-    self.port = port
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+               queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
+    self.queue_size = queue_size
 
-DCAM_FREQ = 10. if not TICI else 20.
 
-services = {
+_services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
-  "sensorEvents": (True, 100., 100),
+  # note: the "EncodeIdx" packets will still be in the log
+  "gyroscope": (True, 104., 104),
+  "accelerometer": (True, 104., 104),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "can": (True, 100.),
-  "controlsState": (True, 100., 10),
-  "pandaState": (True, 2., 1),
+  "touch": (True, 20., 1),
+  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
+  "selfdriveState": (True, 100., 10),
+  "pandaStates": (True, 10., 1),
+  "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (True, 20., 1),
+  "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100.),
+  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
-  "androidLog": (True, 0., 1),
+  "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
+  "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
-  "procLog": (True, 0.5),
-  "gpsLocationExternal": (True, 10., 1),
+  "carOutput": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 10),
+  "driverAssistance": (True, 20., 20),
+  "procLog": (True, 0.5, 15, QueueSize.BIG),
+  "gpsLocationExternal": (True, 10., 10),
+  "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
-  "clocks": (True, 1., 1),
+  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
+  "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 2),
-  "liveParameters": (True, 20., 2),
-  "cameraOdometry": (True, 20., 5),
-  "lateralPlan": (True, 20., 5),
-  "thumbnail": (True, 0.2, 1),
-  "carEvents": (True, 1., 1),
+  "livePose": (True, 20., 4),
+  "liveParameters": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
+  "thumbnail": (True, 1 / 60., 1),
+  "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
-  "driverEncodeIdx": (True, DCAM_FREQ, 1),
-  "driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
-  "driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
-  "wideRoadEncodeIdx": (True, 20., 1),
+  "driverCameraState": (True, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
+  "driverStateV2": (True, 20., 10),
+  "driverMonitoringState": (True, 20., 10),
+  "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
-  "modelV2": (True, 20., 40),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
+  "qRoadEncodeIdx": (False, 20.),
+  "userBookmark": (True, 0., 1),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),
+  "bookmarkButton": (True, 0., 1),
+  "audioFeedback": (True, 0., 1),
+  "roadEncodeData": (False, 20., None, QueueSize.BIG),
+  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
-  # dp
-  "thermal": (True, 2., 1),
-  "dragonConf": (False, 2.),
+  # debug
+  "uiDebug": (True, 0., 1),
+  "testJoystick": (True, 0.),
+  "alertDebug": (True, 20., 5),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
+  "controlsStateExt": (True, 100.),
+  "carStateExt": (True, 100.),
+  "modelExt": (True, 20.),
+  "liveGPS": (True, 20.),
 }
-service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
-                idx, (name, vals) in enumerate(services.items())}
+SERVICE_LIST = {name: Service(*vals) for
+                idx, (name, vals) in enumerate(_services.items())}
 
 
 def build_header():
@@ -75,14 +116,19 @@ def build_header():
   h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
   h += "#ifndef __SERVICES_H\n"
   h += "#define __SERVICES_H\n"
-  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
-  h += "static struct service services[] = {\n"
-  for k, v in service_list.items():
+
+  h += "#include <map>\n"
+  h += "#include <string>\n"
+
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
+  h += "static std::map<std::string, service> services = {\n"
+  for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", %d, %s, %d, %d },\n' % \
-         (k, v.port, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
   h += "};\n"
+
   h += "#endif\n"
   return h
 

cereal/visionipc/ipc.cc

@@ -1,121 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/mman.h>
-#include <sys/socket.h>
-#include <sys/un.h>
-
-#ifdef __APPLE__
-#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
-#else
-#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
-#endif
-
-#include "ipc.h"
-
-int ipc_connect(const char* socket_path) {
-  int err;
-
-  int sock = getsocket();
-
-  if (sock < 0) return -1;
-  struct sockaddr_un addr = {
-    .sun_family = AF_UNIX,
-  };
-  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
-  err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
-  if (err != 0) {
-    close(sock);
-    return -1;
-  }
-
-  return sock;
-}
-
-int ipc_bind(const char* socket_path) {
-  int err;
-
-  unlink(socket_path);
-
-  int sock = getsocket();
-
-  struct sockaddr_un addr = {
-    .sun_family = AF_UNIX,
-  };
-  snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
-  err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
-  assert(err == 0);
-
-  err = listen(sock, 3);
-  assert(err == 0);
-
-  return sock;
-}
-
-
-int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                          int *out_num_fds) {
-  char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
-  memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
-
-  struct iovec iov = {
-    .iov_base = buf,
-    .iov_len = buf_size,
-  };
-  struct msghdr msg = {
-    .msg_iov = &iov,
-    .msg_iovlen = 1,
-  };
-
-  if (num_fds > 0) {
-    assert(fds);
-
-    msg.msg_control = control_buf;
-    msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
-  }
-
-  if (send) {
-    if (num_fds) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      cmsg->cmsg_level = SOL_SOCKET;
-      cmsg->cmsg_type = SCM_RIGHTS;
-      cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
-      memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
-    }
-    return sendmsg(fd, &msg, 0);
-  } else {
-    int r = recvmsg(fd, &msg, 0);
-    if (r < 0) return r;
-
-    int recv_fds = 0;
-    if (msg.msg_controllen > 0) {
-      struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
-      assert(cmsg);
-      assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
-      recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
-      assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
-      recv_fds /= sizeof(int);
-
-      assert(fds && recv_fds <= num_fds);
-      memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
-    }
-
-    if (msg.msg_flags) {
-      for (int i=0; i<recv_fds; i++) {
-        close(fds[i]);
-      }
-      return -1;
-    }
-
-    if (fds) {
-      assert(out_num_fds);
-      *out_num_fds = recv_fds;
-    }
-    return r;
-  }
-}

cereal/visionipc/ipc.h

@@ -1,7 +0,0 @@
-#pragma once
-#include <cstddef>
-
-int ipc_connect(const char* socket_path);
-int ipc_bind(const char* socket_path);
-int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                          int *out_num_fds);

cereal/visionipc/visionbuf.cc

@@ -1,40 +0,0 @@
-#include "visionbuf.h"
-
-#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
-
-#ifdef QCOM
-// from libadreno_utils.so
-extern "C" void compute_aligned_width_and_height(int width,
-                                                 int height,
-                                                 int bpp,
-                                                 int tile_mode,
-                                                 int raster_mode,
-                                                 int padding_threshold,
-                                                 int *aligned_w,
-                                                 int *aligned_h);
-#endif
-
-void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
-#ifdef QCOM
-  compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
-#else
-  *aligned_w = width; *aligned_h = height;
-#endif
-}
-
-void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
-  this->rgb = true;
-  this->width = width;
-  this->height = height;
-  this->stride = stride;
-}
-
-void VisionBuf::init_yuv(size_t width, size_t height){
-  this->rgb = false;
-  this->width = width;
-  this->height = height;
-
-  this->y = (uint8_t *)this->addr;
-  this->u = this->y + (width * height);
-  this->v = this->u + (width / 2 * height / 2);
-}

cereal/visionipc/visionbuf.h

@@ -1,63 +0,0 @@
-#pragma once
-#include "visionipc.h"
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#define VISIONBUF_SYNC_FROM_DEVICE 0
-#define VISIONBUF_SYNC_TO_DEVICE 1
-
-enum VisionStreamType {
-  VISION_STREAM_RGB_BACK,
-  VISION_STREAM_RGB_FRONT,
-  VISION_STREAM_RGB_WIDE,
-  VISION_STREAM_YUV_BACK,
-  VISION_STREAM_YUV_FRONT,
-  VISION_STREAM_YUV_WIDE,
-  VISION_STREAM_MAX,
-};
-
-class VisionBuf {
- public:
-  size_t len = 0;
-  size_t mmap_len = 0;
-  void * addr = nullptr;
-  int fd = 0;
-
-  bool rgb = false;
-  size_t width = 0;
-  size_t height = 0;
-  size_t stride = 0;
-
-  // YUV
-  uint8_t * y = nullptr;
-  uint8_t * u = nullptr;
-  uint8_t * v = nullptr;
-
-  // Visionipc
-  uint64_t server_id = 0;
-  size_t idx = 0;
-  VisionStreamType type;
-
-  // OpenCL
-  cl_mem buf_cl = nullptr;
-  cl_command_queue copy_q = nullptr;
-
-  // ion
-  int handle = 0;
-  bool owner = false;
-
-  void allocate(size_t len);
-  void import();
-  void init_cl(cl_device_id device_id, cl_context ctx);
-  void init_rgb(size_t width, size_t height, size_t stride);
-  void init_yuv(size_t width, size_t height);
-  void sync(int dir);
-  void free();
-};
-
-void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);

cereal/visionipc/visionbuf_cl.cc

@@ -1,86 +0,0 @@
-#include "visionbuf.h"
-
-#include <atomic>
-#include <stdio.h>
-#include <fcntl.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-
-std::atomic<int> offset = 0;
-
-static void *malloc_with_fd(size_t len, int *fd) {
-  char full_path[0x100];
-
-#ifdef __APPLE__
-  snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
-#else
-  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
-#endif
-
-  *fd = open(full_path, O_RDWR | O_CREAT, 0777);
-  assert(*fd >= 0);
-
-  unlink(full_path);
-
-  ftruncate(*fd, len);
-  void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
-  assert(addr != MAP_FAILED);
-
-  return addr;
-}
-
-void VisionBuf::allocate(size_t len) {
-  int fd;
-  void *addr = malloc_with_fd(len, &fd);
-
-  this->len = len;
-  this->mmap_len = len;
-  this->addr = addr;
-  this->fd = fd;
-}
-
-void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
-  int err;
-
-  this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
-  assert(err == 0);
-
-  this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
-  assert(err == 0);
-}
-
-
-void VisionBuf::import(){
-  assert(this->fd >= 0);
-  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
-  assert(this->addr != MAP_FAILED);
-}
-
-
-void VisionBuf::sync(int dir) {
-  int err = 0;
-  if (!this->buf_cl) return;
-
-  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
-    err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
-  } else {
-    err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
-  }
-  assert(err == 0);
-  clFinish(this->copy_q);
-}
-
-void VisionBuf::free() {
-  if (this->buf_cl){
-    int err = clReleaseMemObject(this->buf_cl);
-    assert(err == 0);
-
-    clReleaseCommandQueue(this->copy_q);
-  }
-
-  munmap(this->addr, this->len);
-  close(this->fd);
-}

cereal/visionipc/visionbuf_ion.cc

@@ -1,148 +0,0 @@
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <assert.h>
-#include <sys/mman.h>
-#include <sys/ioctl.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <linux/ion.h>
-#include <CL/cl_ext.h>
-
-#include <msm_ion.h>
-
-#include "visionbuf.h"
-
-
-// just hard-code these for convenience
-// size_t device_page_size = 0;
-// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
-//                 sizeof(device_page_size), &device_page_size,
-//                 NULL);
-
-// size_t padding_cl = 0;
-// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
-//                 sizeof(padding_cl), &padding_cl,
-//                 NULL);
-#define DEVICE_PAGE_SIZE_CL 4096
-#define PADDING_CL 0
-
-static int ion_fd = -1;
-static void ion_init() {
-  if (ion_fd == -1) {
-    ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
-  }
-}
-
-void VisionBuf::allocate(size_t len) {
-  int err;
-
-  ion_init();
-
-  struct ion_allocation_data ion_alloc = {0};
-  ion_alloc.len = len + PADDING_CL;
-  ion_alloc.align = 4096;
-  ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
-  ion_alloc.flags = ION_FLAG_CACHED;
-
-  err = ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc);
-  assert(err == 0);
-
-  struct ion_fd_data ion_fd_data = {0};
-  ion_fd_data.handle = ion_alloc.handle;
-  err = ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data);
-  assert(err == 0);
-
-  void *addr = mmap(NULL, ion_alloc.len,
-                    PROT_READ | PROT_WRITE,
-                    MAP_SHARED, ion_fd_data.fd, 0);
-  assert(addr != MAP_FAILED);
-
-  memset(addr, 0, ion_alloc.len);
-
-  this->owner = true;
-  this->len = len;
-  this->mmap_len = ion_alloc.len;
-  this->addr = addr;
-  this->handle = ion_alloc.handle;
-  this->fd = ion_fd_data.fd;
-}
-
-void VisionBuf::import(){
-  int err;
-  assert(this->fd >= 0);
-
-  ion_init();
-
-  // Get handle
-  struct ion_fd_data fd_data = {0};
-  fd_data.fd = this->fd;
-  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
-  assert(err == 0);
-
-  this->owner = false;
-  this->handle = fd_data.handle;
-  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
-  assert(this->addr != MAP_FAILED);
-}
-
-void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
-  int err;
-
-  assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
-
-  cl_mem_ion_host_ptr ion_cl = {0};
-  ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
-  ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
-  ion_cl.ion_filedesc = this->fd;
-  ion_cl.ion_hostptr = this->addr;
-
-  this->buf_cl = clCreateBuffer(ctx,
-                              CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
-                              this->len, &ion_cl, &err);
-  assert(err == 0);
-}
-
-
-void VisionBuf::sync(int dir) {
-  int err;
-
-  struct ion_flush_data flush_data = {0};
-  flush_data.handle = this->handle;
-  flush_data.vaddr = this->addr;
-  flush_data.offset = 0;
-  flush_data.length = this->len;
-
-  // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
-  // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
-  // ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
-
-  struct ion_custom_data custom_data = {0};
-
-   assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
-   custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
-     ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
-
-  custom_data.arg = (unsigned long)&flush_data;
-  err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
-  assert(err == 0);
-}
-
-void VisionBuf::free() {
-  if (this->buf_cl){
-    int err = clReleaseMemObject(this->buf_cl);
-    assert(err == 0);
-  }
-
-  munmap(this->addr, this->mmap_len);
-  close(this->fd);
-
-  // Free the ION buffer if we also shared it
-  if (this->owner){
-    struct ion_handle_data handle_data = {.handle = this->handle};
-    int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-    assert(ret == 0);
-  }
-}

cereal/visionipc/visionipc.h

@@ -1,18 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <cstddef>
-
-constexpr int VISIONIPC_MAX_FDS = 128;
-
-struct VisionIpcBufExtra {
-  uint32_t frame_id;
-  uint64_t timestamp_sof;
-  uint64_t timestamp_eof;
-};
-
-struct VisionIpcPacket {
-  uint64_t server_id;
-  size_t idx;
-  struct VisionIpcBufExtra extra;
-};

cereal/visionipc/visionipc.pxd

@@ -1,29 +0,0 @@
-# distutils: language = c++
-#cython: language_level=3
-
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libc.stdint cimport uint32_t, uint64_t
-from libcpp cimport bool
-
-cdef extern from "visionbuf.h":
-  cdef enum VisionStreamType:
-    pass
-
-  cdef cppclass VisionBuf:
-    void * addr
-    size_t len
-
-cdef extern from "visionipc.h":
-  struct VisionIpcBufExtra:
-    uint32_t frame_id
-    uint64_t timestamp_sof
-    uint64_t timestamp_eof
-
-cdef extern from "visionipc_server.h":
-  cdef cppclass VisionIpcServer:
-    VisionIpcServer(string, void*, void*)
-    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
-    VisionBuf * get_buffer(VisionStreamType)
-    void send(VisionBuf *, VisionIpcBufExtra *, bool)
-    void start_listener()

cereal/visionipc/visionipc_client.cc

@@ -1,119 +0,0 @@
-#include <chrono>
-#include <cassert>
-#include <iostream>
-#include <thread>
-
-#include "ipc.h"
-#include "visionipc_client.h"
-#include "visionipc_server.h"
-
-VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
-  msg_ctx = Context::create();
-  sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
-
-  poller = Poller::create();
-  poller->registerSocket(sock);
-}
-
-// Connect is not thread safe. Do not use the buffers while calling connect
-bool VisionIpcClient::connect(bool blocking){
-  connected = false;
-
-  // Cleanup old buffers on reconnect
-  for (size_t i = 0; i < num_buffers; i++){
-    buffers[i].free();
-  }
-  num_buffers = 0;
-
-  // Connect to server socket and ask for all FDs of type
-  std::string path = "/tmp/visionipc_" + name;
-
-  int socket_fd = -1;
-  while (socket_fd < 0) {
-    socket_fd = ipc_connect(path.c_str());
-
-    if (socket_fd < 0) {
-      if (blocking){
-        std::cout << "VisionIpcClient connecting" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-      } else {
-        return false;
-      }
-    }
-  }
-
-  // Send stream type to server to request FDs
-  int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
-  assert(r == sizeof(type));
-
-  // Get FDs
-  int fds[VISIONIPC_MAX_FDS];
-  VisionBuf bufs[VISIONIPC_MAX_FDS];
-  r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
-
-  assert(num_buffers > 0);
-  assert(r == sizeof(VisionBuf) * num_buffers);
-
-  // Import buffers
-  for (size_t i = 0; i < num_buffers; i++){
-    buffers[i] = bufs[i];
-    buffers[i].fd = fds[i];
-    buffers[i].import();
-    if (buffers[i].rgb) {
-      buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
-    } else {
-      buffers[i].init_yuv(buffers[i].width, buffers[i].height);
-    }
-
-    if (device_id) buffers[i].init_cl(device_id, ctx);
-  }
-
-  connected = true;
-  return true;
-}
-
-VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
-  auto p = poller->poll(timeout_ms);
-
-  if (!p.size()){
-    return nullptr;
-  }
-
-  Message * r = sock->receive(true);
-  if (r == nullptr){
-    return nullptr;
-  }
-
-  // Get buffer
-  assert(r->getSize() == sizeof(VisionIpcPacket));
-  VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
-
-  assert(packet->idx < num_buffers);
-  VisionBuf * buf = &buffers[packet->idx];
-
-  if (buf->server_id != packet->server_id){
-    connected = false;
-    delete r;
-    return nullptr;
-  }
-
-  if (extra) {
-    *extra = packet->extra;
-  }
-
-  buf->sync(VISIONBUF_SYNC_TO_DEVICE);
-  delete r;
-  return buf;
-}
-
-
-
-VisionIpcClient::~VisionIpcClient(){
-  for (size_t i = 0; i < num_buffers; i++){
-    buffers[i].free();
-  }
-
-  delete sock;
-  delete poller;
-  delete msg_ctx;
-}

cereal/visionipc/visionipc_client.h

@@ -1,32 +0,0 @@
-#pragma once
-#include <vector>
-#include <string>
-#include <unistd.h>
-
-#include "messaging/messaging.h"
-#include "visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
-
-class VisionIpcClient {
-private:
-  std::string name;
-  Context * msg_ctx;
-  SubSocket * sock;
-  Poller * poller;
-
-  VisionStreamType type;
-
-  cl_device_id device_id = nullptr;
-  cl_context ctx = nullptr;
-
-  void init_msgq(bool conflate);
-
-public:
-  bool connected = false;
-  int num_buffers = 0;
-  VisionBuf buffers[VISIONIPC_MAX_FDS];
-  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
-  ~VisionIpcClient();
-  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
-  bool connect(bool blocking=true);
-};

cereal/visionipc/visionipc_pyx.pyx

@@ -1,49 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import sys
-from libcpp.string cimport string
-from libcpp cimport bool
-from libc.string cimport memcpy
-from libc.stdint cimport uint32_t, uint64_t
-
-from .visionipc cimport VisionIpcServer as cppVisionIpcServer
-from .visionipc cimport VisionBuf as cppVisionBuf
-from .visionipc cimport VisionIpcBufExtra
-
-cpdef enum VisionStreamType:
-  VISION_STREAM_RGB_BACK
-  VISION_STREAM_RGB_FRONT
-  VISION_STREAM_RGB_WIDE
-  VISION_STREAM_YUV_BACK
-  VISION_STREAM_YUV_FRONT
-  VISION_STREAM_YUV_WIDE
-
-cdef class VisionIpcServer:
-  cdef cppVisionIpcServer * server
-
-  def __init__(self, string name):
-    self.server = new cppVisionIpcServer(name, NULL, NULL)
-
-  def create_buffers(self,  VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
-    self.server.create_buffers(tp, num_buffers, rgb, width, height)
-
-  def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
-    cdef cppVisionBuf * buf = self.server.get_buffer(tp)
-
-    # Populate buffer
-    assert buf.len == len(data)
-    memcpy(buf.addr, <char*>data, len(data))
-
-    cdef VisionIpcBufExtra extra
-    extra.frame_id = frame_id
-    extra.timestamp_sof = timestamp_sof
-    extra.timestamp_eof = timestamp_eof
-
-    self.server.send(buf, &extra, False)
-
-  def start_listener(self):
-    self.server.start_listener()
-
-  def __dealloc__(self):
-    del self.server

cereal/visionipc/visionipc_server.cc

@@ -1,179 +0,0 @@
-#include <iostream>
-#include <chrono>
-#include <cassert>
-#include <random>
-
-#include <poll.h>
-#include <sys/socket.h>
-#include <unistd.h>
-
-#include "messaging/messaging.h"
-#include "visionipc/ipc.h"
-#include "visionipc/visionipc_server.h"
-
-std::string get_endpoint_name(std::string name, VisionStreamType type){
-  if (messaging_use_zmq()){
-    assert(name == "camerad");
-    return std::to_string(9000 + static_cast<int>(type));
-  } else {
-    return "visionipc_" + name + "_" + std::to_string(type);
-  }
-}
-
-VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
-  msg_ctx = Context::create();
-
-  std::random_device rd("/dev/urandom");
-  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
-  server_id = distribution(rd);
-}
-
-void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
-  // TODO: assert that this type is not created yet
-  assert(num_buffers < VISIONIPC_MAX_FDS);
-  int aligned_w = 0, aligned_h = 0;
-
-  size_t size = 0;
-  size_t stride = 0; // Only used for RGB
-
-  if (rgb) {
-    visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
-    size = (size_t)aligned_w * (size_t)aligned_h * 3;
-    stride = aligned_w * 3;
-  } else {
-    size = width * height * 3 / 2;
-  }
-
-
-  // Create map + alloc requested buffers
-  for (size_t i = 0; i < num_buffers; i++){
-    VisionBuf* buf = new VisionBuf();
-    buf->allocate(size);
-    buf->idx = i;
-    buf->type = type;
-
-    if (device_id) buf->init_cl(device_id, ctx);
-
-    rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
-
-    buffers[type].push_back(buf);
-  }
-
-  cur_idx[type] = 0;
-
-  // Create msgq publisher for each of the `name` + type combos
-  // TODO: compute port number directly if using zmq
-  sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
-}
-
-
-void VisionIpcServer::start_listener(){
-  listener_thread = std::thread(&VisionIpcServer::listener, this);
-}
-
-
-void VisionIpcServer::listener(){
-  std::cout << "Starting listener for: " << name << std::endl;
-
-  std::string path = "/tmp/visionipc_" + name;
-  int sock = ipc_bind(path.c_str());
-  assert(sock >= 0);
-
-  while (!should_exit){
-    // Wait for incoming connection
-    struct pollfd polls[1] = {{0}};
-    polls[0].fd = sock;
-    polls[0].events = POLLIN;
-
-    int ret = poll(polls, 1, 100);
-    if (ret < 0) {
-      if (errno == EINTR || errno == EAGAIN) continue;
-      std::cout << "poll failed, stopping listener" << std::endl;
-      break;
-    }
-
-    if (should_exit) break;
-    if (!polls[0].revents) {
-      continue;
-    }
-
-    // Handle incoming request
-    int fd = accept(sock, NULL, NULL);
-    assert(fd >= 0);
-
-    VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
-    int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
-    assert(r == sizeof(type));
-    if (buffers.count(type) <= 0) {
-      std::cout << "got request for invalid buffer type: " << type << std::endl;
-      close(fd);
-      continue;
-    }
-
-    int fds[VISIONIPC_MAX_FDS];
-    int num_fds = buffers[type].size();
-    VisionBuf bufs[VISIONIPC_MAX_FDS];
-
-    for (int i = 0; i < num_fds; i++){
-      fds[i] = buffers[type][i]->fd;
-      bufs[i] = *buffers[type][i];
-
-      // Remove some private openCL/ion metadata
-      bufs[i].buf_cl = 0;
-      bufs[i].copy_q = 0;
-      bufs[i].handle = 0;
-      bufs[i].owner = false;
-
-      bufs[i].server_id = server_id;
-    }
-
-    r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
-
-    close(fd);
-  }
-
-  std::cout << "Stopping listener for: " << name << std::endl;
-  close(sock);
-}
-
-
-
-VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
-  // Do we want to keep track if the buffer has been sent out yet and warn user?
-  assert(buffers.count(type));
-  auto b = buffers[type];
-  return b[cur_idx[type]++ % b.size()];
-}
-
-void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
-  if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
-  assert(buffers.count(buf->type));
-  assert(buf->idx < buffers[buf->type].size());
-
-  // Send over correct msgq socket
-  VisionIpcPacket packet = {0};
-  packet.server_id = server_id;
-  packet.idx = buf->idx;
-  packet.extra = *extra;
-
-  sockets[buf->type]->send((char*)&packet, sizeof(packet));
-}
-
-VisionIpcServer::~VisionIpcServer(){
-  should_exit = true;
-  listener_thread.join();
-
-  // VisionBuf cleanup
-  for( auto const& [type, buf] : buffers ) {
-    for (VisionBuf* b : buf){
-      b->free();
-      delete b;
-    }
-  }
-
-  // Messaging cleanup
-  for( auto const& [type, sock] : sockets ) {
-    delete sock;
-  }
-  delete msg_ctx;
-}

cereal/visionipc/visionipc_server.h

@@ -1,42 +0,0 @@
-#pragma once
-#include <vector>
-#include <string>
-#include <thread>
-#include <atomic>
-#include <map>
-
-#include "messaging/messaging.h"
-#include "visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
-
-std::string get_endpoint_name(std::string name, VisionStreamType type);
-
-class VisionIpcServer {
- private:
-  cl_device_id device_id = nullptr;
-  cl_context ctx = nullptr;
-  uint64_t server_id;
-
-  std::atomic<bool> should_exit = false;
-  std::string name;
-  std::thread listener_thread;
-
-  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
-  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
-  std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
-
-  Context * msg_ctx;
-  std::map<VisionStreamType, PubSocket*> sockets;
-
-  void listener(void);
-
- public:
-  VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
-  ~VisionIpcServer();
-
-  VisionBuf * get_buffer(VisionStreamType type);
-
-  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
-  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
-  void start_listener();
-};

cereal/visionipc/visionipc_tests.cc

@@ -1,135 +0,0 @@
-#include <thread>
-#include <chrono>
-
-#include "catch2/catch.hpp"
-#include "visionipc_server.h"
-#include "visionipc_client.h"
-
-static void zmq_sleep(int milliseconds=1000){
-  if (messaging_use_zmq()){
-    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
-  }
-}
-
-TEST_CASE("Connecting"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
-  REQUIRE(client.connect());
-
-  REQUIRE(client.connected);
-}
-
-TEST_CASE("Check buffers"){
-  size_t width = 100, height = 200, num_buffers = 5;
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
-  REQUIRE(client.connect());
-
-  REQUIRE(client.buffers[0].width == width);
-  REQUIRE(client.buffers[0].height == height);
-  REQUIRE(client.buffers[0].len);
-  REQUIRE(client.num_buffers == num_buffers);
-}
-
-TEST_CASE("Check yuv/rgb"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
-  server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
-  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
-  client_yuv.connect();
-  client_rgb.connect();
-
-  REQUIRE(client_rgb.buffers[0].rgb == true);
-  REQUIRE(client_yuv.buffers[0].rgb == false);
-}
-
-TEST_CASE("Send single buffer"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
-  REQUIRE(client.connect());
-  zmq_sleep();
-
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
-  REQUIRE(buf != nullptr);
-
-  *((uint64_t*)buf->addr) = 1234;
-
-  VisionIpcBufExtra extra = {0};
-  extra.frame_id = 1337;
-
-  server.send(buf, &extra);
-
-  VisionIpcBufExtra extra_recv = {0};
-  VisionBuf * recv_buf = client.recv(&extra_recv);
-  REQUIRE(recv_buf != nullptr);
-  REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
-  REQUIRE(extra_recv.frame_id == extra.frame_id);
-}
-
-
-TEST_CASE("Test no conflate"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
-  REQUIRE(client.connect());
-  zmq_sleep();
-
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
-  REQUIRE(buf != nullptr);
-
-  VisionIpcBufExtra extra = {0};
-  extra.frame_id = 1;
-  server.send(buf, &extra);
-  extra.frame_id = 2;
-  server.send(buf, &extra);
-
-  VisionIpcBufExtra extra_recv = {0};
-  VisionBuf * recv_buf = client.recv(&extra_recv);
-  REQUIRE(recv_buf != nullptr);
-  REQUIRE(extra_recv.frame_id == 1);
-
-  recv_buf = client.recv(&extra_recv);
-  REQUIRE(recv_buf != nullptr);
-  REQUIRE(extra_recv.frame_id == 2);
-}
-
-TEST_CASE("Test conflate"){
-  VisionIpcServer server("camerad");
-  server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
-  server.start_listener();
-
-  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
-  REQUIRE(client.connect());
-  zmq_sleep();
-
-  VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
-  REQUIRE(buf != nullptr);
-
-  VisionIpcBufExtra extra = {0};
-  extra.frame_id = 1;
-  server.send(buf, &extra);
-  extra.frame_id = 2;
-  server.send(buf, &extra);
-
-  VisionIpcBufExtra extra_recv = {0};
-  VisionBuf * recv_buf = client.recv(&extra_recv);
-  REQUIRE(recv_buf != nullptr);
-  REQUIRE(extra_recv.frame_id == 2);
-
-  recv_buf = client.recv(&extra_recv);
-  REQUIRE(recv_buf == nullptr);
-}

common/SConscript

@@ -1,4 +1,29 @@
-Import('envCython', 'common')
+Import('env', 'envCython', 'arch')
 
-envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'ratekeeper.cc',
+  'clutil.cc',
+]
+
+_common = env.Library('common', common_libs, LIBS="json11")
+Export('_common')
+
+if GetOption('extras'):
+  env.Program('tests/test_common',
+              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
+              LIBS=[_common, 'json11', 'zmq', 'pthread'])
+
+# Cython bindings
+params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+
+SConscript([
+  'transformations/SConscript',
+])
+
+Import('transformations_python')
+common_python = [params_python, transformations_python]
+
+Export('common_python')

common/api.py

@@ -0,0 +1,62 @@
+import jwt
+import os
+import requests
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
+
+
+class Api:
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    self.jwt_algorithm, self.private_key, _ = get_key_pair()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours)
+    }
+    if payload_extra is not None:
+      payload.update(payload_extra)
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  # TODO: add session to Api
+  req = requests if session is None else session
+  return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
+
+
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  for key in KEYS:
+    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+      with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+        return KEYS[key], private.read(), public.read()
+  return None, None, None

common/api/__init__.py

@@ -1,45 +0,0 @@
-import jwt
-import requests
-from datetime import datetime, timedelta
-from common.basedir import PERSIST
-from selfdrive.version import version
-
-class Api():
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    with open(PERSIST+'/comma/id_rsa') as f:
-      self.private_key = f.read()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def get_token(self):
-    now = datetime.utcnow()
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=1)
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-    
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  backend = "https://api.commadotai.com/"
-
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT "+access_token
-
-  headers['User-Agent'] = "openpilot-" + version
-
-  return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)

common/basedir.py

@@ -1,11 +1,4 @@
 import os
-from pathlib import Path
 
-from selfdrive.hardware import PC, JETSON
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
-
-if PC or JETSON:
-  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
-else:
-  PERSIST = "/persist"

common/clock.pyx

@@ -1,24 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
-
-IF UNAME_SYSNAME == "Darwin":
-  # Darwin doesn't have a CLOCK_BOOTTIME
-  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
-ELSE:
-  from posix.time cimport CLOCK_BOOTTIME
-
-cdef double readclock(clockid_t clock_id):
-  cdef timespec ts
-  cdef double current
-
-  clock_gettime(clock_id, &ts)
-  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-  return current
-
-def monotonic_time():
-  return readclock(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return readclock(CLOCK_BOOTTIME)
-

common/clutil.cc

@@ -0,0 +1,98 @@
+#include "common/clutil.h"
+
+#include <cassert>
+#include <iostream>
+#include <memory>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+namespace {  // helper functions
+
+template <typename Func, typename Id, typename Name>
+std::string get_info(Func get_info_func, Id id, Name param_name) {
+  size_t size = 0;
+  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
+  std::string info(size, '\0');
+  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
+  return info;
+}
+inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
+inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
+
+void cl_print_info(cl_platform_id platform, cl_device_id device) {
+  size_t work_group_size = 0;
+  cl_device_type device_type = 0;
+  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
+  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
+  const char *type_str = "Other...";
+  switch (device_type) {
+    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
+    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
+    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
+  }
+
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
+}
+
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+  cl_build_status status;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+  size_t log_size;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+  std::string log(log_size, '\0');
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
+}
+
+}  // namespace
+
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+  cl_uint num_platforms = 0;
+  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
+  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
+  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
+
+  for (size_t i = 0; i < num_platforms; ++i) {
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
+    // Get first device
+    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
+      cl_print_info(platform_ids[i], device_id);
+      return device_id;
+    }
+  }
+  LOGE("No valid openCL platform found");
+  assert(0);
+  return nullptr;
+}
+
+cl_context cl_create_context(cl_device_id device_id) {
+  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
+}
+
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}

common/clutil.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/constants.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+# conversions
+class CV:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592
+
+
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2

common/cython_hacks.py

@@ -1,23 +0,0 @@
-import os
-import sysconfig
-from Cython.Distutils import build_ext
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)

common/dict_helpers.py

@@ -1,9 +0,0 @@
-# remove all keys that end in DEPRECATED
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d

common/dp_common.py

@@ -1,80 +0,0 @@
-#!/usr/bin/env python3.7
-import subprocess
-from cereal import car
-from common.params import Params
-from common.realtime import sec_since_boot
-import os
-params = Params()
-PARAM_PATH = params.get_params_path() + '/d/'
-LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
-
-def is_online():
-  try:
-    return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
-  except ProcessLookupError:
-    return False
-
-def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
-  if enabled:
-    if dragonconf.dpLateralMode == 0 and blinker_on:
-      steer_req = 0 if isinstance(steer_req, int) else False
-  return steer_req
-
-def common_interface_atl(ret, atl):
-  # dp
-  enable_acc = ret.cruiseState.enabled
-  if atl and ret.cruiseState.available:
-    enable_acc = True
-    if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
-      enable_acc = False
-    if ret.seatbeltUnlatched or ret.doorOpen:
-      enable_acc = False
-  return enable_acc
-
-def common_interface_get_params_lqr(ret):
-  if params.get_bool('dp_lqr'):
-    ret.lateralTuning.init('lqr')
-    ret.lateralTuning.lqr.scale = 1500.0
-    ret.lateralTuning.lqr.ki = 0.05
-
-    ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
-    ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
-    ret.lateralTuning.lqr.c = [1., 0.]
-    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
-    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
-    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
-  return ret
-
-
-def get_last_modified(delay, old_check, old_modified):
-  new_check = sec_since_boot()
-  if old_check is None or new_check - old_check >= delay:
-    return new_check, os.stat(LAST_MODIFIED).st_mtime
-  else:
-    return old_check, old_modified
-
-def param_get_if_updated(param, type, old_val, old_modified):
-  try:
-    modified = os.stat(PARAM_PATH + param).st_mtime
-  except OSError:
-    return old_val, old_modified
-  if old_modified != modified:
-    new_val = param_get(param, type, old_val)
-    new_modified = modified
-  else:
-    new_val = old_val
-    new_modified = old_modified
-  return new_val, new_modified
-
-def param_get(param_name, type, default):
-  try:
-    val = params.get(param_name, encoding='utf8').rstrip('\x00')
-    if type == 'bool':
-      val = val == '1'
-    elif type == 'int':
-      val = int(val)
-    elif type == 'float':
-      val = float(val)
-  except (TypeError, ValueError):
-    val = default
-  return val

common/dp_conf.py

@@ -1,214 +0,0 @@
-#!/usr/bin/env python3.7
-import os
-import sys
-import json
-import time
-from math import floor
-
-'''
-* type: Bool, Int8, UInt8, UInt16, Float32
-* conf_type: param, struct
-* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
-* update_once: True, False (the param will only load up once, need both param and struct defined)
-'''
-confs = [
-  # thermald data
-  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
-  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
-
-  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
-  # dashcam related
-  {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # auto shutdown
-  {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
-  # service
-  {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
-  {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
-  # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # lat ctrl
-  {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1,2]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lc_auto_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lc_auto_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
-  # long ctrl
-  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # safety
-  {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  # UIs
-  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
-  # toyota
-  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # hyundai
-  {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # honda
-  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # volkswagen
-  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  #misc
-  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
-  {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
-  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
-
-  {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
-  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  # sr learner related
-  {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
-
-  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-
-  {'name': 'dp_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-]
-
-def get_definition(name):
-  for conf in confs:
-    if conf['name'] == name:
-      return conf
-  return None
-
-def to_param_val(name, val):
-  conf = get_definition(name)
-  if conf is not None:
-    type = conf['type'].lower()
-    try:
-      if 'bool' in type:
-        val = '1' if val else '0'
-      elif 'int' in type:
-        val = int(val)
-      elif 'float' in type:
-        val = float(val)
-      return str(val)
-    except (ValueError, TypeError):
-      return ''
-  return ''
-
-def to_struct_val(name, val):
-  conf = get_definition(name)
-  if conf is not None:
-    try:
-      type = conf['type'].lower()
-      if 'bool' in type:
-        val = True if val == '1' else False
-      elif 'int' in type:
-        val = int(val)
-      elif 'float' in type:
-        val = float(val)
-      return val
-    except (ValueError, TypeError):
-      return None
-  return None
-
-'''
-function to convert param name into struct name.
-'''
-def get_struct_name(snake_str):
-  components = snake_str.split('_')
-  # We capitalize the first letter of each component except the first one
-  # with the 'title' method and join them together.
-  return components[0] + ''.join(x.title() for x in components[1:])
-
-'''
-function to generate struct for log.capnp
-'''
-def gen_log_struct():
-  count = 0
-  str = "# dp\n"
-  str += "struct DragonConf {\n"
-  for conf in confs:
-    name = get_struct_name(conf['name'])
-    if 'struct' in conf['conf_type']:
-      str += f"  {name} @{count} :{conf['type']};\n"
-      count += 1
-  str += "}"
-  print(str)
-
-'''
-function to generate support car list
-'''
-def get_support_car_list():
-  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
-  cars = dict({"cars": []})
-  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
-    try:
-      car_name = car_folder.split('/')[-1]
-      if car_name != "mock":
-        names = []
-        for attr in attrs:
-          values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
-          if hasattr(values, attr):
-            attr_values = getattr(values, attr)
-          else:
-            continue
-          if isinstance(attr_values, dict):
-            for f, v in attr_values.items():
-              if f not in names:
-                names.append(f)
-          names.sort()
-        brand_models = {"brand": car_name.upper(), "models": names }
-        cars["cars"].append(brand_models)
-    except (ImportError, IOError, ValueError):
-      pass
-  return json.dumps(cars)
-
-'''
-function to init param value.
-should add this into manager.py
-'''
-def init_params_vals(params):
-  for conf in confs:
-    if 'param' in conf['conf_type']:
-      if conf['name'] == 'dp_car_list':
-        params.put(conf['name'], get_support_car_list())
-      elif params.get(conf['name']) is None:
-        params.put(conf['name'], to_param_val(conf['name'], conf['default']))
-
-def gen_params_cc_keys():
-  for conf in confs:
-    if 'param' in conf['conf_type']:
-      print("    {\"%s\", PERSISTENT}," % conf['name'])
-
-
-if __name__ == "__main__":
-  if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
-    gen_params_cc_keys()
-  else:
-    gen_log_struct()

common/dp_time.py

@@ -1,7 +0,0 @@
-#!/usr/bin/env python3.7
-
-# delay of reading last modified
-LAST_MODIFIED_THERMALD = 10.
-LAST_MODIFIED_SYSTEMD = 1.
-LAST_MODIFIED_LANE_PLANNER = 3.
-LAST_MODIFIED_UPLOADER = 10.

common/ffi_wrapper.py

@@ -1,55 +0,0 @@
-import os
-import sys
-import fcntl
-import hashlib
-import platform
-from cffi import FFI
-
-def suffix():
-  if platform.system() == "Darwin":
-    return ".dylib"
-  else:
-    return ".so"
-
-def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
-  if libraries is None:
-    libraries = []
-
-  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
-  try:
-    os.mkdir(tmpdir)
-  except OSError:
-    pass
-
-  fd = os.open(tmpdir, 0)
-  fcntl.flock(fd, fcntl.LOCK_EX)
-  try:
-    sys.path.append(tmpdir)
-    try:
-      mod = __import__(cache)
-    except Exception:
-      print("cache miss {0}".format(cache))
-      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
-      mod = __import__(cache)
-  finally:
-    os.close(fd)
-
-  return mod.ffi, mod.lib
-
-
-def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
-  if libraries is None:
-    libraries = []
-
-  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
-  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
-  os.environ['CFLAGS'] = cflags
-  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
-
-
-def wrap_compiled(name, directory):
-  sys.path.append(directory)
-  mod = __import__(name)
-  return mod.ffi, mod.lib

common/file_helpers.py

@@ -1,122 +0,0 @@
-import os
-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)
-  except OSError:
-    if os.path.exists(path):
-      raise
-
-
-def rm_tree_or_link(path):
-  if os.path.islink(path):
-    os.unlink(path)
-  elif os.path.isdir(path):
-    shutil.rmtree(path)
-
-
-def get_tmpdir_on_same_filesystem(path):
-  normpath = os.path.normpath(path)
-  parts = normpath.split("/")
-  if len(parts) > 1 and parts[1] == "scratch":
-    return "/scratch/tmp"
-  elif len(parts) > 2 and parts[2] == "runner":
-    return "/{}/runner/tmp".format(parts[1])
-  return "/tmp"
-
-
-class AutoMoveTempdir():
-  def __init__(self, target_path, temp_dir=None):
-    self._target_path = target_path
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    os.rename(self._path, self._target_path)
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, 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)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    shutil.rmtree(self._path)
-
-  def __enter__(self):
-    return self
-
-  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)
-    os.chmod(file_obj.name, 0o644)
-    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.
-  """
-  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
-  #                 directory.
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
-
-
-def atomic_write_in_dir(path, **kwargs):
-  """Creates an atomic writer using a temporary file in the same directory
-     as the destination file.
-  """
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
-
-
-def atomic_write_in_dir_neos(path, contents, mode=None):
-  """
-  Atomically writes contents to path using a temporary file in the same directory
-  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
-  """
-
-  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
-  f.write(contents)
-  f.flush()
-  if mode is not None:
-    os.fchmod(f.fileno(), mode)
-  os.fsync(f.fileno())
-  f.close()
-
-  os.rename(f.name, path)

common/filter_simple.py

@@ -1,9 +1,34 @@
-class FirstOrderFilter():
-  # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+class FirstOrderFilter:
+  def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
 
   def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x
+
+
+class BounceFilter(FirstOrderFilter):
+  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
+    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
+    self.bounce = bounce
+    super().__init__(x0, rc, dt, initialized)
+
+  def update(self, x):
+    super().update(x)
+    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
+    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
+    self.velocity.update(0.0)
+    if abs(self.velocity.x) < 1e-5:
+      self.velocity.x = 0.0
+    self.x += self.velocity.x
     return self.x

common/git.py

@@ -0,0 +1,42 @@
+from functools import cache
+import subprocess
+from openpilot.common.utils import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
+
+
+@cache
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
+
+
+@cache
+def get_short_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
+
+
+@cache
+def get_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
+
+
+@cache
+def get_origin(cwd: str = None) -> str:
+  try:
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
+  except subprocess.CalledProcessError:  # Not on a branch, fallback
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
+
+
+@cache
+def get_normalized_origin(cwd: str = None) -> str:
+  return get_origin(cwd) \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)

common/gpio.py

@@ -1,14 +1,89 @@
-def gpio_init(pin, output):
+import os
+import fcntl
+import ctypes
+from functools import cache
+
+def gpio_init(pin: int, output: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
       f.write(b"out" if output else b"in")
   except Exception as e:
     print(f"Failed to set gpio {pin} direction: {e}")
 
-
-def gpio_set(pin, high):
+def gpio_set(pin: int, high: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
       f.write(b"1" if high else b"0")
   except Exception as e:
     print(f"Failed to set gpio {pin} value: {e}")
+
+def gpio_read(pin: int) -> bool | None:
+  val = None
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
+      val = bool(int(f.read().strip()))
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
+
+  return val
+
+def gpio_export(pin: int) -> None:
+  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
+    return
+
+  try:
+    with open("/sys/class/gpio/export", 'w') as f:
+      f.write(str(pin))
+  except Exception:
+    print(f"Failed to export gpio {pin}")
+
+@cache
+def get_irq_action(irq: int) -> list[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
+      actions = f.read().strip().split(',')
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> list[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
+        ret.append(irq)
+  return ret
+
+# *** gpiochip ***
+
+class gpioevent_data(ctypes.Structure):
+  _fields_ = [
+    ("timestamp", ctypes.c_uint64),
+    ("id", ctypes.c_uint32),
+  ]
+
+class gpioevent_request(ctypes.Structure):
+  _fields_ = [
+    ("lineoffset", ctypes.c_uint32),
+    ("handleflags", ctypes.c_uint32),
+    ("eventflags", ctypes.c_uint32),
+    ("label", ctypes.c_char * 32),
+    ("fd", ctypes.c_int)
+  ]
+
+def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
+  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
+  GPIOHANDLE_REQUEST_INPUT = 0x1
+  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
+
+  rq = gpioevent_request()
+  rq.lineoffset = pin
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
+  rq.label = label.encode('utf-8')[:31] + b'\0'
+
+  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
+  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
+  os.close(fd)
+  return int(rq.fd)

common/gps.py

@@ -0,0 +1,8 @@
+from openpilot.common.params import Params
+
+
+def get_gps_location_service(params: Params) -> str:
+  if params.get_bool("UbloxAvailable"):
+    return "gpsLocationExternal"
+  else:
+    return "gpsLocation"

common/i18n.py

@@ -1,14 +0,0 @@
-import gettext
-from selfdrive.hardware import EON
-from selfdrive.hardware.eon.hardware import getprop
-
-locale_dir = '/data/openpilot/selfdrive/assets/locales'
-supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
-
-def get_locale():
-  return getprop("persist.sys.locale") if EON else 'en-US'
-
-def events():
-  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
-  i18n.install()
-  return i18n.gettext

common/kalman/.gitignore

@@ -1 +0,0 @@
-simple_kalman_impl.c

common/kalman/SConscript

@@ -1,3 +0,0 @@
-Import('envCython')
-
-envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')

common/kalman/simple_kalman.py

@@ -1,3 +0,0 @@
-# pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
-assert KF1D

common/kalman/simple_kalman_impl.pxd

@@ -1,18 +0,0 @@
-# cython: language_level = 3
-
-cdef class KF1D:
-  cdef public:
-    double x0_0
-    double x1_0
-    double K0_0
-    double K1_0
-    double A0_0
-    double A0_1
-    double A1_0
-    double A1_1
-    double C0_0
-    double C0_1
-    double A_K_0
-    double A_K_1
-    double A_K_2
-    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: language_level=3
-
-cdef class KF1D:
-  def __init__(self, x0, A, C, K):
-    self.x0_0 = x0[0][0]
-    self.x1_0 = x0[1][0]
-    self.A0_0 = A[0][0]
-    self.A0_1 = A[0][1]
-    self.A1_0 = A[1][0]
-    self.A1_1 = A[1][1]
-    self.C0_0 = C[0]
-    self.C0_1 = C[1]
-    self.K0_0 = K[0][0]
-    self.K1_0 = K[1][0]
-
-    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
-    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
-    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
-    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
-
-  def update(self, meas):
-    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
-    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
-    self.x0_0 = x0_0
-    self.x1_0 = x1_0
-
-    return [self.x0_0, self.x1_0]
-
-  @property
-  def x(self):
-    return [[self.x0_0], [self.x1_0]]
-
-  @x.setter
-  def x(self, x):
-    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -1,23 +0,0 @@
-import numpy as np
-
-
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x = x0
-    self.A = A
-    self.C = np.atleast_2d(C)
-    self.K = K
-
-    self.A_K = self.A - np.dot(self.K, self.C)
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    return self.x

common/kalman/tests/test_simple_kalman.py

@@ -1,87 +0,0 @@
-import unittest
-import random
-import timeit
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-
-class TestSimpleKalman(unittest.TestCase):
-  def setUp(self):
-    dt = 0.01
-    x0_0 = 0.0
-    x1_0 = 0.0
-    A0_0 = 1.0
-    A0_1 = dt
-    A1_0 = 0.0
-    A1_1 = 1.0
-    C0_0 = 1.0
-    C0_1 = 0.0
-    K0_0 = 0.12287673
-    K1_0 = 0.29666309
-
-    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
-                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.array([C0_0, C0_1]),
-                           K=np.array([[K0_0], [K1_0]]))
-
-    self.kf = KF1D(x0=[[x0_0], [x1_0]],
-                   A=[[A0_0, A0_1], [A1_0, A1_1]],
-                   C=[C0_0, C0_1],
-                   K=[[K0_0], [K1_0]])
-
-  def test_getter_setter(self):
-    self.kf.x = [[1.0], [1.0]]
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
-
-  def update_returns_state(self):
-      x = self.kf.update(100)
-      self.assertEqual(x, self.kf.x)
-
-  def test_old_equal_new(self):
-    for _ in range(1000):
-      v_wheel = random.uniform(0, 200)
-
-      x_old = self.kf_old.update(v_wheel)
-      x = self.kf.update(v_wheel)
-
-      # Compare the output x, verify that the error is less than 1e-4
-      np.testing.assert_almost_equal(x_old[0], x[0])
-      np.testing.assert_almost_equal(x_old[1], x[1])
-
-  def test_new_is_faster(self):
-    setup = """
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-dt = 0.01
-x0_0 = 0.0
-x1_0 = 0.0
-A0_0 = 1.0
-A0_1 = dt
-A1_0 = 0.0
-A1_1 = 1.0
-C0_0 = 1.0
-C0_1 = 0.0
-K0_0 = 0.12287673
-K1_0 = 0.29666309
-
-kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
-                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.array([C0_0, C0_1]),
-                  K=np.array([[K0_0], [K1_0]]))
-
-kf = KF1D(x0=[[x0_0], [x1_0]],
-          A=[[A0_0, A0_1], [A1_0, A1_1]],
-          C=[C0_0, C0_1],
-          K=[[K0_0], [K1_0]])
-    """
-    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
-    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
-    self.assertTrue(kf_speed < kf_old_speed / 4)
-
-if __name__ == "__main__":
-  unittest.main()

common/logging_extra.py

@@ -3,15 +3,21 @@ import os
 import sys
 import copy
 import json
+import time
 import uuid
 import socket
 import logging
 import traceback
+import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
 
+LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
+
 def json_handler(obj):
+  if isinstance(obj, np.bool_):
+    return bool(obj)
   # if isinstance(obj, (datetime.date, datetime.time)):
   #   return obj.isoformat()
   return repr(obj)
@@ -150,19 +156,28 @@ class SwagLogger(logging.Logger):
   def bind_global(self, **kwargs):
     self.global_ctx.update(kwargs)
 
-  def event(self, event_name, *args, **kwargs):
+  def event(self, event, *args, **kwargs):
     evt = NiceOrderedDict()
-    evt['event'] = event_name
+    evt['event'] = event
     if args:
       evt['args'] = args
     evt.update(kwargs)
     if 'error' in kwargs:
       self.error(evt)
-    if 'debug' in kwargs:
+    elif 'debug' in kwargs:
       self.debug(evt)
     else:
       self.info(evt)
 
+  def timestamp(self, event_name):
+    if LOG_TIMESTAMPS:
+      t = time.monotonic()
+      tstp = NiceOrderedDict()
+      tstp['timestamp'] = NiceOrderedDict()
+      tstp['timestamp']["event"] = event_name
+      tstp['timestamp']["time"] = t*1e9
+      self.debug(tstp)
+
   def findCaller(self, stack_info=False, stacklevel=1):
     """
     Find the stack frame of the caller so that we can note the source
@@ -172,33 +187,32 @@ class SwagLogger(logging.Logger):
     #On some versions of IronPython, currentframe() returns None if
     #IronPython isn't run with -X:Frames.
     if f is not None:
-        f = f.f_back
+      f = f.f_back
     orig_f = f
     while f and stacklevel > 1:
-        f = f.f_back
-        stacklevel -= 1
+      f = f.f_back
+      stacklevel -= 1
     if not f:
-        f = orig_f
+      f = orig_f
     rv = "(unknown file)", 0, "(unknown function)", None
     while hasattr(f, "f_code"):
-        co = f.f_code
-        filename = os.path.normcase(co.co_filename)
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
 
-        # TODO: is this pylint exception correct?
-        if filename == _srcfile:  # pylint: disable=comparison-with-callable
-            f = f.f_back
-            continue
-        sinfo = None
-        if stack_info:
-            sio = io.StringIO()
-            sio.write('Stack (most recent call last):\n')
-            traceback.print_stack(f, file=sio)
-            sinfo = sio.getvalue()
-            if sinfo[-1] == '\n':
-                sinfo = sinfo[:-1]
-            sio.close()
-        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
-        break
+      if filename == _srcfile:
+        f = f.f_back
+        continue
+      sinfo = None
+      if stack_info:
+        sio = io.StringIO()
+        sio.write('Stack (most recent call last):\n')
+        traceback.print_stack(f, file=sio)
+        sinfo = sio.getvalue()
+        if sinfo[-1] == '\n':
+          sinfo = sinfo[:-1]
+        sio.close()
+      rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+      break
     return rv
 
 if __name__ == "__main__":

common/markdown.py

@@ -0,0 +1,45 @@
+HTML_REPLACEMENTS = [
+  (r'&', r'&'),
+  (r'"', r'"'),
+]
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: list[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str