openpilot v0.5.2 release

Merge opendbc subtree
Squashed 'opendbc/' changes from d62ebdd..2210752
2026-06-20 05:22:03 +08:00 · 2018-08-19 20:36:37 -07:00 · 2018-08-19 20:34:33 -07:00 · 2018-08-19 20:34:33 -07:00 · 2018-08-19 20:34:21 -07:00 · 2018-08-19 20:34:21 -07:00
2314 changed files with 246012 additions and 463919 deletions
@@ -1,19 +1,11 @@
-venv/
-.env
-.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
 .idea
-.overlay_init
-.overlay_consistent
 .sconsign.dblite
-.vscode*
 model2.png
 a.out
-.hypothesis

-*.dylib
 *.DSYM
 *.d
 *.pyc
@@ -21,11 +13,7 @@ a.out
 .*.swp
 .*.swo
 .*.un~
-*.tmp
 *.o
-*.o-*
-*.os
-*.os-*
 *.so
 *.a
 *.clb
@@ -34,53 +22,13 @@ a.out
 *.vcd
 config.json
 clcache
-compile_commands.json

-persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
-selfdrive/mapd/default_speeds_by_region.json
-system/proclogd/proclogd
-selfdrive/ui/_ui
-selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
-system/camerad/camerad
-system/camerad/test/ae_gray_test
-selfdrive/modeld/_modeld
-selfdrive/modeld/_dmonitoringmodeld
+selfdrive/proclogd/proclogd
+selfdrive/ui/ui
+selfdrive/test/tests/plant/out
 /src/

 one
-/body/
-openpilot
-notebooks
-xx
-yy
-hyperthneed
-panda_jungle
-provisioning
-
-.coverage*
-coverage.xml
-htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
-
-*.bz2
-
-build/
-
-!**/.gitkeep
-
-*.po~
@@ -0,0 +1,12 @@
+sudo: required
+
+services:
+  - docker
+
+install:
+  - docker build -t tmppilot -f Dockerfile.openpilot .
+
+script:
+  - docker run --rm
+      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
@@ -1,874 +0,0 @@
-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 2022.06.25
-========================
-* Synced with openpilot master 2022.07.26 commits.
-
-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 +1,18 @@
+# How to contribute
+
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+
+Most open source development activity is coordinated through our [slack](https://slack.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+
+## Getting Started
+
+ * Join our slack [slack.comma.ai](https://slack.comma.ai)
+ * Make sure you have a [GitHub account](https://github.com/signup/free)
+ * Fork [our repositories](https://github.com/commaai) on GitHub
+
+## Car Ports (openpilot)
+
+We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
+
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+
@@ -0,0 +1,19 @@
+FROM ubuntu:16.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
+
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt
+
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+COPY ./common /tmp/openpilot/common
+COPY ./cereal /tmp/openpilot/cereal
+COPY ./opendbc /tmp/openpilot/opendbc
+COPY ./selfdrive /tmp/openpilot/selfdrive
+COPY ./phonelibs /tmp/openpilot/phonelibs
+COPY ./pyextra /tmp/openpilot/pyextra
+
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out
@@ -0,0 +1,9 @@
+
+code_dir := $(shell pwd)
+
+# TODO: Add a global build system
+
+.PHONY: all
+all:
+	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
+
@@ -1,131 +1,188 @@
-![](https://i.imgur.com/b0ZyIx5.jpg)
+[![](https://i.imgur.com/VlKV6V8.png)](#)

-Table of Contents
-=======================
+Welcome to openpilot
+======

-* [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](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

---
+The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.

-What is openpilot?
+Community
 ------

-[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).
+openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
+
+We have a [Twitter you should follow](https://twitter.com/comma_ai).
+
+Also, we have a 3500+ person [community on slack](https://slack.comma.ai).

 <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>
+    <td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></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://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
  </tr>
 </table>

-
-Running on a dedicated device in a car
+Hardware
 ------

-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 150+ 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.
+Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.

-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

-Running on PC
+Supported Cars
 ------

-All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
+| Acura         | ILX 2016                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura         | ILX 2017                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura         | RDX 2018                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| GM<sup>3</sup>| Volt 2017                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>| Volt 2018                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| Honda         | Accord 2018               | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda         | Civic 2016                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | Civic 2017                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | Civic 2017 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | Civic 2018                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | Civic 2018 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | CR-V 2015                 | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2016                 | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2017                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | CR-V 2018                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | Odyssey 2017              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda         | Pilot 2017                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Pilot 2018                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Ridgeline 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Ridgeline 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Lexus         | RX Hybrid 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus         | RX Hybrid 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Camry 2018<sup>4</sup>    | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
+| Toyota        | C-HR 2018<sup>4</sup>     | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota        | Corolla 2017              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Corolla 2018              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Prius 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius 2017                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius Prime 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius Prime 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Rav4 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 2017                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 2018                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 Hybrid 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Rav4 Hybrid 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |

-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.

-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
+<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)  
+<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  

-A PC running openpilot can also control your vehicle if it is connected to a [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
+Community Maintained Cars
 ------

-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).
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
+| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |

-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).
+[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).

-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.
+Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+In Progress Cars
+------
+- All TSS-P Toyota with Steering Assist.
+  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
+  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
+- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
+  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
+  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.

-And [follow us on Twitter](https://twitter.com/comma_ai).
-
-User Data and comma Account
+How can I add support for my car?
 ------

-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.
+If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.

-openpilot is open source software: the user is free to disable data collection if they wish to do so.
+We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.

-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.
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
+- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
+- The 2016-2017 Honda Accord use a custom signaling protocol for steering that's unlikely to ever be upstreamed.

-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-Safety and Testing
----
-
-* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
-* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
-
-Directory Structure
+Directory structure
 ------
    .
-    ├── cereal              # The messaging spec and libs used for all logs
+    ├── apk                 # The apk files used for the UI
+    ├── cereal              # The messaging spec used for all logs on EON
    ├── common              # Library like functionality we've developed here
-    ├── docs                # Documentation
+    ├── installer/updater   # Manages auto-updates of openpilot
    ├── 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
-        └── proclogd        # Logs information from /proc
+    ├── panda               # Code used to communicate on CAN and LIN
+    ├── phonelibs           # Libraries used on EON
+    ├── pyextra             # Libraries used on EON
    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts, images, and sounds for UI
-        ├── athena          # Allows communication with the app
+        ├── assets          # Fonts and images for UI
        ├── boardd          # Daemon to talk to the board
+        ├── can             # Helpers for parsing CAN messages
        ├── car             # Car specific code to read states and control actuators
-        ├── controls        # Planning and controls
+        ├── common          # Shared C/C++ code for the daemons
+        ├── controls        # Perception, planning and controls
        ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Precise localization and vehicle parameter estimation
+        ├── locationd       # Soon to be home of precise location
+        ├── logcatd         # Android logcat as a service
        ├── loggerd         # Logger and uploader of car data
-        ├── manager         # Deamon 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
-        ├── sensord         # IMU interface code
-        ├── test            # Unit tests, system tests, and a car simulator
-        └── ui              # The UI
+        ├── proclogd        # Logs information from proc
+        ├── sensord         # IMU / GPS interface code
+        ├── test            # Car simulator running code through virtual maneuvers
+        ├── ui              # The UI
+        └── visiond         # Embedded vision pipeline
+
+To understand how the services interact, see `selfdrive/service_list.yaml`
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
+
+It's open source software, so you are free to disable it if you wish.
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The user facing camera is only logged if you explicitly opt-in in settings.
+It does not log the microphone.
+
+By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+Testing on PC
+------
+
+There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+
+```bash
+# Requires working docker
+./run_docker_tests.sh
+```
+
+The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
+
+More extensive testing infrastructure and simulation environments are coming soon.
+
+Contributing
+------
+
+We welcome both pull requests and issues on
+[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+
+Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

 Licensing
 ------
@@ -137,13 +194,3 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
-
---
-
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
-
-[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
-[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
-[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
-[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -0,0 +1,36 @@
+Welcome to chffrplus
+======
+
+[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
+
+This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
+
+It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
+
+
+Hardware
+------
+
+Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
+
+Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
+
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default chffrplus creates an account and includes a client for chffr, our dashcam app.
+
+It's open source software, so you are free to disable it if you wish. 
+
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). 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.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+
+Licensing
+------
+
+chffrplus is released under the MIT license.
+
@@ -1,576 +1,3 @@
-Version 0.8.16 (2022-XX-XX)
-========================
-
-Version 0.8.15 (2022-07-20)
-========================
-* New driving model
-  * Path planning uses end-to-end output instead of lane lines at all times
-  * Reduced ping pong
-  * Improved lane centering
-* New lateral controller based on physical wheel torque model
-  * Much smoother control that's consistent across the speed range
-  * Effective feedforward that uses road roll
-  * Simplified tuning, all car-specific parameters can be derived from data
-  * Used on select Toyota and Hyundai models at first
-  * Significantly improved control on TSS-P Prius
-* New driver monitoring model
-  * Bigger model, covering full interior view from driver camera
-  * Works with a wider variety of mounting angles
-  * 3x more unique comma three training data than previous
-* Navigation improvements
-  * Speed limits shown while navigating
-  * Faster position fix by using raw GPS measurements
-* UI updates
-  * Multilanguage support for settings and home screen
-  * New font
-  * Refreshed max speed design
-  * More consistent camera view perspective across cars
-* Reduced power usage: device runs cooler and fan spins less
-* AGNOS 5
-  * Support VSCode remote SSH target
-  * Support for delta updates to reduce data usage on future OS updates
-* Chrysler ECU firmware fingerprinting thanks to realfast!
-* Honda Civic 2022 support
-* Hyundai Tucson 2021 support thanks to bluesforte!
-* Kia EV6 2022 support
-* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
-* Ram 1500 2019-21 support thanks to realfast!
-
-Version 0.8.14 (2022-06-01)
-========================
- * New driving model
-   * Bigger model, using both of comma three's road-facing cameras
-   * Better at cut-in detection and tight turns
- * New driver monitoring model
-   * Tweaked network structure to improve output resolution for DSP
-   * Fixed bug in quantization aware training to reduce quantizing errors
-   * Resulted in 7x less MSE and no more random biases at runtime
- * Added toggle to disable disengaging on the accelerator pedal
- * comma body support
- * Audi RS3 support thanks to jyoung8607!
- * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
- * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
- * Toyota Alphard Hybrid 2021 support
- * Toyota Avalon Hybrid 2022 support
- * Toyota RAV4 2022 support
- * Toyota RAV4 Hybrid 2022 support
-
-Version 0.8.13 (2022-02-18)
-========================
- * Improved driver monitoring
-   * Retuned driver pose learner for relaxed driving positions
-   * Added reliance on driving model to be more scene adaptive
-   * Matched strictness between comma two and comma three
- * Improved performance in turns by compensating for the road bank angle
- * Improved camera focus on the comma two
- * AGNOS 4
-   * ADB support
-   * improved cell auto configuration
- * NEOS 19
-   * package updates
-   * stability improvements
- * Subaru ECU firmware fingerprinting thanks to martinl!
- * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
- * Mazda CX-5 2022 support thanks to Jafaral!
- * Subaru Impreza 2020 support thanks to martinl!
- * Toyota Avalon 2022 support thanks to sshane!
- * Toyota Prius v 2017 support thanks to CT921!
- * Volkswagen Caravelle 2020 support thanks to jyoung8607!
-
-Version 0.8.12 (2021-12-15)
-========================
- * New driving model
-   * Improved behavior around exits
-   * Better pose accuracy at high speeds, allowing max speed of 90mph
-   * Fully incorporated comma three data into all parts of training stack
- * Improved follow distance
- * Better longitudinal policy, especially in low speed traffic
- * New alert sounds
- * AGNOS 3
-   * Display burn in mitigation
-   * Improved audio amplifier configuration
-   * System reliability improvements
-   * Update Python to 3.8.10
- * Raw logs upload moved to connect.comma.ai
- * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
- * Audi Q3 2020-21 support thanks to jyoung8607!
- * Lexus RC 2020 support thanks to ErichMoraga!
-
-Version 0.8.11 (2021-11-29)
-========================
- * Support for CAN FD on the red panda
- * Support for an external panda on the comma three
- * Navigation: Show more detailed instructions when approaching maneuver
- * Fixed occasional steering faults on GM cars thanks to jyoung8607!
- * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
- * Cadillac Escalade ESV 2016 support thanks to Gibby!
- * Genesis G70 2020 support thanks to tecandrew!
- * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
- * Mazda CX-9 2021 support thanks to Jacar!
- * Volkswagen Polo 2020 support thanks to jyoung8607!
- * Volkswagen T-Roc 2021 support thanks to jyoung8607!
-
-Version 0.8.10 (2021-11-01)
-========================
- * New driving model
-   * Trained on one million minutes!!!
-   * Fixed lead training making lead predictions significantly more accurate
-   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
- * New driver monitoring model
-   * Trained on latest data from both comma two and comma three
-   * Increased model field of view by 40% on comma three
-   * Improved model stability on masked users
-   * Improved pose prediction with reworked ground-truth stack
- * Lateral and longitudinal planning MPCs now in ACADOS
- * Combined longitudinal MPCs
-   * All longitudinal planning now happens in a single MPC system
-   * Fixed instability in MPC problem to prevent sporadic CPU usage
- * AGNOS 2: minor stability improvements and builder repo open sourced
- * tools: new and improved replay thanks to deanlee!
- * Moved community-supported cars outside of the Community Features toggle
- * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
- * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
- * Audi S3 2015 support thanks to jyoung8607!
- * Honda Freed 2020 support thanks to belm0!
- * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
- * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
- * Kia K5 2021 support thanks to sunnyhaibin!
- * Škoda Kamiq 2021 support thanks to jyoung8607!
- * Škoda Karoq 2019 support thanks to jyoung8607!
- * Volkswagen Arteon 2021 support thanks to jyoung8607!
- * Volkswagen California 2021 support thanks to jyoung8607!
- * Volkswagen Taos 2022 support thanks to jyoung8607!
-
-Version 0.8.9 (2021-09-14)
-========================
- * Improved fan control on comma three
- * AGNOS 1.5: improved stability
- * Honda e 2020 support
-
-Version 0.8.8 (2021-08-27)
-========================
- * New driving model with improved laneless performance
-   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
-   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
-   * All new desire ground-truthing stack makes the model better at lane changes
- * New driver monitoring model: improved performance on comma three
- * NEOS 18 for comma two: update packages
- * AGNOS 1.3 for comma three: fix display init at high temperatures
- * Improved auto-exposure on comma three
- * Improved longitudinal control on Honda Nidec cars
- * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
- * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
- * Kia Niro Hybrid 2021 support thanks to tetious!
-
-Version 0.8.7 (2021-07-31)
-========================
- * comma three support!
- * Navigation alpha for the comma three!
- * Volkswagen T-Cross 2021 support thanks to jyoung8607!
-
-Version 0.8.6 (2021-07-21)
-========================
- * Revamp lateral and longitudinal planners
-   * Refactor planner output API to be more readable and verbose
-   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
-   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
- * Remove "CHECK DRIVER FACE VISIBILITY" warning
- * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
- * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
- * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
- * Kia Niro Hybrid 2019 support thanks to jyoung8607!
- * Škoda Octavia RS 2016 support thanks to jyoung8607!
- * Toyota Alphard 2020 support thanks to belm0!
- * Volkswagen Golf SportWagen 2015 support thanks to jona96!
- * Volkswagen Touran 2017 support thanks to jyoung8607!
-
-Version 0.8.5 (2021-06-11)
-========================
- * NEOS update: improved reliability and stability with better voltage regulator configuration
- * Smart model-based Forward Collision Warning
- * CAN-based fingerprinting moved behind community features toggle
- * Improved longitudinal control on Toyotas with a comma pedal
- * Improved auto-brightness using road-facing camera
- * Added "Software" settings page with updater controls
- * Audi Q2 2018 support thanks to jyoung8607!
- * Hyundai Elantra 2021 support thanks to CruiseBrantley!
- * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
- * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
- * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
- * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
-
-Version 0.8.4 (2021-05-17)
-========================
- * Delay controls start until system is ready
- * Fuzzy car identification, enabled with Community Features toggle
- * Localizer optimized for increased precision and less CPU usage
- * Retuned lateral control to be more aggressive when model is confident
- * Toyota Mirai 2021 support
- * Lexus NX 300 2020 support thanks to goesreallyfast!
- * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
-
-Version 0.8.3 (2021-04-01)
-========================
- * New model
-   * Trained on new diverse dataset from 2000+ users from 30+ countries
-   * Trained with improved segnet from the comma-pencil community project
-   * 🥬 Dramatically improved end-to-end lateral performance 🥬
- * Toggle added to disable the use of lanelines
- * NEOS update: update packages and support for new UI
- * New offroad UI based on Qt
- * Default SSH key only used for setup
- * Kia Ceed 2019 support thanks to ZanZaD13!
- * Kia Seltos 2021 support thanks to speedking456!
- * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
-
-Version 0.8.2 (2021-02-26)
-========================
- * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
- * Use model heading prediction for smoother lateral control
- * Smarter actuator delay compensation
- * Improve qcamera resolution for improved video in explorer and connect
- * Adjust maximum engagement speed to better fit the model's training distribution
- * New driver monitoring model trained with 3x more diverse data
- * Improved face detection with masks
- * More predictable DM alerts when visibility is bad
- * Rewritten video streaming between openpilot processes
- * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
- * Audi A3 2015 and 2017 support thanks to keeleysam!
- * Nissan Altima 2020 support thanks to avolmensky!
- * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
- * Toyota Camry Hybrid 2021 support thanks to alancyau!
-
-Version 0.8.1 (2020-12-21)
-========================
- * Original EON is deprecated, upgrade to comma two
- * Better model performance in heavy rain
- * Better lane positioning in turns
- * Fixed bug where model would cut turns on empty roads at night
- * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
- * Toyota Camry 2021 with TSS2.5 support
- * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
-
-Version 0.8.0 (2020-11-30)
-========================
- * New driving model: fully 3D and improved cut-in detection
- * UI draws 2 road edges, 4 lanelines and paths in 3D
- * Major fixes to cut-in detection for openpilot longitudinal
- * Grey panda is no longer supported, upgrade to comma two or black panda
- * Lexus NX 2018 support thanks to matt12eagles!
- * Kia Niro EV 2020 support thanks to nickn17!
- * Toyota Prius 2021 support thanks to rav4kumar!
- * Improved lane positioning with uncertain lanelines, wide lanes and exits
- * Improved lateral control for Prius and Subaru
-
-Version 0.7.10 (2020-10-29)
-========================
- * Grey panda is deprecated, upgrade to comma two or black panda
- * NEOS update: update to Python 3.8.2 and lower CPU frequency
- * Improved thermals due to reduced CPU frequency
- * Update SNPE to 1.41.0
- * Reduced offroad power consumption
- * Various system stability improvements
- * Acura RDX 2020 support thanks to csouers!
-
-Version 0.7.9 (2020-10-09)
-========================
- * Improved car battery power management
- * Improved updater robustness
- * Improved realtime performance
- * Reduced UI and modeld lags
- * Increased torque on 2020 Hyundai Sonata and Palisade
-
-Version 0.7.8 (2020-08-19)
-========================
- * New driver monitoring model: improved face detection and better compatibility with sunglasses
- * Download NEOS operating system updates in the background
- * Improved updater reliability and responsiveness
- * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
-
-Version 0.7.7 (2020-07-20)
-========================
- * White panda is no longer supported, upgrade to comma two or black panda
- * Improved vehicle model estimation using high precision localizer
- * Improved thermal management on comma two
- * Improved autofocus for road-facing camera
- * Improved noise performance for driver-facing camera
- * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
- * Fix GM ignition detection
- * Code cleanup and smaller release sizes
- * Hyundai Sonata 2020 promoted to officially supported car
- * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
- * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
-
-Version 0.7.6.1 (2020-06-16)
-========================
- * Hotfix: update kernel on some comma twos (orders #8570-#8680)
-
-Version 0.7.6 (2020-06-05)
-========================
- * White panda is deprecated, upgrade to comma two or black panda
- * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
- * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
- * Huge CPU savings in modeld by using thneed!
- * Lots of code cleanup and refactors
-
-Version 0.7.5 (2020-05-13)
-========================
- * Right-Hand Drive support for both driving and driver monitoring!
- * New driving model: improved at sharp turns and lead speed estimation
- * New driver monitoring model: overall improvement on comma two
- * Driver camera preview in settings to improve mounting position
- * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
- * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
-
-Version 0.7.4 (2020-03-20)
-========================
- * New driving model: improved lane changes and lead car detection
- * Improved driver monitoring model: improve eye detection
- * Improved calibration stability
- * Improved lateral control on some 2019 and 2020 Toyota Prius
- * Improved lateral control on VW Golf: 20% more steering torque
- * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
- * Support for Honda Insight thanks to theantihero!
- * Code cleanup in car abstraction layers and ui
-
-Version 0.7.3 (2020-02-21)
-========================
- * Support for 2020 Highlander thanks to che220!
- * Support for 2018 Lexus NX 300h thanks to kengggg!
- * Speed up ECU firmware query
- * Fix bug where manager would sometimes hang after shutting down the car
-
-Version 0.7.2 (2020-02-07)
-========================
- * ECU firmware version based fingerprinting for Honda & Toyota
- * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
- * Improve driver monitoring under extreme lighting and add low accuracy alert
- * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
- * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
- * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
-
-Version 0.7.1 (2020-01-20)
-========================
- * comma two support!
- * Lane Change Assist above 45 mph!
- * Replace zmq with custom messaging library, msgq!
- * Supercombo model: calibration and driving models are combined for better lead estimate
- * More robust updater thanks to jyoung8607! Requires NEOS update
- * Improve low speed ACC tuning
-
-Version 0.7 (2019-12-13)
-========================
- * Move to SCons build system!
- * Add Lane Departure Warning (LDW) for all supported vehicles!
- * NEOS update: increase wifi speed thanks to jyoung8607!
- * Adaptive driver monitoring based on scene
- * New driving model trained end-to-end: improve lane lines and lead detection
- * Smarter torque limit alerts for all cars
- * Improve GM longitudinal control: proper computations for 15Hz radar
- * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
- * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
- * Forward stock FCW for Honda Nidec
- * Volkswagen port now standard: comma Harness intercepts stock camera
-
-Version 0.6.6 (2019-11-05)
-========================
- * Volkswagen support thanks to jyoung8607!
- * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
- * Lexus ES with TSS 2.0 support thanks to energee!
- * Fix GM ignition detection and lock safety mode not required anymore
- * Log panda firmware and dongle ID thanks to martinl!
- * New driving model: improve path prediction and lead detection
- * New driver monitoring model, 4x smaller and running on DSP
- * Display an alert and don't start openpilot if panda has wrong firmware
- * Fix bug preventing EON from terminating processes after a drive
- * Remove support for Toyota giraffe without the 120Ohm resistor
-
-Version 0.6.5 (2019-10-07)
-========================
- * NEOS update: upgrade to Python3 and new installer!
- * comma Harness support!
- * New driving model: improve path prediction
- * New driver monitoring model: more accurate face and eye detection
- * Redesign offroad screen to display updates and alerts
- * Increase maximum allowed acceleration
- * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
- * Lexus CT Hybrid support thanks to thomaspich!
- * Louder chime for critical alerts
- * Add toggle to switch to dashcam mode
- * Fix "invalid vehicle params" error on DSU-less Toyota
-
-Version 0.6.4 (2019-09-08)
-========================
- * Forward stock AEB for Honda Nidec
- * Improve lane centering on banked roads
- * Always-on forward collision warning
- * Always-on driver monitoring, except for right hand drive countries
- * Driver monitoring learns the user's normal driving position
- * Honda Fit support thanks to energee!
- * Lexus IS support
-
-Version 0.6.3 (2019-08-12)
-========================
- * Alert sounds from EON: requires NEOS update
- * Improve driver monitoring: eye tracking and improved awareness logic
- * Improve path prediction with new driving model
- * Improve lane positioning with wide lanes and exits
- * Improve lateral control on RAV4
- * Slow down for turns using model
- * Open sourced regression test to verify outputs against reference logs
- * Open sourced regression test to sanity check all car models
-
-Version 0.6.2 (2019-07-29)
-========================
- * New driving model!
- * Improve lane tracking with double lines
- * Strongly improve stationary vehicle detection
- * Strongly reduce cases of braking due to false leads
- * Better lead tracking around turns
- * Improve cut-in prediction by using neural network
- * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
- * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
- * Fix delayed transition to offroad when car is turned off
-
-Version 0.6.1 (2019-07-21)
-========================
- * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
- * Panda code Misra-c2012 compliance, tested against cppcheck coverage
- * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
- * Toyota Sienna support thanks to wocsor!
-
-Version 0.6 (2019-07-01)
-========================
- * New model, with double the pixels and ten times the temporal context!
- * Car should not take exits when in the right lane
- * openpilot uses only ~65% of the CPU (down from 75%)
- * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
- * loggerd and sensord are open source, every line of openpilot is now open
- * Panda safety code is MISRA compliant and ships with a signed version on release2
- * New NEOS is 500MB smaller and has a reproducible usr/pipenv
- * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS 2.0
- * Various other stability improvements
-
-Version 0.5.13 (2019-05-31)
-==========================
- * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
- * Reduce EON power consumption by 40%, down to 1100mW, when car is off
- * 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
- * Remove panda support for Subaru giraffe
-
-Version 0.5.12 (2019-05-16)
-==========================
- * Improve lateral control for the Prius and Prius Prime
- * Compress logs before writing to disk
- * Remove old driving data when storage reaches 90% full
- * Fix small offset in following distance
- * Various small CPU optimizations
- * Improve offroad power consumption: require NEOS Update
- * Add default speed limits for Estonia thanks to martinl!
- * Subaru Crosstrek support thanks to martinl!
- * Toyota Avalon support thanks to njbrown09!
- * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
- * Toyota Corolla with TSS 2.0 support thanks to wocsor!
-
-Version 0.5.11 (2019-04-17)
-========================
- * Add support for Subaru
- * Reduce panda power consumption by 60% when car is off
- * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
- * Fix bug in controls with new angle-offset learner in MPC
- * Reduce cpu consumption of ubloxd by rewriting it in C++
- * Improve driver monitoring model and face detection
- * Improve performance of visiond and ui
- * Honda Passport 2019 support
- * Lexus RX Hybrid 2019 support thanks to schomems!
- * Improve road selection heuristic in mapd
- * Add Lane Departure Warning to dashboard for Toyota thanks to arne182
-
-Version 0.5.10 (2019-03-19)
-========================
- * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
- * Improve longitudinal control at low speed when lead vehicle harshly decelerates
- * Fix panda bug going unexpectedly in DCP mode when EON is connected
- * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
- * New Driver Monitoring Model
- * Support QR codes for login using comma connect
- * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
-   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
- * Additional speed limit rules for Germany thanks to arne182
- * Allow negative speed limit offsets
-
-Version 0.5.9 (2019-02-10)
-========================
- * Improve calibration using a dedicated neural network
- * Abstract planner in its own process to remove lags in controls process
- * Improve speed limits with country/region defaults by road type
- * Reduce mapd data usage with gzip thanks to eFiniLan
- * Zip log files in the background to reduce disk usage
- * Kia Optima support thanks to emmertex!
- * Buick Regal 2018 support thanks to HOYS!
- * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
- * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
-
-Version 0.5.8 (2019-01-17)
-========================
- * Open sourced visiond
- * Auto-slowdown for upcoming turns
- * Chrysler/Jeep/Fiat support thanks to adhintz!
- * Honda Civic 2019 support thanks to csouers!
- * Improve use of car display in Toyota thanks to arne182!
- * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
- * EON stops charging when 12V battery drops below 11.8V
-
-Version 0.5.7 (2018-12-06)
-========================
- * Speed limit from OpenStreetMap added to UI
- * Highlight speed limit when speed exceeds road speed limit plus a delta
- * Option to limit openpilot max speed to road speed limit plus a delta
- * Cadillac ATS support thanks to vntarasov!
- * GMC Acadia support thanks to CryptoKylan!
- * Decrease GPU power consumption
- * NEOSv8 autoupdate
-
-Version 0.5.6 (2018-11-16)
-========================
- * Refresh settings layout and add feature descriptions
- * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
- * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
- * Improve camera calibration stability
- * More tuning to Honda positive accelerations
- * Reduce brake pump use on Hondas
- * Chevrolet Malibu support thanks to tylergets!
- * Holden Astra support thanks to AlexHill!
-
-Version 0.5.5 (2018-10-20)
-========================
- * Increase allowed Honda positive accelerations
- * Fix sporadic unexpected braking when passing semi-trucks in Toyota
- * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
-
-Version 0.5.4 (2018-09-25)
-========================
- * New Driving Model
- * New Driver Monitoring Model
- * Improve longitudinal mpc in mid-low speed braking
- * Honda Accord hybrid support thanks to energee!
- * Ship mpc binaries and sensibly reduce build time
- * Calibration more stable
- * More Hyundai and Kia cars supported thanks to emmertex!
- * Various GM Volt improvements thanks to vntarasov!
-
-Version 0.5.3 (2018-09-03)
-========================
- * Hyundai Santa Fe support!
- * Honda Pilot 2019 support thanks to energee!
- * Toyota Highlander support thanks to daehahn!
- * Improve steering tuning for Honda Odyssey
-
 Version 0.5.2 (2018-08-16)
 ========================
 * New calibration: more accurate, a lot faster, open source!
@@ -756,96 +183,96 @@ Version 0.3.4 (2017-07-28)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 Version 0.1  (2016-11-29)
 =========================
- * Initial release of openpilot
- * Adaptive cruise control is working
- * Lane keep assist is working
- * Support for Acura ILX 2016 with AcuraWatch Plus
- * Support for Honda Civic 2016 Touring Edition
+  * Initial release of openpilot
+  * Adaptive cruise control is working
+  * Lane keep assist is working
+  * Support for Acura ILX 2016 with AcuraWatch Plus
+  * Support for Honda Civic 2016 Touring Edition
@@ -0,0 +1,109 @@
+openpilot Safety
+======
+
+openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
+Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+pay attention at all times. We repeat, **driver alertness is necessary, but not 
+sufficient, for openpilot to be used safely**.
+
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
+
+However, even with an attentive driver, we must make further efforts for the system to be
+safe. We have designed openpilot with two other safety considerations.
+
+1. The driver must always be capable to immediately retake manual control of the vehicle, 
+   by stepping on either pedal or by pressing the cancel button.
+2. The vehicle must not alter its trajectory too quickly for the driver to safely
+   react. This means that while the system is engaged, the actuators are constrained
+   to operate within reasonable limits.
+
+Following are details of the car specific safety implementations:
+
+Honda/Acura
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
+    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60%.
+
+  - The brake is controlled by the 0x1FA CAN message. This message allows full
+    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
+    This is approximately 0.3g of braking.
+
+  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
+    controller in the car limits the torque to a very small amount, so regardless of the 
+    message, the controller cannot jerk the wheel.
+
+  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
+    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
+    white led on the panda signifies if the panda is allowing control messages.
+
+  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Toyota/Lexus
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
+    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
+    control limits. Without the stock DSU connected, the acceleration command is controlled by the
+    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
+    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
+    Module (ECM) while the cruise control system is disengaged.
+
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal.
+
+  - The cruise control system state is contained in the 0x1D2 message. No control messages are
+    allowed if the cruise control system is not active. This is enforced by openpilot and the
+    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
+
+GM/Chevrolet
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
+    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
+    while 3072 correspond to approximately 0.18g of acceleration from stop.
+
+  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
+    and openpilot to 350. This is approximately 0.3g of braking.
+
+  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
+    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
+
+  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.
@@ -0,0 +1,3 @@
+gen
+node_modules
+package-lock.json
@@ -1,56 +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:${PATH}"
-RUN pyenv install 3.8.10 && \
-    pyenv global 3.8.10 && \
-    pyenv rehash && \
-    pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
-
-WORKDIR /project/cereal/messaging
-RUN git clone https://github.com/catchorg/Catch2.git && \
-    cd Catch2 && \
-    git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
-    mv single_include/catch2 ../catch2 && \
-    cd .. \
-    rm -rf Catch2
-
-WORKDIR /project/cereal
-
-ENV PYTHONPATH=/project
-
-COPY . .
-RUN rm -rf .git && \
-    scons -c && scons -j$(nproc)
@@ -1,7 +0,0 @@
-Copyright (c) 2020, Comma.ai, Inc.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
@@ -0,0 +1,59 @@
+PWD := $(shell pwd)
+
+SRCS := log.capnp car.capnp
+
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+JS := gen/js/car.capnp.js gen/js/log.capnp.js
+
+UNAME_M ?= $(shell uname -m)
+
+# only generate C++ for docker tests
+ifneq ($(OPTEST),1)
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
+
+	ifeq ($(UNAME_M),x86_64)
+		GENS += gen/java/Car.java gen/java/Log.java
+	endif
+
+endif
+
+ifeq ($(UNAME_M),aarch64)
+	CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+else
+	CAPNPC=capnpc
+endif
+
+.PHONY: all
+all: $(GENS)
+js: $(JS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+	rm -rf node_modules
+	rm -rf package-lock.json
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	$(CAPNPC) '$<' -o c:gen/c/
+
+gen/js/%.capnp.js: %.capnp
+	@echo "[ CAPNPC JavaScript ] $@"
+	mkdir -p gen/js/
+	sh ./generate_javascript.sh
+
+gen/cpp/%.capnp.c++: %.capnp
+	@echo "[ CAPNPC C++ ] $@"
+	mkdir -p gen/cpp/
+	$(CAPNPC) '$<' -o c++:gen/cpp/
+
+gen/java/Car.java gen/java/Log.java: $(SRCS)
+	@echo "[ CAPNPC java ] $@"
+	mkdir -p gen/java/
+	$(CAPNPC) $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
+	mkdir -p gen/c/include
+	touch '$@'
@@ -1,55 +0,0 @@
-What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/Tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
----
-
-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
-
-
-Messaging Spec
----
-
-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
-
-All Events have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
-
-
-Message definition 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.
-
-
-
-Pub Sub Backends
----
-
-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.
-
-Example
---
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-```
-
-```python
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message('sensorEvents', size=1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```
@@ -1,4 +1,3 @@
-# pylint: skip-file
 import os
 import capnp

@@ -1,28 +1,31 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

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

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

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

  enum EventName @0xbaa8c5d505f727de {
-    canError @0;
+    # TODO: copy from error list
+    commIssue @0;
    steerUnavailable @1;
    brakeUnavailable @2;
+    gasUnavailable @3;
    wrongGear @4;
    doorOpen @5;
    seatbeltNotLatched @6;
@@ -32,112 +35,39 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    reverseGear @10;
    buttonCancel @11;
    buttonEnable @12;
-    pedalPressed @13;  # exits active state
-    pedalPressedPreEnable @73;  # added during pre-enable state for either pedal
-    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    pedalPressed @13;
    cruiseDisabled @14;
+    radarCommIssue @15;
+    dataNeeded @16;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
-    calibrationIncomplete @20;
+    calibrationInProgress @20;
    calibrationInvalid @21;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
    noTarget @25;
    radarFault @26;
+    modelCommIssue @27;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    joystickDebug @34;
-    steerTempUnavailableSilent @35;
+    ipasOverride @33;
+    debugAlert @34;
+    steerTempUnavailableMute @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
    driverDistracted @39;
+    geofence @40;
+    driverMonitorOn @41;
+    driverMonitorOff @42;
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    lowBattery @48;
-    vehicleModelInvalid @50;
-    accFaulted @51;
-    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;
-
-    #dp
-    speedLimitActive @113;
-    speedLimitValueChange @114;
-
-    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;
  }
 }

@@ -145,45 +75,31 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 # all speeds in m/s

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

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

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

  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
-  parkingBrake @39 :Bool;
-  brakeHoldActive @38 :Bool;
+  brakeLights @19 :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;
+  steeringAngle @7 :Float32;   # deg
+  steeringRate @15 :Float32;   # deg/s
+  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;    # if the user is using the steering wheel

  # cruise state
  cruiseState @10 :CruiseState;
@@ -201,24 +117,9 @@ struct CarState {
  doorOpen @24 :Bool;
  seatbeltUnlatched @25 :Bool;

-  # clutch (manual transmission only)
-  clutchPressed @28 :Bool;
-
  # which packets this state came from
  canMonoTimes @12: List(UInt64);

-  # blindspot sensors
-  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
-  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
-
-  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
-  charging @43 :Bool;
-
-  # dp
-  cruiseActualEnabled @45 :Bool;
-  engineRPM @46 :Float32;
-  distanceLines @47:UInt8;
-
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -230,12 +131,9 @@ struct CarState {
  struct CruiseState {
    enabled @0 :Bool;
    speed @1 :Float32;
-    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
    available @2 :Bool;
    speedOffset @3 :Float32;
    standstill @4 :Bool;
-    nonAdaptive @5 :Bool;
-    speedLimit @7 :Float32;
  }

  enum GearShifter {
@@ -247,10 +145,9 @@ struct CarState {
    sport @5;
    low @6;
    brake @7;
-    eco @8;
-    manumatic @9;
  }

+
  # send on change
  struct ButtonEvent {
    pressed @0 :Bool;
@@ -266,20 +163,13 @@ struct CarState {
      altButton1 @6;
      altButton2 @7;
      altButton3 @8;
-      setCruise @9;
-      resumeCruise @10;
-      gapAdjustCruise @11;
    }
  }
-
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
-  brakeLightsDEPRECATED @19 :Bool;
-  steeringRateLimitedDEPRECATED @29 :Bool;
 }

 # ******* radar state @ 20hz *******

-struct RadarData @0x888ad6581cf0aacb {
+struct RadarState {
  errors @0 :List(Error);
  points @1 :List(RadarPoint);

@@ -287,7 +177,7 @@ struct RadarData @0x888ad6581cf0aacb {
  canMonoTimes @2 :List(UInt64);

  enum Error {
-    canError @0;
+    commIssue @0;
    fault @1;
    wrongConfig @2;
  }
@@ -316,20 +206,14 @@ struct RadarData @0x888ad6581cf0aacb {
 struct CarControl {
  # must be true for any actuator commands to work
  enabled @0 :Bool;
-  latActive @11: Bool;
-  longActive @12: Bool;
+  active @7 :Bool;
+
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;

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

-  # 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;

@@ -339,27 +223,14 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
-    steeringAngleDeg @3: Float32;
-
-    speed @6: Float32; # m/s
-    accel @4: Float32; # m/s^2
-    longControlState @5: LongControlState;
-
-    enum LongControlState @0xe40f3a917d908282{
-      off @0;
-      pid @1;
-      stopping @2;
-
-      startingDEPRECATED @3;
-    }
-
+    steerAngle @3: Float32;
  }

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

  struct HUDControl {
@@ -369,10 +240,6 @@ struct CarControl {
    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
@@ -384,282 +251,108 @@ struct CarControl {
      wrongGear @4;
      seatbeltUnbuckled @5;
      speedTooHigh @6;
-      ldw @7;
    }

    enum AudibleAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
+      beepSingle @1;
+      beepTriple @2;
+      beepRepeated @3;
+      chimeSingle @4;
+      chimeDouble @5;
+      chimeRepeated @6;
+      chimeContinuous @7;
    }
  }
-
-  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;
+  radarNameDEPRECATED @1 :Text;
+  carFingerprint @2 :Text;

-  notCar @66 :Bool;  # flag for non-car robotics platforms
+  enableSteerDEPRECATED @3 :Bool;
+  enableGasInterceptor @4 :Bool;
+  enableBrakeDEPRECATED @5 :Bool;
+  enableCruise @6 :Bool;
+  enableCamera @26 :Bool;
+  enableDsu @27 :Bool; # driving support unit
+  enableApgs @28 :Bool; # advanced parking guidance system

-  enableGasInterceptor @2 :Bool;
-  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableDsu @5 :Bool;        # driving support unit
-  enableApgs @6 :Bool;       # advanced parking guidance system
-  enableBsm @56 :Bool;       # blind spot monitoring
-  flags @64 :UInt32;         # flags for car specific quirks
+  minEnableSpeed @17 :Float32;
+  safetyModel @18 :Int16;
+  safetyParam @41 :Int16;

-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  maxSteeringAngleDeg @54 :Float32;
-  safetyConfigs @62 :List(SafetyConfig);
-  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-  maxLateralAccel @68 :Float32;
+  steerMaxBP @19 :List(Float32);
+  steerMaxV @20 :List(Float32);
+  gasMaxBP @21 :List(Float32);
+  gasMaxV @22 :List(Float32);
+  brakeMaxBP @23 :List(Float32);
+  brakeMaxV @24 :List(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);
+  longPidDeadzoneBP @32 :List(Float32);
+  longPidDeadzoneV @33 :List(Float32);

-  # things about the car in the manual
-  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
-  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
-  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
-  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
-
-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
-  lateralTuning :union {
-    pid @26 :LateralPIDTuning;
-    indi @27 :LateralINDITuning;
-    lqr @40 :LateralLQRTuning;
-    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
-  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
-  steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
-  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-
-  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;
-  }
-
-  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;
+  enum SafetyModels {
+    # does NOT match board setting
+    noOutput @0;
+    honda @1;
    toyota @2;
    elm327 @3;
    gm @4;
-    hondaBoschGiraffe @5;
+    hondaBosch @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;
-    stellantis @25;
-    faw @26;
-    body @27;
-    hyundaiHDA2 @28;
  }

+  # things about the car in the manual
+  mass @7 :Float32;             # [kg] running weight
+  wheelbase @8 :Float32;        # [m] distance from rear to front axle
+  centerToFront @9 :Float32;   # [m] GC distance to front axle
+  steerRatio @10 :Float32;       # [] ratio between front wheels and steering wheel angles
+  steerRatioRear @11 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+
+  # things we can derive
+  rotationalInertia @12 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @13 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  # Kp and Ki for the lateral control
+  steerKpBP @42 :List(Float32);
+  steerKpV @43 :List(Float32);
+  steerKiBP @44 :List(Float32);
+  steerKiV @45 :List(Float32);
+  steerKpDEPRECATED @15 :Float32;
+  steerKiDEPRECATED @16 :Float32;
+  steerKf @25 :Float32;
+
+  # Kp and Ki for the longitudinal control
+  longitudinalKpBP @36 :List(Float32);
+  longitudinalKpV @37 :List(Float32);
+  longitudinalKiBP @38 :List(Float32);
+  longitudinalKiV @39 :List(Float32);
+
+  steerLimitAlert @29 :Bool;
+
+  vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
+  startAccel @35 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
+  steerControlType @46 :SteerControlType;
+  radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
+
+  steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
+
  enum SteerControlType {
    torque @0;
    angle @1;
  }
-
-  enum TransmissionType {
-    unknown @0;
-    automatic @1;  # Traditional auto, including DSG
-    manual @2;  # True "stick shift" only
-    direct @3;  # Electric vehicle or other direct drive
-    cvt @4;
-  }
-
-  struct CarFw {
-    ecu @0 :Ecu;
-    fwVersion @1 :Data;
-    address @2 :UInt32;
-    subAddress @3 :UInt8;
-    responseAddress @4 :UInt32;
-    request @5 :List(Data);
-    brand @6 :Text;
-    bus @7 :UInt8;
-  }
-
-  enum Ecu {
-    eps @0;
-    esp @1;
-    fwdRadar @2;
-    fwdCamera @3;
-    engine @4;
-    unknown @5;
-    transmission @8; # Transmission Control Module
-    srs @9; # airbag
-    gateway @10; # can gateway
-    hud @11; # heads up display
-    combinationMeter @12; # instrument cluster
-
-    # Toyota only
-    dsu @6;
-    apgs @7;
-
-    # Honda only
-    vsa @13; # Vehicle Stability Assist
-    programmedFuelInjection @14;
-    electricBrakeBooster @15;
-    shiftByWire @16;
-
-    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;
-  steerRateCostDEPRECATED @33 :Float32;
-  isPandaBlackDEPRECATED @39 :Bool;
-  hasStockCameraDEPRECATED @57 :Bool;
-  safetyParamDEPRECATED @10 :Int16;
-  safetyModelDEPRECATED @9 :SafetyModel;
-  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
-  minSpeedCanDEPRECATED @51 :Float32;
-  startAccelDEPRECATED @32 :Float32;
-  communityFeatureDEPRECATED @46: Bool;
-  startingAccelRateDEPRECATED @53 :Float32;
 }
@@ -1,8 +0,0 @@
-comment: false
-coverage:
-  status:
-    project:
-      default:
-        informational: true
-    patch: off
-
@@ -1,26 +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;
-  dpIpAddr @6 :Text;
-  dpUiTop @7 :Bool;
-  dpUiSide @8 :Bool;
-  dpUiVolume @9 :Int8;
-  dpUiBrightness @10 :UInt8;
-  dpUiDisplayMode @11 :UInt8;
-  dpToyotaSng @12 :Bool;
-  dpAccelProfileCtrl @13 :Bool;
-  dpAccelProfile @14 :UInt8;
-  dpToyotaCruiseOverride @15 :Bool;
-  dpUseLanelines @16 :Bool;
-  dpMapd @17 :Bool;
-}
@@ -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}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
-  fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
@@ -0,0 +1,28 @@
+# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
+# Licensed under the MIT License:
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+@0xc5f1af96651f70ea;
+
+annotation package @0x9ee4c8f803b3b596 (file) : Text;
+# Name of the package, such as "org.example.foo", in which the generated code will reside.
+
+annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
+# Name of the outer class that will wrap the generated code.
@@ -1,574 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x80ef1ec4889c2a63;
-
-# legacy.capnp: a home for deprecated structs
-
-struct LogRotate @0x9811e1f38f62f2d1 {
-  segmentNum @0 :Int32;
-  path @1 :Text;
-}
-
-struct LiveUI @0xc08240f996aefced {
-  rearViewCam @0 :Bool;
-  alertText1 @1 :Text;
-  alertText2 @2 :Text;
-  awarenessStatus @3 :Float32;
-}
-
-struct UiLayoutState @0x88dcce08ad29dda0 {
-  activeApp @0 :App;
-  sidebarCollapsed @1 :Bool;
-  mapEnabled @2 :Bool;
-  mockEngaged @3 :Bool;
-
-  enum App @0x9917470acf94d285 {
-    home @0;
-    music @1;
-    nav @2;
-    settings @3;
-    none @4;
-  }
-}
-
-struct OrbslamCorrection @0x8afd33dc9b35e1aa {
-  correctionMonoTime @0 :UInt64;
-  prePositionECEF @1 :List(Float64);
-  postPositionECEF @2 :List(Float64);
-  prePoseQuatECEF @3 :List(Float32);
-  postPoseQuatECEF @4 :List(Float32);
-  numInliers @5 :UInt32;
-}
-
-struct EthernetPacket @0xa99a9d5b33cf5859 {
-  pkt @0 :Data;
-  ts @1 :Float32;
-}
-
-struct CellInfo @0xcff7566681c277ce {
-  timestamp @0 :UInt64;
-  repr @1 :Text; # android toString() for now
-}
-
-struct WifiScan @0xd4df5a192382ba0b {
-  bssid @0 :Text;
-  ssid @1 :Text;
-  capabilities @2 :Text;
-  frequency @3 :Int32;
-  level @4 :Int32;
-  timestamp @5 :Int64;
-
-  centerFreq0 @6 :Int32;
-  centerFreq1 @7 :Int32;
-  channelWidth @8 :ChannelWidth;
-  operatorFriendlyName @9 :Text;
-  venueName @10 :Text;
-  is80211mcResponder @11 :Bool;
-  passpoint @12 :Bool;
-
-  distanceCm @13 :Int32;
-  distanceSdCm @14 :Int32;
-
-  enum ChannelWidth @0xcb6a279f015f6b51 {
-    w20Mhz @0;
-    w40Mhz @1;
-    w80Mhz @2;
-    w160Mhz @3;
-    w80Plus80Mhz @4;
-  }
-}
-
-struct LiveEventData @0x94b7baa90c5c321e {
-  name @0 :Text;
-  value @1 :Int32;
-}
-
-struct ModelData @0xb8aad62cffef28a9 {
-  frameId @0 :UInt32;
-  frameAge @12 :UInt32;
-  frameDropPerc @13 :Float32;
-  timestampEof @9 :UInt64;
-  modelExecutionTime @14 :Float32;
-  gpuExecutionTime @16 :Float32;
-  rawPred @15 :Data;
-
-  path @1 :PathData;
-  leftLane @2 :PathData;
-  rightLane @3 :PathData;
-  lead @4 :LeadData;
-  freePath @6 :List(Float32);
-
-  settings @5 :ModelSettings;
-  leadFuture @7 :LeadData;
-  speed @8 :List(Float32);
-  meta @10 :MetaData;
-  longitudinal @11 :LongitudinalData;
-
-  struct PathData @0x8817eeea389e9f08 {
-    points @0 :List(Float32);
-    prob @1 :Float32;
-    std @2 :Float32;
-    stds @3 :List(Float32);
-    poly @4 :List(Float32);
-    validLen @5 :Float32;
-  }
-
-  struct LeadData @0xd1c9bef96d26fa91 {
-    dist @0 :Float32;
-    prob @1 :Float32;
-    std @2 :Float32;
-    relVel @3 :Float32;
-    relVelStd @4 :Float32;
-    relY @5 :Float32;
-    relYStd @6 :Float32;
-    relA @7 :Float32;
-    relAStd @8 :Float32;
-  }
-
-  struct ModelSettings @0xa26e3710efd3e914 {
-    bigBoxX @0 :UInt16;
-    bigBoxY @1 :UInt16;
-    bigBoxWidth @2 :UInt16;
-    bigBoxHeight @3 :UInt16;
-    boxProjection @4 :List(Float32);
-    yuvCorrection @5 :List(Float32);
-    inputTransform @6 :List(Float32);
-  }
-
-  struct MetaData @0x9744f25fb60f2bf8 {
-    engagedProb @0 :Float32;
-    desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
-    desireState @5 :List(Float32);
-  }
-
-  struct LongitudinalData @0xf98f999c6a071122 {
-    distances @2 :List(Float32);
-    speeds @0 :List(Float32);
-    accelerations @1 :List(Float32);
-  }
-}
-
-struct ECEFPoint @0xc25bbbd524983447 {
-  x @0 :Float64;
-  y @1 :Float64;
-  z @2 :Float64;
-}
-
-struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
-  x @0 :Float32;
-  y @1 :Float32;
-  z @2 :Float32;
-}
-
-struct GPSPlannerPoints @0xab54c59699f8f9f3 {
-  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
-  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
-  curPos @6 :ECEFPoint;
-  points @7 :List(ECEFPoint);
-  valid @2 :Bool;
-  trackName @3 :Text;
-  speedLimit @4 :Float32;
-  accelTarget @5 :Float32;
-}
-
-struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
-  valid @0 :Bool;
-  poly @1 :List(Float32);
-  trackName @2 :Text;
-  speed @3 :Float32;
-  acceleration @4 :Float32;
-  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
-  points @6 :List(ECEFPoint);
-  xLookahead @7 :Float32;
-}
-
-struct UiNavigationEvent @0x90c8426c3eaddd3b {
-  type @0: Type;
-  status @1: Status;
-  distanceTo @2: Float32;
-  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
-  endRoadPoint @4: ECEFPoint;
-
-  enum Type @0xe8db07dcf8fcea05 {
-    none @0;
-    laneChangeLeft @1;
-    laneChangeRight @2;
-    mergeLeft @3;
-    mergeRight @4;
-    turnLeft @5;
-    turnRight @6;
-  }
-
-  enum Status @0xb9aa88c75ef99a1f {
-    none @0;
-    passive @1;
-    approaching @2;
-    active @3;
-  }
-}
-
-struct LiveLocationData @0xb99b2bc7a57e8128 {
-  status @0 :UInt8;
-
-  # 3D fix
-  lat @1 :Float64;
-  lon @2 :Float64;
-  alt @3 :Float32;     # m
-
-  # speed
-  speed @4 :Float32;   # m/s
-
-  # NED velocity components
-  vNED @5 :List(Float32);
-
-  # roll, pitch, heading (x,y,z)
-  roll @6 :Float32;     # WRT to center of earth?
-  pitch @7 :Float32;    # WRT to center of earth?
-  heading @8 :Float32;  # WRT to north?
-
-  # what are these?
-  wanderAngle @9 :Float32;
-  trackAngle @10 :Float32;
-
-  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
-
-  # gyro, in car frame, deg/s
-  gyro @11 :List(Float32);
-
-  # accel, in car frame, m/s^2
-  accel @12 :List(Float32);
-
-  accuracy @13 :Accuracy;
-
-  source @14 :SensorSource;
-  # if we are fixing a location in the past
-  fixMonoTime @15 :UInt64;
-
-  gpsWeek @16 :Int32;
-  timeOfWeek @17 :Float64;
-
-  positionECEF @18 :List(Float64);
-  poseQuatECEF @19 :List(Float32);
-  pitchCalibration @20 :Float32;
-  yawCalibration @21 :Float32;
-  imuFrame @22 :List(Float32);
-
-  struct Accuracy @0x943dc4625473b03f {
-    pNEDError @0 :List(Float32);
-    vNEDError @1 :List(Float32);
-    rollError @2 :Float32;
-    pitchError @3 :Float32;
-    headingError @4 :Float32;
-    ellipsoidSemiMajorError @5 :Float32;
-    ellipsoidSemiMinorError @6 :Float32;
-    ellipsoidOrientationError @7 :Float32;
-  }
-
-  enum SensorSource @0xc871d3cc252af657 {
-    applanix @0;
-    kalman @1;
-    orbslam @2;
-    timing @3;
-    dummy @4;
-  }
-}
-
-struct OrbOdometry @0xd7700859ed1f5b76 {
-  # timing first
-  startMonoTime @0 :UInt64;
-  endMonoTime @1 :UInt64;
-
-  # fundamental matrix and error
-  f @2: List(Float64);
-  err @3: Float64;
-
-  # number of inlier points
-  inliers @4: Int32;
-
-  # for debug only
-  # indexed by endMonoTime features
-  # value is startMonoTime feature match
-  # -1 if no match
-  matches @5: List(Int16);
-}
-
-struct OrbFeatures @0xcd60164a8a0159ef {
-  timestampEof @0 :UInt64;
-  # transposed arrays of normalized image coordinates
-  # len(xs) == len(ys) == len(descriptors) * 32
-  xs @1 :List(Float32);
-  ys @2 :List(Float32);
-  descriptors @3 :Data;
-  octaves @4 :List(Int8);
-
-  # match index to last OrbFeatures
-  # -1 if no match
-  timestampLastEof @5 :UInt64;
-  matches @6: List(Int16);
-}
-
-struct OrbFeaturesSummary @0xd500d30c5803fa4f {
-  timestampEof @0 :UInt64;
-  timestampLastEof @1 :UInt64;
-
-  featureCount @2 :UInt16;
-  matchCount @3 :UInt16;
-  computeNs @4 :UInt64;
-}
-
-struct OrbKeyFrame @0xc8233c0345e27e24 {
-  # this is a globally unique id for the KeyFrame
-  id @0: UInt64;
-
-  # this is the location of the KeyFrame
-  pos @1: ECEFPoint;
-
-  # these are the features in the world
-  # len(dpos) == len(descriptors) * 32
-  dpos @2 :List(ECEFPoint);
-  descriptors @3 :Data;
-}
-
-struct KalmanOdometry @0x92e21bb7ea38793a {
-  trans @0 :List(Float32); # m/s in device frame
-  rot @1 :List(Float32); # rad/s in device frame
-  transStd @2 :List(Float32); # std m/s in device frame
-  rotStd @3 :List(Float32); # std rad/s in device frame
-}
-
-struct OrbObservation @0x9b326d4e436afec7 {
-  observationMonoTime @0 :UInt64;
-  normalizedCoordinates @1 :List(Float32);
-  locationECEF @2 :List(Float64);
-  matchDistance @3: UInt32;
-}
-
-struct CalibrationFeatures @0x8fdfadb254ea867a {
-  frameId @0 :UInt32;
-
-  p0 @1 :List(Float32);
-  p1 @2 :List(Float32);
-  status @3 :List(Int8);
-}
-
-struct NavStatus @0xbd8822120928120c {
-  isNavigating @0 :Bool;
-  currentAddress @1 :Address;
-
-  struct Address @0xce7cd672cacc7814 {
-    title @0 :Text;
-    lat @1 :Float64;
-    lng @2 :Float64;
-    house @3 :Text;
-    address @4 :Text;
-    street @5 :Text;
-    city @6 :Text;
-    state @7 :Text;
-    country @8 :Text;
-  }
-}
-
-struct NavUpdate @0xdb98be6565516acb {
-  isNavigating @0 :Bool;
-  curSegment @1 :Int32;
-  segments @2 :List(Segment);
-
-  struct LatLng @0x9eaef9187cadbb9b {
-    lat @0 :Float64;
-    lng @1 :Float64;
-  }
-
-  struct Segment @0xa5b39b4fc4d7da3f {
-    from @0 :LatLng;
-    to @1 :LatLng;
-    updateTime @2 :Int32;
-    distance @3 :Int32;
-    crossTime @4 :Int32;
-    exitNo @5 :Int32;
-    instruction @6 :Instruction;
-
-    parts @7 :List(LatLng);
-
-    enum Instruction @0xc5417a637451246f {
-      turnLeft @0;
-      turnRight @1;
-      keepLeft @2;
-      keepRight @3;
-      straight @4;
-      roundaboutExitNumber @5;
-      roundaboutExit @6;
-      roundaboutTurnLeft @7;
-      unkn8 @8;
-      roundaboutStraight @9;
-      unkn10 @10;
-      roundaboutTurnRight @11;
-      unkn12 @12;
-      roundaboutUturn @13;
-      unkn14 @14;
-      arrive @15;
-      exitLeft @16;
-      exitRight @17;
-      unkn18 @18;
-      uturn @19;
-      # ...
-    }
-  }
-}
-
-struct TrafficEvent @0xacfa74a094e62626 {
-  type @0 :Type;
-  distance @1 :Float32;
-  action @2 :Action;
-  resuming @3 :Bool;
-
-  enum Type @0xd85d75253435bf4b {
-    stopSign @0;
-    lightRed @1;
-    lightYellow @2;
-    lightGreen @3;
-    stopLight @4;
-  }
-
-  enum Action @0xa6f6ce72165ccb49 {
-    none @0;
-    yield @1;
-    stop @2;
-    resumeReady @3;
-  }
-
-}
-
-
-struct AndroidGnss @0xdfdf30d03fc485bd {
-  union {
-    measurements @0 :Measurements;
-    navigationMessage @1 :NavigationMessage;
-  }
-
-  struct Measurements @0xa20710d4f428d6cd {
-    clock @0 :Clock;
-    measurements @1 :List(Measurement);
-
-    struct Clock @0xa0e27b453a38f450 {
-      timeNanos @0 :Int64;
-      hardwareClockDiscontinuityCount @1 :Int32;
-
-      hasTimeUncertaintyNanos @2 :Bool;
-      timeUncertaintyNanos @3 :Float64;
-
-      hasLeapSecond @4 :Bool;
-      leapSecond @5 :Int32;
-
-      hasFullBiasNanos @6 :Bool;
-      fullBiasNanos @7 :Int64;
-
-      hasBiasNanos @8 :Bool;
-      biasNanos @9 :Float64;
-
-      hasBiasUncertaintyNanos @10 :Bool;
-      biasUncertaintyNanos @11 :Float64;
-
-      hasDriftNanosPerSecond @12 :Bool;
-      driftNanosPerSecond @13 :Float64;
-
-      hasDriftUncertaintyNanosPerSecond @14 :Bool;
-      driftUncertaintyNanosPerSecond @15 :Float64;
-    }
-
-    struct Measurement @0xd949bf717d77614d {
-      svId @0 :Int32;
-      constellation @1 :Constellation;
-
-      timeOffsetNanos @2 :Float64;
-      state @3 :Int32;
-      receivedSvTimeNanos @4 :Int64;
-      receivedSvTimeUncertaintyNanos @5 :Int64;
-      cn0DbHz @6 :Float64;
-      pseudorangeRateMetersPerSecond @7 :Float64;
-      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
-      accumulatedDeltaRangeState @9 :Int32;
-      accumulatedDeltaRangeMeters @10 :Float64;
-      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
-
-      hasCarrierFrequencyHz @12 :Bool;
-      carrierFrequencyHz @13 :Float32;
-      hasCarrierCycles @14 :Bool;
-      carrierCycles @15 :Int64;
-      hasCarrierPhase @16 :Bool;
-      carrierPhase @17 :Float64;
-      hasCarrierPhaseUncertainty @18 :Bool;
-      carrierPhaseUncertainty @19 :Float64;
-      hasSnrInDb @20 :Bool;
-      snrInDb @21 :Float64;
-
-      multipathIndicator @22 :MultipathIndicator;
-
-      enum Constellation @0x9ef1f3ff0deb5ffb {
-        unknown @0;
-        gps @1;
-        sbas @2;
-        glonass @3;
-        qzss @4;
-        beidou @5;
-        galileo @6;
-      }
-
-      enum State @0xcbb9490adce12d72 {
-        unknown @0;
-        codeLock @1;
-        bitSync @2;
-        subframeSync @3;
-        towDecoded @4;
-        msecAmbiguous @5;
-        symbolSync @6;
-        gloStringSync @7;
-        gloTodDecoded @8;
-        bdsD2BitSync @9;
-        bdsD2SubframeSync @10;
-        galE1bcCodeLock @11;
-        galE1c2ndCodeLock @12;
-        galE1bPageSync @13;
-        sbasSync @14;
-      }
-
-      enum MultipathIndicator @0xc04e7b6231d4caa8 {
-        unknown @0;
-        detected @1;
-        notDetected @2;
-      }
-    }
-  }
-
-  struct NavigationMessage @0xe2517b083095fd4e {
-    type @0 :Int32;
-    svId @1 :Int32;
-    messageId @2 :Int32;
-    submessageId @3 :Int32;
-    data @4 :Data;
-    status @5 :Status;
-
-    enum Status @0xec1ff7996b35366f {
-      unknown @0;
-      parityPassed @1;
-      parityRebuilt @2;
-    }
-  }
-}
-
-struct LidarPts @0xe3d6685d4e9d8f7a {
-  r @0 :List(UInt16);        # uint16   m*500.0
-  theta @1 :List(UInt16);    # uint16 deg*100.0
-  reflect @2 :List(UInt8);   # uint8      0-255
-
-  # For storing out of file.
-  idx @3 :UInt64;
-
-  # For storing in file
-  pkt @4 :Data;
-}
-
-
@@ -1,21 +0,0 @@
-#pragma once
-
-#ifdef SWAGLOG
-// cppcheck-suppress preprocessorErrorDirective
-#include SWAGLOG
-#else
-
-#define CLOUDLOG_DEBUG 10
-#define CLOUDLOG_INFO 20
-#define CLOUDLOG_WARNING 30
-#define CLOUDLOG_ERROR 40
-#define CLOUDLOG_CRITICAL 50
-
-#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
-
-#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
-#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
-#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
-#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
-
-#endif
@@ -1,49 +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/
@@ -1,262 +0,0 @@
-# must be build with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
-from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
-import os
-import capnp
-
-from typing import Optional, List, Union
-from collections import deque
-
-from cereal import log
-from cereal.services import service_list
-
-assert MultiplePublishersError
-assert MessagingError
-
-NO_TRAVERSAL_LIMIT = 2**64-1
-AVG_FREQ_HISTORY = 100
-SIMULATION = "SIMULATION" in os.environ
-
-# sec_since_boot is faster, but allow to run standalone too
-try:
-  from common.realtime import sec_since_boot
-except ImportError:
-  import time
-  sec_since_boot = time.time
-  print("Warning, using python time.time() instead of faster sec_since_boot")
-
-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
-  if service is not None:
-    if size is None:
-      dat.init(service)
-    else:
-      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
-
-
-# TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
-  dat = None
-
-  while 1:
-    if wait and dat is None:
-      rcv = sock.receive()
-    else:
-      rcv = sock.receive(non_blocking=True)
-
-    if rcv is None:  # Timeout hit
-      break
-
-    dat = rcv
-
-  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:
-    dat = sock.receive()
-    if dat is not None:
-      return log_from_bytes(dat)
-
-class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               addr: str = "127.0.0.1"):
-    self.frame = -1
-    self.updated = {s: False for s in services}
-    self.rcv_time = {s: 0. for s in services}
-    self.rcv_frame = {s: 0 for s in services}
-    self.alive = {s: False for s in services}
-    self.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.poller = Poller()
-    self.non_polled_services = [s for s in services if poll is not None and
-                                len(poll) and s not in poll]
-
-    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
-    self.ignore_alive = [] if ignore_alive is None else ignore_alive
-
-    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
-
-      try:
-        data = new_message(s)
-      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
-        data = new_message(s, 0) # lists
-
-      self.data[s] = getattr(data, s)
-      self.logMonoTime[s] = 0
-      self.valid[s] = data.valid
-
-  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
-    return self.data[s]
-
-  def update(self, timeout: int = 1000) -> None:
-    msgs = []
-    for sock in self.poller.poll(timeout):
-      msgs.append(recv_one_or_none(sock))
-
-    # 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)
-
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
-    self.frame += 1
-    self.updated = dict.fromkeys(self.updated, False)
-    for msg in msgs:
-      if msg is None:
-        continue
-
-      s = msg.which()
-      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.data[s] = getattr(msg, s)
-      self.logMonoTime[s] = msg.logMonoTime
-      self.valid[s] = msg.valid
-
-      if SIMULATION:
-        self.freq_ok[s] = True
-        self.alive[s] = 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])
-
-          # 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_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_freq_ok(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)
-
-  def all_valid(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.valid.keys()
-    return all(self.valid[s] for s in service_list)
-
-  def all_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]):
-    self.sock = {}
-    for s in services:
-      self.sock[s] = pub_sock(s)
-
-  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
-    if not isinstance(dat, bytes):
-      dat = dat.to_bytes()
-    self.sock[s].send(dat)
-
-  def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()
@@ -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))
@@ -1,65 +0,0 @@
-#pragma once
-#include "messaging.h"
-#include "msgq.h"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class MSGQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  MSGQContext();
-  void * getRawContext() {return context;}
-  ~MSGQContext();
-};
-
-class MSGQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void takeOwnership(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~MSGQMessage();
-};
-
-class MSGQSubSocket : public SubSocket {
-private:
-  msgq_queue_t * q = NULL;
-  int timeout;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return (void*)q;}
-  Message *receive(bool non_blocking=false);
-  ~MSGQSubSocket();
-};
-
-class MSGQPubSocket : public PubSocket {
-private:
-  msgq_queue_t * q = NULL;
-public:
-  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  bool all_readers_updated();
-  ~MSGQPubSocket();
-};
-
-class MSGQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  msgq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~MSGQPoller(){};
-};
@@ -1,64 +0,0 @@
-#pragma once
-#include "messaging.h"
-#include <zmq.h>
-#include <string>
-
-#define MAX_POLLERS 128
-
-class ZMQContext : public Context {
-private:
-  void * context = NULL;
-public:
-  ZMQContext();
-  void * getRawContext() {return context;}
-  ~ZMQContext();
-};
-
-class ZMQMessage : public Message {
-private:
-  char * data;
-  size_t size;
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  size_t getSize(){return size;}
-  char * getData(){return data;}
-  void close();
-  ~ZMQMessage();
-};
-
-class ZMQSubSocket : public SubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
-  void setTimeout(int timeout);
-  void * getRawSocket() {return sock;}
-  Message *receive(bool non_blocking=false);
-  ~ZMQSubSocket();
-};
-
-class ZMQPubSocket : public PubSocket {
-private:
-  void * sock;
-  std::string full_endpoint;
-public:
-  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  bool all_readers_updated();
-  ~ZMQPubSocket();
-};
-
-class ZMQPoller : public Poller {
-private:
-  std::vector<SubSocket*> sockets;
-  zmq_pollitem_t polls[MAX_POLLERS];
-  size_t num_polls = 0;
-
-public:
-  void registerSocket(SubSocket *socket);
-  std::vector<SubSocket*> poll(int timeout);
-  ~ZMQPoller(){};
-};
@@ -1,145 +0,0 @@
-#pragma once
-#include <cstddef>
-#include <map>
-#include <string>
-#include <vector>
-#include <capnp/serialize.h>
-#include "../gen/cpp/log.capnp.h"
-
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-bool messaging_use_zmq();
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){};
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){};
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
-  virtual ~SubSocket(){};
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  virtual bool all_readers_updated() = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
-  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
-  virtual ~PubSocket(){};
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){};
-};
-
-class SubMaster {
-public:
-  SubMaster(const std::vector<const char *> &service_list,
-            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
-  void update(int timeout = 1000);
-  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
-  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
-  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
-  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
-  void drain();
-  ~SubMaster();
-
-  uint64_t frame = 0;
-  bool updated(const char *name) const;
-  bool alive(const char *name) const;
-  bool valid(const char *name) const;
-  uint64_t rcv_frame(const char *name) const;
-  uint64_t rcv_time(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name) const;
-
-private:
-  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
-  Poller *poller_ = nullptr;
-  struct SubMessage;
-  std::map<SubSocket *, SubMessage *> messages_;
-  std::map<std::string, SubMessage *> services_;
-};
-
-class MessageBuilder : public capnp::MallocMessageBuilder {
-public:
-  MessageBuilder() = default;
-
-  cereal::Event::Builder initEvent(bool valid = true) {
-    cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
-    event.setValid(valid);
-    return event;
-  }
-
-  kj::ArrayPtr<capnp::byte> toBytes() {
-    heapArray_ = capnp::messageToFlatArray(*this);
-    return heapArray_.asBytes();
-  }
-
-private:
-  kj::Array<capnp::word> heapArray_;
-};
-
-class PubMaster {
-public:
-  PubMaster(const std::vector<const char *> &service_list);
-  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
-  int send(const char *name, MessageBuilder &msg);
-  ~PubMaster();
-
-private:
-  std::map<std::string, PubSocket *> sockets_;
-};
-
-class AlignedBuffer {
-public:
-  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
-    words_size = size / sizeof(capnp::word) + 1;
-    if (aligned_buf.size() < words_size) {
-      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
-    }
-    memcpy(aligned_buf.begin(), data, size);
-    return aligned_buf.slice(0, words_size);
-  }
-  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
-    return align(m->getData(), m->getSize());
-  }
-private:
-  kj::Array<capnp::word> aligned_buf;
-  size_t words_size;
-};
@@ -1,40 +0,0 @@
-# distutils: language = c++
-#cython: language_level=3
-
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp cimport bool
-
-
-cdef extern from "messaging.h":
-  cdef cppclass Context:
-    @staticmethod
-    Context * create()
-
-  cdef cppclass Message:
-    void init(size_t)
-    void init(char *, size_t)
-    void close()
-    size_t getSize()
-    char *getData()
-
-  cdef cppclass SubSocket:
-    @staticmethod
-    SubSocket * create()
-    int connect(Context *, string, string, bool)
-    Message * receive(bool)
-    void setTimeout(int)
-
-  cdef cppclass PubSocket:
-    @staticmethod
-    PubSocket * create()
-    int connect(Context *, string)
-    int sendMessage(Message *)
-    int send(char *, size_t)
-    bool all_readers_updated()
-
-  cdef cppclass Poller:
-    @staticmethod
-    Poller * create()
-    void registerSocket(SubSocket *)
-    vector[SubSocket*] poll(int) nogil
@@ -1,68 +0,0 @@
-#pragma once
-#include <cstdint>
-#include <cstring>
-#include <string>
-#include <atomic>
-
-#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 10
-#define ALIGN(n) ((n + (8 - 1)) & -8)
-
-#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
-
-struct  msgq_header_t {
-  uint64_t num_readers;
-  uint64_t write_pointer;
-  uint64_t write_uid;
-  uint64_t read_pointers[NUM_READERS];
-  uint64_t read_valids[NUM_READERS];
-  uint64_t read_uids[NUM_READERS];
-};
-
-struct msgq_queue_t {
-  std::atomic<uint64_t> *num_readers;
-  std::atomic<uint64_t> *write_pointer;
-  std::atomic<uint64_t> *write_uid;
-  std::atomic<uint64_t> *read_pointers[NUM_READERS];
-  std::atomic<uint64_t> *read_valids[NUM_READERS];
-  std::atomic<uint64_t> *read_uids[NUM_READERS];
-  char * mmap_p;
-  char * data;
-  size_t size;
-  int reader_id;
-  uint64_t read_uid_local;
-  uint64_t write_uid_local;
-
-  bool read_conflate;
-  std::string endpoint;
-};
-
-struct msgq_msg_t {
-  size_t size;
-  char * data;
-};
-
-struct msgq_pollitem_t {
-  msgq_queue_t *q;
-  int revents;
-};
-
-void msgq_wait_for_subscriber(msgq_queue_t *q);
-void msgq_reset_reader(msgq_queue_t *q);
-
-int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
-int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
-int msgq_msg_close(msgq_msg_t *msg);
-
-int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
-void msgq_close_queue(msgq_queue_t *q);
-void msgq_init_publisher(msgq_queue_t * q);
-void msgq_init_subscriber(msgq_queue_t * q);
-
-int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
-int msgq_msg_ready(msgq_queue_t * q);
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
-
-bool msgq_all_readers_updated(msgq_queue_t *q);
@@ -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.
@@ -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())
@@ -1,61 +0,0 @@
-/* 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[] = {
-  { "sensorEvents", 8001, true, 100, 100 },
-  { "gpsNMEA", 8002, true, 9, -1 },
-  { "deviceState", 8003, true, 2, 1 },
-  { "can", 8004, true, 100, -1 },
-  { "controlsState", 8005, true, 100, 10 },
-  { "pandaStates", 8006, true, 2, 1 },
-  { "peripheralState", 8007, true, 2, 1 },
-  { "radarState", 8008, true, 20, 5 },
-  { "roadEncodeIdx", 8009, false, 20, 1 },
-  { "liveTracks", 8010, true, 20, -1 },
-  { "sendcan", 8011, true, 100, 139 },
-  { "logMessage", 8012, true, 0, -1 },
-  { "errorLogMessage", 8013, true, 0, 1 },
-  { "liveCalibration", 8014, true, 4, 4 },
-  { "androidLog", 8015, true, 0, -1 },
-  { "carState", 8016, true, 100, 10 },
-  { "carControl", 8017, true, 100, 10 },
-  { "longitudinalPlan", 8018, true, 20, 5 },
-  { "procLog", 8019, true, 0, -1 },
-  { "gpsLocationExternal", 8020, true, 10, 10 },
-  { "ubloxGnss", 8021, true, 10, -1 },
-  { "qcomGnss", 8023, true, 2, -1 },
-  { "gnssMeasurements", 8024, true, 10, -1 },
-  { "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 },
-  { "driverCameraState", 8035, true, 20, 20 },
-  { "driverEncodeIdx", 8036, false, 20, 1 },
-  { "driverStateV2", 8037, true, 20, 10 },
-  { "driverMonitoringState", 8038, true, 20, 10 },
-  { "wideRoadEncodeIdx", 8039, false, 20, 1 },
-  { "wideRoadCameraState", 8040, true, 20, 20 },
-  { "modelV2", 8041, true, 20, 40 },
-  { "managerState", 8042, true, 2, 1 },
-  { "uploaderState", 8043, true, 0, 1 },
-  { "navInstruction", 8044, true, 1, 10 },
-  { "navRoute", 8045, true, 0, -1 },
-  { "navThumbnail", 8046, true, 0, -1 },
-  { "qRoadEncodeIdx", 8047, false, 20, -1 },
-  { "testJoystick", 8048, true, 0, -1 },
-  { "roadEncodeData", 8049, false, 20, -1 },
-  { "driverEncodeData", 8050, false, 20, -1 },
-  { "wideRoadEncodeData", 8051, false, 20, -1 },
-  { "qRoadEncodeData", 8052, false, 20, -1 },
-  { "dragonConf", 8053, false, 1, -1 },
-  { "liveMapData", 8054, true, 0, -1 },
-};
-#endif
-
@@ -1,104 +0,0 @@
-#!/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
-    self.should_log = should_log
-    self.frequency = frequency
-    self.decimation = decimation
-
-
-services = {
-  # service: (should_log, frequency, qlog decimation (optional))
-  # note: the "EncodeIdx" packets will still be in the log
-  "sensorEvents": (True, 100., 100),
-  "gpsNMEA": (True, 9.),
-  "deviceState": (True, 2., 1),
-  "can": (True, 100.),
-  "controlsState": (True, 100., 10),
-  "pandaStates": (True, 2., 1),
-  "peripheralState": (True, 2., 1),
-  "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
-  "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
-  "liveCalibration": (True, 4., 4),
-  "androidLog": (True, 0.),
-  "carState": (True, 100., 10),
-  "carControl": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
-  "procLog": (True, 0.5),
-  "gpsLocationExternal": (True, 10., 10),
-  "ubloxGnss": (True, 10.),
-  "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10.),
-  "clocks": (True, 1., 1),
-  "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 5),
-  "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 5),
-  "lateralPlan": (True, 20., 5),
-  "thumbnail": (True, 0.2, 1),
-  "carEvents": (True, 1., 1),
-  "carParams": (True, 0.02, 1),
-  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 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),
-  "managerState": (True, 2., 1),
-  "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
-  "navRoute": (True, 0.),
-  "navThumbnail": (True, 0.),
-  "qRoadEncodeIdx": (False, 20.),
-
-  # debug
-  "testJoystick": (True, 0.),
-  "roadEncodeData": (False, 20.),
-  "driverEncodeData": (False, 20.),
-  "wideRoadEncodeData": (False, 20.),
-  "qRoadEncodeData": (False, 20.),
-
-  # dp
-  "dragonConf": (False, 1.),
-  "liveMapData": (True, 0.),
-}
-service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
-                idx, (name, vals) in enumerate(services.items())}
-
-
-def build_header():
-  h = ""
-  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
-  h += "#ifndef __SERVICES_H\n"
-  h += "#define __SERVICES_H\n"
-  h += "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():
-    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 += "};\n"
-  h += "#endif\n"
-  return h
-
-
-if __name__ == "__main__":
-  print(build_header())
@@ -1,72 +0,0 @@
-import re
-import SCons
-from SCons.Action import Action
-from SCons.Scanner import Scanner
-
-pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
-pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
-cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
-
-
-def pyx_scan(node, env, path, arg=None):
-  contents = node.get_text_contents()
-
-  # from <module> cimport ...
-  matches = pyx_from_import_re.findall(contents)
-  # cimport <module>
-  matches += pyx_import_re.findall(contents)
-
-  # Modules can be either .pxd or .pyx files
-  files = [m.replace('.', '/') + '.pxd' for m in matches]
-  files += [m.replace('.', '/') + '.pyx' for m in matches]
-
-  # cdef extern from <file>
-  files += cdef_import_re.findall(contents)
-
-  # Handle relative imports
-  cur_dir = str(node.get_dir())
-  files = [cur_dir + f if f.startswith('/') else f for f in files]
-
-  # Filter out non-existing files (probably system imports)
-  files = [f for f in files if env.File(f).exists()]
-  return env.File(files)
-
-
-pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
-cythonAction = Action("$CYTHONCOM")
-
-
-def create_builder(env):
-  try:
-    cython = env['BUILDERS']['Cython']
-  except KeyError:
-    cython = SCons.Builder.Builder(
-      action=cythonAction,
-      emitter={},
-      suffix=cython_suffix_emitter,
-      single_source=1
-    )
-    env.Append(SCANNERS=pyxscanner)
-    env['BUILDERS']['Cython'] = cython
-  return cython
-
-def cython_suffix_emitter(env, source):
-  return "$CYTHONCFILESUFFIX"
-
-def generate(env):
-  env["CYTHON"] = "cythonize"
-  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
-  env["CYTHONCFILESUFFIX"] = ".cpp"
-
-  c_file, _ = SCons.Tool.createCFileBuilders(env)
-
-  c_file.suffix['.pyx'] = cython_suffix_emitter
-  c_file.add_action('.pyx', cythonAction)
-
-  c_file.suffix['.py'] = cython_suffix_emitter
-  c_file.add_action('.py', cythonAction)
-
-  create_builder(env)
-
-def exists(env):
-  return True
@@ -1,2 +0,0 @@
-visionipc_pyx.cpp
-*.so
@@ -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);
@@ -1,69 +0,0 @@
-#pragma once
-#include "visionipc.h"
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#define VISIONBUF_SYNC_FROM_DEVICE 0
-#define VISIONBUF_SYNC_TO_DEVICE 1
-
-enum VisionStreamType {
-  VISION_STREAM_RGB_ROAD,
-  VISION_STREAM_RGB_DRIVER,
-  VISION_STREAM_RGB_WIDE_ROAD,
-
-  VISION_STREAM_ROAD,
-  VISION_STREAM_DRIVER,
-  VISION_STREAM_WIDE_ROAD,
-
-  VISION_STREAM_RGB_MAP,
-  VISION_STREAM_MAX,
-};
-
-class VisionBuf {
- public:
-  size_t len = 0;
-  size_t mmap_len = 0;
-  void * addr = nullptr;
-  uint64_t *frame_id;
-  int fd = 0;
-
-  bool rgb = false;
-  size_t width = 0;
-  size_t height = 0;
-  size_t stride = 0;
-
-  // YUV
-  uint8_t * y = nullptr;
-  uint8_t * u = nullptr;
-  uint8_t * v = nullptr;
-
-  // Visionipc
-  uint64_t server_id = 0;
-  size_t idx = 0;
-  VisionStreamType type;
-
-  // OpenCL
-  cl_mem buf_cl = nullptr;
-  cl_command_queue copy_q = nullptr;
-
-  // ion
-  int handle = 0;
-
-  void allocate(size_t len);
-  void import();
-  void init_cl(cl_device_id device_id, cl_context ctx);
-  void init_rgb(size_t width, size_t height, size_t stride);
-  void init_yuv(size_t width, size_t height);
-  int sync(int dir);
-  int free();
-
-  void set_frame_id(uint64_t id);
-  uint64_t get_frame_id();
-};
-
-void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
@@ -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;
-};
@@ -1,39 +0,0 @@
-# distutils: language = c++
-#cython: language_level=3
-
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libc.stdint cimport uint32_t, uint64_t
-from libcpp cimport bool
-
-cdef extern from "visionbuf.h":
-  cdef enum VisionStreamType:
-    pass
-
-  cdef cppclass VisionBuf:
-    void * addr
-    size_t len
-    size_t width
-    size_t height
-    size_t stride
-
-cdef extern from "visionipc.h":
-  struct VisionIpcBufExtra:
-    uint32_t frame_id
-    uint64_t timestamp_sof
-    uint64_t timestamp_eof
-
-cdef extern from "visionipc_server.h":
-  cdef cppclass VisionIpcServer:
-    VisionIpcServer(string, void*, void*)
-    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
-    VisionBuf * get_buffer(VisionStreamType)
-    void send(VisionBuf *, VisionIpcBufExtra *, bool)
-    void start_listener()
-
-cdef extern from "visionipc_client.h":
-  cdef cppclass VisionIpcClient:
-    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
-    VisionBuf * recv(VisionIpcBufExtra *, int)
-    bool connect(bool)
-    bool is_connected()
@@ -1,33 +0,0 @@
-#pragma once
-#include <vector>
-#include <string>
-#include <unistd.h>
-
-#include "messaging/messaging.h"
-#include "visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
-
-class VisionIpcClient {
-private:
-  std::string name;
-  Context * msg_ctx;
-  SubSocket * sock;
-  Poller * poller;
-
-  VisionStreamType type;
-
-  cl_device_id device_id = nullptr;
-  cl_context ctx = nullptr;
-
-  void init_msgq(bool conflate);
-
-public:
-  bool connected = false;
-  int num_buffers = 0;
-  VisionBuf buffers[VISIONIPC_MAX_FDS];
-  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
-  ~VisionIpcClient();
-  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
-  bool connect(bool blocking=true);
-  bool is_connected() { return connected; }
-};
@@ -1,42 +0,0 @@
-#pragma once
-#include <vector>
-#include <string>
-#include <thread>
-#include <atomic>
-#include <map>
-
-#include "messaging/messaging.h"
-#include "visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
-
-std::string get_endpoint_name(std::string name, VisionStreamType type);
-
-class VisionIpcServer {
- private:
-  cl_device_id device_id = nullptr;
-  cl_context ctx = nullptr;
-  uint64_t server_id;
-
-  std::atomic<bool> should_exit = false;
-  std::string name;
-  std::thread listener_thread;
-
-  std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
-  std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
-  std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
-
-  Context * msg_ctx;
-  std::map<VisionStreamType, PubSocket*> sockets;
-
-  void listener(void);
-
- public:
-  VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
-  ~VisionIpcServer();
-
-  VisionBuf * get_buffer(VisionStreamType type);
-
-  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
-  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
-  void start_listener();
-};
@@ -1 +0,0 @@
-*.cpp
@@ -1,47 +1,15 @@
-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

+from selfdrive.version import version

 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
+  backend = "https://api.commadotai.com/"
+
  headers = {}
  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
+    headers['Authorization'] = "JWT "+access_token

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

-  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)
-
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-#define CL_CHECK(_expr)          \
-  do {                           \
-    assert(CL_SUCCESS == (_expr)); \
-  } while (0)
-
-#define CL_CHECK_ERR(_expr)           \
-  ({                                  \
-    cl_int err = CL_INVALID_VALUE;    \
-    __typeof__(_expr) _ret = _expr;   \
-    assert(_ret&& err == CL_SUCCESS); \
-    _ret;                             \
-  })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_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);
@@ -1,19 +0,0 @@
-import numpy as np
-
-class Conversions:
-  # Speed
-  MPH_TO_KPH = 1.609344
-  KPH_TO_MPH = 1. / MPH_TO_KPH
-  MS_TO_KPH = 3.6
-  KPH_TO_MS = 1. / MS_TO_KPH
-  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
-  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
-  MS_TO_KNOTS = 1.9438
-  KNOTS_TO_MS = 1. / MS_TO_KNOTS
-
-  # Angle
-  DEG_TO_RAD = np.pi / 180.
-  RAD_TO_DEG = 1. / DEG_TO_RAD
-
-  # Mass
-  LB_TO_KG = 0.453592
@@ -0,0 +1,248 @@
+import re
+import os
+import struct
+import bitstring
+import sys
+import numbers
+from collections import namedtuple, defaultdict
+
+def int_or_float(s):
+  # return number, trying to maintain int format
+  try:
+    return int(s)
+  except ValueError:
+    return float(s)
+
+DBCSignal = namedtuple(
+  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
+                "factor", "offset", "tmin", "tmax", "units"])
+
+class dbc(object):
+  def __init__(self, fn):
+    self.name, _ = os.path.splitext(os.path.basename(fn))
+    with open(fn) as f:
+      self.txt = f.read().split("\n")
+    self._warned_addresses = set()
+
+    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
+    bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
+    sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
+
+    # A dictionary which maps message ids to tuples ((name, size), signals).
+    #   name is the ASCII name of the message.
+    #   size is the size of the message in bytes.
+    #   signals is a list signals contained in the message.
+    # signals is a list of DBCSignal in order of increasing start_bit.
+    self.msgs = {}
+
+    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
+    self.def_vals = defaultdict(list)
+
+    # lookup to bit reverse each byte
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
+
+    for l in self.txt:
+      l = l.strip()
+
+      if l.startswith("BO_ "):
+        # new group
+        dat = bo_regexp.match(l)
+
+        if dat is None:
+          print "bad BO", l
+        name = dat.group(2)
+        size = int(dat.group(3))
+        ids = int(dat.group(1), 0) # could be hex
+        if ids in self.msgs:
+          sys.exit("Duplicate address detected %d %s" % (ids, self.name))
+
+        self.msgs[ids] = ((name, size), [])
+
+      if l.startswith("SG_ "):
+        # new signal
+        dat = sg_regexp.match(l)
+        go = 0
+        if dat is None:
+          dat = sgm_regexp.match(l)
+          go = 1
+        if dat is None:
+          print "bad SG", l
+
+        sgname = dat.group(1)
+        start_bit = int(dat.group(go+2))
+        signal_size = int(dat.group(go+3))
+        is_little_endian = int(dat.group(go+4))==1
+        is_signed = dat.group(go+5)=='-'
+        factor = int_or_float(dat.group(go+6))
+        offset = int_or_float(dat.group(go+7))
+        tmin = int_or_float(dat.group(go+8))
+        tmax = int_or_float(dat.group(go+9))
+        units = dat.group(go+10)
+
+        self.msgs[ids][1].append(
+          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
+                    is_signed, factor, offset, tmin, tmax, units))
+
+      if l.startswith("VAL_ "):
+        # new signal value/definition
+        dat = val_regexp.match(l)
+
+        if dat is None:
+          print "bad VAL", l
+        ids = int(dat.group(1), 0) # could be hex
+        sgname = dat.group(2)
+        defvals = dat.group(3)
+
+        defvals = defvals.replace("?","\?") #escape sequence in C++
+        defvals = defvals.split('"')[:-1]
+
+        defs = defvals[1::2]
+        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
+        for i,d in enumerate(defs):
+          d = defs[i].strip().upper()
+          defs[i] = d.replace(" ","_")
+
+        defvals[1::2] = defs
+        defvals = '"'+"".join(str(i) for i in defvals)+'"'
+
+        self.def_vals[ids].append((sgname, defvals))
+
+    for msg in self.msgs.viewvalues():
+      msg[1].sort(key=lambda x: x.start_bit)
+
+    self.msg_name_to_address = {}
+    for address, m in self.msgs.items():
+      name = m[0][0]
+      self.msg_name_to_address[name] = address
+
+  def lookup_msg_id(self, msg_id):
+    if not isinstance(msg_id, numbers.Number):
+      msg_id = self.msg_name_to_address[msg_id]
+    return msg_id
+
+  def encode(self, msg_id, dd):
+    """Encode a CAN message using the dbc.
+
+       Inputs:
+        msg_id: The message ID.
+        dd: A dictionary mapping signal name to signal data.
+    """
+    msg_id = self.lookup_msg_id(msg_id)
+
+    # TODO: Stop using bitstring, which is super slow.
+    msg_def = self.msgs[msg_id]
+    size = msg_def[0][1]
+
+    bsf = bitstring.Bits(hex="00"*size)
+    for s in msg_def[1]:
+      ival = dd.get(s.name)
+      if ival is not None:
+        ival = (ival / s.factor) - s.offset
+        ival = int(round(ival))
+
+        # should pack this
+        if s.is_little_endian:
+          ss = s.start_bit
+        else:
+          ss = self.bits_index[s.start_bit]
+
+
+        if s.is_signed:
+          tbs = bitstring.Bits(int=ival, length=s.size)
+        else:
+          tbs = bitstring.Bits(uint=ival, length=s.size)
+
+        lpad = bitstring.Bits(bin="0b"+"0"*ss)
+        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
+        tbs = lpad+tbs+rpad
+
+        bsf |= tbs
+    return bsf.tobytes()
+
+  def decode(self, x, arr=None, debug=False):
+    """Decode a CAN message using the dbc.
+
+       Inputs:
+        x: A collection with elements (address, time, data), where address is
+           the CAN address, time is the bus time, and data is the CAN data as a
+           hex string.
+        arr: Optional list of signals which should be decoded and returned.
+        debug: True to print debugging statements.
+
+       Returns:
+        A tuple (name, data), where name is the name of the CAN message and data
+        is the decoded result. If arr is None, data is a dict of properties.
+        Otherwise data is a list of the same length as arr.
+
+        Returns (None, None) if the message could not be decoded.
+    """
+
+    if arr is None:
+      out = {}
+    else:
+      out = [None]*len(arr)
+
+    msg = self.msgs.get(x[0])
+    if msg is None:
+      if x[0] not in self._warned_addresses:
+        #print("WARNING: Unknown message address {}".format(x[0]))
+        self._warned_addresses.add(x[0])
+      return None, None
+
+    name = msg[0][0]
+    if debug:
+      print name
+
+    blen = 8*len(x[2])
+
+    st = x[2].rjust(8, '\x00')
+    le, be = None, None
+
+    for s in msg[1]:
+      if arr is not None and s[0] not in arr:
+        continue
+
+      # big or little endian?
+      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
+      if s[3] is False:
+        ss = self.bits_index[s[1]]
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        x2_int = be
+        data_bit_pos = (blen - (ss + s[2]))
+      else:
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
+        ss = s[1]
+        data_bit_pos = ss
+
+      if data_bit_pos < 0:
+        continue
+      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
+
+      if s[4] and (ival & (1<<(s[2]-1))): # signed
+        ival -= (1<<s[2])
+
+      # control the offset
+      ival = (ival * s[5]) + s[6]
+      #if debug:
+      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+
+      if arr is None:
+        out[s[0]] = ival
+      else:
+        out[arr.index(s[0])] = ival
+    return name, out
+
+  def get_signals(self, msg):
+    msg = self.lookup_msg_id(msg)
+    return [sgs.name for sgs in self.msgs[msg][1]]
+
+if __name__ == "__main__":
+   from opendbc import DBC_PATH
+
+   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
+   print dbc_test.get_signals(0xe4)
@@ -1,9 +0,0 @@
-# remove all keys that end in DEPRECATED
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d
@@ -1,271 +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 EON, 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_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': 30, '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']},
-
-  #ui
-  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
-  {'name': 'dp_quiet_drive', 'default': False, 'type': 'Boolean', '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']},
-
-  #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_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_mapd', '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': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
-  # # service
-  # {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
-  # {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
-  # # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # # lat ctrl
-  # {'name': 'dp_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': 3, 'depends': [{'name': 'dp_following_profile_ctrl', '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']},
-  # {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  # {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  # # UIs
-  # {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 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_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_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_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  # {'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': 6 if EON else -4 if TICI else 0, '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']},
-]
-
-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
@@ -2,20 +2,12 @@ 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"
+TMPDIR = "/tmp/ccache"

-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()
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
  try:
    os.mkdir(tmpdir)
  except OSError:
@@ -28,27 +20,22 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
    try:
      mod = __import__(cache)
    except Exception:
-      print(f"cache miss {cache}")
-      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
+      print "cache miss", cache
+      compile_code(cache, c_code, c_header, tmpdir)
      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 = []
-
+def compile_code(name, c_code, c_header, directory):
  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
+  ffibuilder.set_source(name, c_code, source_extension='.cpp')
  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
-  os.environ['CFLAGS'] = cflags
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['CFLAGS'] = ""
  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

-
 def wrap_compiled(name, directory):
  sys.path.append(directory)
  mod = __import__(name)
@@ -1,113 +0,0 @@
-import os
-import shutil
-import tempfile
-from atomicwrites import AtomicWriter
-
-
-def mkdirs_exists_ok(path):
-  if path.startswith('http://') or path.startswith('https://'):
-    raise ValueError('URL path')
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-def rm_not_exists_ok(path):
-  try:
-    os.remove(path)
-  except OSError:
-    if os.path.exists(path):
-      raise
-
-
-def rm_tree_or_link(path):
-  if os.path.islink(path):
-    os.unlink(path)
-  elif os.path.isdir(path):
-    shutil.rmtree(path)
-
-
-def get_tmpdir_on_same_filesystem(path):
-  normpath = os.path.normpath(path)
-  parts = normpath.split("/")
-  if len(parts) > 1 and parts[1] == "scratch":
-    return "/scratch/tmp"
-  elif len(parts) > 2 and parts[2] == "runner":
-    return 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()
-
-
-class CallbackReader:
-  """Wraps a file, but overrides the read method to also
-  call a callback function with the number of bytes read so far."""
-  def __init__(self, f, callback, *args):
-    self.f = f
-    self.callback = callback
-    self.cb_args = args
-    self.total_read = 0
-
-  def __getattr__(self, attr):
-    return getattr(self.f, attr)
-
-  def read(self, *args, **kwargs):
-    chunk = self.f.read(*args, **kwargs)
-    self.total_read += len(chunk)
-    self.callback(*self.cb_args, self.total_read)
-    return chunk
-
-
-def _get_fileobject_func(writer, temp_dir):
-  def _get_fileobject():
-    return writer.get_fileobject(dir=temp_dir)
-  return _get_fileobject
-
-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)
-
-    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)))
-
-
-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)))
@@ -1,18 +0,0 @@
-class FirstOrderFilter:
-  # first order filter
-  def __init__(self, x0, rc, dt, initialized=True):
-    self.x = x0
-    self.dt = dt
-    self.update_alpha(rc)
-    self.initialized = initialized
-
-  def update_alpha(self, rc):
-    self.alpha = self.dt / (rc + self.dt)
-
-  def update(self, x):
-    if self.initialized:
-      self.x = (1. - self.alpha) * self.x + self.alpha * x
-    else:
-      self.initialized = True
-      self.x = x
-    return self.x
@@ -0,0 +1,64 @@
+import os
+from common.basedir import BASEDIR
+
+def get_fingerprint_list():
+  # read all the folders in selfdrive/car and return a dict where:
+  # - keys are all the car models for which we have a fingerprint
+  # - values are lists dicts of messages that constitute the unique 
+  #   CAN fingerprint of each car model and all its variants
+  fingerprints = {}
+  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS'])
+      if hasattr(values, 'FINGERPRINTS'):
+        car_fingerprints = values.FINGERPRINTS
+      else:
+        continue
+      for f, v in car_fingerprints.items():
+        fingerprints[f] = v
+    except (ImportError, IOError):
+      pass
+  return fingerprints
+
+
+_FINGERPRINTS = get_fingerprint_list()
+
+_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
+
+def is_valid_for_fingerprint(msg, car_fingerprint):
+  adr = msg.address
+  bus = msg.src
+  # ignore addresses that are more than 11 bits
+  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
+         bus != 0 or adr >= 0x800
+
+
+def eliminate_incompatible_cars(msg, candidate_cars):
+  """Removes cars that could not have sent msg.
+
+     Inputs:
+      msg: A cereal/log CanData message from the car.
+      candidate_cars: A list of cars to consider.
+
+     Returns:
+      A list containing the subset of candidate_cars that could have sent msg.
+  """
+  compatible_cars = []
+
+  for car_name in candidate_cars:
+    car_fingerprints = _FINGERPRINTS[car_name]
+
+    for fingerprint in car_fingerprints:
+      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
+
+      if is_valid_for_fingerprint(msg, fingerprint):
+        compatible_cars.append(car_name)
+        break
+
+  return compatible_cars
+
+
+def all_known_cars():
+  """Returns a list of all known car strings."""
+  return _FINGERPRINTS.keys()
@@ -1,21 +0,0 @@
-#pragma once
-
-// Pin definitions
-#ifdef QCOM2
-  #define GPIO_HUB_RST_N        30
-  #define GPIO_UBLOX_RST_N      32
-  #define GPIO_UBLOX_SAFEBOOT_N 33
-  #define GPIO_UBLOX_PWR_EN     34
-  #define GPIO_STM_RST_N        124
-  #define GPIO_STM_BOOT0        134
-#else
-  #define GPIO_HUB_RST_N        0
-  #define GPIO_UBLOX_RST_N      0
-  #define GPIO_UBLOX_SAFEBOOT_N 0
-  #define GPIO_UBLOX_PWR_EN     0
-  #define GPIO_STM_RST_N        0
-  #define GPIO_STM_BOOT0        0
-#endif
-
-int gpio_init(int pin_nr, bool output);
-int gpio_set(int pin_nr, bool high);
@@ -1,14 +0,0 @@
-def gpio_init(pin: int, output: bool) -> None:
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
-      f.write(b"out" if output else b"in")
-  except Exception as e:
-    print(f"Failed to set gpio {pin} direction: {e}")
-
-
-def gpio_set(pin: int, high: bool) -> None:
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
-      f.write(b"1" if high else b"0")
-  except Exception as e:
-    print(f"Failed to set gpio {pin} value: {e}")
@@ -1,20 +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_zh-CHT": "zh-TW",
-  "main_zh-CHS": "zh-CN",
-  "main_ko": "ko-KR",
-}
-
-def events():
-  locale = Params().get("LanguageSetting", encoding='utf8')
-  if locale is not None:
-    locale = supported_languages[locale.strip()]
-  else:
-    locale = "en-US"
-  i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
-  i18n.install()
-  return i18n.gettext
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-#include <sys/types.h>
-
-class I2CBus {
-  private:
-    int i2c_fd;
-
-  public:
-    I2CBus(uint8_t bus_id);
-    ~I2CBus();
-
-    int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
-    int set_register(uint8_t device_address, uint register_address, uint8_t data);
-};
@@ -1 +0,0 @@
-simple_kalman_impl.c
@@ -0,0 +1,253 @@
+# pylint: skip-file
+from __future__ import print_function
+import abc
+import numpy as np
+# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
+# A subclass must implement:
+#   1) calc_transfer_fun(); see bottom of file for more info.
+#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
+
+# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
+
+# Sensor classes are optionally used to pass measurement information into the EKF, to keep
+#   sensor parameters and processing methods for a each sensor together.
+# Sensor classes have a read() method which takes raw sensor data and returns
+#   a SensorReading object, which can be passed to the EKF update() method.
+
+# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
+# ekf.predict(dt) should be called between update cycles with the time since it was last called.
+# Ideally, predict(dt) should be called at a relatively constant rate.
+# update() should be called once per sensor, and can be called multiple times between predict steps.
+# Access and set the state of the filter directly with ekf.state and ekf.covar.
+
+
+class SensorReading:
+  # Given a perfect model and no noise, data = obs_model * state
+  def __init__(self, data, covar, obs_model):
+    self.data = data
+    self.obs_model = obs_model
+    self.covar = covar
+
+  def __repr__(self):
+    return "SensorReading(data={}, covar={}, obs_model={})".format(
+      repr(self.data), repr(self.covar), repr(self.obs_model))
+
+
+# A generic sensor class that does no pre-processing of data
+class SimpleSensor:
+  # obs_model can be
+  #   a full observation model matrix, or
+  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
+  # covar can be
+  #   a full covariance matrix
+  #   a float or tuple of individual covars for each component of the sensor reading
+  # dims is the number of states in the EKF
+  def __init__(self, obs_model, covar, dims):
+    # Allow for integer covar/obs_model
+    if not hasattr(obs_model, "__len__"):
+      obs_model = (obs_model, )
+    if not hasattr(covar, "__len__"):
+      covar = (covar, )
+
+    # Full observation model passed
+    if dims in np.array(obs_model).shape:
+      self.obs_model = np.asmatrix(obs_model)
+      self.covar = np.asmatrix(covar)
+    # Indices of unit observations passed
+    else:
+      self.obs_model = np.matlib.zeros((len(obs_model), dims))
+      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
+      if np.asarray(covar).ndim == 2:
+        self.covar = np.asmatrix(covar)
+      elif len(covar) == len(obs_model):
+        self.covar = np.matlib.diag(covar)
+      else:
+        self.covar = np.matlib.identity(len(obs_model)) * covar
+
+  def read(self, data, covar=None):
+    if covar:
+      self.covar = covar
+    return SensorReading(data, self.covar, self.obs_model)
+
+
+class EKF:
+  __metaclass__ = abc.ABCMeta
+
+  def __init__(self, debug=False):
+    self.DEBUG = debug
+
+
+  def __str__(self):
+    return "EKF(state={}, covar={})".format(self.state, self.covar)
+
+  # Measurement update
+  # Reading should be a SensorReading object with data, covar, and obs_model attributes
+  def update(self, reading):
+    # Potential improvements:
+    # deal with negative covars
+    # add noise to really low covars to ensure stability
+    # use mahalanobis distance to reject outliers
+    # wrap angles after state updates and innovation
+
+    # y = z - H*x
+    innovation = reading.data - reading.obs_model * self.state
+
+    if self.DEBUG:
+      print("reading:\n",reading.data)
+      print("innovation:\n",innovation)
+
+    # S = H*P*H' + R
+    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
+
+    # K = P*H'*S^-1
+    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
+      innovation_covar)
+
+    if self.DEBUG:
+      print("gain:\n", kalman_gain)
+      print("innovation_covar:\n", innovation_covar)
+      print("innovation: ", innovation)
+      print("test: ", self.covar * reading.obs_model.T * (
+        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
+        0).I)
+
+    # x = x + K*y
+    self.state += kalman_gain*innovation
+
+    # print "covar", np.diag(self.covar)
+    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
+
+    # Standard form: P = (I - K*H)*P
+    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
+
+    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
+    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
+    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
+
+    if self.DEBUG:
+      print("After update")
+      print("state\n", self.state)
+      print("covar:\n",self.covar)
+
+  def update_scalar(self, reading):
+    # like update but knowing that measurement is a scalar
+    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
+
+    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
+    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
+    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
+    # self.state += np.matmul(kalman_gain, innovation)
+    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
+    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
+
+    # written without np.matmul
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB_T = "ij,kj->ik"
+    AB = "ij,jk->ik"
+    innovation = reading.data - es(AB, reading.obs_model, self.state)
+    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
+                          reading.obs_model) + reading.covar
+    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
+
+    self.state += es(AB, kalman_gain, innovation)
+    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
+    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
+                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
+
+  # Prediction update
+  def predict(self, dt):
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB = "ij,jk->ik"
+
+    # State update
+    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
+
+    # self.state = np.matmul(transfer_fun, self.state)
+    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
+
+    # x = f(x, u), written in the form x = A(x, u)*x
+    self.state = es(AB, transfer_fun, self.state)
+
+    # P = J*P*J' + Q
+    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
+                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
+
+    #! Clip covariance to avoid explosions
+    self.covar = np.clip(self.covar,-1e10,1e10)
+
+  @abc.abstractmethod
+  def calc_transfer_fun(self, dt):
+    """Return a tuple with the transfer function and transfer function jacobian
+    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
+
+    The transfer function matrix A should satisfy the state-update equation
+      x_(k+1) = A * x_k
+
+    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
+
+    Current implementations calculate A and J as functions of state. Control input
+      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
+      and using it during calculation of A and J
+    """
+
+
+class FastEKF1D(EKF):
+  """Fast version of EKF for 1D problems with scalar readings."""
+
+  def __init__(self, dt, var_init, Q):
+    super(FastEKF1D, self).__init__(False)
+    self.state = [0, 0]
+    self.covar = [var_init, var_init, 0]
+
+    # Process Noise
+    self.dtQ0 = dt * Q[0]
+    self.dtQ1 = dt * Q[1]
+
+  def update(self, reading):
+    raise NotImplementedError
+
+  def update_scalar(self, reading):
+    # TODO(mgraczyk): Delete this for speed.
+    # assert np.all(reading.obs_model == [1, 0])
+
+    rcov = reading.covar[0, 0]
+
+    x = self.state
+    S = self.covar
+
+    innovation = reading.data - x[0]
+    innovation_covar = S[0] + rcov
+
+    k0 = S[0] / innovation_covar
+    k1 = S[2] / innovation_covar
+
+    x[0] += k0 * innovation
+    x[1] += k1 * innovation
+
+    mk = 1 - k0
+    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
+    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
+    S[0] = mk * mk * S[0] + rcov * k0 * k0
+
+  def predict(self, dt):
+    # State update
+    x = self.state
+
+    x[0] += dt * x[1]
+
+    # P = J*P*J' + Q
+    S = self.covar
+    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
+    S[2] += dt * S[1]
+    S[1] += self.dtQ1
+
+    # Clip covariance to avoid explosions
+    S = max(-1e10, min(S, 1e10))
+
+  def calc_transfer_fun(self, dt):
+    tf = np.identity(2)
+    tf[0, 1] = dt
+    tfj = tf
+    return tf, tfj
@@ -1,3 +1,23 @@
-# pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
-assert KF1D
+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 = 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
@@ -1,18 +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()
@@ -1,19 +1,13 @@
-import io
 import os
 import sys
 import copy
 import json
-import time
-import uuid
 import socket
 import logging
-import traceback
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager

-LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
-
 def json_handler(obj):
  # if isinstance(obj, (datetime.date, datetime.time)):
  #   return obj.isoformat()
@@ -66,57 +60,14 @@ class SwagFormatter(logging.Formatter):
    return record_dict

  def format(self, record):
-    if self.swaglogger is None:
-      raise Exception("must set swaglogger before calling format()")
    return json_robust_dumps(self.format_dict(record))

-class SwagLogFileFormatter(SwagFormatter):
-  def fix_kv(self, k, v):
-    # append type to names to preserve legacy naming in logs
-    # avoids overlapping key namespaces with different types
-    # e.g. log.info() creates 'msg' -> 'msg$s'
-    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
-    #      because overlapping namespace 'msg' caused problems
-    if isinstance(v, (str, bytes)):
-      k += "$s"
-    elif isinstance(v, float):
-      k += "$f"
-    elif isinstance(v, bool):
-      k += "$b"
-    elif isinstance(v, int):
-      k += "$i"
-    elif isinstance(v, dict):
-      nv = {}
-      for ik, iv in v.items():
-        ik, iv = self.fix_kv(ik, iv)
-        nv[ik] = iv
-      v = nv
-    elif isinstance(v, list):
-      k += "$a"
-    return k, v
-
-  def format(self, record):
-    if isinstance(record, str):
-      v = json.loads(record)
-    else:
-      v = self.format_dict(record)
-
-    mk, mv = self.fix_kv('msg', v['msg'])
-    del v['msg']
-    v[mk] = mv
-    v['id'] = uuid.uuid4().hex
-
-    return json_robust_dumps(v)
-
 class SwagErrorFilter(logging.Filter):
  def filter(self, record):
    return record.levelno < logging.ERROR

-def _tmpfunc():
-  return 0
-
-def _srcfile():
-  return os.path.normcase(_tmpfunc.__code__.co_filename)
+_tmpfunc = lambda: 0
+_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)

 class SwagLogger(logging.Logger):
  def __init__(self):
@@ -127,6 +78,28 @@ class SwagLogger(logging.Logger):
    self.log_local = local()
    self.log_local.ctx = {}

+  def findCaller(self, stack_info=None):
+    """
+      Find the stack frame of the caller so that we can note the source
+      file name, line number and function name.
+      """
+    # f = currentframe()
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+      f = f.f_back
+    rv = "(unknown file)", 0, "(unknown function)"
+    while hasattr(f, "f_code"):
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+      if filename in (logging._srcfile, _srcfile):
+        f = f.f_back
+        continue
+      rv = (co.co_filename, f.f_lineno, co.co_name)
+      break
+    return rv
+
  def local_ctx(self):
    try:
      return self.log_local.ctx
@@ -159,60 +132,14 @@ class SwagLogger(logging.Logger):
    if args:
      evt['args'] = args
    evt.update(kwargs)
+    ctx = self.get_ctx()
+    if ctx:
+      evt['ctx'] = self.get_ctx()
    if 'error' in kwargs:
      self.error(evt)
-    elif 'debug' in kwargs:
-      self.debug(evt)
    else:
      self.info(evt)

-  def timestamp(self, event_name):
-    if LOG_TIMESTAMPS:
-      t = time.monotonic()
-      tstp = NiceOrderedDict()
-      tstp['timestamp'] = NiceOrderedDict()
-      tstp['timestamp']["event"] = event_name
-      tstp['timestamp']["time"] = t*1e9
-      self.debug(tstp)
-
-  def findCaller(self, stack_info=False, stacklevel=1):
-    """
-    Find the stack frame of the caller so that we can note the source
-    file name, line number and function name.
-    """
-    f = sys._getframe(3)
-    #On some versions of IronPython, currentframe() returns None if
-    #IronPython isn't run with -X:Frames.
-    if f is not None:
-      f = f.f_back
-    orig_f = f
-    while f and stacklevel > 1:
-      f = f.f_back
-      stacklevel -= 1
-    if not f:
-      f = orig_f
-    rv = "(unknown file)", 0, "(unknown function)", None
-    while hasattr(f, "f_code"):
-      co = f.f_code
-      filename = os.path.normcase(co.co_filename)
-
-      # TODO: is this pylint exception correct?
-      if filename == _srcfile:  # pylint: disable=comparison-with-callable
-        f = f.f_back
-        continue
-      sinfo = None
-      if stack_info:
-        sio = io.StringIO()
-        sio.write('Stack (most recent call last):\n')
-        traceback.print_stack(f, file=sio)
-        sinfo = sio.getvalue()
-        if sinfo[-1] == '\n':
-          sinfo = sinfo[:-1]
-        sio.close()
-      rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
-      break
-    return rv
-
 if __name__ == "__main__":
  log = SwagLogger()

@@ -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 +1,18 @@
+def int_rnd(x):
+  return int(round(x))
+
 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
+      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)
+  return [get_interp(v) for v in x] if hasattr(
+    x, '__iter__') else get_interp(x)
@@ -1,47 +0,0 @@
-#pragma once
-
-#include <map>
-#include <string>
-
-enum ParamKeyType {
-  PERSISTENT = 0x02,
-  CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_IGNITION_ON = 0x08,
-  CLEAR_ON_IGNITION_OFF = 0x10,
-  DONT_LOG = 0x20,
-  ALL = 0xFFFFFFFF
-};
-
-class Params {
-public:
-  Params(const std::string &path = {});
-  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);
-  }
-
-  // Delete a value
-  int remove(const std::string &key);
-  void clearAll(ParamKeyType type);
-
-  // helpers for reading values
-  std::string get(const std::string &key, bool block = false);
-  inline bool getBool(const std::string &key) {
-    return get(key) == "1";
-  }
-  std::map<std::string, std::string> readAll();
-
-  // helpers for writing values
-  int put(const char *key, const char *val, size_t value_size);
-  inline int put(const std::string &key, const std::string &val) {
-    return put(key.c_str(), val.data(), val.size());
-  }
-  inline int putBool(const std::string &key, bool val) {
-    return put(key.c_str(), val ? "1" : "0", 1);
-  }
-
-private:
-  std::string params_path;
-  std::string prefix;
-};
@@ -1,19 +1,333 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
-assert Params
-assert ParamKeyType
-assert UnknownKeyName
-assert put_nonblocking
+#!/usr/bin/env python
+"""ROS has a parameter server, we have files.
+
+The parameter store is a persistent key value store, implemented as a directory with a writer lock.
+On Android, we store params under params_dir = /data/params. The writer lock is a file
+"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
+"<params_dir>/d".
+
+Each key, value pair is stored as a file with named <key> with contents <value>, located in
+  <params_dir>/d/<key>
+
+Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
+Readers who want a consistent snapshot of multiple keys should take the lock.
+
+Writers should take the lock before modifying anything. Writers should also leave the DB in a
+consistent state after a crash. The implementation below does this by copying all params to a temp
+directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
+before deleting the old <params_dir>/<d> directory.
+
+Writers that only modify a single key can simply take the lock, then swap the corresponding value
+file in place without messing with <params_dir>/d.
+"""
+import time
+import os
+import errno
+import sys
+import shutil
+import fcntl
+import tempfile
+from enum import Enum
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+class TxType(Enum):
+  PERSISTENT = 1
+  CLEAR_ON_MANAGER_START = 2
+  CLEAR_ON_CAR_START = 3
+
+class UnknownKeyName(Exception):
+  pass
+
+keys = {
+# written: manager
+# read:    loggerd, uploaderd, offroad
+  "DongleId": TxType.PERSISTENT,
+  "AccessToken": TxType.PERSISTENT,
+  "Version": TxType.PERSISTENT,
+  "TrainingVersion": TxType.PERSISTENT,
+  "GitCommit": TxType.PERSISTENT,
+  "GitBranch": TxType.PERSISTENT,
+  "GitRemote": TxType.PERSISTENT,
+# written: baseui
+# read:    ui, controls
+  "IsMetric": TxType.PERSISTENT,
+  "IsFcwEnabled": TxType.PERSISTENT,
+  "HasAcceptedTerms": TxType.PERSISTENT,
+  "CompletedTrainingVersion": TxType.PERSISTENT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
+  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
+  "IsGeofenceEnabled": TxType.PERSISTENT,
+# written: visiond
+# read:    visiond, controlsd
+  "CalibrationParams": TxType.PERSISTENT,
+# written: controlsd
+# read:    radard
+  "CarParams": TxType.CLEAR_ON_CAR_START,
+
+  "Passive": TxType.PERSISTENT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
+  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
+  "IsUpdateAvailable": TxType.PERSISTENT,
+
+  "RecordFront": TxType.PERSISTENT,
+}
+
+def fsync_dir(path):
+  fd = os.open(path, os.O_RDONLY)
+  try:
+    os.fsync(fd)
+  finally:
+    os.close(fd)
+
+
+class FileLock(object):
+  def __init__(self, path, create):
+    self._path = path
+    self._create = create
+    self._fd = None
+
+  def acquire(self):
+    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
+    fcntl.flock(self._fd, fcntl.LOCK_EX)
+
+  def release(self):
+    if self._fd is not None:
+      os.close(self._fd)
+      self._fd = None
+
+
+class DBAccessor(object):
+  def __init__(self, path):
+    self._path = path
+    self._vals = None
+
+  def keys(self):
+    self._check_entered()
+    return self._vals.keys()
+
+  def get(self, key):
+    self._check_entered()
+    try:
+      return self._vals[key]
+    except KeyError:
+      return None
+
+  def _get_lock(self, create):
+    lock = FileLock(os.path.join(self._path, ".lock"), create)
+    lock.acquire()
+    return lock
+
+  def _read_values_locked(self):
+    """Callers should hold a lock while calling this method."""
+    vals = {}
+    try:
+      data_path = self._data_path()
+      keys = os.listdir(data_path)
+      for key in keys:
+        with open(os.path.join(data_path, key), "rb") as f:
+          vals[key] = f.read()
+    except (OSError, IOError) as e:
+      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
+      # inconsistent state. Either way, return empty.
+      if e.errno == errno.ENOENT:
+        return {}
+
+    return vals
+
+  def _data_path(self):
+    return os.path.join(self._path, "d")
+
+  def _check_entered(self):
+    if self._vals is None:
+      raise Exception("Must call __enter__ before using DB")
+
+
+class DBReader(DBAccessor):
+  def __enter__(self):
+    try:
+      lock = self._get_lock(False)
+    except OSError as e:
+      # Do not create lock if it does not exist.
+      if e.errno == errno.ENOENT:
+        self._vals = {}
+        return self
+
+    try:
+      # Read everything.
+      self._vals = self._read_values_locked()
+      return self
+    finally:
+      lock.release()
+
+  def __exit__(self, type, value, traceback): pass
+
+
+class DBWriter(DBAccessor):
+  def __init__(self, path):
+    super(DBWriter, self).__init__(path)
+    self._lock = None
+    self._prev_umask = None
+
+  def put(self, key, value):
+    self._vals[key] = value
+
+  def delete(self, key):
+    self._vals.pop(key, None)
+
+  def __enter__(self):
+    mkdirs_exists_ok(self._path)
+
+    # Make sure we can write and that permissions are correct.
+    self._prev_umask = os.umask(0)
+
+    try:
+      os.chmod(self._path, 0o777)
+      self._lock = self._get_lock(True)
+      self._vals = self._read_values_locked()
+    except:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+      raise
+
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self._check_entered()
+
+    try:
+      # data_path refers to the externally used path to the params. It is a symlink.
+      # old_data_path is the path currently pointed to by data_path.
+      # tempdir_path is a path where the new params will go, which the new data path will point to.
+      # new_data_path is a temporary symlink that will atomically overwrite data_path.
+      #
+      # The current situation is:
+      #   data_path -> old_data_path
+      # We're going to write params data to tempdir_path
+      #   tempdir_path -> params data
+      # Then point new_data_path to tempdir_path
+      #   new_data_path -> tempdir_path
+      # Then atomically overwrite data_path with new_data_path
+      #   data_path -> tempdir_path
+      old_data_path = None
+      new_data_path = None
+      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
+
+      try:
+        # Write back all keys.
+        os.chmod(tempdir_path, 0o777)
+        for k, v in self._vals.items():
+          with open(os.path.join(tempdir_path, k), "wb") as f:
+            f.write(v)
+            f.flush()
+            os.fsync(f.fileno())
+        fsync_dir(tempdir_path)
+
+        data_path = self._data_path()
+        try:
+          old_data_path = os.path.join(self._path, os.readlink(data_path))
+        except (OSError, IOError):
+          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
+          #                 copies to be left behind, but we still want to overwrite.
+          pass
+
+        new_data_path = "{}.link".format(tempdir_path)
+        os.symlink(os.path.basename(tempdir_path), new_data_path)
+        os.rename(new_data_path, data_path)
+        fsync_dir(self._path)
+      finally:
+        # If the rename worked, we can delete the old data. Otherwise delete the new one.
+        success = new_data_path is not None and os.path.exists(data_path) and (
+          os.readlink(data_path) == os.path.basename(tempdir_path))
+
+        if success:
+          if old_data_path is not None:
+            shutil.rmtree(old_data_path)
+        else:
+          shutil.rmtree(tempdir_path)
+
+        # Regardless of what happened above, there should be no link at new_data_path.
+        if new_data_path is not None and os.path.islink(new_data_path):
+          os.remove(new_data_path)
+    finally:
+      os.umask(self._prev_umask)
+      self._prev_umask = None
+
+      # Always release the lock.
+      self._lock.release()
+      self._lock = None
+
+
+
+class JSDB(object):
+  def __init__(self, fn):
+    self._fn = fn
+
+  def begin(self, write=False):
+    if write:
+      return DBWriter(self._fn)
+    else:
+      return DBReader(self._fn)
+
+class Params(object):
+  def __init__(self, db='/data/params'):
+    self.env = JSDB(db)
+
+  def _clear_keys_with_type(self, tx_type):
+    with self.env.begin(write=True) as txn:
+      for key in keys:
+        if keys[key] == tx_type:
+          txn.delete(key)
+
+  def manager_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
+
+  def car_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+
+  def delete(self, key):
+    with self.env.begin(write=True) as txn:
+      txn.delete(key)
+
+  def get(self, key, block=False):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    while 1:
+      with self.env.begin() as txn:
+        ret = txn.get(key)
+      if not block or ret is not None:
+        break
+      # is polling really the best we can do?
+      time.sleep(0.05)
+    return ret
+
+  def put(self, key, dat):
+    if key not in keys:
+      raise UnknownKeyName(key)
+
+    with self.env.begin(write=True) as txn:
+      txn.put(key, dat)

 if __name__ == "__main__":
-  import sys
-
  params = Params()
-  key = sys.argv[1]
-  assert params.check_key(key), f"unknown param: {key}"
+  if len(sys.argv) > 2:
+    params.put(sys.argv[1], sys.argv[2])
+  else:
+    for k in keys:
+      pp = params.get(k)
+      if pp is None:
+        print("%s is None" % k)
+      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+        print("%s = %s" % (k, pp))
+      else:
+        print("%s = %s" % (k, pp.encode("hex")))

-  if len(sys.argv) == 3:
-    val = sys.argv[2]
-    print(f"SET: {key} = {val}")
-    params.put(key, val)
-  elif len(sys.argv) == 2:
-    print(f"GET: {key} = {params.get(key)}")
+  # Test multiprocess:
+  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
+  # while python common/params.py DongleId; do sleep 0.05; done
@@ -1,110 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from libcpp cimport bool
-from libcpp.string cimport string
-import threading
-
-cdef extern from "common/params.h":
-  cpdef enum ParamKeyType:
-    PERSISTENT
-    CLEAR_ON_MANAGER_START
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
-    ALL
-
-  cdef cppclass c_Params "Params":
-    c_Params(string) nogil
-    string get(string, bool) nogil
-    bool getBool(string) nogil
-    int remove(string) nogil
-    int put(string, string) nogil
-    int putBool(string, bool) nogil
-    bool checkKey(string) nogil
-    string getParamPath(string) nogil
-    void clearAll(ParamKeyType)
-
-
-def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
-
-class UnknownKeyName(Exception):
-  pass
-
-cdef class Params:
-  cdef c_Params* p
-
-  def __cinit__(self, d=""):
-    cdef string path = <string>d.encode()
-    with nogil:
-      self.p = new c_Params(path)
-
-  def __dealloc__(self):
-    del self.p
-
-  def clear_all(self, tx_type=ParamKeyType.ALL):
-    self.p.clearAll(tx_type)
-
-  def check_key(self, key):
-    key = ensure_bytes(key)
-    if not self.p.checkKey(key):
-      raise UnknownKeyName(key)
-    return key
-
-  def get(self, key, bool block=False, encoding=None):
-    cdef string k = self.check_key(key)
-    cdef string val
-    with nogil:
-      val = self.p.get(k, block)
-
-    if val == b"":
-      if block:
-        # If we got no value while running in blocked mode
-        # it means we got an interrupt while waiting
-        raise KeyboardInterrupt
-      else:
-        return None
-
-    return val if encoding is None else val.decode(encoding)
-
-  def get_bool(self, key):
-    cdef string k = self.check_key(key)
-    cdef bool r
-    with nogil:
-      r = self.p.getBool(k)
-    return r
-
-  def put(self, key, dat):
-    """
-    Warning: This function blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking helper function in time sensitive code, but
-    in general try to avoid writing params as much as possible.
-    """
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = ensure_bytes(dat)
-    with nogil:
-      self.p.put(k, dat_bytes)
-
-  def put_bool(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBool(k, val)
-
-  def delete(self, key):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.remove(k)
-
-  def get_param_path(self, key=""):
-    cdef string key_bytes = ensure_bytes(key)
-    return self.p.getParamPath(key_bytes).decode("utf-8")
-
-def put_nonblocking(key, val, d=""):
-  def f(key, val):
-    params = Params(d)
-    cdef string k = ensure_bytes(key)
-    params.put(k, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
@@ -1,6 +1,6 @@
 import time

-class Profiler():
+class Profiler(object):
  def __init__(self, enabled=False):
    self.enabled = enabled
    self.cp = {}
@@ -36,10 +36,11 @@ class Profiler():
    if not self.enabled:
      return
    self.iter += 1
-    print("******* Profiling %d *******" % self.iter)
+    print("******* Profiling *******")
    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
      if n in self.cp_ignored:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
+        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
      else:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")
+        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
+
@@ -1,52 +0,0 @@
-#pragma once
-
-#include <condition_variable>
-#include <mutex>
-#include <queue>
-
-template <class T>
-class SafeQueue {
-public:
-  SafeQueue() = default;
-
-  void push(const T& v) {
-    {
-      std::unique_lock lk(m);
-      q.push(v);
-    }
-    cv.notify_one();
-  }
-
-  T pop() {
-    std::unique_lock lk(m);
-    cv.wait(lk, [this] { return !q.empty(); });
-    T v = q.front();
-    q.pop();
-    return v;
-  }
-
-  bool try_pop(T& v, int timeout_ms = 0) {
-    std::unique_lock lk(m);
-    if (!cv.wait_for(lk, std::chrono::milliseconds(timeout_ms), [this] { return !q.empty(); })) {
-      return false;
-    }
-    v = q.front();
-    q.pop();
-    return true;
-  }
-
-  bool empty() const {
-    std::scoped_lock lk(m);
-    return q.empty();
-  }
-
-  size_t size() const {
-    std::scoped_lock lk(m);
-    return q.size();
-  }
-
-private:
-  mutable std::mutex m;
-  std::condition_variable cv;
-  std::queue<T> q;
-};
@@ -1,96 +1,108 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
-import gc
 import os
 import time
-from collections import deque
-from typing import Optional, List, Union
+import platform
+import threading
+import subprocess
+import multiprocessing

-from setproctitle import getproctitle  # pylint: disable=no-name-in-module
+from cffi import FFI
+ffi = FFI()
+ffi.cdef("""

-from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from system.hardware import PC, TICI
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
+libc = ffi.dlopen(None)


-# time step for each process
-DT_CTRL = 0.01  # controlsd
-DT_MDL = 0.05  # model
-DT_TRML = 0.5  # thermald and manager
-DT_DMON = 0.05 # driver monitoring
+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
+CLOCK_BOOTTIME = 7
+
+if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime
+
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
+
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
+else:
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
+    return time.time()
+
+def monotonic_time():
+  return clock_gettime(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return clock_gettime(CLOCK_BOOTTIME)


-class Priority:
-  # CORE 2
-  # - modeld = 55
-  # - camerad = 54
-  CTRL_LOW = 51 # plannerd & radard
+def set_realtime_priority(level):
+  if os.getuid() != 0:
+    print("not setting priority, not root")
+    return
+  if platform.machine() == "x86_64":
+    NR_gettid = 186
+  elif platform.machine() == "aarch64":
+    NR_gettid = 178
+  else:
+    raise NotImplementedError

-  # CORE 3
-  # - boardd = 55
-  CTRL_HIGH = 53
+  tid = libc.syscall(NR_gettid)
+  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])


-def set_realtime_priority(level: int) -> None:
-  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined] # pylint: disable=no-member
-
-
-def set_core_affinity(cores: List[int]) -> None:
-  if not PC:
-    os.sched_setaffinity(0, cores)  # pylint: disable=no-member
-
-
-def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
-  gc.disable()
-  set_realtime_priority(priority)
-  c = cores if isinstance(cores, list) else [cores, ]
-  set_core_affinity(c)
-
-
-class Ratekeeper:
-  def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
+class Ratekeeper(object):
+  def __init__(self, rate, print_delay_threshold=0.):
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
    self._next_frame_time = sec_since_boot() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
-    self._remaining = 0.0
-    self._process_name = getproctitle()
-    self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = sec_since_boot()
+    self._remaining = 0
+    self._process_name = multiprocessing.current_process().name

  @property
-  def frame(self) -> int:
+  def frame(self):
    return self._frame

  @property
-  def remaining(self) -> float:
+  def remaining(self):
    return self._remaining

-  @property
-  def lagging(self) -> bool:
-    avg_dt = sum(self._dts) / len(self._dts)
-    expected_dt = self._interval * (1 / 0.9)
-    return avg_dt > expected_dt
-
  # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self) -> bool:
+  def keep_time(self):
    lagged = self.monitor_time()
    if self._remaining > 0:
      time.sleep(self._remaining)
    return lagged

  # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self) -> bool:
-    prev = self._last_monitor_time
-    self._last_monitor_time = sec_since_boot()
-    self._dts.append(self._last_monitor_time - prev)
-
+  def monitor_time(self):
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
-    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
+    if remaining < -self._print_delay_threshold:
+      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
      lagged = True
    self._frame += 1
    self._remaining = remaining
    return lagged
+
@@ -1,52 +0,0 @@
-import os
-import subprocess
-from common.basedir import BASEDIR
-
-
-class Spinner():
-  def __init__(self):
-    try:
-      self.spinner_proc = subprocess.Popen(["./spinner"],
-                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                           close_fds=True)
-    except OSError:
-      self.spinner_proc = None
-
-  def __enter__(self):
-    return self
-
-  def update(self, spinner_text: str):
-    if self.spinner_proc is not None:
-      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-      try:
-        self.spinner_proc.stdin.flush()
-      except BrokenPipeError:
-        pass
-
-  def update_progress(self, cur: float, total: float):
-    self.update(str(round(100 * cur / total)))
-
-  def close(self):
-    if self.spinner_proc is not None:
-      try:
-        self.spinner_proc.stdin.close()
-      except BrokenPipeError:
-        pass
-      self.spinner_proc.terminate()
-      self.spinner_proc = None
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  import time
-  with Spinner() as s:
-    s.update("Spinner text")
-    time.sleep(5.0)
-  print("gone")
-  time.sleep(5.0)
@@ -1,73 +0,0 @@
-import numpy as np
-
-class RunningStat():
-  # tracks realtime mean and standard deviation without storing any data
-  def __init__(self, priors=None, max_trackable=-1):
-    self.max_trackable = max_trackable
-    if priors is not None:
-      # initialize from history
-      self.M = priors[0]
-      self.S = priors[1]
-      self.n = priors[2]
-      self.M_last = self.M
-      self.S_last = self.S
-
-    else:
-      self.reset()
-
-  def reset(self):
-    self.M = 0.
-    self.S = 0.
-    self.M_last = 0.
-    self.S_last = 0.
-    self.n = 0
-
-  def push_data(self, new_data):
-    # short term memory hack
-    if self.max_trackable < 0 or self.n < self.max_trackable:
-      self.n += 1
-    if self.n == 0:
-      self.M_last = new_data
-      self.M = self.M_last
-      self.S_last = 0.
-    else:
-      self.M = self.M_last + (new_data - self.M_last) / self.n
-      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
-      self.M_last = self.M
-      self.S_last = self.S
-
-  def mean(self):
-    return self.M
-
-  def variance(self):
-    if self.n >= 2:
-      return self.S / (self.n - 1.)
-    else:
-      return 0
-
-  def std(self):
-    return np.sqrt(self.variance())
-
-  def params_to_save(self):
-    return [self.M, self.S, self.n]
-
-class RunningStatFilter():
-  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
-    self.raw_stat = RunningStat(raw_priors, -1)
-    self.filtered_stat = RunningStat(filtered_priors, max_trackable)
-
-  def reset(self):
-    self.raw_stat.reset()
-    self.filtered_stat.reset()
-
-  def push_and_update(self, new_data):
-    _std_last = self.raw_stat.std()
-    self.raw_stat.push_data(new_data)
-    _delta_std = self.raw_stat.std() - _std_last
-    if _delta_std <= 0:
-      self.filtered_stat.push_data(new_data)
-    else:
-      pass
-      # self.filtered_stat.push_data(self.filtered_stat.mean())
-
-# class SequentialBayesian():
@@ -1,10 +0,0 @@
-#pragma once
-
-#define STATLOG_GAUGE "g"
-#define STATLOG_SAMPLE "sa"
-
-void statlog_log(const char* metric_type, const char* metric, int value);
-void statlog_log(const char* metric_type, const char* metric, float value);
-
-#define statlog_gauge(metric, value) statlog_log(STATLOG_GAUGE, metric, value)
-#define statlog_sample(metric, value) statlog_log(STATLOG_SAMPLE, metric, value)
@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+
@@ -1,63 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import subprocess
-from common.basedir import BASEDIR
-
-
-class TextWindow:
-  def __init__(self, text):
-    try:
-      self.text_proc = subprocess.Popen(["./text", text],
-                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                        close_fds=True)
-    except OSError:
-      self.text_proc = None
-
-  def get_status(self):
-    if self.text_proc is not None:
-      self.text_proc.poll()
-      return self.text_proc.returncode
-    return None
-
-  def __enter__(self):
-    return self
-
-  def close(self):
-    if self.text_proc is not None:
-      self.text_proc.terminate()
-      self.text_proc = None
-
-  def wait_for_exit(self):
-    if self.text_proc is not None:
-      while True:
-        if self.get_status() == 1:
-          return
-        time.sleep(0.1)
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  text = """Traceback (most recent call last):
-  File "./controlsd.py", line 608, in <module>
-    main()
-  File "./controlsd.py", line 604, in main
-    controlsd_thread(sm, pm, logcan)
-  File "./controlsd.py", line 455, in controlsd_thread
-    1/0
-ZeroDivisionError: division by zero"""
-  print(text)
-
-  with TextWindow(text) as s:
-    for _ in range(100):
-      if s.get_status() == 1:
-        print("Got exit button")
-        break
-      time.sleep(0.1)
-  print("gone")
@@ -1,27 +0,0 @@
-import signal
-
-class TimeoutException(Exception):
-  pass
-
-class Timeout:
-  """
-  Timeout context manager.
-  For example this code will raise a TimeoutException:
-  with Timeout(seconds=5, error_msg="Sleep was too long"):
-    time.sleep(10)
-  """
-  def __init__(self, seconds, error_msg=None):
-    if error_msg is None:
-      error_msg = f'Timed out after {seconds} seconds'
-    self.seconds = seconds
-    self.error_msg = error_msg
-
-  def handle_timeout(self, signume, frame):
-    raise TimeoutException(self.error_msg)
-
-  def __enter__(self):
-    signal.signal(signal.SIGALRM, self.handle_timeout)
-    signal.alarm(self.seconds)
-
-  def __exit__(self, exc_type, exc_val, exc_tb):
-    signal.alarm(0)
--- a/Show More
+++ b/Show More