dragonpilot v0.9.8

2026-06-20 13:32:04 +08:00 · 2025-06-09 09:10:51 +00:00
3235 changed files with 859100 additions and 399405 deletions
@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...
@@ -0,0 +1,39 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
+venv/
+.venv/
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+selfdrive/test/simulator2
+**/cache_data
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk
@@ -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
@@ -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
+
@@ -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
@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+
@@ -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
+
@@ -0,0 +1,27 @@
+CI / testing:
+  - changed-files:
+    - any-glob-to-all-files: "{.github/**,**/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/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}"
@@ -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. 
+
+
+-->
+
@@ -1,4 +1,6 @@
 venv/
+.venv/
+.ci_cache
 .env
 .clang-format
 .DS_Store
@@ -8,11 +10,12 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode*
 model2.png
 a.out
 .hypothesis

+/docs_site/
+
 *.dylib
 *.DSYM
 *.d
@@ -32,36 +35,34 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+*.qm
+*_pyx.cpp
 config.json
 clcache
 compile_commands.json
+compare_runtime*.html

 persist
-board/obj/
-selfdrive/boardd/boardd
+selfdrive/pandad/pandad
+cereal/services.h
+cereal/gen
+cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/_ui
+selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
+selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
-selfdrive/modeld/_modeld
-selfdrive/modeld/_navmodeld
-selfdrive/modeld/_dmonitoringmodeld
-/src/

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

 .coverage*
-coverage.xmlcar
+coverage.xml
 htmlcov
 pandaextra

@@ -73,16 +74,33 @@ comma*.sh

 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
+selfdrive/modeld/models/*.pkl

 *.bz2
+*.zst

 build/

 !**/.gitkeep

 poetry.toml
-selfdrive/ui/_ui_nonav
-*.po~
-selfdrive/loggerd/bootlog
-selfdrive/loggerd/loggerd
-selfdrive/proclogd/proclogd
+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
@@ -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"
+  ]
+}
@@ -0,0 +1,46 @@
+{
+  "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"
+    }
+  ],
+  "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}",
+    }
+  ]
+}
@@ -0,0 +1,42 @@
+{
+  "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,
+    "opendbc/": 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/**",
+  ]
+}
@@ -0,0 +1,77 @@
+```mermaid
+flowchart TD
+    B000["upstream-tracking"] ---> CORE["core"]
+    CORE ---> CORE_001["core-feat/params"]
+    CORE_001 ---> CORE_002["core-feat/panel"]
+    CORE_002 ---> CORE_003["core-feat/spin-box-ctrl"]
+    CORE_003 ---> MIN["min"]
+    MIN ---> MIN_001["min-feat/dev/o3"]
+    MIN ---> MIN_002["min-feat/lat/alka"]
+    MIN ---> MIN_003["min-feat/ui/display-mode"]
+    MIN ---> MIN_004["min-feat/dev/model-selector"]
+    MIN ---> MIN_005["min-feat/lat/lca"]
+    MIN ---> MIN_006["min-feat/dev/on-off-road"]
+    MIN ---> MIN_007["min-feat/ui/hide-hud"]
+    MIN ---> MIN_008["min-feat/lon/ext-radar"]
+    MIN ---> MIN_009["min-feat/lat/road-edge-detection"]
+    MIN ---> MIN_010["min-feat/ui/rainbow-path"]
+    MIN ---> MIN_011["min-feat/lon/acm"]
+    MIN ---> MIN_012["min-feat/lon/aem"]
+    MIN ---> MIN_013["min-feat/dev/alert-mode"]
+    MIN ---> MIN_014["min-feat/lon/max-speed"]
+    MIN ---> MIN_015["min-feat/lon/no-gas-gating"]
+    MIN ---> MIN_016["min-feat/dev/auto-shutdown"]
+    MIN ---> MIN_017["min-feat/ui/radar-tracks"]
+    MIN ---> MIN_018["min-feat/ui/border-indicators"]
+    MIN ---> MIN_019["min-feat/dev/fileserv"]
+    MIN_001 ---> FULL["full"]
+    MIN_002 ---> FULL
+    MIN_003 ---> FULL
+    MIN_004 ---> FULL
+    MIN_005 ---> FULL
+    MIN_006 ---> FULL
+    MIN_007 ---> FULL
+    MIN_008 ---> FULL
+    MIN_009 ---> FULL
+    MIN_010 ---> FULL
+    MIN_011 ---> FULL
+    MIN_012 ---> FULL
+    MIN_013 ---> FULL
+    MIN_014 ---> FULL
+    MIN_015 ---> FULL
+    MIN_016 ---> FULL
+    MIN_017 ---> FULL
+    MIN_018 ---> FULL
+    MIN_019 ---> FULL
+    FULL ---> TOYOTA_001[brand/toyota/door-auto-lock-unlock]
+    FULL ---> TOYOTA_002[brand/toyota/tss1-sng]
+    FULL ---> TOYOTA_003[brand/toyota/long-filter-common]
+    FULL ---> TOYOTA_004[brand/toyota/radar-filter]
+    FULL ---> TOYOTA_005[brand/toyota/sdsu]
+    FULL ---> TOYOTA_006[brand/toyota/zss]
+    FULL ---> TOYOTA_007[brand/toyota/stock-lon]
+    FULL ---> VAG_001[brand/vag/a0-sng]
+    FULL ---> VAG_002[brand/vag/pq-steering-patch]
+    FULL ---> VAG_003[brand/vag/pq-no-dashcam]
+    FULL ---> VAG_004[brand/vag/avoid-eps-lockout]
+    FULL ---> HKG_001[brand/hkg/smdps]
+    TOYOTA_001 ---> TOYOTA[pre-toyota]
+    TOYOTA_002 ---> TOYOTA
+    TOYOTA_003 ---> TOYOTA
+    TOYOTA_004 ---> TOYOTA
+    TOYOTA_005 ---> TOYOTA
+    TOYOTA_006 ---> TOYOTA
+    TOYOTA_007 ---> TOYOTA
+    VAG_001 ---> VAG[pre-vag]
+    VAG_002 ---> VAG
+    VAG_003 ---> VAG
+    VAG_004 ---> VAG
+    HKG_001 ---> HKG[pre-hkg]
+    TOYOTA ---> PRE[pre]
+    VAG ---> PRE
+    HKG ---> PRE
+    PRE ---> PRE_PATCH[pre-patch]
+    PRE_PATCH ---> PRE_001[pre-build]
+    PRE_001 ---> PRERELEASE[pre-release]
+    PRERELEASE ---> RELEASE[x.x.x]
+```
@@ -1,26 +1,469 @@
+dragonpilot 0.9.8 r10 (2025-06-09)
+=======================
+* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
+* ✨ Various Bugfixes / Improvement (2025-05-27)
+* ✨ UI: Border Indicators (2025-05-27)
+* ✨ MISC: FileServ (offroad, port 5000) (2025-05-28)
+* ✅ UI: Display Radar Tracks (2025-05-14)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Auto Lane Change (2025-04-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
+* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
+* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Auto Shutdown (2025-04-28)
+* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
+* ✅ MISC: Audible Alert Mode (2025-04-17)
+* ✅ MISC: Error Logs Btn (2025-04-08)
+* ✅ MISC: Reset Conf Btn (2025-04-08)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
+* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+* ✅ HKG: SMDPS Support (2025-04-17)
+
+dragonpilot 0.9.8 r9 (2025-05-17)
+=======================
+* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
+* ✨ Various Bugfixes / Improvement (2025-05-17)
+* ✨ UI: Display Radar Tracks (2025-05-14)
+* ✨ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Auto Lane Change (2025-04-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
+* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Auto Shutdown (2025-04-28)
+* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
+* ✅ MISC: Audible Alert Mode (2025-04-17)
+* ✅ MISC: Error Logs Btn (2025-04-08)
+* ✅ MISC: Reset Conf Btn (2025-04-08)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
+* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+* ✅ HKG: SMDPS Support (2025-04-17)
+
+dragonpilot 0.9.8 r8 (2025-05-10)
+=======================
+* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
+* ✨ MISC: Auto Shutdown (2025-04-28)
+* ✨ Various Bugfixes / Performance Improvement (2025-04-22)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Auto Lane Change (2025-04-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
+* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
+* ✅ MISC: Audible Alert Mode (2025-04-17)
+* ✅ MISC: Error Logs Btn (2025-04-08)
+* ✅ MISC: Reset Conf Btn (2025-04-08)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
+* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+* ✅ HKG: SMDPS Support (2025-04-17)
+
+dragonpilot 0.9.8 r7 (2025-04-20)
+=======================
+* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
+* ✨ Various Bugfixes / Performance Improvement (2025-04-18)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Auto Lane Change (2025-04-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
+* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
+* ✅ MISC: Audible Alert Mode (2025-04-17)
+* ✅ MISC: Error Logs Btn (2025-04-08)
+* ✅ MISC: Reset Conf Btn (2025-04-08)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
+* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+* ✅ HKG: SMDPS Support (2025-04-17)
+
+dragonpilot 0.9.8 r6 (2025-04-18)
+=======================
+* ✅ openpilot 0.9.8 w/ hotfixes (2025-04-17)
+* ✨ LON: No Gas Gating Mode (NoGG) Toggle (2025-04-19)
+* ✨ MISC: Increase Max Speed Allowed (2025-04-18)
+* ✨ Various Bugfixes / Performance Improvement (2025-04-18)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Auto Lane Change (2025-04-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ 🚧 LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Audible Alert Mode (2025-04-17)
+* ✅ MISC: Error Logs Btn (2025-04-08)
+* ✅ MISC: Reset Conf Btn (2025-04-08)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
+* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+* ✅ HKG: SMDPS Support (2025-04-17)
+
+dragonpilot 0.9.8 r5 (2025-04-17)
+=======================
+* ✨ openpilot 0.9.8 w/ hotfixes (2025-04-17)
+* ✨ VAG: Avoid EPS Lockout Toggle (2025-04-17)
+* ✨ HKG: SMDPS Support (2025-04-17)
+* ✨ LAT: Auto Lane Change (2025-04-14)
+* ✨ MISC: Audible Alert Mode (2025-04-17)
+* ✨ Various Bugfixes / Performance Improvement (2025-04-12)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ 🚧 LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Error Logs Btn (2025-04-08)
+* ✅ MISC: Reset Conf Btn (2025-04-08)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+
+dragonpilot 0.9.8 r4 (2025-04-08)
+=======================
+* ✨ openpilot 0.9.8 w/ hotfixes (2025-04-08)
+* ✨ MISC: Error Logs Btn (2025-04-08)
+* ✨ MISC: Reset Conf Btn (2025-04-08)
+* ✨ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✨ 🚧 LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+
+dragonpilot 0.9.8 r3 (2025-04-07)
+=======================
+* ✅ openpilot 0.9.8 devel-staging (2025-03-19)
+* ✨ MISC: Remove Dashcam (2025-04-06)
+* ✨ 🚧 LON: Adaptive Coasting Mode (ADM) (2025-04-06)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+
+dragonpilot 0.9.8 r2 (2025-04-03)
+=======================
+* ✅ openpilot 0.9.8 devel-staging (2025-03-19)
+* ✨ UI: Rainbow Path (2025-04-02)
+* ✨ VAG: PQ Steering Patch (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+
+dragonpilot 0.9.8 r1 (2025-04-01)
+=======================
+* ✨ openpilot 0.9.8 devel-staging (2025-03-19)
+* ✨ UI: Speed Based HUD (2025-04-01)
+* ✨ UI: Display Mode (2025-03-14)
+* ✨ LAT: Road Edge Detection (2025-04-01)
+* ✨ LAT: LCA Speed Changer (2025-03-21)
+* ✨ LAT: ALKA (2025-03-14)
+* ✨ LON: Ext Radar Support (2025-03-31)
+* ✨ MISC: Model Selector (2025-03-14)
+* ✨ Toyota: Stock Lon Mode (2025-04-01)
+* ✨ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✨ Toyota: Radar Filter (2025-03-14)
+* ✨ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✨ Toyota: SDSU Support (2025-03-14)
+* ✨ Toyota: ZSS Support (2025-03-14)
+* ✨ VAG: MQB A0 SnG Mod (2025-03-20)
+
+dragonpilot beta3 0.9.8 (2024-08-20)
+=======================
+* Up to comma.ai openpilot master branch commit 7ee9d2d1b93abb3ccba53f9552b716d3a11c2b6d (2024-07-31)
+* DP HIGHLIGHT:
+    * [NEW] Disable Auto Update Toggle (Software Panel)
+    * [UPDATE] Flight Panel
+        * Performance improvement
+        * Removed shade
+        * Use green + yellow colour scheme
+        * Moved below road name
+        * Less elements on the screen
+        * Rotate compass instead of the indicator
+    * [UPDATE] Rainbow Path
+        * Performance improvement
+    * [UPDATE] TeToo
+        * Updated Taiwan Speed Camera Database (2024-07-11)
+    * [UPDATE] Personalized Accel Learner (PAL)
+        * Adjusted learning freq
+        * Save learnt values every minute
+    * [UPDATE] Dynamic End-to-End Controller
+        * DANGEOROUS_TTC reduce to 1.2s to rely on ACC mode more.
+　　
+dragonpilot beta3 [2024.07.13]
+=======================
+* Up to comma.ai openpilot master branch commit 01c2174d5968266b87f1d1fecefce5affaeaa624 (2024-07-02)
+* DP HIGHLIGHT:
+    * [NEW] [TESTING] Tē-Tôo / Map Module
+        * Road Name Display (Online using OSM)
+        * Speed Camera Warning (Online using OSM: Untested)
+        * Speed Camera Warning (Taiwan, Offline)
+    * Dynamic End-to-End w/ Toggleable Road Condition Detection.
+    * Device Auto Shutdown Toggle.
+    * Device Audible Alert Mode Toggle.
+
+dragonpilot beta3 [2024.07.01]
+=======================
+* Up to comma.ai openpilot master branch commit 442e9f4ae492901a5698b3188741c97c053026c4 (2024-06-21)
+* DP HIGHLIGHT:
+    * Restart from scratch.
+
+dragonpilot beta3 [2024.02.13]
+=======================
+* Comma 0.9.6 release
+    * New driving model (Los Angles V2)
+        * Vision model trained on more data
+        * Improved driving performance
+        * Directly outputs curvature for lateral control
+    * New driver monitoring model
+        * Trained on larger dataset
+    * AGNOS 9 (9.6)
+    * comma body streaming and controls over WebRTC
+    * Improved fuzzy fingerprinting for many makes and models
+    * Hyundai Staria 2023 support thanks to sunnyhaibin!
+    * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+    * Toyota RAV4 2023-24 support
+    * Toyota RAV4 Hybrid 2023-24 support
+* DP HIGHLIGHT:
+    * TSS2 long, Dynamic Follow and Accel profile tune has been updated.
+    * New version of dynamic e2e with twice and fast detection.
+        * De2e will now slow down for upcoming turns when using NOO.
+    * Auto lane change assist (USE IT AT YOUR OWN RISK).
+    * Optimized/Refactored NOO Voice Guidence.
+    * Re-added: Rainbow road path.
+    * Re-added: Full screen Nav.
+    * Re-added: Toyota Low Speed Override.
+    * Bug fixes and improvements.
+
+dragonpilot beta3 [2023.12.23]
+=======================
+* Comma 0.9.6 release
+    * New driving model (Blue Diamond).
+    * Vision model trained on more data
+    * Improved driving performance
+    * AGNOS 9
+    * comma body streaming and controls over WebRTC
+    * Hyundai Staria 2023 support thanks to sunnyhaibin!
+    * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+    * Toyota RAV4 2023 support
+    * Toyota RAV4 Hybrid 2023 support
+* DP HIGHLIGHT:
+    * Flight Panel (compass, height, pitch).
+    * Model Confidence indicator (in the max speed box).
+    * New version of dynamic e2e controller with better detection logic.
+    * Adjustable lane change speed (default 20mph, OFF = no control during lane change)
+    * TSS2 long, Dynamic Follow and Accel profile tune has been updated.
+    * Re-added: Full Screen Nav, Lane Priority Mode and Vision Turn Controller.
+    * Remove Frogai Agressive take off and re-add improved krkeegen sng boot.
+
+dragonpilot beta3 [2023.11.20]
+=======================
+* Comma 0.9.5 release
+    * New driving model (Farm Ville)
+        * 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, alamo3, and sshane!
+    * 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 Sorento Hybrid 2023 support thanks to sunnyhaibin!
+    * Kia Optima Hybrid 2019 support
+    * Lexus IS 2023 support thanks to L3R5!
+* DP HIGHLIGHT:
+    * Otisserv Improvement/bug fixes. You can now see your car 12v battery on the main page. (https://dragonpilot.org)
+    * UI/UX Improvement.
+    * TSS2 updated long tune.
+    * Added Smooth braking and Aggressive take off Thanks to @FrogAi.
+    * Added Toggle to Disable uploads onroad.
+    * Remove Lane Priority Mode.
+
+
+dragonpilot beta3 [2023.10.20]
+=======================
+* openpilot master branch on 2023.10.20.
+* Otisserv improvement/bug fixes.
+* TSS2 updated long tune.
+* @krkeegan SNG boost tune.
+
+dragonpilot beta3 [2023-10-09]
+=======================
+* openpilot master branch on 2023.07.21.
+* Comma 0.9.3 release
+* Night Strike Model
+    * Improved navigate on openpilot performance using navigation instructions as an additional model input
+* DP HIGHLIGHT:
+    * Always on lateral.
+    * Otisserv with snapshot! Comma Prime Experience https://dragonpilot.org/
+    * Dynamic End-to-End Longitudinal Control
+    * Road Edge Detection
+    * Acceleration profiles
+    * Enhanced BSM for all Toyota/Lexus that is not currently supported by stock openpilot.
+    * Display Mode
+    * Audible Alert Mode
+    * File server
+    * Lane Priority Mode
+    * New minimal UI with on screen button.
+
+dragonpilot [2023.5.12]
+=======================
+* Synced with openpilot master 2023.05.12 commits.
+* comma 0.9.2 release
+    * 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
+* DP Highlight
+    * NEW: Enhance BSM request for car's that op currently does not support. (TESTED ON: Prius TSS1/TSS2, RAV4 TSS1)
+    * NEW: Manual Lane Change.
+    * NEW: Local Trip counter.
+    * TWEAK: Better TSS2 Long and DF tune. @cgw1968-5779
+    * TWEAK: Honda - ODYSSEY_HYBRID tweaks. (@lijunhao731)
+    * TWEAK: Toyota - AVALONH_2019 SNG tweaks. (@南少)
+    * FIXED: Fixed Reverse message not showing issue.
+    * FIXED: Honda - ALKA not working. @loveloveses
+    * FIXED: Display Mode.
+    * FIXED: Toyota - Speed Override.
+
 dragonpilot [2023.3.27]
 =======================
 * Synced with openpilot master 2023.03.26 commits.
 * comma 0.9.2 release
-  * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+    * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
 * DP Highlight
-  * Dynamic Rainbow mode. (fancy lol)
-  * Different color when Always On Lateral is enabled.
-  * RoadEdge detection has it's own toggle now.
-  * IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
-  * NEW: Alternative Lateral Controller
-    * Ability to switch to another lateral controller when SET speed is higher than configure speed.
-    * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
+    * Dynamic Rainbow mode. (fancy lol)
+    * Different color when Always On Lateral is enabled.
+    * RoadEdge detection has it's own toggle now.
+    * IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
+    * NEW: Alternative Lateral Controller
+        * Ability to switch to another lateral controller when SET speed is higher than configure speed.
+        * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.

 dragonpilot [2023.2.15]
 =======================
 * Synced with openpilot master 2022.12.14 commits.
 * Comma 0.9.1 release
-  * New driving model
-    * 30% improved height estimation resulting in better driving performance for tall cars
-  * UI updates
-    * Adjust alert volume using ambient noise level
-    * Driver monitoring icon shows driver's head pose
+    * New driving model
+        * 30% improved height estimation resulting in better driving performance for tall cars
+    * UI updates
+        * Adjust alert volume using ambient noise level
+        * Driver monitoring icon shows driver's head pose
 * NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
 * NEW: Block ALC if it's close to the road edges.
 * NEW: Rinbow path toggle. (This effect is purely cosmetic)
@@ -58,7 +501,7 @@ dragonpilot [2022.11.25]
 =======================
 * Synced with openpilot master 2022.11.25 commits.
 * ADDED: Lateral Controller Selector.
-   - Ability to select between DEFAULT / PID / LQR / Torque Controller.
+    - Ability to select between DEFAULT / PID / LQR / Torque Controller.
 * ADDED: Redesigned UI to match Comma's new UI/UX style.
 * ADDED: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
 * ADDED: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
@@ -724,14 +1167,14 @@ dragonpilot 0.7.5.0
 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"。
+    * 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
 ========================
@@ -1,976 +0,0 @@
-dragonpilot [Latest] - EON/C2 Release
-========================
-* Synced with openpilot master 2023.03.26 commits.
-* DP Highlight
-  * NEW: Manual Lane Change.
-  * NEW: Road Edge detection when Lane Change.
-  * NEW: Rainbow mode. (fancy lol)
-  * NEW: Local Trip counter.
-  * NEW: Alternative Lateral Controller
-    * Ability to switch to another lateral controller when SET speed is higher than configure speed.
-    * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
-  * TWEAK: **10s Lat MPC is removed due to poor performance on EON/C2**
-  * TWEAK: Refactored cameraview widget.
-  * TWEAK: Different color when Always On Lateral is enabled.
-  * TWEAK: Better TSS2 Long and DF tune. @cgw1968-5779
-  * TWEAK: e2e Lateral will display lanelines in white.
-  * TWEAK: Updated VisionIPC to match current version.
-  * TWEAK: DM reverted to 0.8.13 model and algorithm.
-  * TWEAK: E2E Initial speed matches ACC initial speed. (105 -> 40)
-  * FIXED: Fixed Reverse message not showing issue.
-  * FIXED: Honda - ALKA not working. @loveloveses
-  * FIXED: Display Mode.
-  * FIXED: Toyota - Speed Override.
-  * FIXED: Re-include CJK system font for EON/C2.
-
-dragonpilot 2023.02.08 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.12.14 commits.
-* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
-* NEW: Lateral Controller Selector
-  * Ability to select between DEFAULT / PID / LQR / Torque Controller.
-* NEW: Redesigned UI to match Comma's new UI/UX style.
-* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
-* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
-* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
-* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
-* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
-* FIXED: Bugs in updated.
-* FIXED: Issue in C2 fan control.
-* TWEAK: Bug fixes and improvement.
-
-dragonpilot 2022.11.09 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.10.26 commits.
-* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
-* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
-  * Ability to use MapD without internet connection.
-* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
-* NEW: MAZDA - Toggle to bypass dashcam mode.
-* NEW: Added lanelines mode.
-  * Ability to adjust camera/path offset.
-* NEW: Lateral Planner option.
-  * Ability to select 0.8.13, 0.8.16 and the latest/current planner.
-* NEW: Offline OSM map database.
-* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
-* TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
-* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
-* bug fix and improvement.
-
-
-dragonpilot 2022.10.17 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.09.22 commits.
-  * Live Torque Tune (Only available to certain vehicle models with op long.)
-* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
-* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
-* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
-* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
-* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
-* NEW: VAG - Added auto resume fix toggle.
-* NEW: refactored dynamic follow. support all car with op long.
-* NEW: New blinker and BSM indicators.
-* NEW: Lead Info is now displaying both speed and distance.
-* FIXED: Minor bug fixes and improvement.
-
-dragonpilot 2022.09.22 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.09.17 commits.
-  * e2e longitudinal toggle. (Extremely alpha feature)
-  * Deprecated SNPE lib and switched to tinygrad.
-* NEW: Added back nav support on EON/C2.
-* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
-  * WIP: Dynamic Follow has been temporary removed for refactoring.
-  * WIP: Vision Turn Control has been temporary removed for refactoring.
-  * REMOVED: Camera offset has been removed permanently due to new e2e implementation.
-  * EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
-
-dragonpilot 2022.08.29 - EON/C2 Release
-========================
-* NEW: Synced to openpilot master 2022.08.23 commits.
-  * New driving model.
-* NEW: Added back honda eps mod toggle.
-* NEW: Added back camera offset toggle.
-* TWEAK: Resume logic to adapt ATL mode.
-
-dragonpilot 2022.08.17 - EON/C2 Release
-========================
-* NEW: Synced to openpilot master 2022.08.07 commits.
-* NEW: Added back auto shutdown toggle.
-* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
-* NEW: Added back LQR tune toggle.
-* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
-* NEW: Included all vehicles.
-* TWEAK: Panda Recovery should kill boardd process first.
-* FIXED: Fixed stop working issue when mapd crashed.
-
-dragonpilot 2022.07.29 - EON/C2 Release
-========================
-* NEW: Synced to openpilot 2022.07.27 commits.
-* NEW: Included Mazda vehicles.
-* TWEAK: Only show road name bar when it's not empty.
-* TWEAK: Enlarged lead car distance text.
-* TWEAK: TOYOTA - Updated lowest speed override feature.
-* FIXED: Fixed Panda Flash/Recovery buttons.
-* FIXED: Included dp_patcher.py execution.
-
-dragonpilot 2022.07.20 - EON/C2 Release
-========================
-* FIXED: Included correct camera/path offset values for EON/C2.
-* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
-* FIXED: Included fan controller for UNO (C2).
-* TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
-* TWEAK: Removed sounds unavailable warning.
-* TWEAK: Removed unused loggers.
-* TWEAK: Disabled IR controls completely.
-
-dragonpilot 2022.07.14 - EON/C2 Release
-========================
-* FIXED: DM bug.
-* FIXED: white / grey panda support.
-* FIXED: Removed No GPS signal warning.
-
-dragonpilot 2022.07.12 - EON/C2 Release
-========================
-* Synced up with dragonpilot 2022.06.25 C3 release
-* Running on latest AI model.
-* Steering monitor only.
-* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
-* Buggy!
-
-dragonpilot 2022.07.01
-========================
-* Synced with openpilot master 2022.06.29 commits.
-* ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA )
-
-dragonpilot 2022.06.25
-========================
-* Synced with openpilot master 2022.06.25 commits.
-* Updated zh-TW translation.
-* ADDED: Dynamid follow @krkeegan version. (press the distance button)
-* ADDED: dp ui vol.
-* ADDED: dp ui brightness.
-* ADDED: dp ui top/side bar.
-* ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad).
-
-dragonpilot 2022.06.16
-========================
-* Synced with openpilot master 2022.06.16 commits.
-* ADDED: Toyota SnG hack.
-* ADDED: Accel Profile.
-* FIXED: Car Selection.
-* FLXED: ALCA Delay Setting UI.
-* FIXED: Lane lines mode (w/ DLP built-in).
-
-dragonpilot 2022.06.11
-========================
-* Synced with openpilot master 2022.06.07 commits
-* Migrating more features soon, stay tuned!
-
-dragonpilot 0.8.13-1
-========================
-* Based on openpilot 0.8.13 devel.
-* ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212)
-* FIXED: DLP fix. (Thank to @Hikari1023)
-* Bug fixes.
-
-dragonpilot 0.8.12-3
-========================
-* Bug fixes.
-* ADDED: Car Selector for C3.
-* ADDED: ColorBlind mode eon only. (thanks to @ihsakashi)
-* TUNNING: Toyota long improvement.
-* Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2).
-
-dragonpilot 0.8.12-2
-========================
-* Bug fixes.
-* ADDED: FTP to easily manage storage.
-* Readded: camera offset, path offset and autoshutdown.
-
-dragonpilot 0.8.12-1
-========================
-* Based on openpilot 0.8.12 devel.
-* ADDED: Support for no gps (mr.one panda).
-* Reimplement: camera offset, path offset, nav for c2 and autoshutdown.
-
-dragonpilot 0.8.10-4
-========================
-* FIXED: Allow gas press. (Thanks to @loveloveses)
-* FIXED: Honda SnG. (Thanks to @loveloveses
-* ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan)
-
-dragonpilot 0.8.10-3
-========================
-* NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses)
-
-dragonpilot 0.8.10
-========================
-* Based on openpilot 0.8.10 devel.
-* Reimplement: Following Distance.
-* Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot)
-* NAV: Added use of Navigation tab to access home/work/recent dest.
-* NAV: Added auto Day/Night Mode.
-* NAV: Added customizable style.
-* NAV: Added Gaode/amap Search. (Thanks to @loveloveses)
-* FIXED: Device w/ battery no longer need to set auto shutdown to 1 min.
-* FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin)
-* REMOVED: Timebomb feature for VW.
-* REMOVED: Support of running Android apps.
-
-dragonpilot 0.8.9-3
-========================
-* Bug fixes.
-* Fixed up auto updater.
-* Fixed Honda Jade dbc. (Thanks to @lijunhao731)
-* ADDED: 0.8.10 model.
-* ADDED: Nav for all device.
-* ADDED: Support for Nvidia Xavier.
-
-dragonpilot 0.8.9-2
-========================
-* Bug fixes.
-* Refactor UI related changes.
-* Updated Simplified Chinese translation. (Thanks to @CCZ)
-* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error.
-* Re-tuned acceleraton profile. (Thank to @wer5lcy)
-* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921)
-
-dragonpilot 0.8.9-1
-========================
-* Based on openpilot 0.8.8 devel.
-* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s).
-* ADDED: New softer sound for c3.
-* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin)
-* Bug Fixes.
-
-dragonpilot 0.8.8-2
-========================
-* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast)
-* ADDED: Street name on the bottom bar.
-* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX.
-* ADDED: Smoother tune for PRIUS_TSS2.
-* Bug fixes.
-
-dragonpilot 0.8.8-1
-========================
-** BETA TESTING ONLY **
-* Based on openpilot 0.8.8 devel.
-* FIXED: dashcam issue.
-* FIXED: some VW vehicles issue. (Thanks to @yayism)
-* FIXED: white panda + j533 acc issue. (Thanks to @lirudy)
-* ADDED: Auto fake black panda.
-* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen)
-* WIP: mapd.
-
-dragonpilot 0.8.7-4
-========================
-* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
-* Fixed toyota / honda brake light display. (Thanks to @loveloveses)
-* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
-* Fixed VW resume/display issue. (Thanks to @SKY)
-* Fixed CJK font installation issue.
-
-dragonpilot 0.8.7-3
-========================
-* Bug fixes.
-* Fixed gpxd.
-* Added some Chinese support.
-
-dragonpilot 0.8.7-2
-========================
-* Fixed sound issue.
-* Changed gpx logs to OSM compatible format.
-* HONDA: Added BSM support for CRV-Hybrid.
-* HONDA: Added toggle to force displaying km/h in HUD.
-* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature.
-
-dragonpilot 0.8.7-1
-========================
-* Based on openpilot 0.8.7 devel.
-* Support 1+3t / C2 / Jetson Xavier NX.
-* Support White / Grey Panda.
-* TOYOTA: Can now change Following Modes with physical button from the steering wheel.
-* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
-* TOYOTA: Added Low speed override toggles.
-* Dev UI now displays RPM reading.
-* Added Prebuilt toggle for faster boot.
-* Lexus RX high RPM fix. (Thanks to @crazysim).
-* Added toggle to launch Language settings.
-* Added toggle to launch Volume settings.
-* Added toggle to launch date/time settings.
-* Added toggle to flash panda.
-* Added toggle to recover panda firmware.
-* Added toggle to delete logging (/sdcard/realdata).
-* Added GPS Logger.
-
-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。
@@ -0,0 +1,13 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)
@@ -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
@@ -0,0 +1,20 @@
+MIT Non-Commercial License
+
+Copyright (c) 2019, dragonpilot
+
+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, 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 dragonpilot. Contact ricklan@gmail.com for inquiries.
+- Any project that uses the Software must visibly mention the following acknowledgment: "This project uses software from dragonpilot and is licensed under a custom license requiring permission for use."
+
+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.
@@ -1,104 +1,81 @@
-LIMITATION
------
-* CAN-FD vehicles WILL NOT WORK: this is due to the library in EON/C2 is old and cannot build red panda firmware.
-* Body WILL NOT WORK: again this is due to the library in EON/C2 cannot build its firmware.
-* AI Model REMAINS IN 0.8.16: Too much effort to port tinygrad/pyopencl onto EON/C2, still investigating workarounds.
-* NOO (Navigation On Openpilot) WILL NOT WORK: NOO requires newer driving model to work with nav model, until we resolved the last statement.
-* Logger WILL NOT WORK: It's running at near full capacity with the 0.8.16 driving model, Logger will cause performance/thermal issue.
+<div align="center" style="text-align: center;">

-** In short, consider it as openpilot 0.8.16 version PLUS latest vehicle model support from openpilot master branch.**
+<h1>openpilot</h1>

-** THE BUILD IS VERY DIRTY, for porting/logging purpose we suggest using [openpilot mastertwo branch](https://github.com/commaai/openpilot/tree/commatwo_master).**
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 275+ supported cars.
+</p>

-![](https://i.imgur.com/b0ZyIx5.jpg)
+<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>

-Table of Contents
-=======================
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`

-* [What is openpilot?](#what-is-openpilot)
-* [Running in a car](#running-on-a-dedicated-device-in-a-car)
-* [Running on PC](#running-on-pc)
-* [Community and Contributing](#community-and-contributing)
-* [User Data and comma Account](#user-data-and-comma-account)
-* [Safety and Testing](#safety-and-testing)
-* [Directory Structure](#directory-structure)
-* [Licensing](#licensing)
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+[![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)

---
-
-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](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+</div>

 <table>
  <tr>
-    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
-    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
-    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
-    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
-  </tr>
-  <tr>
-    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
-    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
-    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
-    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
+    <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>


-Running on a dedicated device in a car
+Using openpilot in a car
 ------

-To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
-* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
+To use openpilot in a car, you need four things:
+1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3/3X 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 3/3X to your car.

-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+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.

-Running on PC
+### Branches
+| branch           | URL                                    | description                                                                         |
+|------------------|----------------------------------------|-------------------------------------------------------------------------------------|
+| `release3`         | openpilot.comma.ai                      | This is openpilot's release branch.                                                 |
+| `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
+| `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
+| `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+
+To start developing openpilot
 ------

-All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.
+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).

-With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
+* Join the [community Discord](https://discord.comma.ai)
+* Check out [the contributing docs](docs/CONTRIBUTING.md)
+* Check out the [openpilot tools](tools/)
+* Read about the [development workflow](docs/WORKFLOW.md)
+* Code documentation lives at https://docs.comma.ai
+* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)

-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
-
-A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
-
-Community and Contributing
------
-
-openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
-
-Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
-
-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).
-
-User Data and comma Account
------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+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 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* 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/selfdrive_tests.yaml) that run on every commit.
 * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
@@ -106,40 +83,6 @@ Safety and Testing
 * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.

-Directory Structure
------
-    .
-    ├── cereal              # The messaging spec and libs used for all logs
-    ├── common              # Library like functionality we've developed here
-    ├── docs                # Documentation
-    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN
-    ├── third_party         # External libraries
-    ├── pyextra             # Extra python packages
-    └── system              # Generic services
-        ├── camerad         # Driver to capture images from the camera sensors
-        ├── clocksd         # Broadcasts current time
-        ├── hardware        # Hardware abstraction classes
-        ├── logcatd         # systemd journal as a service
-        ├── loggerd         # Logger and uploader of car data
-        ├── proclogd        # Logs information from /proc
-        ├── sensord         # IMU interface code
-        └── ubloxd          # u-blox GNSS module interface code
-    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts, images, and sounds for UI
-        ├── athena          # Allows communication with the app
-        ├── boardd          # Daemon to talk to the board
-        ├── car             # Car specific code to read states and control actuators
-        ├── controls        # Planning and controls
-        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── manager         # Daemon that starts/stops all other daemons as needed
-        ├── modeld          # Driving and monitoring model runners
-        ├── monitoring      # Daemon to determine driver attention
-        ├── navd            # Turn-by-turn navigation
-        ├── test            # Unit tests, system tests, and a car simulator
-        └── ui              # The UI
-
 Licensing
 ------

@@ -151,9 +94,14 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**

---
+User Data and comma Account
+------

-<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>
+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 tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
@@ -1,9 +1,130 @@
-Version 0.9.2 (2023-03-XX)
+Version 0.9.8 (2025-02-28)
 ========================
-* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* 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
@@ -535,7 +656,7 @@ 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)
@@ -871,7 +992,7 @@ 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)
@@ -903,7 +1024,7 @@ 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)
@@ -0,0 +1,380 @@
+import os
+import subprocess
+import sys
+import sysconfig
+import platform
+import numpy as np
+
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
+TICI = os.path.isfile('/TICI')
+AGNOS = TICI
+
+Decider('MD5-timestamp')
+
+SetOption('num_jobs', int(os.cpu_count()/2))
+
+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('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--ccflags',
+          action='store',
+          type='string',
+          default='',
+          help='pass arbitrary flags over the command line')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--mutation',
+          action='store_true',
+          help='generate mutation-ready code')
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          help='the minimum build to run openpilot. no tests, tools, etc.')
+
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
+  arch = "larch64"
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "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"
+}
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
+if arch == "larch64":
+  cpppath = [
+    "#third_party/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/local/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  libpath += [
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+  rpath += []
+
+  # MacOS
+  if arch == "Darwin":
+    libpath = [
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
+    ]
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
+  # Linux
+  else:
+    libpath = [
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+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", "-Wl,--no-undefined"]
+
+ccflags_option = GetOption('ccflags')
+if ccflags_option:
+  ccflags += ccflags_option.split(' ')
+
+env = Environment(
+  ENV=lenv,
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-unknown-warning-option",
+    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
+    "-Wno-vla-cxx-extension",
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
+    "#",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/libyuv/include",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party",
+    "#msgq",
+  ],
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
+    "#msgq_repo",
+    "#third_party",
+    "#selfdrive/pandad",
+    "#common",
+    "#rednose/helpers",
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  REDNOSE_ROOT="#",
+  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+)
+
+if arch == "Darwin":
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
+
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
+
+# Setup cache dir
+cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
+
+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)
+
+# Cython build environment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+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", "DBus", "Xml"]
+
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/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"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
+
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch')
+
+# Build common module
+SConscript(['common/SConscript'])
+Import('_common', '_gpucommon')
+
+common = [_common, 'json11', 'zmq']
+gpucommon = [_gpucommon]
+
+Export('common', 'gpucommon')
+
+# 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})
+
+SConscript(['cereal/SConscript'])
+
+Import('socketmaster', 'msgq')
+messaging = [socketmaster, msgq, 'capnp', 'kj',]
+Export('messaging')
+
+
+# Build other submodules
+SConscript(['panda/SConscript'])
+
+# Build rednose library
+SConscript(['rednose/SConscript'])
+
+# Build system services
+SConscript([
+  'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
+])
+if arch != "Darwin":
+  SConscript([
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
+
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
+# Build openpilot
+SConscript(['third_party/SConscript'])
+
+SConscript(['selfdrive/SConscript'])
+
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
+
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])
@@ -0,0 +1,5 @@
+# Security Policy
+
+## Reporting a Vulnerability
+
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.
@@ -1,18 +0,0 @@
-/gen/
-*.tmp
-*.pyc
-__pycache__
-.*.swp
-.*.swo
-*.os
-*.o
-*.a
-
-test_runner
-
-libmessaging.*
-libmessaging_shared.*
-services.h
-.sconsign.dblite
-libcereal_shared.*
-.mypy_cache/
@@ -1,57 +0,0 @@
-FROM ubuntu:20.04
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    autoconf \
-    build-essential \
-    ca-certificates \
-    capnproto \
-    clang \
-    cppcheck \
-    curl \
-    git \
-    libbz2-dev \
-    libcapnp-dev \
-    libffi-dev \
-    liblzma-dev \
-    libncurses5-dev \
-    libncursesw5-dev \
-    libreadline-dev \
-    libsqlite3-dev \
-    libssl-dev \
-    libtool \
-    libzmq3-dev \
-    llvm \
-    make \
-    ocl-icd-opencl-dev \
-    opencl-headers  \
-    python-openssl \
-    tk-dev \
-    wget \
-    xz-utils \
-    zlib1g-dev \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.8.10 && \
-    pyenv global 3.8.10 && \
-    pyenv rehash && \
-    pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
-
-WORKDIR /project/
-RUN cd /tmp/ && \
-    git clone https://github.com/catchorg/Catch2.git && \
-    cd Catch2 && \
-    git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
-    mv single_include/catch2/ /project/ && \
-    cd .. \
-    rm -rf Catch2
-
-WORKDIR /project/cereal
-
-ENV PYTHONPATH=/project
-
-COPY . .
-RUN rm -rf .git && \
-    scons -c && scons -j$(nproc)
@@ -1,37 +1,77 @@
-What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
----
+# What is cereal?

-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
+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
----
+## Messaging Spec

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

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

-
-Message definition Best Practices
----
+### 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).

-Pub Sub Backends
----
+### Custom forks

-cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+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
 ---
@@ -0,0 +1,20 @@
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+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/")
+
+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'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')
@@ -1,4 +1,3 @@
-# pylint: skip-file
 import os
 import capnp

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

 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -1,712 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@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
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
-
-  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;  # exits active state
-    preEnableStandstill @73;  # added during pre-enable state with brake
-    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
-    steerOverride @114;
-    cruiseDisabled @14;
-    speedTooLow @17;
-    outOfSpace @18;
-    overheat @19;
-    calibrationIncomplete @20;
-    calibrationInvalid @21;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    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;
-    accFaultedTemp @115;
-    sensorDataInvalid @52;
-    commIssue @53;
-    commIssueAvgFreq @109;
-    tooDistracted @54;
-    posenetInvalid @55;
-    soundsUnavailable @56;
-    preLaneChangeLeft @57;
-    preLaneChangeRight @58;
-    laneChange @59;
-    lowMemory @63;
-    stockAeb @64;
-    ldw @65;
-    carUnrecognized @66;
-    invalidLkasSetting @69;
-    speedTooHigh @70;
-    laneChangeBlocked @71;
-    relayMalfunction @72;
-    stockFcw @74;
-    startup @75;
-    startupNoCar @76;
-    startupNoControl @77;
-    startupMaster @78;
-    startupNoFw @104;
-    fcw @79;
-    steerSaturated @80;
-    belowEngageSpeed @84;
-    noGps @85;
-    wrongCruiseMode @87;
-    modeldLagging @89;
-    deviceFalling @90;
-    fanMalfunction @91;
-    cameraMalfunction @92;
-    cameraFrameRate @110;
-    gpsMalfunction @94;
-    processNotRunning @95;
-    dashcamMode @96;
-    controlsInitializing @98;
-    usbError @99;
-    roadCameraError @100;
-    driverCameraError @101;
-    wideRoadCameraError @102;
-    localizerMalfunction @103;
-    highCpuUsage @105;
-    cruiseMismatch @106;
-    lkasDisabled @107;
-    canBusMissing @111;
-    controlsdLagging @112;
-    resumeBlocked @113;
-
-    #dp
-    speedLimitActive @116;
-    speedLimitValueChange @117;
-    leadMovingAlertSilent @118;
-    leadMovingAlert @119;
-    manualSteeringRequiredBlinkersOn @120;
-
-    radarCanErrorDEPRECATED @15;
-    communityFeatureDisallowedDEPRECATED @62;
-    radarCommIssueDEPRECATED @67;
-    driverMonitorLowAccDEPRECATED @68;
-    gasUnavailableDEPRECATED @3;
-    dataNeededDEPRECATED @16;
-    modelCommIssueDEPRECATED @27;
-    ipasOverrideDEPRECATED @33;
-    geofenceDEPRECATED @40;
-    driverMonitorOnDEPRECATED @41;
-    driverMonitorOffDEPRECATED @42;
-    calibrationProgressDEPRECATED @47;
-    invalidGiraffeHondaDEPRECATED @49;
-    invalidGiraffeToyotaDEPRECATED @60;
-    internetConnectivityNeededDEPRECATED @61;
-    whitePandaUnsupportedDEPRECATED @81;
-    commIssueWarningDEPRECATED @83;
-    focusRecoverActiveDEPRECATED @86;
-    neosUpdateRequiredDEPRECATED @88;
-    modelLagWarningDEPRECATED @93;
-    startupOneplusDEPRECATED @82;
-    startupFuzzyFingerprintDEPRECATED @97;
-    noTargetDEPRECATED @25;
-  }
-}
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  events @13 :List(CarEvent);
-
-  # CAN health
-  canValid @26 :Bool;       # invalid counter/checksums
-  canTimeout @40 :Bool;     # CAN bus dropped out
-
-  # car speed
-  vEgo @1 :Float32;          # best estimate of speed
-  aEgo @16 :Float32;         # best estimate of acceleration
-  vEgoRaw @17 :Float32;      # unfiltered speed from CAN sensors
-  vEgoCluster @44 :Float32;  # best estimate of speed shown on car's instrument cluster, used for UI
-
-  yawRate @22 :Float32;     # best estimate of yaw rate
-  standstill @18 :Bool;
-  wheelSpeeds @2 :WheelSpeeds;
-
-  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user pedal only
-  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
-  regenBraking @45 :Bool; # this is user pedal only
-  parkingBrake @39 :Bool;
-  brakeHoldActive @38 :Bool;
-
-  # steering wheel
-  steeringAngleDeg @7 :Float32;
-  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
-  steeringRateDeg @15 :Float32;
-  steeringTorque @8 :Float32;      # TODO: standardize units
-  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;        # if the user is using the steering wheel
-  steerFaultTemporary @35 :Bool;   # temporary EPS fault
-  steerFaultPermanent @36 :Bool;   # permanent EPS fault
-  stockAeb @30 :Bool;
-  stockFcw @31 :Bool;
-  espDisabled @32 :Bool;
-  accFaulted @42 :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;
-
-  # clutch (manual transmission only)
-  clutchPressed @28 :Bool;
-
-  # blindspot sensors
-  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
-  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
-
-  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
-  charging @43 :Bool;
-
-  # dp
-  engineRPM @46 :Float32;
-  distanceLines @47 :UInt8;
-  rightBlindspotD1 @48 :Float32;
-  rightBlindspotD2 @49 :Float32;
-  leftBlindspotD1 @50 :Float32;
-  leftBlindspotD2 @51 :Float32;
-  blindspotside @52 :Float32;
-
-  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;
-    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
-    available @2 :Bool;
-    speedOffset @3 :Float32;
-    standstill @4 :Bool;
-    nonAdaptive @5 :Bool;
-    speedLimit @7 :Float32;
-  }
-
-  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;
-    }
-  }
-
-  # deprecated
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
-  brakeLightsDEPRECATED @19 :Bool;
-  steeringRateLimitedDEPRECATED @29 :Bool;
-  canMonoTimesDEPRECATED @12: List(UInt64);
-}
-
-# ******* radar state @ 20hz *******
-
-struct RadarData @0x888ad6581cf0aacb {
-  errors @0 :List(Error);
-  points @1 :List(RadarPoint);
-
-  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;
-  }
-
-  # deprecated
-  canMonoTimesDEPRECATED @2 :List(UInt64);
-}
-
-# ******* car controls @ 100hz *******
-
-struct CarControl {
-  # must be true for any actuator commands to work
-  enabled @0 :Bool;
-  latActive @11: Bool;
-  longActive @12: Bool;
-
-  # Actuator commands as computed by controlsd
-  actuators @6 :Actuators;
-
-  leftBlinker @15: Bool;
-  rightBlinker @16: Bool;
-
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @10 :Actuators;
-
-  orientationNED @13 :List(Float32);
-  angularVelocity @14 :List(Float32);
-
-  cruiseControl @4 :CruiseControl;
-  hudControl @5 :HUDControl;
-
-  latController @17 :Text;
-
-  struct Actuators {
-    # range from 0.0 - 1.0
-    gas @0: Float32;
-    brake @1: Float32;
-    # range from -1.0 - 1.0
-    steer @2: Float32;
-    # value sent over can to the car
-    steerOutputCan @8: Float32;
-    steeringAngleDeg @3: Float32;
-
-    curvature @7: Float32;
-
-    speed @6: Float32; # m/s
-    accel @4: Float32; # m/s^2
-    longControlState @5: LongControlState;
-
-    enum LongControlState @0xe40f3a917d908282{
-      off @0;
-      pid @1;
-      stopping @2;
-      starting @3;
-    }
-  }
-
-  struct CruiseControl {
-    cancel @0: Bool;
-    resume @1: Bool;
-    override @4: Bool;
-    speedOverrideDEPRECATED @2: Float32;
-    accelOverrideDEPRECATED @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;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-    }
-  }
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-  activeDEPRECATED @7 :Bool;
-  rollDEPRECATED @8 :Float32;
-  pitchDEPRECATED @9 :Float32;
-}
-
-# ****** car param ******
-
-struct CarParams {
-  carName @0 :Text;
-  carFingerprint @1 :Text;
-  fuzzyFingerprint @55 :Bool;
-
-  notCar @66 :Bool;  # flag for non-car robotics platforms
-
-  enableGasInterceptor @2 :Bool;
-  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
-  enableBsm @56 :Bool;       # blind spot monitoring
-  flags @64 :UInt32;         # flags for car specific quirks
-  experimentalLongitudinalAvailable @71 :Bool;
-  #dp: enable torque interceptor
-  enableTorqueInterceptor @72 :Bool;
-  #dp: alt tune collection
-  latTuneCollection @73 :LatTunes;
-  struct LatTunes {
-    pid @0 :LateralPIDTuning;
-    lqr @1 :LateralLQRTuning;
-    torque @2 :LateralTorqueTuning;
-  }
-
-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  safetyConfigs @62 :List(SafetyConfig);
-  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-
-  # Car docs fields
-  maxLateralAccel @68 :Float32;
-  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
-
-  # things about the car in the manual
-  mass @17 :Float32;            # [kg] 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;
-    torque @67 :LateralTorqueTuning;
-  }
-
-  steerLimitAlert @28 :Bool;
-  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
-
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
-  steerControlType @34 :SteerControlType;
-  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
-  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startAccel @32 :Float32; # Required acceleration to get car moving
-  startingState @70 :Bool; # Does this car make use of special starting state
-
-  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
-  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
-  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-  dashcamOnly @41: Bool;
-  transmissionType @43 :TransmissionType;
-  carFw @44 :List(CarFw);
-
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
-  fingerprintSource @49: FingerprintSource;
-  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
-
-  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
-
-  struct SafetyConfig {
-    safetyModel @0 :SafetyModel;
-    safetyParam @3 :UInt16;
-    safetyParamDEPRECATED @1 :Int16;
-    safetyParam2DEPRECATED @2 :UInt32;
-  }
-
-  struct LateralParams {
-    torqueBP @0 :List(Int32);
-    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 LateralTorqueTuning {
-    useSteeringAngle @0 :Bool;
-    kp @1 :Float32;
-    ki @2 :Float32;
-    friction @3 :Float32;
-    kf @4 :Float32;
-    steeringAngleDeadzoneDeg @5 :Float32;
-    latAccelFactor @6 :Float32;
-    latAccelOffset @7 :Float32;
-  }
-
-  struct LongitudinalPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @6 :Float32;
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
-  }
-
-  struct LateralINDITuning {
-    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
-    hondaBosch @20;
-    volkswagenPq @21;
-    subaruLegacy @22;  # pre-Global platform
-    hyundaiLegacy @23;
-    hyundaiCommunity @24;
-    volkswagenMlb @25;
-    hongqi @26;
-    body @27;
-    hyundaiCanfd @28;
-    volvoC1 @29;
-  }
-
-  enum SteerControlType {
-    torque @0;
-    angle @1;
-    curvature @2;
-  }
-
-  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;
-    responseAddress @4 :UInt32;
-    request @5 :List(Data);
-    brand @6 :Text;
-    bus @7 :UInt8;
-    logging @8 :Bool;
-    obdMultiplexing @9 :Bool;
-  }
-
-  enum Ecu {
-    eps @0;
-    abs @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
-    electricBrakeBooster @15;
-    shiftByWire @16;
-    adas @19;
-    cornerRadar @21;
-    hvac @20;
-
-    # Toyota only
-    dsu @6;
-    apgs @7;
-
-    # Honda only
-    vsa @13; # Vehicle Stability Assist
-    programmedFuelInjection @14;
-
-    # Chrysler only
-    hcp @18;  # Hybrid Control Processor
-
-    # Hyundai only
-    parking @22;  # ADAS parking ECU
-
-    debug @17;
-  }
-
-  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;
-  enableApgsDEPRECATED @6 :Bool;
-  steerRateCostDEPRECATED @33 :Float32;
-  isPandaBlackDEPRECATED @39 :Bool;
-  hasStockCameraDEPRECATED @57 :Bool;
-  safetyParamDEPRECATED @10 :Int16;
-  safetyModelDEPRECATED @9 :SafetyModel;
-  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
-  minSpeedCanDEPRECATED @51 :Float32;
-  communityFeatureDEPRECATED @46: Bool;
-  startingAccelRateDEPRECATED @53 :Float32;
-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
-  directAccelControlDEPRECATED @30 :Bool;
-  maxSteeringAngleDegDEPRECATED @54 :Float32;
-}
@@ -0,0 +1 @@
+../opendbc_repo/opendbc/car/car.capnp
@@ -0,0 +1,72 @@
+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 DpControlsState @0x81c2f05a394cf4af {
+  alkaActive @0 :Bool;
+}
+
+struct CustomReserved1 @0xaedffd8f31e7b55d {
+}
+
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+}
+
+struct CustomReserved3 @0xda96579883444c35 {
+}
+
+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 {
+}
@@ -1,58 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xbfa7e645486440c7;
-
-# dp
-struct DragonConf {
-  dpAtl @0 :UInt8;
-  dpLocale @1 :Text;
-  dpLateralMode @2 :UInt8;
-  dpLcMinMph @3 :UInt8;
-  dpLcAutoMinMph @4 :UInt8;
-  dpLcAutoDelay @5 :Float32;
-  dpLateralLanelines @6 :Bool;
-  dpLateralCameraOffset @7 :Int8;
-  dpLateralPathOffset @8 :Int8;
-  dpLateralRoadEdgeDetected @9 :Bool;
-  dpIpAddr @10 :Text;
-  dpUiTop @11 :Bool;
-  dpUiSide @12 :Bool;
-  dpUiBrightness @13 :UInt8;
-  dpUiDisplayMode @14 :UInt8;
-  dpUiSpeed @15 :Bool;
-  dpUiEvent @16 :Bool;
-  dpUiFace @17 :Bool;
-  dpUiLeadInfo @18 :Bool;
-  dpUiLaneline @19 :Bool;
-  dpUiChevron @20 :Bool;
-  dpUiDmCam @21 :Bool;
-  dpUiRainbow @22 :Bool;
-  dpToyotaSng @23 :Bool;
-  dpAccelProfileCtrl @24 :Bool;
-  dpAccelProfile @25 :UInt8;
-  dpToyotaCruiseOverride @26 :Bool;
-  dpToyotaCruiseOverrideSpeed @27 :UInt8;
-  dpToyotaAutoLock @28 :Bool;
-  dpToyotaAutoUnlock @29 :Bool;
-  dpToyotaDebugBsm @30 :Bool;
-  dpMapd @31 :Bool;
-  dpLocalDb @32 :Bool;
-  dpDashcamd @33 :Bool;
-  dpMazdaSteerAlert @34 :Bool;
-  dpSpeedCheck @35 :Bool;
-  dpFollowingProfileCtrl @36 :Bool;
-  dpFollowingProfile @37 :UInt8;
-  dpLateralAlt @38 :Bool;
-  dpLateralAltSpeed @39 :UInt8;
-  dpLateralAltCtrl @40 :UInt8;
-  dpLateralAltLanelines @41 :Bool;
-  dpLateralAltCameraOffset @42 :Int8;
-  dpLateralAltPathOffset @43 :Int8;
-  dpE2EConditional @44 :Bool;
-  dpE2EConditionalAdaptFp @45 :Bool;
-  dpE2EConditionalAdaptAp @46 :Bool;
-  dpE2EConditionalVoacc @47 :Bool;
-  dpLongLeadMovingAlert @48 :Int8;
-  dpLateralLcManual @49 :Bool;
-}
@@ -0,0 +1,796 @@
+// Generated by Cap'n Proto compiler, DO NOT EDIT
+// source: custom.capnp
+
+#include "custom.capnp.h"
+
+namespace capnp {
+namespace schemas {
+static const ::capnp::_::AlignedData<34> b_81c2f05a394cf4af = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    175, 244,  76,  57,  90, 240, 194, 129,
+     13,   0,   0,   0,   1,   0,   1,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0,  63,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  68, 112,  67,
+    111, 110, 116, 114, 111, 108, 115,  83,
+    116,  97, 116, 101,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      4,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     13,   0,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     12,   0,   0,   0,   3,   0,   1,   0,
+     24,   0,   0,   0,   2,   0,   1,   0,
+     97, 108, 107,  97,  65,  99, 116, 105,
+    118, 101,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
+#if !CAPNP_LITE
+static const uint16_t m_81c2f05a394cf4af[] = {0};
+static const uint16_t i_81c2f05a394cf4af[] = {0};
+const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 34, nullptr, m_81c2f05a394cf4af,
+  0, 1, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_aedffd8f31e7b55d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     93, 181, 231,  49, 143, 253, 223, 174,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
+  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f35cc4560bbf6ec2 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    194, 110, 191,  11,  86, 196,  92, 243,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  50,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_da96579883444c35 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     53,  76,  68, 131, 152,  87, 150, 218,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  51,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_da96579883444c35 = {
+  0xda96579883444c35, b_da96579883444c35.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     17, 107,  89, 226, 110, 116, 174, 128,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  52,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
+  0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     85, 164,  81, 217,  44, 118, 205, 165,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  53,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
+  0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    163,   4, 112, 253,  59, 132, 141, 249,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  54,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
+  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    200,   1,  76,  33, 105,  99, 110, 184,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  55,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
+  0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     25, 157, 157,  73,   9, 236,  22, 244,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  56,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
+  0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     45, 219,  31,   3,  68,   7, 104, 161,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  57,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a1680744031fdb2d = {
+  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_cb9fd56c7057593a = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     58,  89,  87, 112, 108, 213, 159, 203,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  48,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_cb9fd56c7057593a = b_cb9fd56c7057593a.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_cb9fd56c7057593a = {
+  0xcb9fd56c7057593a, b_cb9fd56c7057593a.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_cb9fd56c7057593a, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_c2243c65e0340384 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    132,   3,  52, 224, 101,  60,  36, 194,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  49,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_c2243c65e0340384 = b_c2243c65e0340384.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_c2243c65e0340384 = {
+  0xc2243c65e0340384, b_c2243c65e0340384.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_c2243c65e0340384, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_9ccdc8676701b412 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     18, 180,   1, 103, 103, 200, 205, 156,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  50,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_9ccdc8676701b412 = b_9ccdc8676701b412.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_9ccdc8676701b412 = {
+  0x9ccdc8676701b412, b_9ccdc8676701b412.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_cd96dafb67a082d0 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    208, 130, 160, 103, 251, 218, 150, 205,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  51,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_cd96dafb67a082d0 = b_cd96dafb67a082d0.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_cd96dafb67a082d0 = {
+  0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_b057204d7deadf3f = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     63, 223, 234, 125,  77,  32,  87, 176,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  52,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_b057204d7deadf3f = b_b057204d7deadf3f.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_b057204d7deadf3f = {
+  0xb057204d7deadf3f, b_b057204d7deadf3f.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_b057204d7deadf3f, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_bd443b539493bc68 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    104, 188, 147, 148,  83,  59,  68, 189,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  53,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_bd443b539493bc68 = b_bd443b539493bc68.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_bd443b539493bc68 = {
+  0xbd443b539493bc68, b_bd443b539493bc68.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_bd443b539493bc68, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_fc6241ed8877b611 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     17, 182, 119, 136, 237,  65,  98, 252,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  54,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_fc6241ed8877b611 = b_fc6241ed8877b611.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_fc6241ed8877b611 = {
+  0xfc6241ed8877b611, b_fc6241ed8877b611.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a30662f84033036c = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    108,   3,  51,  64, 248,  98,   6, 163,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  55,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a30662f84033036c = b_a30662f84033036c.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a30662f84033036c = {
+  0xa30662f84033036c, b_a30662f84033036c.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a30662f84033036c, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_c86a3d38d13eb3ef = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    239, 179,  62, 209,  56,  61, 106, 200,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  56,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_c86a3d38d13eb3ef = b_c86a3d38d13eb3ef.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_c86a3d38d13eb3ef = {
+  0xc86a3d38d13eb3ef, b_c86a3d38d13eb3ef.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_c86a3d38d13eb3ef, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a4f1eb3323f5f582 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    130, 245, 245,  35,  51, 235, 241, 164,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  57,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a4f1eb3323f5f582 = b_a4f1eb3323f5f582.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a4f1eb3323f5f582 = {
+  0xa4f1eb3323f5f582, b_a4f1eb3323f5f582.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a4f1eb3323f5f582, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+}  // namespace schemas
+}  // namespace capnp
+
+// =======================================================================================
+
+namespace cereal {
+
+// DpControlsState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t DpControlsState::_capnpPrivate::dataWordSize;
+constexpr uint16_t DpControlsState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind DpControlsState::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* DpControlsState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved1
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved1::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved1::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved1::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved1::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved2
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved2::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved2::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved2::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved2::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved3
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved3::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved3::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved3::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved3::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved4
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved4::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved5
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved6
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved7
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved8
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved9
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved10
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved10::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved10::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved10::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved10::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved11
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved11::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved11::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved11::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved11::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved12
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved12::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved12::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved12::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved12::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved13
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved13::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved13::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved13::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved13::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved14
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved14::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved14::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved14::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved14::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved15
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved15::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved15::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved15::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved15::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved16
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved16::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved16::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved16::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved16::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved17
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved17::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved17::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved17::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved17::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved18
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved18::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved18::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved18::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved18::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved19
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved19::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved19::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved19::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved19::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+
+}  // namespace
+
@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
-  TOKEN=`echo $line | sed 's/\./_/g'`
-  ROOT=`echo $line | sed 's/\..*$//g'`
-  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
-  if [[ "$?" == "1" ]]
-  then
-    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
-  fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
@@ -1,49 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
@@ -1,10 +0,0 @@
-demo
-bridge
-test_runner
-*.o
-*.os
-*.d
-*.a
-*.so
-messaging_pyx.cpp
-build/
@@ -1,39 +1,39 @@
-# 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, pub_sock, sub_sock, 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
-
-assert MultiplePublishersError
-assert MessagingError
+from cereal.services import SERVICE_LIST
+from openpilot.common.util import MovingAverage

 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")

-context = Context()
+def reset_context():
+  msgq.context = Context()

-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
-  return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)

-def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
-  dat = log.Event.new_message()
-  dat.logMonoTime = int(sec_since_boot() * 1e9)
-  dat.valid = True
+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)
@@ -41,56 +41,11 @@ 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_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?
@@ -100,32 +55,35 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._

  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_from_bytes(dat)

  return dat

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

+
 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_from_bytes(dat)
  return dat

+
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
  """Keep receiving until we get a message"""
  while True:
@@ -133,49 +91,103 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
    if dat is not None:
      return log_from_bytes(dat)

+
+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[List[str]] = None,
+  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.recv_time = {s: 0. for s in services}
+    self.recv_frame = {s: 0 for s in services}
    self.alive = {s: False for s in services}
    self.freq_ok = {s: False for s in services}
-    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
-    self.freq = {}
    self.data = {}
    self.valid = {}
    self.logMonoTime = {}

+    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.data[s] = getattr(data.as_reader(), s)
      self.logMonoTime[s] = 0
-      self.valid[s] = data.valid
+      self.valid[s] = False
+      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))
@@ -183,69 +195,47 @@ 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:
+    for s in self.services:
+      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
+        # alive if delay is within 10x the expected frequency
+        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
+        self.freq_ok[s] = self.freq_tracker[s].valid
+      else:
        self.freq_ok[s] = True
-        self.alive[s] = True
+        self.alive[s] = self.seen[s] if self.simulation else True

-    if not SIMULATION:
-      for s in self.data:
-        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-        if self.freq[s] > 1e-5:
-          # alive if delay is within 10x the expected frequency
-          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+  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)

-          # TODO: check if update frequency is high enough to not drop messages
-          # freq_ok 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.freq_ok[s] = (avg_dt < expected_dt)
-        else:
-          self.freq_ok[s] = True
-          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_freq_ok(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)
+  def all_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_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=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_freq_ok(service_list=service_list) \
-           and self.all_valid(service_list=service_list)

 class PubMaster:
  def __init__(self, services: List[str]):
@@ -258,5 +248,12 @@ 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()  # type: ignore
@@ -1,29 +0,0 @@
-import time
-
-from messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-
-MSGS = 1e5
-
-if __name__ == "__main__":
-  c = Context()
-  sub_sock = SubSocket()
-  pub_sock = PubSocket()
-
-  sub_sock.connect(c, "controlsState")
-  pub_sock.connect(c, "controlsState")
-
-  poller = Poller()
-  poller.registerSocket(sub_sock)
-
-  t = time.time()
-  for i in range(int(MSGS)):
-    bts = i.to_bytes(4, 'little')
-    pub_sock.send(bts)
-
-    for s in poller.poll(100):
-      dat = s.receive()
-      ii = int.from_bytes(dat, 'little')
-      assert(i == ii)
-
-  dt = time.time() - t
-  print("%.1f msg/s" % (MSGS / dt))
@@ -5,69 +5,12 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <time.h>

 #include <capnp/serialize.h>

 #include "cereal/gen/cpp/log.capnp.h"
-
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-bool messaging_use_zmq();
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){}
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){};
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
-  virtual ~SubSocket(){};
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  virtual bool all_readers_updated() = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
-  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
-  virtual ~PubSocket(){};
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
-};
+#include "common/timing.h"
+#include "msgq/ipc.h"

 class SubMaster {
 public:
@@ -103,10 +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;
  }
@@ -116,6 +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_;
 };
@@ -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 "cereal/messaging/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
@@ -1,54 +0,0 @@
-# MSGQ: A lock free single producer multi consumer message queue
-
-## What is MSGQ?
-MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
-
-## Storage
-The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
-
-1. A counter to the number of readers that are active
-2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
-3. A cycle counter for the writer. This counter is incremented when the writer wraps around
-4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
-5. N counters,  counting the number of cycles for all the readers
-6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
-
-The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
-
-The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
-
-
-## Writing
-Writing involves the following steps:
-
-1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
-2. Write the message
-3. Increase the write pointer by the size of the message
-
-In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
-
-There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
-
-## Reset reader
-When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
-
-1. Set valid flag
-2. Set read cycle counter to that of the writer
-3. Set read pointer to write pointer
-
-## Reading
-Reading involves the following steps:
-
-1. Read the size field at the current read pointer
-2. Read the validity flag
-3. Copy the data out of the buffer
-4. Increase the read pointer by the size of the message
-5. Check the validity flag again
-
-Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
-
-If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
-
-If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
-
-If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
@@ -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;
+};
@@ -1,14 +0,0 @@
-from messaging_pyx import Context, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-
-if __name__ == "__main__":
-  c = Context()
-  pub_sock = PubSocket()
-  pub_sock.connect(c, "controlsState")
-
-  for i in range(int(1e10)):
-    print(i)
-    sub_sock = SubSocket()
-    sub_sock.connect(c, "controlsState")
-
-    pub_sock.send(b'a')
-    print(sub_sock.receive())
@@ -1,65 +1,88 @@
 /* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
 #ifndef __SERVICES_H
 #define __SERVICES_H
-struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
-static struct service services[] = {
-  { "deviceState", 8001, true, 2, 1 },
-  { "can", 8002, true, 100, 1223 },
-  { "controlsState", 8003, true, 100, 10 },
-  { "pandaStates", 8004, true, 2, 1 },
-  { "peripheralState", 8005, true, 2, 1 },
-  { "radarState", 8006, true, 20, 5 },
-  { "roadEncodeIdx", 8007, false, 20, 1 },
-  { "liveTracks", 8008, true, 20, -1 },
-  { "sendcan", 8009, true, 100, 139 },
-  { "logMessage", 8010, true, 0, -1 },
-  { "errorLogMessage", 8011, true, 0, 1 },
-  { "liveCalibration", 8012, true, 4, 4 },
-  { "liveTorqueParameters", 8013, true, 4, 1 },
-  { "androidLog", 8014, true, 0, -1 },
-  { "carState", 8015, true, 100, 10 },
-  { "carControl", 8016, true, 100, 10 },
-  { "longitudinalPlan", 8017, true, 20, 5 },
-  { "procLog", 8018, true, 0, -1 },
-  { "gpsLocationExternal", 8019, true, 10, 10 },
-  { "gpsLocation", 8020, true, 1, 1 },
-  { "ubloxGnss", 8021, true, 10, -1 },
-  { "qcomGnss", 8023, true, 2, -1 },
-  { "gnssMeasurements", 8024, true, 10, 10 },
-  { "clocks", 8025, true, 1, 1 },
-  { "ubloxRaw", 8026, true, 20, -1 },
-  { "liveLocationKalman", 8027, true, 20, 5 },
-  { "liveParameters", 8028, true, 20, 5 },
-  { "cameraOdometry", 8029, true, 20, 5 },
-  { "lateralPlan", 8030, true, 20, 5 },
-  { "thumbnail", 8031, true, 0, 1 },
-  { "carEvents", 8032, true, 1, 1 },
-  { "carParams", 8033, true, 0, 1 },
-  { "roadCameraState", 8034, true, 20, 20 },
-  { "modelV2", 8035, true, 20, 40 },
-  { "managerState", 8036, true, 2, 1 },
-  { "uploaderState", 8037, true, 0, 1 },
-  { "navInstruction", 8038, true, 1, 10 },
-  { "navRoute", 8039, true, 0, -1 },
-  { "navThumbnail", 8040, true, 0, -1 },
-  { "navModel", 8041, true, 2, 4 },
-  { "mapRenderState", 8042, true, 2, 1 },
-  { "uiPlan", 8043, true, 20, 40 },
-  { "qRoadEncodeIdx", 8044, false, 20, -1 },
-  { "userFlag", 8045, true, 0, 1 },
-  { "uiDebug", 8046, true, 0, 1 },
-  { "testJoystick", 8047, true, 0, -1 },
-  { "roadEncodeData", 8048, false, 20, -1 },
-  { "driverEncodeData", 8049, false, 20, -1 },
-  { "wideRoadEncodeData", 8050, false, 20, -1 },
-  { "qRoadEncodeData", 8051, false, 20, -1 },
-  { "driverCameraState", 8052, true, 10, 10 },
-  { "driverEncodeIdx", 8053, false, 10, 1 },
-  { "driverState", 8054, true, 10, 5 },
-  { "driverMonitoringState", 8055, true, 10, 5 },
-  { "sensorEvents", 8056, true, 100, 100 },
-  { "dragonConf", 8057, false, 1, -1 },
-  { "liveMapData", 8058, true, 0, -1 },
+#include <map>
+#include <string>
+struct service { std::string name; bool should_log; int frequency; int decimation; };
+static std::map<std::string, service> services = {
+  { "gyroscope", {"gyroscope", true, 104, 104}},
+  { "gyroscope2", {"gyroscope2", true, 100, 100}},
+  { "accelerometer", {"accelerometer", true, 104, 104}},
+  { "accelerometer2", {"accelerometer2", true, 100, 100}},
+  { "magnetometer", {"magnetometer", true, 25, -1}},
+  { "lightSensor", {"lightSensor", true, 100, 100}},
+  { "temperatureSensor", {"temperatureSensor", true, 2, 200}},
+  { "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
+  { "gpsNMEA", {"gpsNMEA", true, 9, -1}},
+  { "deviceState", {"deviceState", true, 2, 1}},
+  { "touch", {"touch", true, 20, 1}},
+  { "can", {"can", true, 100, 2053}},
+  { "controlsState", {"controlsState", true, 100, 10}},
+  { "selfdriveState", {"selfdriveState", true, 100, 10}},
+  { "pandaStates", {"pandaStates", true, 10, 1}},
+  { "peripheralState", {"peripheralState", true, 2, 1}},
+  { "radarState", {"radarState", true, 20, 5}},
+  { "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
+  { "liveTracks", {"liveTracks", true, 20, -1}},
+  { "sendcan", {"sendcan", true, 100, 139}},
+  { "logMessage", {"logMessage", true, 0, -1}},
+  { "errorLogMessage", {"errorLogMessage", true, 0, 1}},
+  { "liveCalibration", {"liveCalibration", true, 4, 4}},
+  { "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
+  { "androidLog", {"androidLog", true, 0, -1}},
+  { "carState", {"carState", true, 100, 10}},
+  { "carControl", {"carControl", true, 100, 10}},
+  { "carOutput", {"carOutput", true, 100, 10}},
+  { "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
+  { "driverAssistance", {"driverAssistance", true, 20, 20}},
+  { "procLog", {"procLog", true, 0, 15}},
+  { "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
+  { "gpsLocation", {"gpsLocation", true, 1, 1}},
+  { "ubloxGnss", {"ubloxGnss", true, 10, -1}},
+  { "qcomGnss", {"qcomGnss", true, 2, -1}},
+  { "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
+  { "clocks", {"clocks", true, 0, 1}},
+  { "ubloxRaw", {"ubloxRaw", true, 20, -1}},
+  { "livePose", {"livePose", true, 20, 4}},
+  { "liveParameters", {"liveParameters", true, 20, 5}},
+  { "cameraOdometry", {"cameraOdometry", true, 20, 10}},
+  { "thumbnail", {"thumbnail", true, 0, 1}},
+  { "onroadEvents", {"onroadEvents", true, 1, 1}},
+  { "carParams", {"carParams", true, 0, 1}},
+  { "roadCameraState", {"roadCameraState", true, 20, 20}},
+  { "driverCameraState", {"driverCameraState", true, 20, 20}},
+  { "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
+  { "driverStateV2", {"driverStateV2", true, 20, 10}},
+  { "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
+  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
+  { "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
+  { "drivingModelData", {"drivingModelData", true, 20, 10}},
+  { "modelV2", {"modelV2", true, 20, -1}},
+  { "managerState", {"managerState", true, 2, 1}},
+  { "uploaderState", {"uploaderState", true, 0, 1}},
+  { "navInstruction", {"navInstruction", true, 1, 10}},
+  { "navRoute", {"navRoute", true, 0, -1}},
+  { "navThumbnail", {"navThumbnail", true, 0, -1}},
+  { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
+  { "userFlag", {"userFlag", true, 0, 1}},
+  { "microphone", {"microphone", true, 10, 10}},
+  { "uiDebug", {"uiDebug", true, 0, 1}},
+  { "testJoystick", {"testJoystick", true, 0, -1}},
+  { "alertDebug", {"alertDebug", true, 20, 5}},
+  { "roadEncodeData", {"roadEncodeData", false, 20, -1}},
+  { "driverEncodeData", {"driverEncodeData", false, 20, -1}},
+  { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
+  { "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
+  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
+  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
+  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
+  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
+  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
+  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
+  { "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
+  { "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
+  { "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
+  { "dpControlsState", {"dpControlsState", false, 100, 10}},
 };
 #endif

@@ -1,38 +1,32 @@
 #!/usr/bin/env python3
 from typing import Optional

-RESERVED_PORT = 8022  # sshd
-STARTING_PORT = 8001
-
-
-def new_port(port: int):
-  port += STARTING_PORT
-  return port + 1 if port >= RESERVED_PORT else port
-

 class Service:
-  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
-    self.port = port
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation


-services = {
+_services: dict[str, tuple] = {
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
-  # "gyroscope": (True, 104., 104),
-  # "gyroscope2": (True, 100., 100),
-  # "accelerometer": (True, 104., 104),
-  # "accelerometer2": (True, 100., 100),
-  # "magnetometer": (True, 100., 100),
-  # "lightSensor": (True, 100., 100),
-  # "temperatureSensor": (True, 100., 100),
-  # "gpsNMEA": (True, 9.),
+  "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
+  "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 2., 200),
+  "temperatureSensor2": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
+  "touch": (True, 20., 1),
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10),
-  "pandaStates": (True, 2., 1),
+  "selfdriveState": (True, 100., 10),
+  "pandaStates": (True, 10., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
  "roadEncodeIdx": (False, 20., 1),
@@ -45,64 +39,62 @@ services = {
  "androidLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
-  "procLog": (True, 0.5),
+  "carOutput": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 10),
+  "driverAssistance": (True, 20., 20),
+  "procLog": (True, 0.5, 15),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
  "gnssMeasurements": (True, 10., 10),
-  "clocks": (True, 1., 1),
+  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 5),
+  "livePose": (True, 20., 4),
  "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 5),
-  "lateralPlan": (True, 20., 5),
-  "thumbnail": (True, 0.2, 1),
-  "carEvents": (True, 1., 1),
+  "cameraOdometry": (True, 20., 10),
+  "thumbnail": (True, 1 / 60., 1),
+  "onroadEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
-  # "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),
+  "driverCameraState": (True, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
+  "driverStateV2": (True, 20., 10),
+  "driverMonitoringState": (True, 20., 10),
+  "wideRoadEncodeIdx": (False, 20., 1),
+  "wideRoadCameraState": (True, 20., 20),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20.),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
  "navInstruction": (True, 1., 10),
  "navRoute": (True, 0.),
  "navThumbnail": (True, 0.),
-  "navModel": (True, 2., 4.),
-  "mapRenderState": (True, 2., 1.),
-  "uiPlan": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
-  # "microphone": (True, 10., 10),
+  "microphone": (True, 10., 10),

  # debug
  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
+  "alertDebug": (True, 20., 5),
  "roadEncodeData": (False, 20.),
  "driverEncodeData": (False, 20.),
  "wideRoadEncodeData": (False, 20.),
  "qRoadEncodeData": (False, 20.),
-
-  # dp
-  # legacy
-  "driverCameraState": (True, 10., 10),
-  "driverEncodeIdx": (False, 10., 1),
-  "driverState": (True, 10, 5),
-  "driverMonitoringState": (True, 10., 5),
-  "sensorEvents": (True, 100., 100),
-  # conf
-  "dragonConf": (False, 1.),
-  # mapd
-  "liveMapData": (True, 0.),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
+  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
+  "dpControlsState": (False, 100., 10),
 }
-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():
@@ -110,14 +102,19 @@ 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; int frequency; int decimation; };\n"
+  h += "static std::map<std::string, service> services = {\n"
+  for k, v in SERVICE_LIST.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", %d, %s, %d, %d },\n' % \
-         (k, v.port, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation)
  h += "};\n"
+
  h += "#endif\n"
  return h

@@ -1,4 +0,0 @@
-from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType  # pylint: disable=no-name-in-module, import-error
-assert VisionIpcClient
-assert VisionIpcServer
-assert VisionStreamType
@@ -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);
@@ -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;
-};
@@ -1,45 +0,0 @@
-# distutils: language = c++
-#cython: language_level=3
-
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp.set cimport set
-from libc.stdint cimport uint32_t, uint64_t
-from libcpp cimport bool
-
-cdef extern from "cereal/visionipc/visionbuf.h":
-  cdef enum VisionStreamType:
-    pass
-
-  cdef cppclass VisionBuf:
-    void * addr
-    size_t len
-    size_t width
-    size_t height
-    size_t stride
-    size_t uv_offset
-    void set_frame_id(uint64_t id)
-
-cdef extern from "cereal/visionipc/visionipc.h":
-  struct VisionIpcBufExtra:
-    uint32_t frame_id
-    uint64_t timestamp_sof
-    uint64_t timestamp_eof
-
-cdef extern from "cereal/visionipc/visionipc_server.h":
-  cdef cppclass VisionIpcServer:
-    VisionIpcServer(string, void*, void*)
-    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
-    void create_buffers_with_sizes(VisionStreamType, size_t, bool, size_t, size_t, size_t, size_t, size_t)
-    VisionBuf * get_buffer(VisionStreamType)
-    void send(VisionBuf *, VisionIpcBufExtra *, bool)
-    void start_listener()
-
-cdef extern from "cereal/visionipc/visionipc_client.h":
-  cdef cppclass VisionIpcClient:
-    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
-    VisionBuf * recv(VisionIpcBufExtra *, int)
-    bool connect(bool)
-    bool is_connected()
-    @staticmethod
-    set[VisionStreamType] getAvailableStreams(string, bool)
@@ -1,43 +0,0 @@
-#pragma once
-#include <vector>
-#include <string>
-#include <thread>
-#include <atomic>
-#include <map>
-
-#include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
-#include "cereal/visionipc/visionbuf.h"
-
-std::string get_endpoint_name(std::string name, VisionStreamType type);
-
-class VisionIpcServer {
- private:
-  cl_device_id device_id = nullptr;
-  cl_context ctx = nullptr;
-  uint64_t server_id;
-
-  std::atomic<bool> should_exit = false;
-  std::string name;
-  std::thread listener_thread;
-
-  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
-  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
-  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 create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset);
-  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
-  void start_listener();
-};
@@ -0,0 +1,13 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
+ignore:
+  - "**/test_*.py"
+  - "selfdrive/test/**"
+  - "system/version.py" # codecov changes depending on if we are in a branch or not
+  - "tools"
@@ -0,0 +1,39 @@
+Import('env', 'envCython', 'arch')
+
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'i2c.cc',
+  'watchdog.cc',
+  'ratekeeper.cc'
+]
+
+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
+_common = env.Library('common', common_libs, LIBS="json11")
+
+files = [
+  'clutil.cc',
+]
+
+_gpucommon = env.Library('gpucommon', files)
+Export('_common', '_gpucommon')
+
+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')
@@ -0,0 +1,46 @@
+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')
+
+class Api:
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(Paths.persist_root()+'/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, 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)
+    }
+    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):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
@@ -1,47 +0,0 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta
-from common.basedir import PERSIST
-from system.version import get_version
-
-from common.params import Params
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8')
-
-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, expiry_hours=1):
-    now = datetime.utcnow()
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    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):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
@@ -1,11 +1,4 @@
 import os
-from pathlib import Path

-from system.hardware import PC

 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
-
-if PC:
-  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
-else:
-  PERSIST = "/persist"
@@ -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)
-
@@ -22,7 +22,7 @@
  })

 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_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
-const char* cl_get_error_string(int err);
@@ -1,318 +0,0 @@
-#!/usr/bin/env python3.7
-#pylint: skip-file
-import os
-import sys
-import json
-import time
-from math import floor
-from system.hardware import TICI
-
-'''
-* 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 = [
-  # custom api server
-  {'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']},
-
-  {'name': 'dp_atl', 'default': 0, 'type': 'UInt8', 'conf_type': ['param', 'struct'], 'update_once': True},
-
-  {'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
-  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-
-  # nav service
-  {'name': 'dp_nav', 'default': True if TICI else False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
-
-  # gpxd
-  {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-
-  # assign car via param
-  # echo -n TOYOTA C-HR 2021 > /data/params/d/dp_car_assigned
-  {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-
-  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
-
-  # lateral - alc
-  {'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': 15, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lc_auto_min_mph', 'default': 40, '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']},
-  {'name': 'dp_lateral_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_road_edge_detected', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-
-  #ui
-  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
-  {'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  #{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, '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_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_lead_info', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_laneline', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_chevron', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_dm_cam', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_rainbow', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-
-  #toyota
-  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-
-  {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_local_db', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-
-
-  # dashcam related
-  {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # # auto shutdown
-  {'name': 'dp_auto_shutdown', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_auto_shutdown_in', 'default': 60, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
-
-  {'name': 'dp_mazda_steer_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_mazda_dashcam_bypass', 'default': False, 'type': 'Bool', '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']},
-  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_dm', 'default': True if not TICI else False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # # lat ctrl
-  # {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], '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', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_tune', 'default': 0, 'type': 'UInt8', 'conf_type': ['param']},
-  {'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_lateral_alt', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_alt_speed', 'default': 80, 'type': 'UInt8', 'min': 10, 'max': 130, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_alt_ctrl', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_alt_lanelines', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_alt_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_alt_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'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']},
-  # # UIs
-  # {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, '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_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_ui_top', '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_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  #{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  #{'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_toyota_change5speed', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
-  # # hyundai
-  # {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # # honda
-  # {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # # volkswagen
-  # # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # #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': CAMERA_OFFSET, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
-  #
-  # {'name': 'dp_reg', 'default': False, '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_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  # {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  # {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # # no gps is for mr. one's harness + black panda in one solution (without GPS chip)
-  # {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  #
-  # {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_lateral_version', 'default': 0, 'min': 0, 'max': 2, 'type': 'UInt8', 'conf_type': ['param']},
-  {'name': 'dp_lateral_steer_rate_cost', 'default': 1.0, 'min': 0.5, 'max': 2.0, 'type': 'Float32', 'conf_type': ['param']},
-  {'name': 'dp_upload_ignored', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'local_trip_count_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
-  {'name': 'local_trip_meter_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
-  {'name': 'local_trip_min_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
-  {'name': 'dp_lateral_lc_manual', '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": []})
-  models = []
-  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":
-        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 models:
-                models.append(f)
-    except (ImportError, IOError, ValueError):
-      pass
-  models.sort()
-  cars["cars"] = models
-  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()
@@ -1,59 +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()
-LAST_MODIFIED = params.get_param_path() + "/dp_last_modified"
-
-# delay of reading last modified
-# LAST_MODIFIED_TIMER_THERMALD = 10.
-LAST_MODIFIED_TIMER_SYSTEMD = 1.
-# LAST_MODIFIED_TIMER_LANE_PLANNER = 3.
-# LAST_MODIFIED_TIMER_UPLOADER = 10.
-
-# 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 get_last_modified(delay, old_check, old_modified):
-  new_check = sec_since_boot()
-  if os.path.isfile(LAST_MODIFIED) and (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
@@ -1,55 +1,8 @@
-import os
-import sys
-import fcntl
-import hashlib
 import platform
-from cffi import FFI
+

 def suffix():
  if platform.system() == "Darwin":
    return ".dylib"
  else:
    return ".so"
-
-def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
-  if libraries is None:
-    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(f"cache miss {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
@@ -1,60 +1,10 @@
+import io
 import os
-import shutil
 import tempfile
-from atomicwrites import AtomicWriter
+import contextlib
+import zstandard as zstd

-
-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 f"/{parts[1]}/runner/tmp"
-  return "/tmp"
-
-
-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()
+LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change


 class CallbackReader:
@@ -76,38 +26,33 @@ class CallbackReader:
    return chunk


-def _get_fileobject_func(writer, temp_dir):
-  def _get_fileobject():
-    return writer.get_fileobject(dir=temp_dir)
-  return _get_fileobject
+@contextlib.contextmanager
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
+                        overwrite: bool = False):
+  """Write to a file atomically using a temporary file in the same directory as the destination file."""
+  dir_name = os.path.dirname(path)

-def monkeypatch_os_link():
-  # This is neccesary on EON/C2, where os.link is patched out of python
-  if not hasattr(os, 'link'):
-    from cffi import FFI
-    ffi = FFI()
-    ffi.cdef("int link(const char *oldpath, const char *newpath);")
-    libc = ffi.dlopen(None)
+  if not overwrite and os.path.exists(path):
+    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")

-    def link(src, dest):
-      return libc.link(src.encode(), dest.encode())
-    os.link = link
-
-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.
-  monkeypatch_os_link()
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
+    yield tmp_file
+    tmp_file_name = tmp_file.name
+  os.replace(tmp_file_name, path)


-def atomic_write_in_dir(path, **kwargs):
-  """Creates an atomic writer using a temporary file in the same directory
-     as the destination file.
-  """
-  monkeypatch_os_link()
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size
@@ -0,0 +1,42 @@
+from functools import cache
+import subprocess
+from openpilot.common.run 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)
@@ -5,7 +5,7 @@
  #define GPIO_HUB_RST_N        30
  #define GPIO_UBLOX_RST_N      32
  #define GPIO_UBLOX_SAFEBOOT_N 33
-  #define GPIO_UBLOX_PWR_EN     34
+  #define GPIO_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
  #define GPIO_STM_RST_N        124
  #define GPIO_STM_BOOT0        134
  #define GPIO_BMX_ACCEL_INT    21
@@ -17,7 +17,7 @@
  #define GPIO_HUB_RST_N        0
  #define GPIO_UBLOX_RST_N      0
  #define GPIO_UBLOX_SAFEBOOT_N 0
-  #define GPIO_UBLOX_PWR_EN     0
+  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
  #define GPIO_STM_RST_N        0
  #define GPIO_STM_BOOT0        0
  #define GPIO_BMX_ACCEL_INT    0
@@ -1,4 +1,5 @@
-from typing import Optional
+import os
+from functools import cache

 def gpio_init(pin: int, output: bool) -> None:
  try:
@@ -14,7 +15,7 @@ def gpio_set(pin: int, high: bool) -> None:
  except Exception as e:
    print(f"Failed to set gpio {pin} value: {e}")

-def gpio_read(pin: int) -> Optional[bool]:
+def gpio_read(pin: int) -> bool | None:
  val = None
  try:
    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
@@ -23,3 +24,31 @@ def gpio_read(pin: int) -> Optional[bool]:
    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
@@ -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"
@@ -1,27 +0,0 @@
-import gettext
-from common.params import Params
-
-locale_dir = "/data/openpilot/selfdrive/assets/locales"
-# supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
-supported_languages = {
-  "main_en": "en-US",
-  "main_zh-CHT": "zh-TW",
-  "main_zh-CHS": "zh-CN",
-  "main_ko": "ko-KR",
-  "main_ja": "ja-JP",
-  "main_de": "de-DE",
-  "main_pt-BR": "pt_BR",
-}
-
-def events():
-  locale = Params().get("LanguageSetting", encoding='utf8')
-  try:
-    if locale is not None:
-      locale = supported_languages[locale.strip()]
-    else:
-      locale = "en-US"
-  except KeyError:
-    locale = "en-US"
-  i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
-  i18n.install()
-  return i18n.gettext
@@ -1,12 +1,14 @@
 #pragma once

 #include <cstdint>
+#include <mutex>

 #include <sys/types.h>

 class I2CBus {
  private:
    int i2c_fd;
+    std::mutex m;

  public:
    I2CBus(uint8_t bus_id);
@@ -1 +0,0 @@
-simple_kalman_impl.c
@@ -1,3 +0,0 @@
-# pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
-assert KF1D
@@ -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
@@ -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]
@@ -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
@@ -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()
@@ -8,6 +8,7 @@ import uuid
 import socket
 import logging
 import traceback
+import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -15,6 +16,8 @@ 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)
@@ -153,9 +156,9 @@ 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)
@@ -197,7 +200,7 @@ class SwagLogger(logging.Logger):
      filename = os.path.normcase(co.co_filename)

      # TODO: is this pylint exception correct?
-      if filename == _srcfile:  # pylint: disable=comparison-with-callable
+      if filename == _srcfile:
        f = f.f_back
        continue
      sinfo = None
@@ -0,0 +1,45 @@
+HTML_REPLACEMENTS = [
+  (r'&', r'&amp;'),
+  (r'"', r'&quot;'),
+]
+
+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
@@ -1,7 +1,7 @@
 #pragma once

 typedef struct vec3 {
-	float v[3];
+  float v[3];
 } vec3;

 typedef struct vec4 {
@@ -9,7 +9,7 @@ typedef struct vec4 {
 } vec4;

 typedef struct mat3 {
-	float v[3*3];
+  float v[3*3];
 } mat3;

 typedef struct mat4 {
@@ -0,0 +1,50 @@
+"""
+Utilities for generating mock messages for testing.
+example in common/tests/test_mock.py
+"""
+
+
+import functools
+import threading
+from cereal.messaging import PubMaster
+from cereal.services import SERVICE_LIST
+from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.realtime import Ratekeeper
+
+
+MOCK_GENERATOR = {
+  "livePose": generate_livePose
+}
+
+
+def generate_messages_loop(services: list[str], done: threading.Event):
+  pm = PubMaster(services)
+  rk = Ratekeeper(100)
+  i = 0
+  while not done.is_set():
+    for s in services:
+      should_send = i % (100/SERVICE_LIST[s].frequency) == 0
+      if should_send:
+        message = MOCK_GENERATOR[s]()
+        pm.send(s, message)
+    i += 1
+    rk.keep_time()
+
+
+def mock_messages(services: list[str] | str):
+  if isinstance(services, str):
+    services = [services]
+
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      done = threading.Event()
+      t = threading.Thread(target=generate_messages_loop, args=(services, done))
+      t.start()
+      try:
+        return func(*args, **kwargs)
+      finally:
+        done.set()
+        t.join()
+    return wrapper
+  return decorator
@@ -0,0 +1,14 @@
+from cereal import messaging
+
+
+def generate_livePose():
+  msg = messaging.new_message('livePose')
+  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
+  msg.livePose.orientationNED = meas
+  msg.livePose.velocityDevice = meas
+  msg.livePose.angularVelocityDevice = meas
+  msg.livePose.accelerationDevice = meas
+  msg.livePose.inputsOK = True
+  msg.livePose.posenetOK = True
+  msg.livePose.sensorsOK = True
+  return msg
@@ -1,57 +0,0 @@
-#pragma once
-
-#include <array>
-#include "common/mat.h"
-#include "system/hardware/hw.h"
-
-const int TRAJECTORY_SIZE = 33;
-const int LAT_MPC_N = 16;
-const int LON_MPC_N = 32;
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
-
-template <typename T, size_t size>
-constexpr std::array<T, size> build_idxs(float max_val) {
-  std::array<T, size> result{};
-  for (int i = 0; i < size; ++i) {
-    result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
-  }
-  return result;
-}
-
-constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
-constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
-constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
-constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
-
-const int TICI_CAM_WIDTH = 1928;
-
-namespace tici_dm_crop {
-  const int x_offset = -72;
-  const int y_offset = -144;
-  const int width = 954;
-};
-
-const mat3 fcam_intrinsic_matrix =
-    Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
-                              0., 910., 874.0 / 2,
-                              0., 0., 1.}}
-                    : (mat3){{2648.0, 0.0, 1928.0 / 2,
-                              0.0, 2648.0, 1208.0 / 2,
-                              0.0, 0.0, 1.0}};
-
-// tici ecam focal probably wrong? magnification is not consistent across frame
-// Need to retrain model before this can be changed
-const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
-
-static inline mat3 get_model_yuv_transform(bool bayer = true) {
-  float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
-  const mat3 transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  }};
-  return bayer ? transform_scale_buffer(transform, db_s) : transform;
-}
@@ -1,19 +0,0 @@
-def clip(x, lo, hi):
-  return max(lo, min(hi, x))
-
-def interp(x, xp, fp):
-  N = len(xp)
-
-  def get_interp(xv):
-    hi = 0
-    while hi < N and xv > xp[hi]:
-      hi += 1
-    low = hi - 1
-    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else
-      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-
-  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
-
-def mean(x):
-  return sum(x) / len(x)
@@ -1,26 +1,37 @@
 #pragma once

+#include <future>
 #include <map>
 #include <string>
+#include <tuple>
+#include <utility>
 #include <vector>

+#include "common/queue.h"
+
 enum ParamKeyType {
  PERSISTENT = 0x02,
  CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_IGNITION_ON = 0x08,
-  CLEAR_ON_IGNITION_OFF = 0x10,
+  CLEAR_ON_ONROAD_TRANSITION = 0x08,
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
  DONT_LOG = 0x20,
+  DEVELOPMENT_ONLY = 0x40,
  ALL = 0xFFFFFFFF
 };

 class Params {
 public:
-  Params(const std::string &path = {});
+  explicit Params(const std::string &path = {});
+  ~Params();
+  // Not copyable.
+  Params(const Params&) = delete;
+  Params& operator=(const Params&) = delete;
+
  std::vector<std::string> allKeys() const;
  bool checkKey(const std::string &key);
  ParamKeyType getKeyType(const std::string &key);
  inline std::string getParamPath(const std::string &key = {}) {
-    return params_path + prefix + (key.empty() ? "" : "/" + key);
+    return params_path + params_prefix + (key.empty() ? "" : "/" + key);
  }

  // Delete a value
@@ -42,8 +53,18 @@ public:
  inline int putBool(const std::string &key, bool val) {
    return put(key.c_str(), val ? "1" : "0", 1);
  }
+  void putNonBlocking(const std::string &key, const std::string &val);
+  inline void putBoolNonBlocking(const std::string &key, bool val) {
+    putNonBlocking(key, val ? "1" : "0");
+  }

 private:
+  void asyncWriteThread();
+
  std::string params_path;
-  std::string prefix;
+  std::string params_prefix;
+
+  // for nonblocking write
+  std::future<void> future;
+  SafeQueue<std::pair<std::string, std::string>> queue;
 };
@@ -1,9 +1,7 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
-assert put_nonblocking
-assert put_bool_nonblocking

 if __name__ == "__main__":
  import sys
--- a/Show More
+++ b/Show More