openpilot v0.4.5 release

Merge opendbc subtree
Squashed 'opendbc/' changes from 3d8a815..31eb3a7
2026-06-12 09:14:17 +08:00 · 2018-04-28 09:44:39 +00:00 · 2018-04-28 09:40:30 +00:00 · 2018-04-28 09:40:30 +00:00 · 2018-04-28 09:40:29 +00:00 · 2018-04-28 09:40:29 +00:00
39 changed files with 1765 additions and 109 deletions
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,13 @@
+Version 0.4.5 (2018-04-27)
+==========================
+ * Release notes added to the update popup
+ * Improve auto shut-off logic to disallow empty battery
+ * Added onboarding instructions
+ * Include orbd, the first piece of new calibration algorithm
+ * Show remaining upload data instead of file numbers
+ * Fix UI bugs
+ * Fix memory leaks
+
 Version 0.4.4 (2018-04-13)
 ==========================
 * EON are flipped! Flip your EON's mount!
--- a/apk/ai.comma.plus.frame.apk
+++ b/apk/ai.comma.plus.frame.apk
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@@ -1 +1,3 @@
 gen
+node_modules
+package-lock.json
--- a/cereal/Makefile
+++ b/cereal/Makefile
@@ -1,40 +1,48 @@
 PWD := $(shell pwd)

-SRCS := log.capnp car.capnp mapd.capnp
+SRCS := log.capnp car.capnp

-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/mapd.capnp.c++
+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/mapd.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h

-# Dont build java on the phone...
-ifeq ($(UNAME_M),x86_64)
-	GENS += gen/java/Car.java gen/java/Log.java
-endif
+	ifeq ($(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/:$$PATH capnpc
+	CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
 else
-CAPNPC=capnpc
+	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/
@@ -46,7 +54,6 @@ gen/java/Car.java gen/java/Log.java: $(SRCS)
 	$(CAPNPC) $^ -o java:gen/java

 # c-capnproto needs some empty headers
-gen/c/c++.capnp.h gen/c/java.capnp.h:
-	mkdir -p gen/c/
+gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
+	mkdir -p gen/c/include
 	touch '$@'
-
--- a/cereal/init.py
+++ b/cereal/init.py
@@ -6,4 +6,3 @@ capnp.remove_import_hook()

 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-mapd = capnp.load(os.path.join(CEREAL_PATH, "mapd.capnp"))
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -1,7 +1,7 @@
-using Cxx = import "c++.capnp";
+using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

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

@@ -293,6 +293,7 @@ struct CarParams {
    elm327 @3;
    gm @4;
    hondaBosch @5;
+    ford @6;
  }

  # things about the car in the manual
--- a/cereal/include/c++.capnp
+++ b/cereal/include/c++.capnp
--- a/cereal/include/java.capnp
+++ b/cereal/include/java.capnp
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1,7 +1,7 @@
-using Cxx = import "c++.capnp";
+using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

-using Java = import "java.capnp";
+using Java = import "./include/java.capnp";
 $Java.package("ai.comma.openpilot.cereal");
 $Java.outerClassname("Log");

@@ -1497,6 +1497,15 @@ struct OrbFeatures {
  matches @6: List(Int16);
 }

+struct OrbFeaturesSummary {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
 struct OrbKeyFrame {
  # this is a globally unique id for the KeyFrame
  id @0: UInt64;
@@ -1572,5 +1581,6 @@ struct Event {
    applanixLocation @55 :LiveLocationData;
    orbKeyFrame @56 :OrbKeyFrame;
    uiLayoutState @57 :UiLayoutState;
+    orbFeaturesSummary @58 :OrbFeaturesSummary;
  }
 }
--- a/cereal/mapd.capnp
+++ b/cereal/mapd.capnp
@@ -1,18 +0,0 @@
-using Cxx = import "c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-using Log = import "log.capnp";
-
-@0xe1a6ab330ea7205f;
-
-struct MapdRequest {
-  pos @0 :Log.ECEFPoint;
-}
-
-struct MapdResponse {
-  kfs @0 :List(Log.OrbKeyFrame);
-}
--- a/common/params.py
+++ b/common/params.py
@@ -46,10 +46,11 @@ class UnknownKeyName(Exception):

 keys = {
 # written: manager
-# read:    loggerd, uploaderd, baseui
+# read:    loggerd, uploaderd, offroad
  "DongleId": TxType.PERSISTANT,
  "AccessToken": TxType.PERSISTANT,
  "Version": TxType.PERSISTANT,
+  "TrainingVersion": TxType.PERSISTANT,
  "GitCommit": TxType.PERSISTANT,
  "GitBranch": TxType.PERSISTANT,
  "GitRemote": TxType.PERSISTANT,
@@ -59,6 +60,7 @@ keys = {
  "IsRearViewMirror": TxType.PERSISTANT,
  "IsFcwEnabled": TxType.PERSISTANT,
  "HasAcceptedTerms": TxType.PERSISTANT,
+  "CompletedTrainingVersion": TxType.PERSISTANT,
  "IsUploadVideoOverCellularEnabled": TxType.PERSISTANT,
 # written: visiond
 # read:    visiond, controlsd
--- a/common/transformations/coordinates.py
+++ b/common/transformations/coordinates.py
@@ -71,7 +71,7 @@ class LocalCoord(object):
  """
  def __init__(self, init_geodetic, init_ecef):
    self.init_ecef = init_ecef
-    lat, lon, _ = (np.pi/180)*init_geodetic
+    lat, lon, _ = (np.pi/180)*np.array(init_geodetic)
    self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)],
                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
                                     [np.cos(lat), 0, -np.sin(lat)]])
--- a/opendbc/ford_fusion_2018_adas.dbc
+++ b/opendbc/ford_fusion_2018_adas.dbc
@@ -0,0 +1,419 @@
+VERSION ""
+
+
+NS_ : 
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BU_: XXX
+
+BO_ 1280 Object_00: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1281 Object_01: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1282 Object_02: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1283 Object_03: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1284 Object_04: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1285 Object_05: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1286 Object_06: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1287 Object_07: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1288 Object_08: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1289 Object_09: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1290 Object_10: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1291 Object_11: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1292 Object_12: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1293 Object_13: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1294 Object_14: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1295 Object_15: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1296 Object_16: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1297 Object_17: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1298 Object_18: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1299 Object_19: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1300 Object_20: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1301 Object_21: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1302 Object_22: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1303 Object_23: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1304 Object_24: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1305 Object_25: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1306 Object_26: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1307 Object_27: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1308 Object_28: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1309 Object_29: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1310 Object_30: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1311 Object_31: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1312 Object_32: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1313 Object_33: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1314 Object_34: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1315 Object_35: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1316 Object_36: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1317 Object_37: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1318 Object_38: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1319 Object_39: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1320 Object_40: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1321 Object_41: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1322 Object_42: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1323 Object_43: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1324 Object_44: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1325 Object_45: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1326 Object_46: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1327 Object_47: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1328 Object_48: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1329 Object_49: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1330 Object_50: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1331 Object_51: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1332 Object_52: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1333 Object_53: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1334 Object_54: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1335 Object_55: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1336 Object_56: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1337 Object_57: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1338 Object_58: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1339 Object_59: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1340 Object_60: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1341 Object_61: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1342 Object_62: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
+BO_ 1343 Object_63: 8 XXX
+ SG_ X_Rel : 18|11@0+ (0.1,0) [0|0] "m" XXX
+ SG_ V_Rel : 52|13@0- (0.01,0) [0|0] "m/s" XXX
+ SG_ A_Rel : 33|10@0- (0.05,0) [0|0] "m/s2" XXX
+ SG_ Angle : 12|10@0- (-0.1,0) [0|0] "deg" XXX
+
--- a/opendbc/ford_fusion_2018_pt.dbc
+++ b/opendbc/ford_fusion_2018_pt.dbc
@@ -0,0 +1,125 @@
+VERSION ""
+
+
+NS_ : 
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BU_: XXX
+
+BO_ 130 EPAS_INFO: 8 XXX
+ SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX
+ SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX
+ SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX
+ SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX
+ SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 118 Steering_Wheel_Data_CG1: 8 XXX
+ SG_ SteWhlRelInit_An_Sns : 6|15@0+ (0.1,-1600.0) [0|0] "deg" XXX
+ SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX
+ SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX
+ SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX
+
+BO_ 131 Steering_Buttons: 8 XXX
+ SG_ Right_Turn_Light : 5|1@0+ (1,0) [0|0] "" XXX
+ SG_ Left_Turn_Light : 4|1@0+ (1,0) [0|0] "" XXX
+ SG_ Dist_Decr : 12|1@0+ (1,0) [0|0] "" XXX
+ SG_ Dist_Incr : 11|1@0+ (1,0) [0|0] "" XXX
+ SG_ Cancel : 8|1@0+ (1,0) [0|0] "" XXX
+ SG_ Resume : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ Set : 28|1@0+ (1,0) [0|0] "" XXX
+ SG_ Main : 38|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 145 Yaw_Data: 8 XXX
+ SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
+ SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
+ SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX
+
+BO_ 146 Accel_Data: 8 XXX
+ SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX
+ SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX
+ SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX
+ SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
+ SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
+ SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX
+
+BO_ 357 Cruise_Status: 8 XXX
+ SG_ Cruise_State : 11|4@0+ (1,0) [0|0] "" XXX
+ SG_ Set_Speed : 23|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 516 EngineData_14: 8 XXX
+ SG_ ApedPosScal_Pc_Actl : 1|10@0+ (0.1,0) [0|0] "%" XXX
+
+BO_ 535 WheelSpeed_CG1: 8 XXX
+ SG_ WhlRr_W_Meas : 55|14@0+ (0.04,0) [0|0] "rad/s" XXX
+ SG_ WhlRl_W_Meas : 39|14@0+ (0.04,0) [0|0] "rad/s" XXX
+ SG_ WhlFr_W_Meas : 23|14@0+ (0.04,0) [0|0] "rad/s" XXX
+ SG_ WhlFl_W_Meas : 7|14@0+ (0.04,0) [0|0] "rad/s" XXX
+
+BO_ 534 WheelData: 8 XXX
+ SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX
+ SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 970 Lane_Keep_Assist_Control: 8 XXX
+ SG_ Lkas_Action : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ Lkas_Alert : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ Lane_Curvature : 15|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX
+ SG_ Steer_Angle_Req : 19|12@0+ (0.04297,-88.00445) [0|0] "deg" XXX
+
+BO_ 972 Lane_Keep_Assist_Status: 8 XXX
+ SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 984 Lane_Keep_Assist_Ui: 8 XXX
+ SG_ Set_Me_X80 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ Set_Me_X45 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Lines_Hud : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ Hands_Warning_W_Chime : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX
+ SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX
+
+VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ;
+VAL_ 970 Lkas_Action 15 "off" 9 "active" ;
+VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ;
+VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ;
+VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ;
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.1.0
+v1.1.1
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -86,7 +86,7 @@ int can_err_cnt = 0;
  uint8_t can_num_lookup[] = {0,1,2,-1};
  int8_t can_forwarding[] = {-1,-1,-1,-1};
  uint32_t can_speed[] = {5000, 5000, 5000, 333};
-  bool can_autobaud_enabled[] = {true, true, true, false};
+  bool can_autobaud_enabled[] = {false, false, false, false};
  #define CAN_MAX 3
 #else
  CAN_TypeDef *cans[] = {CAN1, CAN2};
@@ -94,7 +94,7 @@ int can_err_cnt = 0;
  uint8_t can_num_lookup[] = {1,0};
  int8_t can_forwarding[] = {-1,-1};
  uint32_t can_speed[] = {5000, 5000};
-  bool can_autobaud_enabled[] = {true, true};
+  bool can_autobaud_enabled[] = {false, false};
  #define CAN_MAX 2
 #endif

--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -384,6 +384,8 @@ void *thermal_thread(void *crap) {
    pthread_mutex_lock(&usb_lock);
    libusb_control_transfer(dev_handle, 0xc0, 0xd3, target_fan_speed, 0, NULL, 0, TIMEOUT);
    pthread_mutex_unlock(&usb_lock);
+
+    zmq_msg_close(&msg);
  }

  // turn the fan off when we exit
@@ -462,8 +464,8 @@ void _pigeon_send(const char *dat, int len) {
    pthread_mutex_lock(&usb_lock);
    err = libusb_bulk_transfer(dev_handle, 2, a, ll+1, &sent, TIMEOUT);
    if (err < 0) { handle_usb_issue(err, __func__); }
-    assert(err == 0);
-    assert(sent == ll+1);
+    /*assert(err == 0);
+    assert(sent == ll+1);*/
    //hexdump(a, ll+1);
    pthread_mutex_unlock(&usb_lock);
  }
--- a/selfdrive/can/parser.cc
+++ b/selfdrive/can/parser.cc
@@ -294,6 +294,7 @@ class CANParser {

    UpdateValid(sec);

+    zmq_msg_close(&msg);
  }

  std::vector<SignalValue> query(uint64_t sec) {
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -188,7 +188,7 @@ class CarInterface(object):
      ret.centerToFront = ret.wheelbase * 0.37
      ret.steerRatio = 15.3
      # Acura at comma has modified steering FW, so different tuning for the Neo in that car
-      is_fw_modified = os.getenv("DONGLE_ID") in ['85a6c74d4ad9c310']
+      is_fw_modified = os.getenv("DONGLE_ID") in ['ff83f397542ab647']
      ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]

      ret.longitudinalKpBP = [0., 5., 35.]
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.4.4-release"
+#define COMMA_VERSION "0.4.5-release"
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -72,31 +72,31 @@ class AlertManager(object):

    "fcw": Alert(
        "Brake!",
-        "Risk of collision detected",
+        "Risk of Collision",
        AlertStatus.critical, AlertSize.full,
        Priority.HIGH, "fcw", "chimeRepeated", 1., 2., 2.),

    "steerSaturated": Alert(
        "TAKE CONTROL",
-        "Turn exceeds steering limit",
+        "Turn Exceeds Steering Limit",
        AlertStatus.userPrompt, AlertSize.mid,
        Priority.LOW, "steerRequired", "chimeSingle", 1., 2., 3.),

    "steerTempUnavailable": Alert(
        "TAKE CONTROL",
-        "Steering temporarily unavailable",
+        "Steering Temporarily Unavailable",
        AlertStatus.userPrompt, AlertSize.mid,
        Priority.LOW, "steerRequired", "chimeDouble", .4, 2., 3.),

    "preDriverDistracted": Alert(
        "TAKE CONTROL",
-        "User appears distracted",
+        "User Appears Distracted",
        AlertStatus.userPrompt, AlertSize.mid,
        Priority.LOW, "steerRequired", None, 0., .1, .1),

    "driverDistracted": Alert(
        "TAKE CONTROL TO REGAIN SPEED",
-        "User appears distracted",
+        "User Appears Distracted",
        AlertStatus.critical, AlertSize.full,
        Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),

@@ -113,62 +113,62 @@ class AlertManager(object):
        Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 3.),

    "steerTempUnavailableNoEntry": Alert(
-        "Comma Unavailable",
-        "Steering temporarily unavailable",
+        "openpilot Unavailable",
+        "Steering Temporarily Unavailable",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 0., 3.),

    "manualRestart": Alert(
        "TAKE CONTROL",
-        "Resume driving manually",
+        "Resume Driving Manually",
        AlertStatus.userPrompt, AlertSize.mid,
        Priority.LOW, None, None, 0., 0., .2),

    # Non-entry only alerts
    "wrongCarModeNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Main Switch Off",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 0., 3.),

    "dataNeededNoEntry": Alert(
-        "Comma Unavailable",
-        "Data needed for calibration. Upload drive, try again",
+        "openpilot Unavailable",
+        "Data Needed for Calibration. Upload Drive, Try Again",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 0., 3.),

    "outOfSpaceNoEntry": Alert(
-        "Comma Unavailable",
-        "Out of storage space",
+        "openpilot Unavailable",
+        "Out of Storage Space",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 0., 3.),

    "pedalPressedNoEntry": Alert(
-        "Comma Unavailable",
-        "Pedal pressed during attempt",
+        "openpilot Unavailable",
+        "Pedal Pressed During Attempt",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, "brakePressed", "chimeDouble", .4, 2., 3.),

    "speedTooLowNoEntry": Alert(
-        "Comma Unavailable",
-        "Speed too low",
+        "openpilot Unavailable",
+        "Speed Too Low",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "brakeHoldNoEntry": Alert(
-        "Comma Unavailable",
-        "Brake hold active",
+        "openpilot Unavailable",
+        "Brake Hold Active",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "parkBrakeNoEntry": Alert(
-        "Comma Unavailable",
-        "Park brake engaged",
+        "openpilot Unavailable",
+        "Park Brake Engaged",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "lowSpeedLockoutNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Cruise Fault: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
@@ -249,7 +249,7 @@ class AlertManager(object):

    "commIssue": Alert(
        "TAKE CONTROL IMMEDIATELY",
-        "CAN Error: Restart the Car",
+        "CAN Error: Check Connections",
        AlertStatus.critical, AlertSize.full,
        Priority.HIGH, "steerRequired", "chimeRepeated", 1., 3., 4.),

@@ -291,128 +291,128 @@ class AlertManager(object):

    # not loud cancellations (user is in control)
    "noTarget": Alert(
-        "Comma Canceled",
+        "openpilot Canceled",
        "No close lead car",
        AlertStatus.normal, AlertSize.mid,
        Priority.HIGH, None, "chimeDouble", .4, 2., 3.),

    "speedTooLow": Alert(
-        "Comma Canceled",
+        "openpilot Canceled",
        "Speed too low",
        AlertStatus.normal, AlertSize.mid,
        Priority.HIGH, None, "chimeDouble", .4, 2., 3.),

    # Cancellation alerts causing non-entry
    "overheatNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "System overheated",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "wrongGearNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Gear not D",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "calibrationInvalidNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Calibration Invalid: Reposition EON and Recalibrate",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "calibrationInProgressNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Calibration in Progress",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "doorOpenNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Door open",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "seatbeltNotLatchedNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Seatbelt unlatched",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "espDisabledNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "ESP Off",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "radarCommIssueNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Radar Error: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "radarFaultNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Radar Error: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "modelCommIssueNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Model Error: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "controlsFailedNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Controls Failed",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "commIssueNoEntry": Alert(
-        "Comma Unavailable",
-        "CAN Error: Restart the Car",
+        "openpilot Unavailable",
+        "CAN Error: Check Connections",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "steerUnavailableNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Steer Fault: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "brakeUnavailableNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Brake Fault: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "gasUnavailableNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Gas Error: Restart the Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "reverseGearNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Reverse Gear",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "cruiseDisabledNoEntry": Alert(
-        "Comma Unavailable",
-        "Cruise is off",
+        "openpilot Unavailable",
+        "Cruise is Off",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "noTargetNoEntry": Alert(
-        "Comma Unavailable",
-        "No close lead car",
+        "openpilot Unavailable",
+        "No Close Lead Car",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),

    "plannerErrorNoEntry": Alert(
-        "Comma Unavailable",
+        "openpilot Unavailable",
        "Planner Solution Error",
        AlertStatus.normal, AlertSize.mid,
        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
--- a/selfdrive/loggerd/loggerd
+++ b/selfdrive/loggerd/loggerd
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -70,7 +70,7 @@ def clear_locks(root):
 def is_on_wifi():
  # ConnectivityManager.getActiveNetworkInfo()
  result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
-  data = ''.join(''.join(w.decode("hex")[::-1] for w in l[14:49].split()) for l in result[1:]) 
+  data = ''.join(''.join(w.decode("hex")[::-1] for w in l[14:49].split()) for l in result[1:])

  return "\x00".join("WIFI") in data

@@ -126,15 +126,17 @@ class Uploader(object):
        return (key, fn, 0)

    if with_video:
-      # then upload compressed camera file
+      # then upload compressed rear and front camera files
      for name, key, fn in self.gen_upload_files():
-        if name in ["fcamera.hevc"]:
+        if name == "fcamera.hevc":
          return (key, fn, 1)
+        elif name == "dcamera.hevc":
+          return (key, fn, 2)

      # then upload other files
      for name, key, fn in self.gen_upload_files():
        if not name.endswith('.lock') and not name.endswith(".tmp"):
-          return (key, fn, 1)
+          return (key, fn, 3)

    return None

--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -62,7 +62,7 @@ from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
 from selfdrive.thermal import read_thermal
 from selfdrive.registration import register
-from selfdrive.version import version, dirty
+from selfdrive.version import version, dirty, training_version
 import selfdrive.crash as crash

 from selfdrive.loggerd.config import ROOT
@@ -87,6 +87,7 @@ managed_processes = {
  "visiond": ("selfdrive/visiond", ["./visiond"]),
  "sensord": ("selfdrive/sensord", ["./sensord"]),
  "gpsd": ("selfdrive/sensord", ["./gpsd"]),
+  "orbd": ("selfdrive/orbd", ["./orbd"]),
  "updated": "selfdrive.updated",
  #"gpsplanner": "selfdrive.controls.gps_plannerd",
 }
@@ -120,6 +121,7 @@ car_started_processes = [
  'radard',
  'visiond',
  'proclogd',
+  'orbd',
  # 'gpsplanner,
 ]

@@ -393,11 +395,12 @@ def manager_thread():
  passive_starter = LocationStarter()

  started_ts = None
+  off_ts = None
  logger_dead = False
  count = 0
  fan_speed = 0
  ignition_seen = False
-  battery_was_high = False
+  started_seen = False
  panda_seen = False

  health_sock.RCVTIMEO = 1500
@@ -460,6 +463,7 @@ def manager_thread():

    do_uninstall = params.get("DoUninstall") == "1"
    accepted_terms = params.get("HasAcceptedTerms") == "1"
+    completed_training = params.get("CompletedTrainingVersion") == training_version

    should_start = ignition

@@ -477,7 +481,7 @@ def manager_thread():
    # require usb power
    should_start = should_start and msg.thermal.usbOnline

-    should_start = should_start and accepted_terms and (not do_uninstall)
+    should_start = should_start and accepted_terms and completed_training and (not do_uninstall)

    # if any CPU gets above 107 or the battery gets above 63, kill all processes
    # controls will warn with CPU above 95 or battery above 60
@@ -486,9 +490,11 @@ def manager_thread():
      should_start = False

    if should_start:
-      if not started_ts:
+      off_ts = None
+      if started_ts is None:
        params.car_start()
        started_ts = sec_since_boot()
+        started_seen = True
      for p in car_started_processes:
        if p == "loggerd" and logger_dead:
          kill_managed_process(p)
@@ -496,15 +502,17 @@ def manager_thread():
          start_managed_process(p)
    else:
      started_ts = None
+      if off_ts is None:
+        off_ts = sec_since_boot()
      logger_dead = False
      for p in car_started_processes:
        kill_managed_process(p)

-      # shutdown if the battery gets lower than 5%, we aren't running, and we are discharging
-      if msg.thermal.batteryPercent < 5 and msg.thermal.batteryStatus == "Discharging" and battery_was_high:
+      # shutdown if the battery gets lower than 3%, t's discharging, we aren't running for
+      # more than a minute but we were running
+      if msg.thermal.batteryPercent < 3 and msg.thermal.batteryStatus == "Discharging" and \
+         started_seen and (sec_since_boot() - off_ts) > 60:
        os.system('LD_LIBRARY_PATH="" svc power shutdown')
-      if msg.thermal.batteryPercent > 10:
-        battery_was_high = True

    # check the status of all processes, did any of them die?
    for p in running:
--- a/selfdrive/orbd/Makefile
+++ b/selfdrive/orbd/Makefile
@@ -0,0 +1,98 @@
+# CPU 
+
+CC = clang
+CXX = clang++
+
+JSON_FLAGS = -I$(PHONELIBS)/json/src
+
+CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
+CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
+LDFLAGS =
+
+# profile
+# CXXFLAGS += -DTURBOCV_PROFILE=1
+
+PHONELIBS = ../../phonelibs
+BASEDIR = ../..
+EXTERNAL = ../../external
+PYTHONLIBS = 
+
+UNAME_M := $(shell uname -m)
+
+ifeq ($(UNAME_M),x86_64)
+# computer
+
+ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
+ZMQ_LIBS = -L$(BASEDIR)/external/zmq/lib/ \
+           -l:libczmq.a -l:libzmq.a -lpthread
+
+OPENCV_LIBS = -lopencv_core -lopencv_highgui -lopencv_features2d -lopencv_imgproc
+
+CXXFLAGS += -fopenmp
+LDFLAGS += -lomp
+
+else
+# phone
+ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
+ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
+	-l:libczmq.a -l:libzmq.a \
+	-lgnustl_shared
+
+OPENCV_FLAGS = -I$(PHONELIBS)/opencv/include
+OPENCV_LIBS = -Wl,--enable-new-dtags -Wl,-rpath,/usr/local/lib/python2.7/site-packages -L/usr/local/lib/python2.7/site-packages -l:cv2.so
+
+endif
+
+.PHONY: all
+all: orbd
+
+include ../common/cereal.mk
+
+DEP_OBJS = ../common/visionipc.o ../common/swaglog.o $(PHONELIBS)/json/src/json.o
+
+orbd: orbd_dsp.o $(DEP_OBJS) calculator_stub.o freethedsp.o
+	@echo "[ LINK ] $@"
+	$(CXX) -fPIC -o '$@' $^ \
+    $(LDFLAGS) \
+		$(ZMQ_LIBS) \
+		$(CEREAL_LIBS) \
+		-L/usr/lib \
+		-L/system/vendor/lib64 \
+		-ladsprpc \
+		-lm -lz -llog
+
+%.o: %.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) \
+		-I../ \
+		-I../../ \
+		-c -o '$@' '$<'
+
+orbd_dsp.o: orbd.cc
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) \
+		$(CEREAL_CXXFLAGS) \
+		$(ZMQ_FLAGS) \
+		$(OPENCV_FLAGS) \
+		-DDSP \
+		-I../ \
+		-I../../ \
+		-I../../../ \
+		-I./include \
+		-c -o '$@' '$<'
+
+freethedsp.o: dsp/freethedsp.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) \
+		-c -o '$@' '$<'
+
+calculator_stub.o: dsp/gen/calculator_stub.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) -I./include -c -o '$@' '$<'
+
+-include internal.mk
+
+.PHONY: clean
+clean:
+	rm -f *.o turbocv.so orbd test/turbocv_profile test/turbocv_test test/*.o *_lut.h
+
--- a/selfdrive/orbd/dsp/freethedsp.c
+++ b/selfdrive/orbd/dsp/freethedsp.c
@@ -0,0 +1,118 @@
+// freethedsp by geohot
+//   (because the DSP should be free)
+// released under MIT License
+
+// usage instructions:
+//   1. Compile an example from the Qualcomm Hexagon SDK 
+//   2. Try to run it on your phone
+//   3. Be very sad when "adsprpc ... dlopen error: ... signature verify start failed for ..." appears in logcat
+// ...here is where people would give up before freethedsp
+//   4. Compile freethedsp with 'clang -shared freethedsp.c -o freethedsp.so' (or statically link it to your program)
+//   5. Run your program with 'LD_PRELOAD=./freethedsp.so ./<your_prog>'
+//   6. OMG THE DSP WORKS
+//   7. Be happy.
+
+// *** patch may have to change for your phone ***
+
+// this is patching /dsp/fastrpc_shell_0
+// correct if sha hash of fastrpc_shell_0 is "fbadc96848aefad99a95aa4edb560929dcdf78f8"
+// patch to return 0xFFFFFFFF from is_test_enabled instead of 0
+// your fastrpc_shell_0 may vary
+#define PATCH_ADDR 0x5200c
+#define PATCH_OLD "\x40\x3f\x20\x50"
+#define PATCH_NEW "\x40\x3f\x00\x5a"
+#define PATCH_LEN (sizeof(PATCH_OLD)-1)
+
+// under 100 lines of code begins now
+#include <stdio.h>
+#include <dlfcn.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+// ioctl stuff
+#define IOC_OUT   0x40000000  /* copy out parameters */
+#define IOC_IN    0x80000000  /* copy in parameters */
+#define IOC_INOUT (IOC_IN|IOC_OUT)
+#define IOCPARM_MASK  0x1fff    /* parameter length, at most 13 bits */
+
+#define _IOC(inout,group,num,len) \
+  (inout | ((len & IOCPARM_MASK) << 16) | ((group) << 8) | (num))
+#define _IOWR(g,n,t)  _IOC(IOC_INOUT, (g), (n), sizeof(t))
+
+// ion ioctls
+#include <linux/ion.h>
+#define ION_IOC_MSM_MAGIC 'M'
+#define ION_IOC_CLEAN_INV_CACHES  _IOWR(ION_IOC_MSM_MAGIC, 2, \
+            struct ion_flush_data)
+
+struct ion_flush_data {
+  ion_user_handle_t handle;
+  int fd;
+  void *vaddr;
+  unsigned int offset;
+  unsigned int length;
+};
+
+// fastrpc ioctls
+#define FASTRPC_IOCTL_INIT       _IOWR('R', 6, struct fastrpc_ioctl_init)
+
+struct fastrpc_ioctl_init {
+  uint32_t flags;   /* one of FASTRPC_INIT_* macros */
+  uintptr_t __user file;  /* pointer to elf file */
+  int32_t filelen;  /* elf file length */
+  int32_t filefd;   /* ION fd for the file */
+  uintptr_t __user mem; /* mem for the PD */
+  int32_t memlen;   /* mem length */
+  int32_t memfd;    /* ION fd for the mem */
+};
+
+int ioctl(int fd, unsigned long request, void *arg) {
+  static void *handle = NULL;
+  static int (*orig_ioctl)(int, int, void*);
+
+  if (handle == NULL) {
+    handle = dlopen("/system/lib64/libc.so", RTLD_LAZY);
+    assert(handle != NULL);
+    orig_ioctl = dlsym(handle, "ioctl");
+  }
+
+  int ret = orig_ioctl(fd, request, arg);
+
+  // carefully modify this one
+  if (request == FASTRPC_IOCTL_INIT) {
+    struct fastrpc_ioctl_init *init = (struct fastrpc_ioctl_init *)arg;
+
+    // confirm patch is correct and do the patch
+    assert(memcmp((void*)(init->mem+PATCH_ADDR), PATCH_OLD, 4) == 0);
+    memcpy((void*)(init->mem+PATCH_ADDR), PATCH_NEW, 4);
+
+    // flush cache
+    int ionfd = open("/dev/ion", O_RDONLY);
+    assert(ionfd > 0);
+
+    struct ion_fd_data fd_data;
+    fd_data.fd = init->memfd;
+    int ret = ioctl(ionfd, ION_IOC_IMPORT, &fd_data);
+    assert(ret == 0);
+
+    struct ion_flush_data flush_data;
+    flush_data.handle  = fd_data.handle;
+    flush_data.vaddr   = (void*)init->mem;
+    flush_data.offset  = PATCH_ADDR;
+    flush_data.length  = PATCH_LEN;
+    ret = ioctl(ionfd, ION_IOC_CLEAN_INV_CACHES, &flush_data);
+    assert(ret == 0);
+
+    struct ion_handle_data handle_data;
+    handle_data.handle = fd_data.handle;
+    ret = ioctl(ionfd, ION_IOC_FREE, &handle_data);
+    assert(ret == 0);
+
+    // cleanup
+    close(ionfd);
+  }
+
+  return ret;
+}
+
--- a/selfdrive/orbd/dsp/gen/calculator.h
+++ b/selfdrive/orbd/dsp/gen/calculator.h
@@ -0,0 +1,39 @@
+#ifndef _CALCULATOR_H
+#define _CALCULATOR_H
+
+#include <stdint.h>
+typedef  uint8_t           uint8;
+typedef  uint32_t           uint32;
+
+#ifndef __QAIC_HEADER
+#define __QAIC_HEADER(ff) ff
+#endif //__QAIC_HEADER
+
+#ifndef __QAIC_HEADER_EXPORT
+#define __QAIC_HEADER_EXPORT
+#endif // __QAIC_HEADER_EXPORT
+
+#ifndef __QAIC_HEADER_ATTRIBUTE
+#define __QAIC_HEADER_ATTRIBUTE
+#endif // __QAIC_HEADER_ATTRIBUTE
+
+#ifndef __QAIC_IMPL
+#define __QAIC_IMPL(ff) ff
+#endif //__QAIC_IMPL
+
+#ifndef __QAIC_IMPL_EXPORT
+#define __QAIC_IMPL_EXPORT
+#endif // __QAIC_IMPL_EXPORT
+
+#ifndef __QAIC_IMPL_ATTRIBUTE
+#define __QAIC_IMPL_ATTRIBUTE
+#endif // __QAIC_IMPL_ATTRIBUTE
+#ifdef __cplusplus
+extern "C" {
+#endif
+__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_init)(uint32* leet) __QAIC_HEADER_ATTRIBUTE;
+__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_HEADER_ATTRIBUTE;
+#ifdef __cplusplus
+}
+#endif
+#endif //_CALCULATOR_H
--- a/selfdrive/orbd/dsp/gen/calculator_stub.c
+++ b/selfdrive/orbd/dsp/gen/calculator_stub.c
@@ -0,0 +1,613 @@
+#ifndef _CALCULATOR_STUB_H
+#define _CALCULATOR_STUB_H
+#include "calculator.h"
+
+// remote.h
+#include <stdint.h>
+#include <sys/types.h>
+
+typedef uint32_t remote_handle;
+typedef uint64_t remote_handle64;
+
+typedef struct {
+   void *pv;
+   size_t nLen;
+} remote_buf;
+
+typedef struct {
+   int32_t fd;
+   uint32_t offset;
+} remote_dma_handle;
+
+typedef union {
+   remote_buf     buf;
+   remote_handle    h;
+   remote_handle64 h64;
+   remote_dma_handle dma;
+} remote_arg;
+
+int remote_handle_open(const char* name, remote_handle *ph);
+int remote_handle_invoke(remote_handle h, uint32_t dwScalars, remote_arg *pra);
+int remote_handle_close(remote_handle h);
+
+#define REMOTE_SCALARS_MAKEX(nAttr,nMethod,nIn,nOut,noIn,noOut) \
+          ((((uint32_t)   (nAttr) &  0x7) << 29) | \
+           (((uint32_t) (nMethod) & 0x1f) << 24) | \
+           (((uint32_t)     (nIn) & 0xff) << 16) | \
+           (((uint32_t)    (nOut) & 0xff) <<  8) | \
+           (((uint32_t)    (noIn) & 0x0f) <<  4) | \
+            ((uint32_t)   (noOut) & 0x0f))
+
+#ifndef _QAIC_ENV_H
+#define _QAIC_ENV_H
+
+#ifdef __GNUC__
+#ifdef __clang__
+#pragma GCC diagnostic ignored "-Wunknown-pragmas"
+#else
+#pragma GCC diagnostic ignored "-Wpragmas"
+#endif
+#pragma GCC diagnostic ignored "-Wuninitialized"
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+#ifndef _ATTRIBUTE_UNUSED
+
+#ifdef _WIN32
+#define _ATTRIBUTE_UNUSED
+#else
+#define _ATTRIBUTE_UNUSED __attribute__ ((unused))
+#endif
+
+#endif // _ATTRIBUTE_UNUSED
+
+#ifndef __QAIC_REMOTE
+#define __QAIC_REMOTE(ff) ff
+#endif //__QAIC_REMOTE
+
+#ifndef __QAIC_HEADER
+#define __QAIC_HEADER(ff) ff
+#endif //__QAIC_HEADER
+
+#ifndef __QAIC_HEADER_EXPORT
+#define __QAIC_HEADER_EXPORT
+#endif // __QAIC_HEADER_EXPORT
+
+#ifndef __QAIC_HEADER_ATTRIBUTE
+#define __QAIC_HEADER_ATTRIBUTE
+#endif // __QAIC_HEADER_ATTRIBUTE
+
+#ifndef __QAIC_IMPL
+#define __QAIC_IMPL(ff) ff
+#endif //__QAIC_IMPL
+
+#ifndef __QAIC_IMPL_EXPORT
+#define __QAIC_IMPL_EXPORT
+#endif // __QAIC_IMPL_EXPORT
+
+#ifndef __QAIC_IMPL_ATTRIBUTE
+#define __QAIC_IMPL_ATTRIBUTE
+#endif // __QAIC_IMPL_ATTRIBUTE
+
+#ifndef __QAIC_STUB
+#define __QAIC_STUB(ff) ff
+#endif //__QAIC_STUB
+
+#ifndef __QAIC_STUB_EXPORT
+#define __QAIC_STUB_EXPORT
+#endif // __QAIC_STUB_EXPORT
+
+#ifndef __QAIC_STUB_ATTRIBUTE
+#define __QAIC_STUB_ATTRIBUTE
+#endif // __QAIC_STUB_ATTRIBUTE
+
+#ifndef __QAIC_SKEL
+#define __QAIC_SKEL(ff) ff
+#endif //__QAIC_SKEL__
+
+#ifndef __QAIC_SKEL_EXPORT
+#define __QAIC_SKEL_EXPORT
+#endif // __QAIC_SKEL_EXPORT
+
+#ifndef __QAIC_SKEL_ATTRIBUTE
+#define __QAIC_SKEL_ATTRIBUTE
+#endif // __QAIC_SKEL_ATTRIBUTE
+
+#ifdef __QAIC_DEBUG__
+   #ifndef __QAIC_DBG_PRINTF__
+   #include <stdio.h>
+   #define __QAIC_DBG_PRINTF__( ee ) do { printf ee ; } while(0)
+   #endif
+#else
+   #define __QAIC_DBG_PRINTF__( ee ) (void)0
+#endif
+
+
+#define _OFFSET(src, sof)  ((void*)(((char*)(src)) + (sof)))
+
+#define _COPY(dst, dof, src, sof, sz)  \
+   do {\
+         struct __copy { \
+            char ar[sz]; \
+         };\
+         *(struct __copy*)_OFFSET(dst, dof) = *(struct __copy*)_OFFSET(src, sof);\
+   } while (0)
+
+#define _COPYIF(dst, dof, src, sof, sz)  \
+   do {\
+      if(_OFFSET(dst, dof) != _OFFSET(src, sof)) {\
+         _COPY(dst, dof, src, sof, sz); \
+      } \
+   } while (0)
+
+_ATTRIBUTE_UNUSED
+static __inline void _qaic_memmove(void* dst, void* src, int size) {
+   int i;
+   for(i = 0; i < size; ++i) {
+      ((char*)dst)[i] = ((char*)src)[i];
+   }
+}
+
+#define _MEMMOVEIF(dst, src, sz)  \
+   do {\
+      if(dst != src) {\
+         _qaic_memmove(dst, src, sz);\
+      } \
+   } while (0)
+
+
+#define _ASSIGN(dst, src, sof)  \
+   do {\
+      dst = OFFSET(src, sof); \
+   } while (0)
+
+#define _STD_STRLEN_IF(str) (str == 0 ? 0 : strlen(str))
+
+#define AEE_SUCCESS              0
+#define AEE_EOFFSET          0x80000400
+#define AEE_EBADPARM             (AEE_EOFFSET + 0x00E)
+
+#define _TRY(ee, func) \
+   do { \
+      if (AEE_SUCCESS != ((ee) = func)) {\
+         __QAIC_DBG_PRINTF__((__FILE__ ":%d:error:%d:%s\n", __LINE__, (int)(ee),#func));\
+         goto ee##bail;\
+      } \
+   } while (0)
+
+#define _CATCH(exception) exception##bail: if (exception != AEE_SUCCESS)
+
+#define _ASSERT(nErr, ff) _TRY(nErr, 0 == (ff) ? AEE_EBADPARM : AEE_SUCCESS)
+
+#ifdef __QAIC_DEBUG__
+#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, __FILE_LINE__, size, alignment, (void**)&pv))
+#else
+#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, 0, size, alignment, (void**)&pv))
+#endif
+
+
+#endif // _QAIC_ENV_H
+
+#ifndef _ALLOCATOR_H
+#define _ALLOCATOR_H
+
+#include <stdlib.h>
+#include <stdint.h>
+
+typedef struct _heap _heap;
+struct _heap {
+   _heap* pPrev;
+   const char* loc;
+   uint64_t buf;
+};
+
+typedef struct _allocator {
+   _heap* pheap;
+   uint8_t* stack;
+   uint8_t* stackEnd;
+   int nSize;
+} _allocator;
+
+_ATTRIBUTE_UNUSED
+static __inline int _heap_alloc(_heap** ppa, const char* loc, int size, void** ppbuf) {
+   _heap* pn = 0;
+   pn = malloc(size + sizeof(_heap) - sizeof(uint64_t));
+   if(pn != 0) {
+      pn->pPrev = *ppa;
+      pn->loc = loc;
+      *ppa = pn;
+      *ppbuf = (void*)&(pn->buf);
+      return 0;
+   } else {
+      return -1;
+   }
+}
+#define _ALIGN_SIZE(x, y) (((x) + (y-1)) & ~(y-1))
+
+_ATTRIBUTE_UNUSED
+static __inline int _allocator_alloc(_allocator* me,
+                                    const char* loc,
+                                    int size,
+                                    unsigned int al,
+                                    void** ppbuf) {
+   if(size < 0) {
+      return -1;
+   } else if (size == 0) {
+      *ppbuf = 0;
+      return 0;
+   }
+   if((_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size) < (uintptr_t)me->stack + me->nSize) {
+      *ppbuf = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al);
+      me->stackEnd = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size;
+      return 0;
+   } else {
+      return _heap_alloc(&me->pheap, loc, size, ppbuf);
+   }
+}
+
+_ATTRIBUTE_UNUSED
+static __inline void _allocator_deinit(_allocator* me) {
+   _heap* pa = me->pheap;
+   while(pa != 0) {
+      _heap* pn = pa;
+      const char* loc = pn->loc;
+      (void)loc;
+      pa = pn->pPrev;
+      free(pn);
+   }
+}
+
+_ATTRIBUTE_UNUSED
+static __inline void _allocator_init(_allocator* me, uint8_t* stack, int stackSize) {
+   me->stack =  stack;
+   me->stackEnd =  stack + stackSize;
+   me->nSize = stackSize;
+   me->pheap = 0;
+}
+
+
+#endif // _ALLOCATOR_H
+
+#ifndef SLIM_H
+#define SLIM_H
+
+#include <stdint.h>
+
+//a C data structure for the idl types that can be used to implement
+//static and dynamic language bindings fairly efficiently.
+//
+//the goal is to have a minimal ROM and RAM footprint and without
+//doing too many allocations.  A good way to package these things seemed
+//like the module boundary, so all the idls within  one module can share
+//all the type references.
+
+
+#define PARAMETER_IN       0x0
+#define PARAMETER_OUT      0x1
+#define PARAMETER_INOUT    0x2
+#define PARAMETER_ROUT     0x3
+#define PARAMETER_INROUT   0x4
+
+//the types that we get from idl
+#define TYPE_OBJECT             0x0
+#define TYPE_INTERFACE          0x1
+#define TYPE_PRIMITIVE          0x2
+#define TYPE_ENUM               0x3
+#define TYPE_STRING             0x4
+#define TYPE_WSTRING            0x5
+#define TYPE_STRUCTURE          0x6
+#define TYPE_UNION              0x7
+#define TYPE_ARRAY              0x8
+#define TYPE_SEQUENCE           0x9
+
+//these require the pack/unpack to recurse
+//so it's a hint to those languages that can optimize in cases where
+//recursion isn't necessary.
+#define TYPE_COMPLEX_STRUCTURE  (0x10 | TYPE_STRUCTURE)
+#define TYPE_COMPLEX_UNION      (0x10 | TYPE_UNION)
+#define TYPE_COMPLEX_ARRAY      (0x10 | TYPE_ARRAY)
+#define TYPE_COMPLEX_SEQUENCE   (0x10 | TYPE_SEQUENCE)
+
+
+typedef struct Type Type;
+
+#define INHERIT_TYPE\
+   int32_t nativeSize;                /*in the simple case its the same as wire size and alignment*/\
+   union {\
+      struct {\
+         const uintptr_t         p1;\
+         const uintptr_t         p2;\
+      } _cast;\
+      struct {\
+         uint32_t  iid;\
+         uint32_t  bNotNil;\
+      } object;\
+      struct {\
+         const Type  *arrayType;\
+         int32_t      nItems;\
+      } array;\
+      struct {\
+         const Type *seqType;\
+         int32_t      nMaxLen;\
+      } seqSimple; \
+      struct {\
+         uint32_t bFloating;\
+         uint32_t bSigned;\
+      } prim; \
+      const SequenceType* seqComplex;\
+      const UnionType  *unionType;\
+      const StructType *structType;\
+      int32_t         stringMaxLen;\
+      uint8_t        bInterfaceNotNil;\
+   } param;\
+   uint8_t    type;\
+   uint8_t    nativeAlignment\
+
+typedef struct UnionType UnionType;
+typedef struct StructType StructType;
+typedef struct SequenceType SequenceType;
+struct Type {
+   INHERIT_TYPE;
+};
+
+struct SequenceType {
+   const Type *         seqType;
+   uint32_t               nMaxLen;
+   uint32_t               inSize;
+   uint32_t               routSizePrimIn;
+   uint32_t               routSizePrimROut;
+};
+
+//byte offset from the start of the case values for
+//this unions case value array.  it MUST be aligned
+//at the alignment requrements for the descriptor
+//
+//if negative it means that the unions cases are
+//simple enumerators, so the value read from the descriptor
+//can be used directly to find the correct case
+typedef union CaseValuePtr CaseValuePtr;
+union CaseValuePtr {
+   const uint8_t*   value8s;
+   const uint16_t*  value16s;
+   const uint32_t*  value32s;
+   const uint64_t*  value64s;
+};
+
+//these are only used in complex cases
+//so I pulled them out of the type definition as references to make
+//the type smaller
+struct UnionType {
+   const Type           *descriptor;
+   uint32_t               nCases;
+   const CaseValuePtr   caseValues;
+   const Type * const   *cases;
+   int32_t               inSize;
+   int32_t               routSizePrimIn;
+   int32_t               routSizePrimROut;
+   uint8_t                inAlignment;
+   uint8_t                routAlignmentPrimIn;
+   uint8_t                routAlignmentPrimROut;
+   uint8_t                inCaseAlignment;
+   uint8_t                routCaseAlignmentPrimIn;
+   uint8_t                routCaseAlignmentPrimROut;
+   uint8_t                nativeCaseAlignment;
+   uint8_t              bDefaultCase;
+};
+
+struct StructType {
+   uint32_t               nMembers;
+   const Type * const   *members;
+   int32_t               inSize;
+   int32_t               routSizePrimIn;
+   int32_t               routSizePrimROut;
+   uint8_t                inAlignment;
+   uint8_t                routAlignmentPrimIn;
+   uint8_t                routAlignmentPrimROut;
+};
+
+typedef struct Parameter Parameter;
+struct Parameter {
+   INHERIT_TYPE;
+   uint8_t    mode;
+   uint8_t  bNotNil;
+};
+
+#define SLIM_IFPTR32(is32,is64) (sizeof(uintptr_t) == 4 ? (is32) : (is64))
+#define SLIM_SCALARS_IS_DYNAMIC(u) (((u) & 0x00ffffff) == 0x00ffffff)
+
+typedef struct Method Method;
+struct Method {
+   uint32_t                    uScalars;            //no method index
+   int32_t                     primInSize;
+   int32_t                     primROutSize;
+   int                         maxArgs;
+   int                         numParams;
+   const Parameter * const     *params;
+   uint8_t                       primInAlignment;
+   uint8_t                       primROutAlignment;
+};
+
+typedef struct Interface Interface;
+
+struct Interface {
+   int                            nMethods;
+   const Method  * const          *methodArray;
+   int                            nIIds;
+   const uint32_t                   *iids;
+   const uint16_t*                  methodStringArray;
+   const uint16_t*                  methodStrings;
+   const char*                    strings;
+};
+
+
+#endif //SLIM_H
+
+
+#ifndef _CALCULATOR_SLIM_H
+#define _CALCULATOR_SLIM_H
+
+// remote.h
+
+#include <stdint.h>
+
+#ifndef __QAIC_SLIM
+#define __QAIC_SLIM(ff) ff
+#endif
+#ifndef __QAIC_SLIM_EXPORT
+#define __QAIC_SLIM_EXPORT
+#endif
+
+static const Type types[1];
+static const Type types[1] = {{0x1,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x1}};
+static const Parameter parameters[3] = {{0x4,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x4,3,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),0,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),3,0}};
+static const Parameter* const parameterArrays[3] = {(&(parameters[1])),(&(parameters[2])),(&(parameters[0]))};
+static const Method methods[2] = {{REMOTE_SCALARS_MAKEX(0,0,0x0,0x1,0x0,0x0),0x0,0x4,1,1,(&(parameterArrays[2])),0x1,0x4},{REMOTE_SCALARS_MAKEX(0,0,0x2,0x1,0x0,0x0),0x8,0x0,5,2,(&(parameterArrays[0])),0x4,0x1}};
+static const Method* const methodArrays[2] = {&(methods[0]),&(methods[1])};
+static const char strings[41] = "extract_and_match\0features\0leet\0init\0img\0";
+static const uint16_t methodStrings[5] = {0,37,18,32,27};
+static const uint16_t methodStringsArrays[2] = {3,0};
+__QAIC_SLIM_EXPORT const Interface __QAIC_SLIM(calculator_slim) = {2,&(methodArrays[0]),0,0,&(methodStringsArrays [0]),methodStrings,strings};
+#endif //_CALCULATOR_SLIM_H
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _const_calculator_handle
+#define _const_calculator_handle ((remote_handle)-1)
+#endif //_const_calculator_handle
+
+static void _calculator_pls_dtor(void* data) {
+   remote_handle* ph = (remote_handle*)data;
+   if(_const_calculator_handle != *ph) {
+      (void)__QAIC_REMOTE(remote_handle_close)(*ph);
+      *ph = _const_calculator_handle;
+   }
+}
+
+static int _calculator_pls_ctor(void* ctx, void* data) {
+   remote_handle* ph = (remote_handle*)data;
+   *ph = _const_calculator_handle;
+   if(*ph == (remote_handle)-1) {
+      return __QAIC_REMOTE(remote_handle_open)((const char*)ctx, ph);
+   }
+   return 0;
+}
+
+#if (defined __qdsp6__) || (defined __hexagon__)
+#pragma weak  adsp_pls_add_lookup
+extern int adsp_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
+#pragma weak  HAP_pls_add_lookup
+extern int HAP_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
+
+__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
+   remote_handle* ph;
+   if(adsp_pls_add_lookup) {
+      if(0 == adsp_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph),  _calculator_pls_ctor, "calculator",  _calculator_pls_dtor, (void**)&ph))  {
+         return *ph;
+      }
+      return (remote_handle)-1;
+   } else if(HAP_pls_add_lookup) {
+      if(0 == HAP_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph),  _calculator_pls_ctor, "calculator",  _calculator_pls_dtor, (void**)&ph))  {
+         return *ph;
+      }
+      return (remote_handle)-1;
+   }
+   return(remote_handle)-1;
+}
+
+#else //__qdsp6__ || __hexagon__
+
+uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare);
+
+#ifdef _WIN32
+#include "Windows.h"
+uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
+   return (uint32_t)InterlockedCompareExchange((volatile LONG*)puDest, (LONG)uExchange, (LONG)uCompare);
+}
+#elif __GNUC__
+uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
+   return __sync_val_compare_and_swap(puDest, uCompare, uExchange);
+}
+#endif //_WIN32
+
+
+__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
+   static remote_handle handle = _const_calculator_handle;
+   if((remote_handle)-1 != handle) {
+      return handle;
+   } else {
+      remote_handle tmp;
+      int nErr = _calculator_pls_ctor("calculator", (void*)&tmp);
+      if(nErr) {
+         return (remote_handle)-1;
+      }
+      if(((remote_handle)-1 != handle) || ((remote_handle)-1 != (remote_handle)_calculator_atomic_CompareAndExchange((uint32_t*)&handle, (uint32_t)tmp, (uint32_t)-1))) {
+         _calculator_pls_dtor(&tmp);
+      }
+      return handle;
+   }
+}
+
+#endif //__qdsp6__
+
+__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_skel_invoke)(uint32_t _sc, remote_arg* _pra) __QAIC_STUB_ATTRIBUTE {
+   return __QAIC_REMOTE(remote_handle_invoke)(_calculator_handle(), _sc, _pra);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+extern int remote_register_dma_handle(int, uint32_t);
+static __inline int _stub_method(remote_handle _handle, uint32_t _mid, uint32_t _rout0[1]) {
+   int _numIn[1];
+   remote_arg _pra[1];
+   uint32_t _primROut[1];
+   int _nErr = 0;
+   _numIn[0] = 0;
+   _pra[(_numIn[0] + 0)].buf.pv = (void*)_primROut;
+   _pra[(_numIn[0] + 0)].buf.nLen = sizeof(_primROut);
+   _TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 0, 1, 0, 0), _pra));
+   _COPY(_rout0, 0, _primROut, 0, 4);
+   _CATCH(_nErr) {}
+   return _nErr;
+}
+__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_init)(uint32* leet) __QAIC_STUB_ATTRIBUTE {
+   uint32_t _mid = 0;
+   return _stub_method(_calculator_handle(), _mid, (uint32_t*)leet);
+}
+static __inline int _stub_method_1(remote_handle _handle, uint32_t _mid, char* _in0[1], uint32_t _in0Len[1], char* _rout1[1], uint32_t _rout1Len[1]) {
+   int _numIn[1];
+   remote_arg _pra[3];
+   uint32_t _primIn[2];
+   remote_arg* _praIn;
+   remote_arg* _praROut;
+   int _nErr = 0;
+   _numIn[0] = 1;
+   _pra[0].buf.pv = (void*)_primIn;
+   _pra[0].buf.nLen = sizeof(_primIn);
+   _COPY(_primIn, 0, _in0Len, 0, 4);
+   _praIn = (_pra + 1);
+   _praIn[0].buf.pv = _in0[0];
+   _praIn[0].buf.nLen = (1 * _in0Len[0]);
+   _COPY(_primIn, 4, _rout1Len, 0, 4);
+   _praROut = (_praIn + _numIn[0] + 0);
+   _praROut[0].buf.pv = _rout1[0];
+   _praROut[0].buf.nLen = (1 * _rout1Len[0]);
+   _TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 2, 1, 0, 0), _pra));
+   _CATCH(_nErr) {}
+   return _nErr;
+}
+__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_STUB_ATTRIBUTE {
+   uint32_t _mid = 1;
+   return _stub_method_1(_calculator_handle(), _mid, (char**)&img, (uint32_t*)&imgLen, (char**)&features, (uint32_t*)&featuresLen);
+}
+#ifdef __cplusplus
+}
+#endif
+#endif //_CALCULATOR_STUB_H
--- a/selfdrive/orbd/extractor.h
+++ b/selfdrive/orbd/extractor.h
@@ -0,0 +1,37 @@
+#ifndef EXTRACTOR_H
+#define EXTRACTOR_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#define ORBD_KEYPOINTS 3000
+#define ORBD_DESCRIPTOR_LENGTH 32
+#define ORBD_HEIGHT 874
+#define ORBD_WIDTH 1164
+
+// matches OrbFeatures from log.capnp
+struct orb_features {
+  // align this
+  uint16_t n_corners;
+  uint16_t xy[ORBD_KEYPOINTS][2];
+  uint8_t octave[ORBD_KEYPOINTS];
+  uint8_t des[ORBD_KEYPOINTS][ORBD_DESCRIPTOR_LENGTH];
+  int16_t matches[ORBD_KEYPOINTS];
+};
+
+// forward declare this
+struct pyramid;
+
+// manage the pyramids in extractor.c
+void init_gpyrs();
+int extract_and_match_gpyrs(const uint8_t *img, struct orb_features *);
+int extract_and_match(const uint8_t *img, struct pyramid *pyrs, struct pyramid *prev_pyrs, struct orb_features *);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // EXTRACTOR_H
--- a/selfdrive/orbd/orbd.cc
+++ b/selfdrive/orbd/orbd.cc
@@ -0,0 +1,174 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <assert.h>
+
+#include "common/visionipc.h"
+#include "common/swaglog.h"
+
+#include "extractor.h"
+
+#ifdef DSP
+#include "dsp/gen/calculator.h"
+#else
+#include "turbocv.h"
+#endif
+
+#include <zmq.h>
+#include <capnp/serialize.h>
+#include "cereal/gen/cpp/log.capnp.h"
+
+#ifndef PATH_MAX
+#include <linux/limits.h>
+#endif
+
+volatile int do_exit = 0;
+
+static void set_do_exit(int sig) {
+  do_exit = 1;
+}
+
+int main(int argc, char *argv[]) {
+  int err;
+  printf("starting orbd\n");
+
+#ifdef DSP
+  char my_path[PATH_MAX+1];
+  readlink("/proc/self/exe", my_path, PATH_MAX);
+  my_path[strlen(my_path)-4] = '\0';
+  LOGW("running from %s", my_path);
+
+  char adsp_path[PATH_MAX+1];
+  snprintf(adsp_path, PATH_MAX, "ADSP_LIBRARY_PATH=%s/dsp/gen;/dsp;/system/lib/rfsa/adsp;/system/vendor/lib/rfsa/adsp", my_path);
+  putenv(adsp_path);
+
+  uint32_t test_leet = 0; 
+  assert(calculator_init(&test_leet) == 0);
+  assert(test_leet == 0x1337);
+#else
+  init_gpyrs();
+#endif
+
+  signal(SIGINT, (sighandler_t) set_do_exit);
+  signal(SIGTERM, (sighandler_t) set_do_exit);
+
+  void *ctx = zmq_ctx_new();
+
+  void *orb_features_sock = zmq_socket(ctx, ZMQ_PUB);
+  assert(orb_features_sock);
+  zmq_bind(orb_features_sock, "tcp://*:8058");
+
+  void *orb_features_summary_sock = zmq_socket(ctx, ZMQ_PUB);
+  assert(orb_features_summary_sock);
+  zmq_bind(orb_features_summary_sock, "tcp://*:8062");
+
+  struct orb_features *features = (struct orb_features *)malloc(sizeof(struct orb_features));
+  int last_frame_id = 0;
+
+  VisionStream stream;
+  while (!do_exit) {
+    VisionStreamBufs buf_info;
+    err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
+    if (err) {
+      printf("visionstream connect fail\n");
+      usleep(100000);
+      continue;
+    }
+    uint64_t timestamp_last_eof = 0;
+    while (!do_exit) {
+      VIPCBuf *buf;
+      VIPCBufExtra extra;
+      buf = visionstream_get(&stream, &extra);
+      if (buf == NULL) {
+        printf("visionstream get failed\n");
+        break;
+      }
+
+      uint64_t start = nanos_since_boot();
+#ifdef DSP
+      int ret = calculator_extract_and_match((uint8_t *)buf->addr, ORBD_HEIGHT*ORBD_WIDTH, (uint8_t *)features, sizeof(struct orb_features));
+#else
+      int ret = extract_and_match_gpyrs((uint8_t *) buf->addr, features);
+#endif
+      uint64_t end = nanos_since_boot();
+      LOGD("total(%d): %6.2f ms to get %4d features on %d", ret, (end-start)/1000000.0, features->n_corners, extra.frame_id);
+
+      if (last_frame_id+1 != extra.frame_id) {
+        LOGW("dropped frame!");
+      }
+
+      last_frame_id = extra.frame_id;
+
+      if (timestamp_last_eof == 0) {
+        timestamp_last_eof = extra.timestamp_eof;
+        continue;
+      }
+
+      int match_count = 0;
+
+      // *** send OrbFeatures ***
+      {
+        // create capnp message
+        capnp::MallocMessageBuilder msg;
+        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+        event.setLogMonoTime(nanos_since_boot());
+
+        auto orb_features = event.initOrbFeatures();
+
+        // set timestamps
+        orb_features.setTimestampEof(extra.timestamp_eof);
+        orb_features.setTimestampLastEof(timestamp_last_eof);
+
+        // init descriptors for send
+        kj::ArrayPtr<capnp::byte> descriptorsPtr = kj::arrayPtr((uint8_t *)features->des, ORBD_DESCRIPTOR_LENGTH * features->n_corners);
+        orb_features.setDescriptors(descriptorsPtr);
+
+        auto xs = orb_features.initXs(features->n_corners);
+        auto ys = orb_features.initYs(features->n_corners);
+        auto octaves = orb_features.initOctaves(features->n_corners);
+        auto matches = orb_features.initMatches(features->n_corners);
+
+        // copy out normalized keypoints
+        for (int i = 0; i < features->n_corners; i++) {
+          xs.set(i, features->xy[i][0] * 1.0f / ORBD_WIDTH - 0.5f);
+          ys.set(i, features->xy[i][1] * 1.0f / ORBD_HEIGHT - 0.5f);
+          octaves.set(i, features->octave[i]);
+          matches.set(i, features->matches[i]);
+          match_count += features->matches[i] != -1;
+        }
+
+        auto words = capnp::messageToFlatArray(msg);
+        auto bytes = words.asBytes();
+        zmq_send(orb_features_sock, bytes.begin(), bytes.size(), 0);
+      }
+
+      // *** send OrbFeaturesSummary ***
+
+      {
+        // create capnp message
+        capnp::MallocMessageBuilder msg;
+        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+        event.setLogMonoTime(nanos_since_boot());
+
+        auto orb_features_summary = event.initOrbFeaturesSummary();
+
+        orb_features_summary.setTimestampEof(extra.timestamp_eof);
+        orb_features_summary.setTimestampLastEof(timestamp_last_eof);
+        orb_features_summary.setFeatureCount(features->n_corners);
+        orb_features_summary.setMatchCount(match_count);
+        orb_features_summary.setComputeNs(end-start);
+
+        auto words = capnp::messageToFlatArray(msg);
+        auto bytes = words.asBytes();
+        zmq_send(orb_features_summary_sock, bytes.begin(), bytes.size(), 0);
+      }
+
+      timestamp_last_eof = extra.timestamp_eof;
+    }
+  }
+  visionstream_destroy(&stream);
+  return 0;
+}
+
--- a/selfdrive/registration.py
+++ b/selfdrive/registration.py
@@ -2,7 +2,7 @@ import json
 import subprocess

 from selfdrive.swaglog import cloudlog
-from selfdrive.version import version
+from selfdrive.version import version, training_version
 from common.api import api_get
 from common.params import Params

@@ -24,6 +24,7 @@ def get_git_remote():
 def register():
  params = Params()
  params.put("Version", version)
+  params.put("TrainingVersion", training_version)
  params.put("GitCommit", get_git_commit())
  params.put("GitBranch", get_git_branch())
  params.put("GitRemote", get_git_remote())
--- a/selfdrive/sensord/gpsd
+++ b/selfdrive/sensord/gpsd
--- a/selfdrive/sensord/sensord
+++ b/selfdrive/sensord/sensord
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -64,10 +64,11 @@ applanixLocation: [8053, true]
 liveLocationKalman: [8054, true]
 uiNavigationEvent: [8055, true]
 orbOdometry: [8057, true]
-orbFeatures: [8058, true]
+orbFeatures: [8058, false]
 orbKeyFrame: [8059, true]
 uiLayoutState: [8060, true]
 frontEncodeIdx: [8061, true]
+orbFeaturesSummary: [8062, true]

 testModel: [8040, false]
 testLiveLocation: [8045, false]
--- a/selfdrive/test/plant/plant.py
+++ b/selfdrive/test/plant/plant.py
@@ -211,6 +211,7 @@ class Plant(object):
      print "%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel)

    # ******** publish the car ********
+    # TODO: the order is this list should not matter, but currently everytime we change carstate we break this test. Fix it!
    vls = [self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
           self.angle_steer, self.angle_steer_rate, 0,
           0, 0, 0, 0,  # Doors
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -1465,10 +1465,10 @@ static void ui_update(UIState *s) {

    assert(glGetError() == GL_NO_ERROR);

-    // Default UI Measurements (Assumes sidebar visible)
-    s->scene.ui_viz_rx = box_x;
-    s->scene.ui_viz_rw = box_w;
-    s->scene.ui_viz_ro = -(sbr_w - 4*bdr_s);
+    // Default UI Measurements (Assumes sidebar collapsed)
+    s->scene.ui_viz_rx = (box_x-sbr_w+bdr_s*2);
+    s->scene.ui_viz_rw = (box_w+sbr_w-(bdr_s*2));
+    s->scene.ui_viz_ro = 0;

    s->vision_connect_firstrun = false;
  }
--- a/selfdrive/version.py
+++ b/selfdrive/version.py
@@ -16,3 +16,7 @@ try:
    dirty = True
 except subprocess.CalledProcessError:
  dirty = True
+
+# put this here
+training_version = "0.1.0"
+
--- a/selfdrive/visiond/visiond
+++ b/selfdrive/visiond/visiond
Author	SHA1	Message	Date
Vehicle Researcher	37285038d3	openpilot v0.4.5 release	2018-04-28 09:44:39 +00:00
Vehicle Researcher	91a731f2ae	Merge opendbc subtree	2018-04-28 09:40:30 +00:00
Vehicle Researcher	c32fb85dbd	Squashed 'opendbc/' changes from 3d8a815..31eb3a7 31eb3a7 Ford Fusion: adjusted pedal msbw 46c6781 Ford Fusion: added accel pedal pos 5e9ee9c Ford Fusion: fixed stere conversion d5f8374 Ford Fusion: added radar dbc file 1ce4474 Ford Fusion: fixed typo 4bdaf17 Ford Fusion: bit 7 is not steering angle 39107dd Ford Fusion: added lkas state fbck 1ce2fdb Ford Fusion: LKAS msg update 7ad2a41 Ford Fusion: added LKAS ui masg 481ebba Ford Fusion: more discoveries on LKAS msg 9e2eb32 Ford Fusion: more info about LKAS control b817f35 Ford Fusion: draft for LKAS message a798a44 Ford Fusion: corrected wheel speed factor 49c3934 Ford Fusion: fixed bits for wheel speeds 96ff52a FOrd Fusion: added cruise states dfc1404 Ford Fusion: added steering stalk buttons b42c881 Ford Fusion: dbc corrections 356d082 ford fusion initial dbc file git-subtree-dir: opendbc git-subtree-split: 31eb3a788cf3a432a5faa9ae7f707ab3601b62e1	2018-04-28 09:40:30 +00:00
Vehicle Researcher	e41761eb1b	Merge panda subtree	2018-04-28 09:40:29 +00:00
Vehicle Researcher	bb2587664a	Squashed 'panda/' changes from 2253dd3..9cffa74 9cffa74 bump version 988fbf5 disable autobaud by default git-subtree-dir: panda git-subtree-split: 9cffa74e04a9c46d728162834b80df818dde0375	2018-04-28 09:40:29 +00:00