fix hash

update ota/recovery url
update sentry
2026-06-19 21:12:04 +08:00 · 2020-11-10 16:40:47 +10:00 · 2020-11-10 12:38:24 +10:00 · 2020-09-23 15:07:23 +10:00 · 2020-07-03 11:35:47 +10:00 · 2020-06-22 11:50:30 +10:00
2561 changed files with 421454 additions and 217538 deletions
@@ -0,0 +1,25 @@
+---
+name: Bug report
+about: Create a report to help us improve openpilot
+title: ''
+labels: 'bug'
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**How to reproduce or log data**
+Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Device/Version information (please complete the following information):**
+ - Device: [e.g. EON/EON Gold]
+ - Version: [e.g. 0.6.4], or commit hash when on devel
+ - Car make/model [e.g. Toyota Prius 2016]
+
+**Additional context**
+Add any other context about the problem here.
@@ -0,0 +1,21 @@
+Choose one of the templates below:
+
+# Fingerprint
+This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+
+# Car support
+This pull requests adds support for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+This is an explorer link to a drive with openpilot system enabled: ...
+
+# Feature
+This pull requests adds feature X
+
+## Description
+Explain what the feature does
+
+## Testing
+Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
@@ -1,11 +1,16 @@
+venv/
 .DS_Store
 .tags
 .ipynb_checkpoints
 .idea
+.overlay_init
+.overlay_consistent
 .sconsign.dblite
+.vscode
 model2.png
 a.out

+*.dylib
 *.DSYM
 *.d
 *.pyc
@@ -13,7 +18,11 @@ a.out
 .*.swp
 .*.swo
 .*.un~
+*.tmp
 *.o
+*.o-*
+*.os
+*.os-*
 *.so
 *.a
 *.clb
@@ -23,13 +32,31 @@ a.out
 config.json
 clcache

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

 one
+openpilot
+notebooks
+xx
+panda_jungle
+
+.coverage*
+coverage.xml
+htmlcov
+pandaextra
+
@@ -1,12 +0,0 @@
-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'
@@ -0,0 +1,436 @@
+dragonpilot 0.7.5.4
+========================
+* 加入 2018 skoda kodiaq 指紋v1。(感謝 @Gold 提供)
+* Added 2018 skoda kodiaq FPv1. (Thanks to @Gold)
+* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
+* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
+* 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 +1,195 @@
+dragonpilot 0.7.5
+========================
+* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
+* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+
+dragonpilot 0.7.4
+========================
+* [2020-04-10] 移除所有的第三方應用改為自動下載。
+* [2020-04-10] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+* [2020-03-31] 還原部分修改代碼以達到 comma ai 安全準則。 (Reverted changes to panda safety code to comply with comma ai safety guideline.)
+* [2020-03-31] 調整「啟用原廠 DSU 模式」為踩剎車時會暫時斷開控制 。(Enable Stock DSU Mode will temporary disable controls when brake is pressed.)
+* [2020-03-27] 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+* [2020-03-27] 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+* [2020-03-27] 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+* [2020-03-27] 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+* [2020-03-27] 加入韓文支持。(感謝 crwusiz 提供)
+* [2020-03-27] 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+dragonpilot 0.7.3
+========================
+* [2020-03-17] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+* [2020-03-14] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [2020-03-14] 加入自動關機開關。(感謝 Rzxd 建議)
+* [2020-03-14] 調高 Toyota 扭力容錯值。
+* [2020-03-14] 優化讀取 dp 設定值。
+* [2020-03-14] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [2020-03-14] dp 功能加入對 Subaru 車系的支援。
+* [2020-03-06] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [2020-03-06] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [2020-03-04] 加入顯示駕駛監控畫面。
+* [2020-03-04] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [2020-03-04] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+dragonpilot 0.7.2
+========================
+* [2020-02-08] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [2020-02-08] 加入神盾測速照相自動啟動的開關。
+* [2020-02-08] 更新高德地圖至 v4.5.0.600053。
+* [2020-02-08] 使用 0.6.6 版的更新系統。
+* [2020-02-08] 修正急剎問題。(感謝 kumar 提供)
+* [2020-01-31] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+* [2020-01-29] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+* [2020-01-23] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [2020-01-23] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [2020-01-23] 優化 appd。
+
+dragonpilot 0.7.1
+========================
+* [2020-01-19] 調整 appd 和 ALC 邏輯。 
+* [2020-01-14] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+* [2020-01-18] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [2020-01-18] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+dragonpilot 0.7.0
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [2019-12-29] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [2019-12-29] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+* [2019-12-18] 修正自動換道邏輯。
+* [2019-12-18] 更新 offroad 翻譯。
+* [2019-12-18] 錯誤修正。
+* [2019-12-18] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+* [2019-12-17] 加入輔助換道開關。（24mph / 40kph 以上)
+* [2019-12-17] 加入自動換道開關。（40mph / 65kph 以上)
+* [2019-12-17] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+* [2019-12-10] 加入位智車機模式。 (Waze Mode)
+* [2019-11-21] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [2019-11-21] 調整前車靜止移動偵測參數。
+* [2019-11-21] 前車靜止移動偵測可在未啟用 dp 時運作。
+* [2019-11-18] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+* [2019-11-18] 修正 frame 翻譯。
+
+dragonpilot 0.6.6
+========================
+* [2019-11-15] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+* [2019-11-15] 修正充電控制。 (感謝 KT 反應)
+* [2019-11-15] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [2019-11-12] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [2019-11-12] 自動偵測並鎖定硬體 (EON / UNO)。
+* [2019-11-12] 加入鎖定硬體 (EON / UNO) 的程式碼。
+* [2019-11-11] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [2019-11-11] 更新 MiXplorer 至 v6.40.3
+* [2019-11-11] 前車靜止移動偵測加入偵測警示。
+* [2019-11-07] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [2019-11-07] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+* [2019-11-06] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+
+dragonpilot 0.6.5
+========================
+* [2019-11-05] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+* [2019-11-01] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [2019-11-01] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+* [2019-11-01] 移除 Miui 字型，縮小 dp 使用空間。
+* [2019-11-01] 更新 offroad 為多語言版
+* [2019-10-29] 加入 SnG 補丁。（感謝 楊雅智)
+* [2019-10-28] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+* [2019-10-22] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [2019-10-18] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 修正 allow_gas 功能。
+* [2019-10-18] 加入彎道減速功能開關。
+* [2019-10-18] 強迫使用 dp 版 Panda 韌體。
+* [2019-10-17] 加入「車型」顯示於 dp 設定畫面。
+* [2019-10-17] 修正充電控制讀取預設值的錯誤。
+* [2019-10-17] 修正無法顯示更新記錄的錯誤。
+* [2019-10-17] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [2019-10-17] 下載更新記錄時使用 "no-cache" 標頭。
+* [2019-10-17] 更新高德地圖至 v4.3.0
+* [2019-10-14] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [2019-10-14] 清除不再使用的 dp params。
+* [2019-10-14] 加入數字電量指示。(感謝 鄧育林 建議)
+* [2019-10-14] 加入刷新 Panda 韌體按鈕。
+* [2019-10-11] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+* [2019-10-11] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+dragonpilot 0.6.4
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
+* [2019-10-08] 加回駕駛監控開關。
+* [2019-10-07] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+* [2019-10-05] 移除 curvature learner: 轉角明顯比原廠小。
+* [2019-09-30] 更新 curvature learner 版本至 v4。
+* [2019-09-30] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+* [2019-09-27] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [2019-09-27] 加入可開關駕駛監控的程式碼。
+* [2019-09-27] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [2019-09-27] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+* [2019-09-26] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+* [2019-09-24] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [2019-09-24] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+* [2019-09-23] 優化讀取 params 的次數。
+* [2019-09-23] 加入可開關的車道偏移警示。
+* [2019-09-23] 修正充電控制邏輯。
+* [2019-09-23] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+* [2019-09-20] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+* [2019-09-16] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [2019-09-16] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+* [2019-09-13] 行車介面加入可開關的「速度顯示」設定。
+* [2019-09-09] 加入 GreyPanda 模式。
+* [2019-08-28] 加入可調警示音量。
+* [2019-08-27] 自動關機改為可調時長。
+
+dragonpilot 0.6.3
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
@@ -0,0 +1,120 @@
+2020-06-22 (0.7.5)
+========================
+* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
+* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
+
+2020-06-18 (0.7.5)
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+2020-05-30 (0.7.5)
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+
+2020-05-28 (0.7.5)
+========================
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+
+2020-05-26 (0.7.5)
+========================
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+2020-05-25 (0.7.5)
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+
+2020-05-21 (0.7.5)
+========================
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+
+2020-05-20 (0.7.5)
+========================
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+2020-05-19 (0.7.5)
+========================
+* 加入 DragonEnableAutoUpdate 預設值。
+* Added DragonEnableAutoUpdate default value.
+
+2020-05-18 (0.7.5)
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model"
+
+2020-05-16 (0.7.5)
+========================
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+
+2020-05-15 (0.7.5)
+========================
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+2020-05-10
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camry Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
@@ -10,9 +10,41 @@ Most open source development activity is coordinated through our [Discord](https
 * Make sure you have a [GitHub account](https://github.com/signup/free)
 * Fork [our repositories](https://github.com/commaai) on GitHub

+## Testing
+
+### Local Testing
+
+You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
+
+### Automated Testing
+
+All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
+
+### Code Style and Linting
+
+Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
+
 ## 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)

+## Pull Requests
+
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
+```
+git submodule init
+git submodule update
+```
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+Modules that are in seperate repositories include:
+* apks
+* cereal
+* laika
+* opendbc
+* panda
@@ -1,40 +0,0 @@
-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 \
-    libssl-dev \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    opencl-headers
-
-RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
-
-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
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
-	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-
@@ -1,162 +1,303 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
-
-Welcome to openpilot
-======
-
-[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 selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. 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 to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+[![](https://i.imgur.com/UelUjKAh.png)](#)

 Table of Contents
 =======================

-* [Community](#community)
-* [Hardware](#hardware)
+* [What is openpilot?](#what-is-openpilot)
+* [Integration with Stock Features](#integration-with-stock-features)
+* [Supported Hardware](#supported-hardware)
 * [Supported Cars](#supported-cars)
-* [Community Maintained Cars](#community-maintained-cars)
-* [In Progress Cars](#in-progress-cars)
-* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
-* [Directory structure](#directory-structure)
-* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
+* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
+* [Installation Instructions](#installation-instructions)
+* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
+* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
+* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
+* [User Data and comma Account](#user-data-and-comma-account)
+* [Safety and Testing](#safety-and-testing)
 * [Testing on PC](#testing-on-pc)
-* [Contributing](#contributing)
+* [Community and Contributing](#community-and-contributing)
+* [Directory Structure](#directory-structure)
 * [Licensing](#licensing)

 ---

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

-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 several thousand people community on [Discord](https://discord.comma.ai).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" 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>
+    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
  </tr>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=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>
+    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
  </tr>
 </table>

-Hardware
+Integration with Stock Features
 ------

-At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
+In all supported cars:
+* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
+* Stock LDW is replaced by openpilot LDW.

-Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
+Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
+* Stock ACC is replaced by openpilot ACC.
+* openpilot FCW operates in addition to stock FCW.
+
+openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
+
+Supported Hardware
+------
+
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).

 Supported Cars
 ------

-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
-| Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
-| Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | CR-V 2017-18             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
-| Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2017-19   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Lexus                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius Prime 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2019-20     | Honda Sensing     | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph              |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
+| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
+| Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2019-20                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>3</sup>| 0mph               | 0mph              |

-<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.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://zoneos.com/volt/).  
-<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.  
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.  
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).  
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />

-Community Maintained Cars
+Community Maintained Cars and Features
 ------

-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Honda                | Fit 2018                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Tesla                | Model S 2012             | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>9</sup>|
-| Tesla                | Model S 2013             | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>9</sup>|
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
+| Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G80 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G90 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq 2017<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq 2019 EV<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
+| Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Palisade 2020<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2020<sup>2</sup>       | All               | Stock            | 0mph               | 0mph         |
+| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Forte 2018<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Optima 2017<sup>2</sup>       | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
+| Kia       | Optima 2019<sup>2</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2019                     | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2018                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |

-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
-[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
-<sup>9</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
+<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
+<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />

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

-In Progress Cars
------
- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
-  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
- All Hyundai with SmartSense.
- All Kia with SCC and LKAS.
- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
+Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.

-How can I add support for my car?
+To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+
+Installation Instructions
 ------

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

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

- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
- 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 uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
+Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.

-Directory structure
+You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
+
+Limitations of openpilot ALC and LDW
+------
+
+openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
+
+While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
+
+Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
+* In the presence of restricted lanes or construction zones.
+* When driving on highly banked roads or in presence of strong cross-wind.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Driving on hills, narrow, or winding roads.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+Limitations of openpilot ACC and FCW
+------
+
+openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
+
+Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
+
+* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
+* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
+* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
+* The device is mounted incorrectly.
+* Approaching a toll booth, a bridge or a large metal plate.
+* When driving on roads with pedestrians, cyclists, etc...
+* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
+* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
+* In presence of vehicles in the same lane that are not moving.
+* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
+* When surrounding vehicles perform close cut-ins from neighbor lanes.
+* Driving on hills, narrow, or winding roads.
+* Extremely hot or cold temperatures.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* Interference from other equipment that generates radar waves.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
+
+Limitations of openpilot DM
+------
+
+openpilot DM should not be considered an exact measurement of the alertness of the driver.
+
+Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
+
+* Low light conditions, such as driving at night or in dark tunnels.
+* Bright light (due to oncoming headlights, direct sunlight, etc.).
+* The driver's face is partially or completely outside field of view of the driver facing camera.
+* Right hand driving vehicles.
+* The driver facing camera is obstructed, covered, or damaged.
+
+The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
+
+User Data and comma Account
+------
+
+By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+Safety and Testing
+----
+
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
+* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
+* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
+
+Testing on PC
+------
+
+Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+
+Community and Contributing
+------
+
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
+
+You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). We also have a [bounty program](https://comma.ai/bounties.html).
+
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+Directory Structure
 ------
    .
    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec used for all logs on EON
+    ├── cereal              # The messaging spec and libs used for all logs
    ├── common              # Library like functionality we've developed here
    ├── installer/updater   # Manages auto-updates of openpilot
    ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN and LIN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
+    ├── panda               # Code used to communicate on CAN
+    ├── phonelibs           # Libraries used on NEOS devices
+    ├── pyextra             # Libraries used on NEOS devices
    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
+        ├── assets          # Fonts, images, and sounds for UI
+        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
-        ├── can             # Helpers for parsing CAN messages
+        ├── camerad         # Driver to capture images from the camera sensors
        ├── car             # Car specific code to read states and control actuators
        ├── common          # Shared C/C++ code for the daemons
        ├── controls        # Perception, planning and controls
@@ -164,56 +305,20 @@ Directory structure
        ├── locationd       # Soon to be home of precise location
        ├── logcatd         # Android logcat as a service
        ├── loggerd         # Logger and uploader of car data
-        ├── mapd            # Fetches map data and computes next global path
-        ├── orbd            # Computes ORB features from frames
+        ├── modeld          # Driving and monitoring model runners
        ├── proclogd        # Logs information from proc
        ├── sensord         # IMU / GPS interface code
-        ├── test            # Car simulator running code through virtual maneuvers
-        ├── ui              # The UI
-        └── visiond         # Vision pipeline
+        ├── test            # Unit tests, system tests and a car simulator
+        └── ui              # The UI

-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
------
-
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
-
-Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
-
-```bash
-# Requires working docker
-./run_docker_tests.sh
-```
-
-Contributing
------
-
-We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
-
-We also have a [bounty program](https://comma.ai/bounties.html).
-
-Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
+To understand how the services interact, see `cereal/service_list.yaml`.

 Licensing
 ------

 openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

-Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.

 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
@@ -222,3 +327,8 @@ 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>
+
+[![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)
@@ -1,36 +0,0 @@
-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.
-
@@ -1,3 +1,195 @@
+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!
+* 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
+* 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
@@ -8,7 +200,7 @@ Version 0.5.9 (2019-02-10)
 * 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 suppor thanks to adhintz!
+ * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!

 Version 0.5.8 (2019-01-17)
 ========================
@@ -1,16 +1,26 @@
 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**.
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
+Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
+driver to be alert and to pay attention at all times.

 In order to enforce driver alertness, openpilot includes a driver monitoring feature
 that alerts the driver when distracted.

 However, even with an attentive driver, we must make further efforts for the system to be
-safe. We have designed openpilot with two other safety considerations.
+safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
+used safely** and openpilot is provided with no warranty of fitness for any purpose.
+
+openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
+industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
+ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
+released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
+on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
+hardware-in-the-loop and in-vehicle tests before each software release.
+
+Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
+ensuring two main safety requirements.

 1. The driver must always be capable to immediately retake manual control of the vehicle, 
   by stepping on either pedal or by pressing the cancel button.
@@ -18,92 +28,7 @@ safe. We have designed openpilot with two other safety considerations.
   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:
+For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.

-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
+**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 +1,248 @@
+import os
+import subprocess
+import sys
+import platform
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+if arch == "aarch64" and not os.path.isdir("/system"):
+  arch = "larch64"
+
+webcam = bool(ARGUMENTS.get("use_webcam", 0))
+
+if arch == "aarch64" or arch == "larch64":
+  lenv = {
+    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
+    "PATH": os.environ['PATH'],
+  }
+
+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
+  cpppath = [
+    "#phonelibs/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/lib",
+    "/data/data/com.termux/files/usr/lib",
+    "/system/vendor/lib64",
+    "/system/comma/usr/lib",
+    "#phonelibs/nanovg",
+  ]
+
+  if arch == "larch64":
+    cpppath += ["#phonelibs/capnp-cpp/include"]
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath = ["/usr/local/lib"]
+  else:
+    libpath += ["#phonelibs/snpe/aarch64"]
+    libpath += ["#phonelibs/libyuv/lib"]
+    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    rpath = ["/system/vendor/lib64"]
+
+else:
+  lenv = {
+    "PATH": "#external/bin:" + os.environ['PATH'],
+  }
+  cpppath = [
+    "#phonelibs/capnp-cpp/include",
+    "#phonelibs/zmq/x64/include",
+    "#external/tensorflow/include",
+  ]
+
+  if arch == "Darwin":
+    libpath = [
+      "#phonelibs/capnp-cpp/mac/lib",
+      "#phonelibs/libyuv/mac/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/local/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+  else:
+    libpath = [
+      "#phonelibs/capnp-cpp/x64/lib",
+      "#phonelibs/snpe/x86_64-linux-clang",
+      "#phonelibs/zmq/x64/lib",
+      "#phonelibs/libyuv/x64/lib",
+      "#external/zmq/lib",
+      "#external/tensorflow/lib",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+  rpath = ["phonelibs/capnp-cpp/x64/lib",
+           "phonelibs/zmq/x64/lib",
+           "external/tensorflow/lib",
+           "cereal",
+           "selfdrive/common"]
+
+  # allows shared libraries to work globally
+  rpath = [os.path.join(os.getcwd(), x) for x in rpath]
+
+  cflags = []
+  cxxflags = []
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+# change pythonpath to this
+lenv["PYTHONPATH"] = Dir("#").path
+
+env = Environment(
+  ENV=lenv,
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Werror=implicit-function-declaration",
+    "-Werror=incompatible-pointer-types",
+    "-Werror=int-conversion",
+    "-Werror=return-type",
+    "-Werror=format-extra-args",
+  ] + cflags + ccflags_asan,
+
+  CPPPATH=cpppath + [
+    "#",
+    "#selfdrive",
+    "#phonelibs/bzip2",
+    "#phonelibs/libyuv/include",
+    "#phonelibs/openmax/include",
+    "#phonelibs/json11",
+    "#phonelibs/eigen",
+    "#phonelibs/curl/include",
+    #"#phonelibs/opencv/include", # use opencv4 instead
+    "#phonelibs/libgralloc/include",
+    "#phonelibs/android_frameworks_native/include",
+    "#phonelibs/android_hardware_libhardware/include",
+    "#phonelibs/android_system_core/include",
+    "#phonelibs/linux/include",
+    "#phonelibs/snpe/include",
+    "#phonelibs/nanovg",
+    "#selfdrive/common",
+    "#selfdrive/camerad",
+    "#selfdrive/camerad/include",
+    "#selfdrive/loggerd/include",
+    "#selfdrive/modeld",
+    "#cereal/messaging",
+    "#cereal",
+    "#opendbc/can",
+  ],
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags_asan,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++14"] + cxxflags,
+  LIBPATH=libpath +
+  [
+    "#cereal",
+    "#selfdrive/common",
+    "#phonelibs",
+  ]
+)
+
+if os.environ.get('SCONS_CACHE'):
+  CacheDir('/tmp/scons_cache')
+
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
+SHARED = False
+
+def abspath(x):
+  if arch == 'aarch64':
+    pth = os.path.join("/data/pythonpath", x[0].path)
+    env.Depends(pth, x)
+    return File(pth)
+  else:
+    # rpath works elsewhere
+    return x[0].path.rsplit("/", 1)[1][:-3]
+
+# still needed for apks
+if arch == 'larch64':
+  zmq = 'zmq'
+else:
+  zmq = FindFile("libzmq.a", libpath)
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
+
+# cereal and messaging are shared with the system
+SConscript(['cereal/SConscript'])
+if SHARED:
+  cereal = abspath([File('cereal/libcereal_shared.so')])
+  messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+  cereal = [File('#cereal/libcereal.a')]
+  messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
+
+if SHARED:
+  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  visionipc = _visionipc
+  gpucommon = [_gpucommon] + _gpu_libs
+
+Export('common', 'visionipc', 'gpucommon')
+
+SConscript(['opendbc/can/SConscript'])
+
+SConscript(['common/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['phonelibs/SConscript'])
+
+if arch != "Darwin":
+  SConscript(['selfdrive/camerad/SConscript'])
+  SConscript(['selfdrive/modeld/SConscript'])
+
+SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
+
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/proclogd/SConscript'])
+
+SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/loggerd/SConscript'])
+
+if arch == "aarch64":
+  SConscript(['selfdrive/logcatd/SConscript'])
+  SConscript(['selfdrive/sensord/SConscript'])
+  SConscript(['selfdrive/clocksd/SConscript'])
+
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/kalman/SConscript'])
+SConscript(['tools/lib/index_log/SConscript'])
@@ -0,0 +1 @@
+.sconsign.dblite
@@ -0,0 +1,23 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+
+    runs-on: ubuntu-16.04
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build docker image
+      run: docker build -t cereal .
+    - name: Unit Tests
+      run: |
+        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
+    - name: Test ZMQ
+      run: |
+        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
+    - name: Test MSGQ
+      run: |
+        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
+
@@ -1,3 +1,14 @@
 gen
 node_modules
 package-lock.json
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+libcereal*.a
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+libcereal_shared.*
+
@@ -0,0 +1,19 @@
+from ubuntu:16.04
+
+RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
+
+WORKDIR /project/cereal
+COPY install_capnp.sh .
+RUN ./install_capnp.sh
+
+ENV PYTHONPATH=/project
+
+COPY . .
+RUN scons -c && scons -j$(nproc)
@@ -1,62 +0,0 @@
-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)
-		ifneq (, $(shell which capnpc-java))
-			GENS += gen/java/Car.java gen/java/Log.java
-    else
-      $(warning capnpc-java not found, skipping java build)
-		endif
-	endif
-
-endif
-
-ifeq ($(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) $^ -o java:gen/java
-
-# c-capnproto needs some empty headers
-gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
-	mkdir -p gen/c/include
-	touch '$@'
@@ -0,0 +1,41 @@
+What is cereal?
+----
+
+cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
+
+Imagine this use case:
+* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
+* A calibration process subscribes to the sensorEvents packet to use the IMU
+* A localization process subscribes to the sensorEvents packet to use the IMU also
+
+
+Messaging Spec
+----
+
+You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
+
+All Events have a logMonoTime and a valid. Then a big union defines the packet type.
+
+
+Pub Sub Backends
+----
+
+cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+
+Example
+---
+```python
+import cereal.messaging as messaging
+
+# in subscriber
+sm = messaging.SubMaster(['sensorEvents'])
+while 1:
+  sm.update()
+  print(sm['sensorEvents'])
+
+# in publisher
+pm = messaging.PubMaster(['sensorEvents'])
+dat = messaging.new_message('sensorEvents', size=1)
+dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
+pm.send('sensorEvents', dat)
+```
@@ -0,0 +1,62 @@
+Import('env', 'arch', 'zmq')
+
+gen_dir = Dir('gen')
+messaging_dir = Dir('messaging')
+
+# TODO: remove src-prefix and cereal from command string. can we set working directory?
+env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
+env.Command(
+  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
+  ['car.capnp', 'log.capnp'],
+  'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
+import shutil
+if shutil.which('capnpc-java'):
+  env.Command(
+    ['gen/java/Car.java', 'gen/java/Log.java'],
+    ['car.capnp', 'log.capnp'],
+    'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
+
+# TODO: remove non shared cereal and messaging
+cereal_objects = env.SharedObject([
+    'gen/cpp/car.capnp.c++',
+    'gen/cpp/log.capnp.c++',
+  ])
+
+env.Library('cereal', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects)
+
+cereal_dir = Dir('.')
+services_h = env.Command(
+  ['services.h'],
+  ['service_list.yaml', 'services.py'],
+  'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+
+messaging_objects = env.SharedObject([
+  'messaging/messaging.cc',
+  'messaging/impl_zmq.cc',
+  'messaging/impl_msgq.cc',
+  'messaging/msgq.cc',
+])
+
+messaging_lib = env.Library('messaging', messaging_objects)
+Depends('messaging/impl_zmq.cc', services_h)
+
+# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
+# TODO: get APK to load system zmq to remove the static link
+shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
+env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
+Depends('messaging/bridge.cc', services_h)
+
+# different target?
+#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
+
+
+env.Command(['messaging/messaging_pyx.so'],
+  [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
+  "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
+
+
+if GetOption('test'):
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
@@ -0,0 +1,49 @@
+import os
+import subprocess
+
+zmq = 'zmq'
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+
+cereal_dir = Dir('.')
+
+cpppath = [
+    cereal_dir,
+    '/usr/lib/include',
+]
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Werror=implicit-function-declaration",
+    "-Werror=incompatible-pointer-types",
+    "-Werror=int-conversion",
+    "-Werror=return-type",
+    "-Werror=format-extra-args",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++14",
+  CPPPATH=cpppath,
+)
+
+
+Export('env', 'zmq', 'arch')
+SConscript(['SConscript'])
@@ -22,7 +22,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {

  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
-    commIssue @0;
+    canError @0;
    steerUnavailable @1;
    brakeUnavailable @2;
    gasUnavailable @3;
@@ -37,7 +37,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonEnable @12;
    pedalPressed @13;
    cruiseDisabled @14;
-    radarCommIssue @15;
+    radarCanError @15;
    dataNeeded @16;
    speedTooLow @17;
    outOfSpace @18;
@@ -49,7 +49,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    pcmDisable @24;
    noTarget @25;
    radarFault @26;
-    modelCommIssue @27;
+    modelCommIssueDEPRECATED @27;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
@@ -72,6 +72,39 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    calibrationProgress @47;
    lowBattery @48;
    invalidGiraffeHonda @49;
+    vehicleModelInvalid @50;
+    controlsFailed @51;
+    sensorDataInvalid @52;
+    commIssue @53;
+    tooDistracted @54;
+    posenetInvalid @55;
+    soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
+    invalidGiraffeToyota @60;
+    internetConnectivityNeeded @61;
+    communityFeatureDisallowed @62;
+    lowMemory @63;
+    stockAeb @64;
+    ldw @65;
+    carUnrecognized @66;
+    radarCommIssue @67;
+    driverMonitorLowAcc @68;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
+    # dp
+    preLaneChangeLeftALC @75;
+    preLaneChangeRightALC @76;
+    laneChangeALC @77;
+    manualSteeringRequired @78;
+    manualSteeringRequiredBlinkersOn @79;
+    leadCarMoving @80;
+    leadCarDetected @81;
  }
 }

@@ -100,10 +133,17 @@ struct CarState {
  brakeLights @19 :Bool;

  # steering wheel
-  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
+  steeringAngle @7 :Float32;       # deg
+  steeringRate @15 :Float32;       # deg/s
+  steeringTorque @8 :Float32;      # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @35 :Bool;          # temporary steer unavailble
+  steerError @36 :Bool;            # permanent steer error
+  stockAeb @30 :Bool;
+  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;

  # cruise state
  cruiseState @10 :CruiseState;
@@ -120,10 +160,21 @@ struct CarState {
  # lock info
  doorOpen @24 :Bool;
  seatbeltUnlatched @25 :Bool;
+  canValid @26 :Bool;
+
+  # clutch (manual transmission only)
+  clutchPressed @28 :Bool;
+
+  # dp
+  lkMode @37 :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
+
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -149,9 +200,10 @@ struct CarState {
    sport @5;
    low @6;
    brake @7;
+    eco @8;
+    manumatic @9;
  }

-
  # send on change
  struct ButtonEvent {
    pressed @0 :Bool;
@@ -167,13 +219,16 @@ struct CarState {
      altButton1 @6;
      altButton2 @7;
      altButton3 @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
    }
  }
 }

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

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

@@ -181,7 +236,7 @@ struct RadarState {
  canMonoTimes @2 :List(UInt64);

  enum Error {
-    commIssue @0;
+    canError @0;
    fault @1;
    wrongConfig @2;
  }
@@ -246,6 +301,8 @@ struct CarControl {
    audibleAlert @5: AudibleAlert;
    rightLaneVisible @6: Bool;
    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;

    enum VisualAlert {
      # these are the choices from the Honda
@@ -257,6 +314,7 @@ struct CarControl {
      wrongGear @4;
      seatbeltUnbuckled @5;
      speedTooHigh @6;
+      ldw @7;
    }

    enum AudibleAlert {
@@ -270,6 +328,7 @@ struct CarControl {
      chimeWarning2 @5;
      chimeWarningRepeat @6;
      chimePrompt @7;
+      chimeWarning2Repeat @8;
    }
  }
 }
@@ -278,89 +337,190 @@ struct CarControl {

 struct CarParams {
  carName @0 :Text;
-  radarNameDEPRECATED @1 :Text;
-  carFingerprint @2 :Text;
+  carFingerprint @1 :Text;

-  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;
+  enableCruise @3 :Bool;
+  enableCamera @4 :Bool;
+  enableDsu @5 :Bool; # driving support unit
+  enableApgs @6 :Bool; # advanced parking guidance system

-  minEnableSpeed @17 :Float32;
-  minSteerSpeed @49 :Float32;
-  safetyModel @18 :Int16;
-  safetyParam @41 :Int16;
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  safetyModel @9 :SafetyModel;
+  safetyModelPassive @42 :SafetyModel = silent;
+  safetyParam @10 :Int16;

-  steerMaxBP @19 :List(Float32);
-  steerMaxV @20 :List(Float32);
-  gasMaxBP @21 :List(Float32);
-  gasMaxV @22 :List(Float32);
-  brakeMaxBP @23 :List(Float32);
-  brakeMaxV @24 :List(Float32);
+  steerMaxBP @11 :List(Float32);
+  steerMaxV @12 :List(Float32);
+  gasMaxBP @13 :List(Float32);
+  gasMaxV @14 :List(Float32);
+  brakeMaxBP @15 :List(Float32);
+  brakeMaxV @16 :List(Float32);

-  longPidDeadzoneBP @32 :List(Float32);
-  longPidDeadzoneV @33 :List(Float32);
+  # things about the car in the manual
+  mass @17 :Float32;             # [kg] running weight
+  wheelbase @18 :Float32;        # [m] distance from rear to front axle
+  centerToFront @19 :Float32;   # [m] GC distance to front axle
+  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
+  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)

-  enum SafetyModels {
-    # does NOT match board setting
-    noOutput @0;
-    honda @1;
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
+
+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
+  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
+  steerControlType @34 :SteerControlType;
+  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+  isPandaBlack @39: Bool;
+  dashcamOnly @41: Bool;
+  transmissionType @43 :TransmissionType;
+  carFw @44 :List(CarFw);
+  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
+  communityFeature @46: Bool;  # true if a community maintained feature is detected
+  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    deadzoneBP @4 :List(Float32);
+    deadzoneV @5 :List(Float32);
+  }
+
+  struct LateralINDITuning {
+    outerLoopGain @0 :Float32;
+    innerLoopGain @1 :Float32;
+    timeConstant @2 :Float32;
+    actuatorEffectiveness @3 :Float32;
+  }
+
+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+
+  enum SafetyModel {
+    silent @0;
+    hondaNidec @1;
    toyota @2;
    elm327 @3;
    gm @4;
-    hondaBosch @5;
+    hondaBoschGiraffe @5;
    ford @6;
    cadillac @7;
    hyundai @8;
    chrysler @9;
    tesla @10;
+    subaru @11;
+    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
+    noOutput @19;  # like silent but without silent CAN TXs
+    hondaBoschHarness @20;
+    volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
  }

-  # 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
-  openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?
-
  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
+  }
+
+  struct CarFw {
+    ecu @0 :Ecu;
+    fwVersion @1 :Data;
+    address @2: UInt32;
+    subAddress @3: UInt8;
+  }
+
+  enum Ecu {
+    eps @0;
+    esp @1;
+    fwdRadar @2;
+    fwdCamera @3;
+    engine @4;
+    unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
+
+    # Toyota only
+    dsu @6;
+    apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
+  }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+    fixed @2;
+  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
 }
@@ -0,0 +1,26 @@
+#!/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}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
+  fi
+done
+
+tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
@@ -0,0 +1,40 @@
+set -e
+echo "Installing capnp"
+
+cd /tmp
+VERSION=0.6.1
+wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
+tar xvf capnproto-c++-${VERSION}.tar.gz
+cd capnproto-c++-${VERSION}
+CXXFLAGS="-fPIC" ./configure
+
+make -j$(nproc)
+make install
+
+# manually build binaries statically
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+cp .libs/capnp /usr/local/bin/
+cp .libs/capnpc-c++ /usr/local/bin/
+cp .libs/capnpc-capnp /usr/local/bin/
+cp .libs/*.a /usr/local/lib
+
+cd /tmp
+echo "Installing c-capnp"
+git clone https://github.com/commaai/c-capnproto.git
+cd c-capnproto
+git submodule update --init --recursive
+autoreconf -f -i -s
+CXXFLAGS="-fPIC" ./configure
+make -j$(nproc)
+make install
+
+# manually build binaries statically
+gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
+
+cp .libs/capnpc-c /usr/local/bin/
+cp .libs/*.a /usr/local/lib
@@ -126,6 +126,10 @@ struct FrameData {
  lensErr @13 :Float32;
  lensTruePos @14 :Float32;
  image @6 :Data;
+  gainFrac @15 :Float32;
+  focusVal @16 :List(Int16);
+  focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -137,6 +141,7 @@ struct FrameData {
    unknown @0;
    neo @1;
    chffrAndroid @2;
+    front @3;
  }

  struct AndroidCaptureResult {
@@ -150,6 +155,12 @@ struct FrameData {
  }
 }

+struct Thumbnail {
+  frameId @0 :UInt32;
+  timestampEof @1 :UInt64;
+  thumbnail @2 :Data;
+}
+
 struct GPSNMEAData {
  timestamp @0 :Int64;
  localWallTime @1 :UInt64;
@@ -262,6 +273,7 @@ struct ThermalData {
  mem @4 :UInt16;
  gpu @5 :UInt16;
  bat @6 :UInt32;
+  pa0 @21 :UInt16;

  # not thermal
  freeSpace @7 :Float32;
@@ -270,6 +282,9 @@ struct ThermalData {
  batteryCurrent @15 :Int32;
  batteryVoltage @16 :Int32;
  usbOnline @12 :Bool;
+  networkType @22 :NetworkType;
+  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
+  networkStrength @24 :NetworkStrength;

  fanSpeed @10 :UInt16;
  started @11 :Bool;
@@ -279,23 +294,103 @@ struct ThermalData {
  chargingError @17 :Bool;
  chargingDisabled @18 :Bool;

+  memUsedPercent @19 :Int8;
+  cpuPerc @20 :Int8;
+
+  ipAddr @25 :Text; # dp
+
  enum ThermalStatus {
    green @0;   # all processes run
    yellow @1;  # critical processes run (kill uploader), engage still allowed
    red @2;     # no engage, will disengage
    danger @3;  # immediate process shutdown
  }
+
+  enum NetworkType {
+    none @0;
+    wifi @1;
+    cell2G @2;
+    cell3G @3;
+    cell4G @4;
+    cell5G @5;
+  }
+
+  enum NetworkStrength {
+    unknown @0;
+    poor @1;
+    moderate @2;
+    good @3;
+    great @4;
+  }
 }

 struct HealthData {
  # from can health
  voltage @0 :UInt32;
  current @1 :UInt32;
-  started @2 :Bool;
+  ignitionLine @2 :Bool;
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
-  startedSignalDetected @5 :Bool;
-  isGreyPanda @6 :Bool;
+  startedSignalDetectedDeprecated @5 :Bool;
+  hasGps @6 :Bool;
+  canSendErrs @7 :UInt32;
+  canFwdErrs @8 :UInt32;
+  canRxErrs @19 :UInt32;
+  gmlanSendErrs @9 :UInt32;
+  hwType @10 :HwType;
+  fanSpeedRpm @11 :UInt16;
+  usbPowerMode @12 :UsbPowerMode;
+  ignitionCan @13 :Bool;
+  safetyModel @14 :Car.CarParams.SafetyModel;
+  faultStatus @15 :FaultStatus;
+  powerSaveEnabled @16 :Bool;
+  uptime @17 :UInt32;
+  faults @18 :List(FaultType);
+
+  enum FaultStatus {
+    none @0;
+    faultTemp @1;
+    faultPerm @2;
+  }
+
+  enum FaultType {
+    relayMalfunction @0;
+    unusedInterruptHandled @1;
+    interruptRateCan1 @2;
+    interruptRateCan2 @3;
+    interruptRateCan3 @4;
+    interruptRateTach @5;
+    interruptRateGmlan @6;
+    interruptRateInterrupts @7;
+    interruptRateSpiDma @8;
+    interruptRateSpiCs @9;
+    interruptRateUart1 @10;
+    interruptRateUart2 @11;
+    interruptRateUart3 @12;
+    interruptRateUart5 @13;
+    interruptRateUartDma @14;
+    interruptRateUsb @15;
+    interruptRateTim1 @16;
+    interruptRateTim3 @17;
+    registerDivergent @18;
+    # Update max fault type in boardd when adding faults
+  }
+
+  enum HwType {
+    unknown @0;
+    whitePanda @1;
+    greyPanda @2;
+    blackPanda @3;
+    pedal @4;
+    uno @5;
+  }
+
+  enum UsbPowerMode {
+    none @0;
+    client @1;
+    cdp @2;
+    dcp @3;
+  }
 }

 struct LiveUI {
@@ -305,12 +400,12 @@ struct LiveUI {
  awarenessStatus @3 :Float32;
 }

-struct Live20Data {
+struct RadarState @0x9a185389d6fdd05f {
  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
  ftMonoTimeDEPRECATED @7 :UInt64;
-  l100MonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarState.Error);
+  controlsStateMonoTime @11 :UInt64;
+  radarErrors @12 :List(Car.RadarData.Error);

  # all deprecated
  warpMatrixDEPRECATED @0 :List(Float32);
@@ -337,6 +432,8 @@ struct Live20Data {
    fcw @10 :Bool;
    status @11 :Bool;
    aLeadTau @12 :Float32;
+    modelProb @13 :Float32;
+    radar @14 :Bool;
  }
 }

@@ -353,6 +450,8 @@ struct LiveCalibrationData {
  # view_frame_from_road_frame
  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
+  # the direction of travel vector in device frame
+  rpyCalib @7 :List(Float32);
 }

 struct LiveTracks {
@@ -368,15 +467,15 @@ struct LiveTracks {
  oncoming @9 :Bool;
 }

-struct Live100Data {
+struct ControlsState @0x97ff69c53601abf1 {
  canMonoTimeDEPRECATED @16 :UInt64;
  canMonoTimes @21 :List(UInt64);
-  l20MonoTimeDEPRECATED @17 :UInt64;
+  radarStateMonoTimeDEPRECATED @17 :UInt64;
  mdMonoTimeDEPRECATED @18 :UInt64;
  planMonoTime @28 :UInt64;
  pathPlanMonoTime @50 :UInt64;

-  state @31 :ControlState;
+  state @31 :OpenpilotState;
  vEgo @0 :Float32;
  vEgoRaw @32 :Float32;
  aEgoDEPRECATED @1 :Float32;
@@ -388,9 +487,9 @@ struct Live100Data {
  ufAccelCmd @33 :Float32;
  yActualDEPRECATED @6 :Float32;
  yDesDEPRECATED @7 :Float32;
-  upSteer @8 :Float32;
-  uiSteer @9 :Float32;
-  ufSteer @34 :Float32;
+  upSteerDEPRECATED @8 :Float32;
+  uiSteerDEPRECATED @9 :Float32;
+  ufSteerDEPRECATED @34 :Float32;
  aTargetMinDEPRECATED @10 :Float32;
  aTargetMaxDEPRECATED @11 :Float32;
  aTarget @35 :Float32;
@@ -417,9 +516,10 @@ struct Live100Data {
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
  alertType @44 :Text;
-  alertSound @45 :Text;
+  alertSoundDEPRECATED @45 :Text;
+  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
  awarenessStatus @26 :Float32;
-  angleOffset @27 :Float32;
+  angleModelBiasDEPRECATED @27 :Float32;
  gpsPlannerActive @40 :Bool;
  engageable @41 :Bool;  # can OP be engaged?
  driverMonitoringOn @43 :Bool;
@@ -428,7 +528,16 @@ struct Live100Data {
  vCurvature @46 :Float32;
  decelForTurn @47 :Bool;

-  enum ControlState {
+  decelForModel @54 :Bool;
+  canErrorCounter @57 :UInt32;
+
+  lateralControlState :union {
+    indiState @52 :LateralINDIState;
+    pidState @53 :LateralPIDState;
+    lqrState @55 :LateralLQRState;
+  }
+
+  enum OpenpilotState @0xdbe58b96d2d1ac61 {
    disabled @0;
    preEnabled @1;
    enabled @2;
@@ -455,6 +564,42 @@ struct Live100Data {
    full @3;    # full screen
  }

+  struct LateralINDIState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    steerRate @2 :Float32;
+    steerAccel @3 :Float32;
+    rateSetPoint @4 :Float32;
+    accelSetPoint @5 :Float32;
+    accelError @6 :Float32;
+    delayedOutput @7 :Float32;
+    delta @8 :Float32;
+    output @9 :Float32;
+    saturated @10 :Bool;
+  }
+
+  struct LateralPIDState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    steerRate @2 :Float32;
+    angleError @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+   }
+
+  struct LateralLQRState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    i @2 :Float32;
+    output @3 :Float32;
+    lqrOutput @4 :Float32;
+    saturated @5 :Bool;
+   }
+
+
 }

 struct LiveEventData {
@@ -464,6 +609,7 @@ struct LiveEventData {

 struct ModelData {
  frameId @0 :UInt32;
+  timestampEof @9 :UInt64;

  path @1 :PathData;
  leftLane @2 :PathData;
@@ -472,17 +618,29 @@ struct ModelData {
  freePath @6 :List(Float32);

  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;

  struct PathData {
    points @0 :List(Float32);
    prob @1 :Float32;
    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
  }

  struct LeadData {
    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 {
@@ -494,6 +652,21 @@ struct ModelData {
    yuvCorrection @5 :List(Float32);
    inputTransform @6 :List(Float32);
  }
+
+  struct MetaData {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
 }

 struct CalibrationFeatures {
@@ -544,8 +717,10 @@ struct LogRotate {

 struct Plan {
  mdMonoTime @9 :UInt64;
-  l20MonoTime @10 :UInt64;
-  events @13 :List(Car.CarEvent);
+  radarStateMonoTime @10 :UInt64;
+  commIssue @31 :Bool;
+
+  eventsDEPRECATED @13 :List(Car.CarEvent);

  # lateral, 3rd order polynomial
  lateralValidDEPRECATED @0 :Bool;
@@ -582,6 +757,10 @@ struct Plan {
  vCurvature @21 :Float32;
  decelForTurn @22 :Bool;
  mapValid @25 :Bool;
+  radarValid @28 :Bool;
+  radarCanError @30 :Bool;
+
+  processingDelay @29 :Float32;


  struct GpsTrajectory {
@@ -594,6 +773,7 @@ struct Plan {
    mpc1 @1;
    mpc2 @2;
    mpc3 @3;
+    model @4;
  }
 }

@@ -608,8 +788,90 @@ struct PathPlan {
  rPoly @6 :List(Float32);
  rProb @7 :Float32;

-  angleSteers @8 :Float32;
-  valid @9 :Bool;
+  angleSteers @8 :Float32; # deg
+  rateSteers @13 :Float32; # deg/s
+  mpcSolutionValid @9 :Bool;
+  paramsValid @10 :Bool;
+  modelValidDEPRECATED @12 :Bool;
+  angleOffset @11 :Float32;
+  sensorValid @14 :Bool;
+  commIssue @15 :Bool;
+  posenetValid @16 :Bool;
+  desire @17 :Desire;
+  laneChangeState @18 :LaneChangeState;
+  laneChangeDirection @19 :LaneChangeDirection;
+
+  # dragonpilot
+  alcAllowed @20 :Bool;
+
+  enum Desire {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+    laneChangeLeft @3;
+    laneChangeRight @4;
+    keepLeft @5;
+    keepRight @6;
+  }
+
+  enum LaneChangeState {
+    off @0;
+    preLaneChange @1;
+    laneChangeStarting @2;
+    laneChangeFinishing @3;
+  }
+
+  enum LaneChangeDirection {
+    none @0;
+    left @1;
+    right @2;
+  }
+}
+
+struct LiveLocationKalman {
+
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+  positionECEF @0 : Measurement;
+  positionGeodetic @1 : Measurement;
+  velocityECEF @2 : Measurement;
+  velocityNED @3 : Measurement;
+  velocityDevice @4 : Measurement;
+  accelerationDevice @5: Measurement;
+
+
+  # These angles are all eulers and roll, pitch, yaw
+  # orientationECEF transforms to rot matrix: ecef_from_device
+  orientationECEF @6 : Measurement;
+  orientationNED @7 : Measurement;
+  angularVelocityDevice @8 : Measurement;
+
+  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+  orientationNEDCalibrated @9 : Measurement;
+
+  # Calibrated frame is simply device frame
+  # aligned with the vehicle
+  velocityCalibrated @10 : Measurement;
+  accelerationCalibrated @11 : Measurement;
+  angularVelocityCalibrated @12 : Measurement;
+
+  gpsWeek @13 :Int32;
+  gpsTimeOfWeek @14 :Float64;
+  status @15 :Status;
+  unixTimestampMillis @16 :Int64;
+
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
+  }
+
+  struct Measurement {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
 }

 struct LiveLocationData {
@@ -1255,6 +1517,7 @@ struct UbloxGnss {
    measurementReport @0 :MeasurementReport;
    ephemeris @1 :Ephemeris;
    ionoData @2 :IonoData;
+    hwStatus @3 :HwStatus;
  }

  struct MeasurementReport {
@@ -1378,8 +1641,29 @@ struct UbloxGnss {
    healthValid @5 :Bool;
    ionoCoeffsValid @6 :Bool;
  }
-}

+  struct HwStatus {
+    noisePerMS @0 :UInt16;
+    agcCnt @1 :UInt16;
+    aStatus @2 :AntennaSupervisorState;
+    aPower @3 :AntennaPowerStatus;
+    jamInd @4 :UInt8;
+
+    enum AntennaSupervisorState {
+      init @0;
+      dontknow @1;
+      ok @2;
+      short @3;
+      open @4;
+    }
+
+    enum AntennaPowerStatus {
+      off @0;
+      on @1;
+      dontknow @2;
+    }
+  }
+}

 struct Clocks {
  bootTimeNanos @0 :UInt64;
@@ -1516,11 +1800,14 @@ struct UiLayoutState {
  activeApp @0 :App;
  sidebarCollapsed @1 :Bool;
  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;

  enum App {
    home @0;
    music @1;
    nav @2;
+    settings @3;
+    none @4;
  }
 }

@@ -1586,10 +1873,40 @@ struct OrbKeyFrame {
  descriptors @3 :Data;
 }

-struct DriverMonitoring {
+struct DriverState {
  frameId @0 :UInt32;
-  descriptor @1 :List(Float32);
-  std @2 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  irPwrDEPRECATED @10 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+}
+
+struct DMonitoringState {
+  # TODO: deprecate old fields in controlsState
+  events @0 :List(Car.CarEvent);
+  faceDetected @1 :Bool;
+  isDistracted @2 :Bool;
+  awarenessStatus @3 :Float32;
+  isRHD @4 :Bool;
+  rhdChecked @5 :Bool;
+  posePitchOffset @6 :Float32;
+  posePitchValidCount @7 :UInt32;
+  poseYawOffset @8 :Float32;
+  poseYawValidCount @9 :UInt32;
+  stepChange @10 :Float32;
+  awarenessActive @11 :Float32;
+  awarenessPassive @12 :Float32;
+  isLowStd @13 :Bool;
+  hiStdCount @14 :UInt32;
+  isPreview @15 :Bool;
 }

 struct Boot {
@@ -1602,6 +1919,13 @@ struct LiveParametersData {
  valid @0 :Bool;
  gyroBias @1 :Float32;
  angleOffset @2 :Float32;
+  angleOffsetAverage @3 :Float32;
+  stiffnessFactor @4 :Float32;
+  steerRatio @5 :Float32;
+  sensorValid @6 :Bool;
+  yawRate @7 :Float32;
+  posenetSpeed @8 :Float32;
+  posenetValid @9 :Bool;
 }

 struct LiveMapData {
@@ -1625,6 +1949,8 @@ struct LiveMapData {
 }

 struct CameraOdometry {
+  frameId @4 :UInt32;
+  timestampEof @5 :UInt64;
  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
@@ -1638,9 +1964,20 @@ struct KalmanOdometry {
  rotStd @3 :List(Float32); # std rad/s in device frame
 }

+struct Sentinel {
+  enum SentinelType {
+    endOfSegment @0;
+    endOfRoute @1;
+    startOfSegment @2;
+    startOfRoute @3;
+  }
+  type @0 :SentinelType;
+}
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
+  valid @67 :Bool = true;

  union {
    initData @1 :InitData;
@@ -1649,20 +1986,20 @@ struct Event {
    sensorEventDEPRECATED @4 :SensorEventData;
    can @5 :List(CanData);
    thermal @6 :ThermalData;
-    live100 @7 :Live100Data;
+    controlsState @7 :ControlsState;
    liveEventDEPRECATED @8 :List(LiveEventData);
    model @9 :ModelData;
    features @10 :CalibrationFeatures;
    sensorEvents @11 :List(SensorEventData);
    health @12 :HealthData;
-    live20 @13 :Live20Data;
+    radarState @13 :RadarState;
    liveUIDEPRECATED @14 :LiveUI;
    encodeIdx @15 :EncodeIndex;
    liveTracks @16 :List(LiveTracks);
    sendcan @17 :List(CanData);
    logMessage @18 :Text;
    liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
+    androidLog @20 :AndroidLogEntry;
    gpsLocation @21 :GpsLocationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
@@ -1693,7 +2030,7 @@ struct Event {
    gpsLocationExternal @48 :GpsLocationData;
    location @49 :LiveLocationData;
    uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalman @51 :LiveLocationData;
+    liveLocationKalmanDEPRECATED @51 :LiveLocationData;
    testJoystick @52 :Joystick;
    orbOdometry @53 :OrbOdometry;
    orbFeatures @54 :OrbFeatures;
@@ -1701,12 +2038,19 @@ struct Event {
    orbKeyFrame @56 :OrbKeyFrame;
    uiLayoutState @57 :UiLayoutState;
    orbFeaturesSummary @58 :OrbFeaturesSummary;
-    driverMonitoring @59 :DriverMonitoring;
+    driverState @59 :DriverState;
    boot @60 :Boot;
    liveParameters @61 :LiveParametersData;
    liveMapData @62 :LiveMapData;
    cameraOdometry @63 :CameraOdometry;
    pathPlan @64 :PathPlan;
    kalmanOdometry @65 :KalmanOdometry;
+    thumbnail @66: Thumbnail;
+    carEvents @68: List(Car.CarEvent);
+    carParams @69: Car.CarParams;
+    frontFrame @70: FrameData;
+    dMonitoringState @71: DMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
+    sentinel @73 :Sentinel;
  }
 }
@@ -0,0 +1,53 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Map");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}
@@ -0,0 +1,10 @@
+demo
+bridge
+test_runner
+*.o
+*.os
+*.d
+*.a
+*.so
+messaging_pyx.cpp
+build/
@@ -0,0 +1,225 @@
+# 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 capnp
+
+assert MultiplePublishersError
+assert MessagingError
+
+from cereal import log
+from cereal.services import service_list
+
+# 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 new_message(service=None, size=None):
+  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):
+  sock = PubSocket()
+  sock.connect(context, endpoint)
+  return sock
+
+def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
+  sock = SubSocket()
+  addr = addr.encode('utf8')
+  sock.connect(context, endpoint, addr, conflate)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+
+def drain_sock_raw(sock, wait_for_one=False):
+  """Receive all message currently available on the queue"""
+  ret = []
+  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, wait_for_one=False):
+  """Receive all message currently available on the queue"""
+  ret = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None: # Timeout hit
+      break
+
+    dat = log.Event.from_bytes(dat)
+    ret.append(dat)
+
+  return ret
+
+
+# TODO: print when we drop packets?
+def recv_sock(sock, wait=False):
+  """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.Event.from_bytes(dat)
+
+  return dat
+
+def recv_one(sock):
+  dat = sock.receive()
+  if dat is not None:
+    dat = log.Event.from_bytes(dat)
+  return dat
+
+def recv_one_or_none(sock):
+  dat = sock.receive(non_blocking=True)
+  if dat is not None:
+    dat = log.Event.from_bytes(dat)
+  return dat
+
+def recv_one_retry(sock):
+  """Keep receiving until we get a message"""
+  while True:
+    dat = sock.receive()
+    if dat is not None:
+      return log.Event.from_bytes(dat)
+
+# TODO: This does not belong in messaging
+def get_one_can(logcan):
+  while True:
+    can = recv_one_retry(logcan)
+    if len(can.can) > 0:
+      return can
+
+class SubMaster():
+  def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
+    self.poller = Poller()
+    self.frame = -1
+    self.updated = {s : False for s in services}
+    self.rcv_time = {s : 0. for s in services}
+    self.rcv_frame = {s : 0 for s in services}
+    self.alive = {s : False for s in services}
+    self.sock = {}
+    self.freq = {}
+    self.data = {}
+    self.logMonoTime = {}
+    self.valid = {}
+
+    if ignore_alive is not None:
+      self.ignore_alive = ignore_alive
+    else:
+      self.ignore_alive = []
+
+    for s in services:
+      if addr is not None:
+        self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
+      self.freq[s] = service_list[s].frequency
+
+      try:
+        data = new_message(s)
+      except capnp.lib.capnp.KjException:
+        # lists
+        data = new_message(s, 0)
+
+      self.data[s] = getattr(data, s)
+      self.logMonoTime[s] = 0
+      self.valid[s] = data.valid
+
+  def __getitem__(self, s):
+    return self.data[s]
+
+  def update(self, timeout=1000):
+    msgs = []
+    for sock in self.poller.poll(timeout):
+      msgs.append(recv_one_or_none(sock))
+    self.update_msgs(sec_since_boot(), msgs)
+
+  def update_msgs(self, cur_time, msgs):
+    # TODO: add optional input that specify the service to wait for
+    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
+      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
+
+    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])
+      else:
+        self.alive[s] = True
+
+  def all_alive(self, service_list=None):
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
+
+  def all_valid(self, service_list=None):
+    if service_list is None:  # check all
+      service_list = self.valid.keys()
+    return all(self.valid[s] for s in service_list)
+
+  def all_alive_and_valid(self, service_list=None):
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
+
+
+class PubMaster():
+  def __init__(self, services):
+    self.sock = {}
+    for s in services:
+      self.sock[s] = pub_sock(s)
+
+  def send(self, s, dat):
+    # accept either bytes or capnp builder
+    if not isinstance(dat, bytes):
+      dat = dat.to_bytes()
+    self.sock[s].send(dat)
@@ -0,0 +1,64 @@
+#include <iostream>
+#include <string>
+#include <cassert>
+#include <csignal>
+#include <map>
+
+typedef void (*sighandler_t)(int sig);
+
+#include "services.h"
+
+#include "impl_msgq.hpp"
+#include "impl_zmq.hpp"
+
+void sigpipe_handler(int sig) {
+  assert(sig == SIGPIPE);
+  std::cout << "SIGPIPE received" << std::endl;
+}
+
+static std::vector<std::string> get_services() {
+  std::vector<std::string> name_list;
+
+  for (const auto& it : services) {
+    std::string name = it.name;
+    if (name == "plusFrame" || name == "uiLayoutState") continue;
+    name_list.push_back(name);
+  }
+
+  return name_list;
+}
+
+
+int main(void){
+  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
+
+  auto endpoints = get_services();
+
+  std::map<SubSocket*, PubSocket*> sub2pub;
+
+  Context *zmq_context = new ZMQContext();
+  Context *msgq_context = new MSGQContext();
+  Poller *poller = new MSGQPoller();
+
+  for (auto endpoint: endpoints){
+    SubSocket * msgq_sock = new MSGQSubSocket();
+    msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
+    poller->registerSocket(msgq_sock);
+
+    PubSocket * zmq_sock = new ZMQPubSocket();
+    zmq_sock->connect(zmq_context, endpoint);
+
+    sub2pub[msgq_sock] = zmq_sock;
+  }
+
+
+  while (true){
+    for (auto sub_sock : poller->poll(100)){
+      Message * msg = sub_sock->receive();
+      if (msg == NULL) continue;
+      sub2pub[sub_sock]->sendMessage(msg);
+      delete msg;
+    }
+  }
+  return 0;
+}
@@ -0,0 +1,50 @@
+#include <iostream>
+#include <cstddef>
+#include <chrono>
+#include <thread>
+#include <cassert>
+
+#include "messaging.hpp"
+#include "impl_zmq.hpp"
+
+#define MSGS 1e5
+
+int main() {
+  Context * c = Context::create();
+  SubSocket * sub_sock = SubSocket::create(c, "controlsState");
+  PubSocket * pub_sock = PubSocket::create(c, "controlsState");
+
+  char data[8];
+
+  Poller * poller = Poller::create({sub_sock});
+
+  auto start = std::chrono::steady_clock::now();
+
+  for (uint64_t i = 0; i < MSGS; i++){
+    *(uint64_t*)data = i;
+    pub_sock->send(data, 8);
+
+    auto r = poller->poll(100);
+
+    for (auto p : r){
+      Message * m = p->receive();
+      uint64_t ii = *(uint64_t*)m->getData();
+      assert(i == ii);
+      delete m;
+    }
+  }
+
+
+  auto end = std::chrono::steady_clock::now();
+  double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
+  double throughput = ((double) MSGS / (double) elapsed);
+  std::cout << throughput << " msg/s" << std::endl;
+
+  delete poller;
+  delete sub_sock;
+  delete pub_sock;
+  delete c;
+
+
+  return 0;
+}
@@ -0,0 +1,30 @@
+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))
@@ -0,0 +1,195 @@
+#include <cassert>
+#include <cstring>
+#include <iostream>
+#include <cstdlib>
+#include <csignal>
+#include <cerrno>
+
+
+#include "impl_msgq.hpp"
+
+volatile sig_atomic_t msgq_do_exit = 0;
+
+void sig_handler(int signal) {
+  assert(signal == SIGINT || signal == SIGTERM);
+  msgq_do_exit = 1;
+}
+
+
+MSGQContext::MSGQContext() {
+}
+
+MSGQContext::~MSGQContext() {
+}
+
+void MSGQMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void MSGQMessage::init(char * d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void MSGQMessage::takeOwnership(char * d, size_t sz) {
+  size = sz;
+  data = d;
+}
+
+void MSGQMessage::close() {
+  if (size > 0){
+    delete[] data;
+  }
+  size = 0;
+}
+
+MSGQMessage::~MSGQMessage() {
+  this->close();
+}
+
+
+int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+  assert(context);
+  assert(address == "127.0.0.1");
+
+  q = new msgq_queue_t;
+  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  if (r != 0){
+    return r;
+  }
+
+  msgq_init_subscriber(q);
+
+  if (conflate){
+    q->read_conflate = true;
+  }
+
+  timeout = -1;
+
+  return 0;
+}
+
+
+Message * MSGQSubSocket::receive(bool non_blocking){
+  msgq_do_exit = 0;
+
+  void (*prev_handler_sigint)(int);
+  void (*prev_handler_sigterm)(int);
+  if (!non_blocking){
+    prev_handler_sigint = std::signal(SIGINT, sig_handler);
+    prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
+  }
+
+  msgq_msg_t msg;
+
+  MSGQMessage *r = NULL;
+
+  int rc = msgq_msg_recv(&msg, q);
+
+  // Hack to implement blocking read with a poller. Don't use this
+  while (!non_blocking && rc == 0 && msgq_do_exit == 0){
+    msgq_pollitem_t items[1];
+    items[0].q = q;
+
+    int t = (timeout != -1) ? timeout : 100;
+
+    int n = msgq_poll(items, 1, t);
+    rc = msgq_msg_recv(&msg, q);
+
+    // The poll indicated a message was ready, but the receive failed. Try again
+    if (n == 1 && rc == 0){
+      continue;
+    }
+
+    if (timeout != -1){
+      break;
+    }
+  }
+
+
+  if (!non_blocking){
+    std::signal(SIGINT, prev_handler_sigint);
+    std::signal(SIGTERM, prev_handler_sigterm);
+  }
+
+  errno = msgq_do_exit ? EINTR : 0;
+
+  if (rc > 0){
+    if (msgq_do_exit){
+      msgq_msg_close(&msg); // Free unused message on exit
+    } else {
+      r = new MSGQMessage;
+      r->takeOwnership(msg.data, msg.size);
+    }
+  }
+
+  return (Message*)r;
+}
+
+void MSGQSubSocket::setTimeout(int t){
+  timeout = t;
+}
+
+MSGQSubSocket::~MSGQSubSocket(){
+  if (q != NULL){
+    msgq_close_queue(q);
+    delete q;
+  }
+}
+
+int MSGQPubSocket::connect(Context *context, std::string endpoint){
+  assert(context);
+
+  q = new msgq_queue_t;
+  msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  msgq_init_publisher(q);
+
+  return 0;
+}
+
+int MSGQPubSocket::sendMessage(Message *message){
+  msgq_msg_t msg;
+  msg.data = message->getData();
+  msg.size = message->getSize();
+
+  return msgq_msg_send(&msg, q);
+}
+
+int MSGQPubSocket::send(char *data, size_t size){
+  msgq_msg_t msg;
+  msg.data = data;
+  msg.size = size;
+
+  return msgq_msg_send(&msg, q);
+}
+
+MSGQPubSocket::~MSGQPubSocket(){
+  if (q != NULL){
+    msgq_close_queue(q);
+    delete q;
+  }
+}
+
+
+void MSGQPoller::registerSocket(SubSocket * socket){
+  assert(num_polls + 1 < MAX_POLLERS);
+  polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<SubSocket*> MSGQPoller::poll(int timeout){
+  std::vector<SubSocket*> r;
+
+  msgq_poll(polls, num_polls, timeout);
+  for (size_t i = 0; i < num_polls; i++){
+    if (polls[i].revents){
+      r.push_back(sockets[i]);
+    }
+  }
+
+  return r;
+}
@@ -0,0 +1,64 @@
+#pragma once
+#include "messaging.hpp"
+#include "msgq.hpp"
+#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);
+  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);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  ~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(){};
+};
@@ -0,0 +1,155 @@
+#include <cassert>
+#include <cstring>
+#include <iostream>
+#include <cstdlib>
+#include <cerrno>
+
+#include <zmq.h>
+
+#include "services.h"
+#include "impl_zmq.hpp"
+
+static int get_port(std::string endpoint) {
+  int port = -1;
+  for (const auto& it : services) {
+    std::string name = it.name;
+    if (name == endpoint) {
+      port = it.port;
+      break;
+    }
+  }
+
+  assert(port >= 0);
+  return port;
+}
+
+ZMQContext::ZMQContext() {
+  context = zmq_ctx_new();
+}
+
+ZMQContext::~ZMQContext() {
+  zmq_ctx_term(context);
+}
+
+void ZMQMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void ZMQMessage::init(char * d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void ZMQMessage::close() {
+  if (size > 0){
+    delete[] data;
+  }
+  size = 0;
+}
+
+ZMQMessage::~ZMQMessage() {
+  this->close();
+}
+
+
+int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
+  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
+  if (sock == NULL){
+    return -1;
+  }
+
+  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
+
+  if (conflate){
+    int arg = 1;
+    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
+  }
+
+  int reconnect_ivl = 500;
+  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
+
+  full_endpoint = "tcp://" + address + ":";
+  full_endpoint += std::to_string(get_port(endpoint));
+
+  return zmq_connect(sock, full_endpoint.c_str());
+}
+
+
+Message * ZMQSubSocket::receive(bool non_blocking){
+  zmq_msg_t msg;
+  assert(zmq_msg_init(&msg) == 0);
+
+  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
+  int rc = zmq_msg_recv(&msg, sock, flags);
+  Message *r = NULL;
+
+  if (rc >= 0){
+    // Make a copy to ensure the data is aligned
+    r = new ZMQMessage;
+    r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+
+  zmq_msg_close(&msg);
+  return r;
+}
+
+void ZMQSubSocket::setTimeout(int timeout){
+  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
+}
+
+ZMQSubSocket::~ZMQSubSocket(){
+  zmq_close(sock);
+}
+
+int ZMQPubSocket::connect(Context *context, std::string endpoint){
+  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
+  if (sock == NULL){
+    return -1;
+  }
+
+  full_endpoint = "tcp://*:";
+  full_endpoint += std::to_string(get_port(endpoint));
+
+  return zmq_bind(sock, full_endpoint.c_str());
+}
+
+int ZMQPubSocket::sendMessage(Message *message){
+  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
+}
+
+int ZMQPubSocket::send(char *data, size_t size){
+  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
+}
+
+ZMQPubSocket::~ZMQPubSocket(){
+  zmq_close(sock);
+}
+
+
+void ZMQPoller::registerSocket(SubSocket * socket){
+  assert(num_polls + 1 < MAX_POLLERS);
+  polls[num_polls].socket = socket->getRawSocket();
+  polls[num_polls].events = ZMQ_POLLIN;
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<SubSocket*> ZMQPoller::poll(int timeout){
+  std::vector<SubSocket*> r;
+
+  int rc = zmq_poll(polls, num_polls, timeout);
+  if (rc < 0){
+    return r;
+  }
+
+  for (size_t i = 0; i < num_polls; i++){
+    if (polls[i].revents){
+      r.push_back(sockets[i]);
+    }
+  }
+
+  return r;
+}
@@ -0,0 +1,63 @@
+#pragma once
+#include "messaging.hpp"
+#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);
+  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);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  ~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(){};
+};
@@ -0,0 +1,117 @@
+#include "messaging.hpp"
+#include "impl_zmq.hpp"
+#include "impl_msgq.hpp"
+
+Context * Context::create(){
+  Context * c;
+  if (std::getenv("ZMQ")){
+    c = new ZMQContext();
+  } else {
+    c = new MSGQContext();
+  }
+  return c;
+}
+
+SubSocket * SubSocket::create(){
+  SubSocket * s;
+  if (std::getenv("ZMQ")){
+    s = new ZMQSubSocket();
+  } else {
+    s = new MSGQSubSocket();
+  }
+  return s;
+}
+
+SubSocket * SubSocket::create(Context * context, std::string endpoint){
+  SubSocket *s = SubSocket::create();
+  int r = s->connect(context, endpoint, "127.0.0.1");
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
+  SubSocket *s = SubSocket::create();
+  int r = s->connect(context, endpoint, address);
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
+  SubSocket *s = SubSocket::create();
+  int r = s->connect(context, endpoint, address, conflate);
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+PubSocket * PubSocket::create(){
+  PubSocket * s;
+  if (std::getenv("ZMQ")){
+    s = new ZMQPubSocket();
+  } else {
+    s = new MSGQPubSocket();
+  }
+  return s;
+}
+
+PubSocket * PubSocket::create(Context * context, std::string endpoint){
+  PubSocket *s = PubSocket::create();
+  int r = s->connect(context, endpoint);
+
+  if (r == 0) {
+    return s;
+  } else {
+    delete s;
+    return NULL;
+  }
+}
+
+Poller * Poller::create(){
+  Poller * p;
+  if (std::getenv("ZMQ")){
+    p = new ZMQPoller();
+  } else {
+    p = new MSGQPoller();
+  }
+  return p;
+}
+
+Poller * Poller::create(std::vector<SubSocket*> sockets){
+  Poller * p = Poller::create();
+
+  for (auto s : sockets){
+    p->registerSocket(s);
+  }
+  return p;
+}
+
+extern "C" Context * messaging_context_create() {
+  return Context::create();
+}
+
+extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
+  return SubSocket::create(context, std::string(endpoint));
+}
+
+extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
+  return PubSocket::create(context, std::string(endpoint));
+}
+
+extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
+  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
+  return Poller::create(socketsVec);
+}
@@ -0,0 +1,56 @@
+#pragma once
+#include <cstddef>
+#include <vector>
+#include <string>
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+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) = 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);
+  static SubSocket * create(Context * context, std::string endpoint, std::string address);
+  static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
+  virtual ~SubSocket(){};
+};
+
+class PubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint) = 0;
+  virtual int sendMessage(Message *message) = 0;
+  virtual int send(char *data, size_t size) = 0;
+  static PubSocket * create();
+  static PubSocket * create(Context * context, std::string endpoint);
+  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(){};
+};
@@ -0,0 +1,39 @@
+# 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.hpp":
+  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)
+
+  cdef cppclass Poller:
+    @staticmethod
+    Poller * create()
+    void registerSocket(SubSocket *)
+    vector[SubSocket*] poll(int) nogil
@@ -0,0 +1,151 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+from libcpp.string cimport string
+from libcpp cimport bool
+from libc cimport errno
+
+
+from messaging cimport Context as cppContext
+from messaging cimport SubSocket as cppSubSocket
+from messaging cimport PubSocket as cppPubSocket
+from messaging cimport Poller as cppPoller
+from messaging cimport Message as cppMessage
+
+
+class MessagingError(Exception):
+  pass
+
+
+class MultiplePublishersError(MessagingError):
+  pass
+
+
+cdef class Context:
+  cdef cppContext * context
+
+  def __cinit__(self):
+    self.context = cppContext.create()
+
+  def term(self):
+    del self.context
+    self.context = NULL
+
+  def __dealloc__(self):
+    pass
+    # Deleting the context will hang if sockets are still active
+    # TODO: Figure out a way to make sure the context is closed last
+    # del self.context
+
+
+cdef class Poller:
+  cdef cppPoller * poller
+  cdef list sub_sockets
+
+  def __cinit__(self):
+    self.sub_sockets = []
+    self.poller = cppPoller.create()
+
+  def __dealloc__(self):
+    del self.poller
+
+  def registerSocket(self, SubSocket socket):
+    self.sub_sockets.append(socket)
+    self.poller.registerSocket(socket.socket)
+
+  def poll(self, timeout):
+    sockets = []
+    cdef int t = timeout
+
+    with nogil:
+        result = self.poller.poll(t)
+
+    for s in result:
+        socket = SubSocket()
+        socket.setPtr(s)
+        sockets.append(socket)
+
+    return sockets
+
+cdef class SubSocket:
+  cdef cppSubSocket * socket
+  cdef bool is_owner
+
+  def __cinit__(self):
+    self.socket = cppSubSocket.create()
+    self.is_owner = True
+
+    if self.socket == NULL:
+      raise MessagingError
+
+  def __dealloc__(self):
+    if self.is_owner:
+      del self.socket
+
+  cdef setPtr(self, cppSubSocket * ptr):
+    if self.is_owner:
+      del self.socket
+
+    self.is_owner = False
+    self.socket = ptr
+
+  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
+    r = self.socket.connect(context.context, endpoint, address, conflate)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise MessagingError
+
+  def setTimeout(self, int timeout):
+    self.socket.setTimeout(timeout)
+
+  def receive(self, bool non_blocking=False):
+    msg = self.socket.receive(non_blocking)
+
+    if msg == NULL:
+      # If a blocking read returns no message check errno if SIGINT was caught in the C++ code
+      if errno.errno == errno.EINTR:
+        print("SIGINT received, exiting")
+        sys.exit(1)
+
+      return None
+    else:
+      sz = msg.getSize()
+      m = msg.getData()[:sz]
+      del msg
+
+      return m
+
+
+cdef class PubSocket:
+  cdef cppPubSocket * socket
+
+  def __cinit__(self):
+    self.socket = cppPubSocket.create()
+    if self.socket == NULL:
+      raise MessagingError
+
+  def __dealloc__(self):
+    del self.socket
+
+  def connect(self, Context context, string endpoint):
+    r = self.socket.connect(context.context, endpoint)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise MessagingError
+
+  def send(self, string data):
+    length = len(data)
+    r = self.socket.send(<char*>data.c_str(), length)
+
+    if r != length:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise MessagingError
@@ -0,0 +1,57 @@
+import os
+import subprocess
+import sysconfig
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
+from Cython.Build import cythonize
+from Cython.Distutils import build_ext
+
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
+
+
+sourcefiles = ['messaging_pyx.pyx']
+extra_compile_args = ["-std=c++11"]
+libraries = ['zmq']
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
+
+if ARCH == "aarch64" and os.path.isdir("/system"):
+  # android
+  extra_compile_args += ["-Wno-deprecated-register"]
+  libraries += ['gnustl_shared']
+
+setup(name='CAN parser',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "messaging_pyx",
+          language="c++",
+          sources=sourcefiles,
+          extra_compile_args=extra_compile_args,
+          libraries=libraries,
+          extra_objects=[
+            os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
+          ]
+        )
+      ),
+      nthreads=4,
+)
@@ -0,0 +1,449 @@
+#include <iostream>
+#include <cassert>
+#include <cerrno>
+#include <cmath>
+#include <cstring>
+#include <cstdint>
+#include <chrono>
+#include <algorithm>
+#include <cstdlib>
+#include <csignal>
+#include <random>
+
+#include <poll.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/syscall.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <stdio.h>
+
+#include "msgq.hpp"
+
+void sigusr2_handler(int signal) {
+  assert(signal == SIGUSR2);
+}
+
+uint64_t msgq_get_uid(void){
+  std::random_device rd("/dev/urandom");
+  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
+
+  uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
+  return uid;
+}
+
+int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
+  msg->size = size;
+  msg->data = new(std::nothrow) char[size];
+
+  return (msg->data == NULL) ? -1 : 0;
+}
+
+
+int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
+  int r = msgq_msg_init_size(msg, size);
+
+  if (r == 0)
+    memcpy(msg->data, data, size);
+
+  return r;
+}
+
+int msgq_msg_close(msgq_msg_t * msg){
+  if (msg->size > 0)
+    delete[] msg->data;
+
+  msg->size = 0;
+
+  return 0;
+}
+
+void msgq_reset_reader(msgq_queue_t * q){
+  int id = q->reader_id;
+  q->read_valids[id]->store(true);
+  q->read_pointers[id]->store(*q->write_pointer);
+}
+
+void msgq_wait_for_subscriber(msgq_queue_t *q){
+  while (*q->num_readers == 0){
+    ;
+  }
+
+  return;
+}
+
+
+
+int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
+  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
+
+  std::signal(SIGUSR2, sigusr2_handler);
+
+  const char * prefix = "/dev/shm/";
+  char * full_path = new char[strlen(path) + strlen(prefix) + 1];
+  strcpy(full_path, prefix);
+  strcat(full_path, path);
+
+  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
+  delete[] full_path;
+
+  if (fd < 0)
+    return -1;
+
+  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
+  if (rc < 0)
+    return -1;
+
+  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+  close(fd);
+
+  if (mem == NULL)
+    return -1;
+
+  q->mmap_p = mem;
+
+  msgq_header_t *header = (msgq_header_t *)mem;
+
+  // Setup pointers to header segment
+  q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
+  q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
+  q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
+
+  for (size_t i = 0; i < NUM_READERS; i++){
+    q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
+    q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
+    q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
+  }
+
+  q->data = mem + sizeof(msgq_header_t);
+  q->size = size;
+  q->reader_id = -1;
+
+  q->endpoint = path;
+  q->read_conflate = false;
+
+  return 0;
+}
+
+void msgq_close_queue(msgq_queue_t *q){
+  if (q->mmap_p != NULL){
+    munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
+  }
+}
+
+
+void msgq_init_publisher(msgq_queue_t * q) {
+  //std::cout << "Starting publisher" << std::endl;
+  uint64_t uid = msgq_get_uid();
+
+  *q->write_uid = uid;
+  *q->num_readers = 0;
+
+  for (size_t i = 0; i < NUM_READERS; i++){
+    *q->read_valids[i] = false;
+    *q->read_uids[i] = 0;
+  }
+
+  q->write_uid_local = uid;
+}
+
+static void thread_signal(uint32_t tid) {
+  #ifndef SYS_tkill
+    // TODO: this won't work for multithreaded programs
+    kill(tid, SIGUSR2);
+  #else
+    syscall(SYS_tkill, tid, SIGUSR2);
+  #endif
+}
+
+void msgq_init_subscriber(msgq_queue_t * q) {
+  assert(q != NULL);
+  assert(q->num_readers != NULL);
+
+  uint64_t uid = msgq_get_uid();
+
+  // Get reader id
+  while (true){
+    uint64_t cur_num_readers = *q->num_readers;
+    uint64_t new_num_readers = cur_num_readers + 1;
+
+    // No more slots available. Reset all subscribers to kick out inactive ones
+    if (new_num_readers > NUM_READERS){
+      std::cout << "Warning, evicting all subscribers!" << std::endl;
+      *q->num_readers = 0;
+
+      for (size_t i = 0; i < NUM_READERS; i++){
+        *q->read_valids[i] = false;
+
+        uint64_t old_uid = *q->read_uids[i];
+        *q->read_uids[i] = 0;
+
+        // Wake up reader in case they are in a poll
+        thread_signal(old_uid & 0xFFFFFFFF);
+      }
+
+      continue;
+    }
+
+    // Use atomic compare and swap to handle race condition
+    // where two subscribers start at the same time
+    if (std::atomic_compare_exchange_strong(q->num_readers,
+                                            &cur_num_readers,
+                                            new_num_readers)){
+      q->reader_id = cur_num_readers;
+      q->read_uid_local = uid;
+
+      // We start with read_valid = false,
+      // on the first read the read pointer will be synchronized with the write pointer
+      *q->read_valids[cur_num_readers] = false;
+      *q->read_pointers[cur_num_readers] = 0;
+      *q->read_uids[cur_num_readers] = uid;
+      break;
+    }
+  }
+
+  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
+  msgq_reset_reader(q);
+}
+
+int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
+  // Die if we are no longer the active publisher
+  if (q->write_uid_local != *q->write_uid){
+    std::cout << "Killing old publisher: " << q->endpoint << std::endl;
+    errno = EADDRINUSE;
+    return -1;
+  }
+
+  uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
+
+  // We need to fit at least three messages in the queue,
+  // then we can always safely access the last message
+  assert(3 * total_msg_size <= q->size);
+
+  uint64_t num_readers = *q->num_readers;
+
+  uint32_t write_cycles, write_pointer;
+  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+
+  char *p = q->data + write_pointer; // add base offset
+
+  // Check remaining space
+  // Always leave space for a wraparound tag for the next message, including alignment
+  int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
+  if (remaining_space <= 0){
+    // Write -1 size tag indicating wraparound
+    *(int64_t*)p = -1;
+
+    // Invalidate all readers that are beyond the write pointer
+    // TODO: should we handle the case where a new reader shows up while this is running?
+    for (uint64_t i = 0; i < num_readers; i++){
+      uint64_t read_pointer = *q->read_pointers[i];
+      uint64_t read_cycles = read_pointer >> 32;
+      read_pointer &= 0xFFFFFFFF;
+
+      if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
+        *q->read_valids[i] = false;
+      }
+    }
+
+    // Update global and local copies of write pointer and write_cycles
+    write_pointer = 0;
+    write_cycles = write_cycles + 1;
+    PACK64(*q->write_pointer, write_cycles, write_pointer);
+
+    // Set actual pointer to the beginning of the data segment
+    p = q->data;
+  }
+
+  // Invalidate readers that are in the area that will be written
+  uint64_t start = write_pointer;
+  uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
+
+  for (uint64_t i = 0; i < num_readers; i++){
+    uint32_t read_cycles, read_pointer;
+    UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
+
+    if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
+      *q->read_valids[i] = false;
+    }
+  }
+
+
+  // Write size tag
+  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
+  *size_p = msg->size;
+
+  // Copy data
+  memcpy(p + sizeof(int64_t), msg->data, msg->size);
+  __sync_synchronize();
+
+  // Update write pointer
+  uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
+  PACK64(*q->write_pointer, write_cycles, new_ptr);
+
+  // Notify readers
+  for (uint64_t i = 0; i < num_readers; i++){
+    uint64_t reader_uid = *q->read_uids[i];
+    thread_signal(reader_uid & 0xFFFFFFFF);
+  }
+
+  return msg->size;
+}
+
+
+int msgq_msg_ready(msgq_queue_t * q){
+ start:
+  int id = q->reader_id;
+  assert(id >= 0); // Make sure subscriber is initialized
+
+  if (q->read_uid_local != *q->read_uids[id]){
+    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
+    msgq_init_subscriber(q);
+    goto start;
+  }
+
+  // Check valid
+  if (!*q->read_valids[id]){
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+  uint32_t read_cycles, read_pointer;
+  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
+
+  uint32_t write_cycles, write_pointer;
+  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+
+  // Check if new message is available
+  return (read_pointer != write_pointer);
+}
+
+int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
+ start:
+  int id = q->reader_id;
+  assert(id >= 0); // Make sure subscriber is initialized
+
+  if (q->read_uid_local != *q->read_uids[id]){
+    std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
+    msgq_init_subscriber(q);
+    goto start;
+  }
+
+  // Check valid
+  if (!*q->read_valids[id]){
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+  uint32_t read_cycles, read_pointer;
+  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
+
+  uint32_t write_cycles, write_pointer;
+  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+
+  char * p = q->data + read_pointer;
+
+  // Check if new message is available
+  if (read_pointer == write_pointer) {
+    msg->size = 0;
+    return 0;
+  }
+
+  // Read potential message size
+  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
+  std::int64_t size = *size_p;
+
+  // Check if the size that was read is valid
+  if (!*q->read_valids[id]){
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+  // If size is -1 the buffer was full, and we need to wrap around
+  if (size == -1){
+    read_cycles++;
+    PACK64(*q->read_pointers[id], read_cycles, 0);
+    goto start;
+  }
+
+  // crashing is better than passing garbage data to the consumer
+  // the size will have weird value if it was overwritten by data accidentally
+  assert((uint64_t)size < q->size);
+  assert(size > 0);
+
+  uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
+
+  // If conflate is true, check if this is the latest message, else start over
+  if (q->read_conflate){
+    if (new_read_pointer != write_pointer){
+      // Update read pointer
+      PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
+      goto start;
+    }
+  }
+
+  // Copy message
+  if (msgq_msg_init_size(msg, size) < 0)
+    return -1;
+
+  __sync_synchronize();
+  memcpy(msg->data, p + sizeof(int64_t), size);
+  __sync_synchronize();
+
+  // Update read pointer
+  PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
+
+  // Check if the actual data that was copied is valid
+  if (!*q->read_valids[id]){
+    msgq_msg_close(msg);
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+
+  return msg->size;
+}
+
+
+
+int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
+  assert(timeout >= 0);
+
+  int num = 0;
+
+  // Check if messages ready
+  for (size_t i = 0; i < nitems; i++) {
+    items[i].revents = msgq_msg_ready(items[i].q);
+    if (items[i].revents) num++;
+  }
+
+  int ms = (timeout == -1) ? 100 : timeout;
+  struct timespec ts;
+  ts.tv_sec = ms / 1000;
+  ts.tv_nsec = (ms % 1000) * 1000 * 1000;
+
+
+  while (num == 0) {
+    int ret;
+
+    ret = nanosleep(&ts, &ts);
+
+    // Check if messages ready
+    for (size_t i = 0; i < nitems; i++) {
+      if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
+        num += 1;
+        items[i].revents = 1;
+      }
+    }
+
+    // exit if we had a timeout and the sleep finished
+    if (timeout != -1 && ret == 0){
+      break;
+    }
+  }
+
+  return num;
+}
@@ -0,0 +1,66 @@
+#pragma once
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <atomic>
+
+#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
+#define NUM_READERS 8
+#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);
@@ -0,0 +1,56 @@
+# MSGQ: A lock free single producer multi consumer message queue
+
+[![Build Status](https://dev.azure.com/commaai/default/_apis/build/status/commaai.msgq?branchName=master)](https://dev.azure.com/commaai/default/_build/latest?definitionId=21&branchName=master)
+
+## What is MSGQ?
+MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
+
+## Storage
+The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
+
+1. A counter to the number of readers that are active
+2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
+3. A cycle counter for the writer. This counter is incremented when the writer wraps around
+4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
+5. N counters,  counting the number of cycles for all the readers
+6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
+
+The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
+
+The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
+
+
+## Writing
+Writing involves the following steps:
+
+1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
+2. Write the message
+3. Increase the write pointer by the size of the message
+
+In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
+
+There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
+
+## Reset reader
+When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
+
+1. Set valid flag
+2. Set read cycle counter to that of the writer
+3. Set read pointer to write pointer
+
+## Reading
+Reading involves the following steps:
+
+1. Read the size field at the current read pointer
+2. Read the validity flag
+3. Copy the data out of the buffer
+4. Increase the read pointer by the size of the message
+5. Check the validity flag again
+
+Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
+
+If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
+
+If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
+
+If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
@@ -0,0 +1,395 @@
+#include "catch2/catch.hpp"
+#include "msgq.hpp"
+
+TEST_CASE("ALIGN"){
+  REQUIRE(ALIGN(0) == 0);
+  REQUIRE(ALIGN(1) == 8);
+  REQUIRE(ALIGN(7) == 8);
+  REQUIRE(ALIGN(8) == 8);
+  REQUIRE(ALIGN(99999) == 100000);
+}
+
+TEST_CASE("msgq_msg_init_size"){
+  const size_t msg_size = 30;
+  msgq_msg_t msg;
+
+  msgq_msg_init_size(&msg, msg_size);
+  REQUIRE(msg.size == msg_size);
+
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_msg_init_data"){
+  const size_t msg_size = 30;
+  char * data = new char[msg_size];
+
+  for (size_t i = 0; i < msg_size; i++){
+    data[i] = i;
+  }
+
+  msgq_msg_t msg;
+  msgq_msg_init_data(&msg, data, msg_size);
+
+  REQUIRE(msg.size == msg_size);
+  REQUIRE(memcmp(msg.data, data, msg_size) == 0);
+
+  delete[] data;
+  msgq_msg_close(&msg);
+}
+
+
+TEST_CASE("msgq_init_subscriber"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t q;
+  msgq_new_queue(&q, "test_queue", 1024);
+  REQUIRE(*q.num_readers == 0);
+
+  q.reader_id = 1;
+  *q.read_valids[0] = false;
+  *q.read_pointers[0] = ((uint64_t)1 << 32);
+
+  *q.write_pointer = 255;
+
+  msgq_init_subscriber(&q);
+  REQUIRE(q.read_conflate == false);
+  REQUIRE(*q.read_valids[0] == true);
+  REQUIRE((*q.read_pointers[0] >> 32) == 0);
+  REQUIRE((*q.read_pointers[0]  & 0xFFFFFFFF) == 255);
+}
+
+TEST_CASE("msgq_msg_send first message"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t q;
+  msgq_new_queue(&q, "test_queue", 1024);
+  msgq_init_publisher(&q);
+
+  REQUIRE(*q.write_pointer == 0);
+
+  size_t msg_size = 128;
+
+  SECTION("Aligned message size"){
+  }
+  SECTION("Unaligned message size"){
+    msg_size--;
+  }
+
+  char * data = new char[msg_size];
+
+  for (size_t i = 0; i < msg_size; i++){
+    data[i] = i;
+  }
+
+  msgq_msg_t msg;
+  msgq_msg_init_data(&msg, data, msg_size);
+
+
+  msgq_msg_send(&msg, &q);
+  REQUIRE(*(int64_t*)q.data == msg_size); // Check size tag
+  REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
+  REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
+
+  delete[] data;
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_msg_send test wraparound"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t q;
+  msgq_new_queue(&q, "test_queue", 1024);
+  msgq_init_publisher(&q);
+
+  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
+  REQUIRE((*q.write_pointer >> 32) == 0);
+
+  const size_t msg_size = 120;
+  msgq_msg_t msg;
+  msgq_msg_init_size(&msg, msg_size);
+
+  for (int i = 0; i < 8; i++) {
+    msgq_msg_send(&msg, &q);
+  }
+  // Check 8th message was written at the beginning
+  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
+
+  // Check cycle count
+  REQUIRE((*q.write_pointer >> 32) == 1);
+
+  // Check wraparound tag
+  char * tag_location = q.data;
+  tag_location += 7 * (msg_size + sizeof(int64_t));
+  REQUIRE(*(int64_t*)tag_location == -1);
+
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_msg_recv test wraparound"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t q_pub, q_sub;
+  msgq_new_queue(&q_pub, "test_queue", 1024);
+  msgq_new_queue(&q_sub, "test_queue", 1024);
+
+  msgq_init_publisher(&q_pub);
+  msgq_init_subscriber(&q_sub);
+
+  REQUIRE((*q_pub.write_pointer >> 32) == 0);
+  REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
+
+  const size_t msg_size = 120;
+  msgq_msg_t msg1;
+  msgq_msg_init_size(&msg1, msg_size);
+
+
+  SECTION("Check cycle counter after reset") {
+    for (int i = 0; i < 8; i++) {
+      msgq_msg_send(&msg1, &q_pub);
+    }
+
+    msgq_msg_t msg2;
+    msgq_msg_recv(&msg2, &q_sub);
+    REQUIRE(msg2.size == 0); // Reader had to reset
+    msgq_msg_close(&msg2);
+
+  }
+  SECTION("Check cycle counter while keeping up with writer") {
+    for (int i = 0; i < 8; i++) {
+      msgq_msg_send(&msg1, &q_pub);
+
+      msgq_msg_t msg2;
+      msgq_msg_recv(&msg2, &q_sub);
+      REQUIRE(msg2.size > 0);
+      msgq_msg_close(&msg2);
+    }
+  }
+
+  REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
+  msgq_msg_close(&msg1);
+}
+
+TEST_CASE("msgq_msg_send test invalidation"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t q_pub, q_sub;
+  msgq_new_queue(&q_pub, "test_queue", 1024);
+  msgq_new_queue(&q_sub, "test_queue", 1024);
+
+  msgq_init_publisher(&q_pub);
+  msgq_init_subscriber(&q_sub);
+  *q_sub.write_pointer = (uint64_t)1 << 32;
+
+  REQUIRE(*q_sub.read_valids[0] == true);
+
+  SECTION("read pointer in tag"){
+    *q_sub.read_pointers[0] = 0;
+  }
+  SECTION("read pointer in data section"){
+    *q_sub.read_pointers[0] = 64;
+  }
+  SECTION("read pointer in wraparound section"){
+    *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
+    *q_sub.read_pointers[0] = 1020;
+  }
+
+  msgq_msg_t msg;
+  msgq_msg_init_size(&msg, 128);
+  msgq_msg_send(&msg, &q_pub);
+
+  REQUIRE(*q_sub.read_valids[0] == false);
+
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_init_subscriber init 2 subscribers"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t q1, q2;
+  msgq_new_queue(&q1, "test_queue", 1024);
+  msgq_new_queue(&q2, "test_queue", 1024);
+
+  *q1.num_readers = 0;
+
+  REQUIRE(*q1.num_readers == 0);
+  REQUIRE(*q2.num_readers == 0);
+
+  msgq_init_subscriber(&q1);
+  REQUIRE(*q1.num_readers == 1);
+  REQUIRE(*q2.num_readers == 1);
+  REQUIRE(q1.reader_id == 0);
+
+  msgq_init_subscriber(&q2);
+  REQUIRE(*q1.num_readers == 2);
+  REQUIRE(*q2.num_readers == 2);
+  REQUIRE(q2.reader_id == 1);
+}
+
+
+TEST_CASE("Write 1 msg, read 1 msg", "[integration]"){
+  remove("/dev/shm/test_queue");
+  const size_t msg_size = 128;
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+
+  // Build 128 byte message
+  msgq_msg_t outgoing_msg;
+  msgq_msg_init_size(&outgoing_msg, msg_size);
+
+  for (size_t i = 0; i < msg_size; i++){
+    outgoing_msg.data[i] = i;
+  }
+
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+
+  msgq_msg_t incoming_msg1;
+  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
+
+  // Verify that there are no more messages
+  msgq_msg_t incoming_msg2;
+  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
+
+  msgq_msg_close(&outgoing_msg);
+  msgq_msg_close(&incoming_msg1);
+  msgq_msg_close(&incoming_msg2);
+}
+
+TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]"){
+  remove("/dev/shm/test_queue");
+  const size_t msg_size = 128;
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+
+  // Build 128 byte message
+  msgq_msg_t outgoing_msg;
+  msgq_msg_init_size(&outgoing_msg, msg_size);
+
+  for (size_t i = 0; i < msg_size; i++){
+    outgoing_msg.data[i] = i;
+  }
+
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+
+  msgq_msg_t incoming_msg1;
+  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
+
+  msgq_msg_t incoming_msg2;
+  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
+
+  msgq_msg_close(&outgoing_msg);
+  msgq_msg_close(&incoming_msg1);
+  msgq_msg_close(&incoming_msg2);
+}
+
+TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]"){
+  remove("/dev/shm/test_queue");
+  const size_t msg_size = 128;
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+  reader.read_conflate = true;
+
+  // Build 128 byte message
+  msgq_msg_t outgoing_msg;
+  msgq_msg_init_size(&outgoing_msg, msg_size);
+
+  for (size_t i = 0; i < msg_size; i++){
+    outgoing_msg.data[i] = i;
+  }
+
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+
+  msgq_msg_t incoming_msg1;
+  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
+
+  // Verify that there are no more messages
+  msgq_msg_t incoming_msg2;
+  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
+
+  msgq_msg_close(&outgoing_msg);
+  msgq_msg_close(&incoming_msg1);
+  msgq_msg_close(&incoming_msg2);
+}
+
+TEST_CASE("1 publisher, 1 slow subscriber", "[integration]"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+
+  int n_received = 0;
+  int n_skipped = 0;
+
+  for (uint64_t i = 0; i < 1e5; i++) {
+    msgq_msg_t outgoing_msg;
+    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
+    msgq_msg_send(&outgoing_msg, &writer);
+    msgq_msg_close(&outgoing_msg);
+
+    if (i % 10 == 0){
+      msgq_msg_t msg1;
+      msgq_msg_recv(&msg1, &reader);
+
+      if (msg1.size == 0){
+        n_skipped++;
+      } else {
+        n_received++;
+      }
+      msgq_msg_close(&msg1);
+    }
+  }
+
+  // TODO: verify these numbers by hand
+  REQUIRE(n_received == 8572);
+  REQUIRE(n_skipped == 1428);
+}
+
+TEST_CASE("1 publisher, 2 subscribers", "[integration]"){
+  remove("/dev/shm/test_queue");
+  msgq_queue_t writer, reader1, reader2;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader1, "test_queue", 1024);
+  msgq_new_queue(&reader2, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader1);
+  msgq_init_subscriber(&reader2);
+
+  for (uint64_t i = 0; i < 1024 * 3; i++) {
+    msgq_msg_t outgoing_msg;
+    msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
+    msgq_msg_send(&outgoing_msg, &writer);
+
+    msgq_msg_t msg1, msg2;
+    msgq_msg_recv(&msg1, &reader1);
+    msgq_msg_recv(&msg2, &reader2);
+
+    REQUIRE(msg1.size == sizeof(uint64_t));
+    REQUIRE(msg2.size == sizeof(uint64_t));
+    REQUIRE(*(uint64_t*)msg1.data == i);
+    REQUIRE(*(uint64_t*)msg2.data == i);
+
+    msgq_msg_close(&outgoing_msg);
+    msgq_msg_close(&msg1);
+    msgq_msg_close(&msg2);
+  }
+}
@@ -0,0 +1,14 @@
+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())
@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
@@ -0,0 +1,142 @@
+import unittest
+import time
+import cereal.messaging as messaging
+
+import concurrent.futures
+
+
+def poller():
+  context = messaging.Context()
+
+  p = messaging.Poller()
+
+  sub = messaging.SubSocket()
+  sub.connect(context, 'controlsState')
+  p.registerSocket(sub)
+
+  socks = p.poll(10000)
+  r = [s.receive(non_blocking=True) for s in socks]
+
+  return r
+
+
+class TestPoller(unittest.TestCase):
+  def test_poll_once(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
+
+      time.sleep(0.1)  # Slow joiner syndrome
+
+      # Send message
+      pub.send("a")
+
+      # Wait for poll result
+      result = poll.result()
+
+    del pub
+    context.term()
+
+    self.assertEqual(result, [b"a"])
+
+  def test_poll_and_create_many_subscribers(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
+
+      time.sleep(0.1)  # Slow joiner syndrome
+      c = messaging.Context()
+      for _ in range(10):
+        messaging.SubSocket().connect(c, 'controlsState')
+
+      time.sleep(0.1)
+
+      # Send message
+      pub.send("a")
+
+      # Wait for poll result
+      result = poll.result()
+
+    del pub
+    context.term()
+
+    self.assertEqual(result, [b"a"])
+
+  def test_multiple_publishers_exception(self):
+    context = messaging.Context()
+
+    with self.assertRaises(messaging.MultiplePublishersError):
+      pub1 = messaging.PubSocket()
+      pub1.connect(context, 'controlsState')
+
+      pub2 = messaging.PubSocket()
+      pub2.connect(context, 'controlsState')
+
+      pub1.send("a")
+
+    del pub1
+    del pub2
+    context.term()
+
+  def test_multiple_messages(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    sub = messaging.SubSocket()
+    sub.connect(context, 'controlsState')
+
+    time.sleep(0.1)  # Slow joiner
+
+    for i in range(100):
+      pub.send(str(i))
+
+    msg_seen = False
+    i = 0
+    while True:
+      r = sub.receive(non_blocking=True)
+
+      if r is not None:
+        self.assertEqual(str(i), r.decode('utf8'))
+
+        msg_seen = True
+        i += 1
+
+      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
+        break
+
+    del pub
+    del sub
+    context.term()
+
+  def test_conflate(self):
+    context = messaging.Context()
+
+    pub = messaging.PubSocket()
+    pub.connect(context, 'controlsState')
+
+    sub = messaging.SubSocket()
+    sub.connect(context, 'controlsState', conflate=True)
+
+    time.sleep(0.1)  # Slow joiner
+    pub.send('a')
+    pub.send('b')
+
+    self.assertEqual(b'b', sub.receive())
+
+    del pub
+    del sub
+    context.term()
+
+
+if __name__ == "__main__":
+  unittest.main()
@@ -0,0 +1,177 @@
+# TODO: these port numbers are hardcoded in c, fix this
+
+# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
+
+# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
+
+# frame syncing packet
+frame: [8002, true, 20., 1]
+# accel, gyro, and compass
+sensorEvents: [8003, true, 100., 100]
+# GPS data, also global timestamp
+gpsNMEA: [8004, true, 9.]  # 9 msgs each sec
+# CPU+MEM+GPU+BAT temps
+thermal: [8005, true, 2., 1]
+# List(CanData), list of can messages
+can: [8006, true, 100.]
+controlsState: [8007, true, 100., 100]
+#liveEvent: [8008, true, 0.]
+model: [8009, true, 20., 5]
+features: [8010, true, 0.]
+health: [8011, true, 2., 1]
+radarState: [8012, true, 20., 5]
+#liveUI: [8014, true, 0.]
+encodeIdx: [8015, true, 20.]
+liveTracks: [8016, true, 20.]
+sendcan: [8017, true, 100.]
+logMessage: [8018, true, 0.]
+liveCalibration: [8019, true, 4., 4]
+androidLog: [8020, true, 0.]
+carState: [8021, true, 100., 10]
+# 8022 is reserved for sshd
+carControl: [8023, true, 100., 10]
+plan: [8024, true, 20.]
+liveLocation: [8025, true, 0., 1]
+gpsLocation: [8026, true, 1., 1]
+ethernetData: [8027, true, 0.]
+navUpdate: [8028, true, 0.]
+qcomGnss: [8029, true, 0.]
+lidarPts: [8030, true, 0.]
+procLog: [8031, true, 0.5]
+gpsLocationExternal: [8032, true, 10., 1]
+ubloxGnss: [8033, true, 10.]
+clocks: [8034, true, 1., 1]
+liveMpc: [8035, false, 20.]
+liveLongitudinalMpc: [8036, false, 20.]
+navStatus: [8038, true, 0.]
+gpsLocationTrimble: [8039, true, 0.]
+trimbleGnss: [8041, true, 0.]
+ubloxRaw: [8042, true, 20.]
+gpsPlannerPoints: [8043, true, 0.]
+gpsPlannerPlan: [8044, true, 0.]
+applanixRaw: [8046, true, 0.]
+orbLocation: [8047, true, 0.]
+trafficEvents: [8048, true, 0.]
+liveLocationTiming: [8049, true, 0.]
+orbslamCorrection: [8050, true, 0.]
+liveLocationCorrected: [8051, true, 0.]
+orbObservation: [8052, true, 0.]
+applanixLocation: [8053, true, 0.]
+liveLocationKalman: [8054, true, 0., 1]
+uiNavigationEvent: [8055, true, 0.]
+orbOdometry: [8057, true, 0.]
+orbFeatures: [8058, false, 0.]
+orbKeyFrame: [8059, true, 0.]
+uiLayoutState: [8060, true, 0.]
+frontEncodeIdx: [8061, true, 5.]
+orbFeaturesSummary: [8062, true, 0.]
+driverState: [8063, true, 5., 1]
+liveParameters: [8064, true, 10.]
+liveMapData: [8065, true, 0.]
+cameraOdometry: [8066, true, 20., 5]
+pathPlan: [8067, true, 20.]
+kalmanOdometry: [8068, true, 0.]
+thumbnail: [8069, true, 0.2, 1]
+carEvents: [8070, true, 1., 1]
+carParams: [8071, true, 0.02, 1]
+frontFrame: [8072, true, 10.]
+dMonitoringState: [8073, true, 5., 1]
+offroadLayout: [8074, false, 0.]
+
+testModel: [8040, false, 0.]
+testLiveLocation: [8045, false, 0.]
+testJoystick: [8056, false, 0.]
+
+# 8080 is reserved for slave testing daemon
+# 8762 is reserved for logserver
+
+# manager -- base process to manage starting and stopping of all others
+#   subscribes: thermal
+
+# **** processes that communicate with the outside world ****
+
+# thermald -- decides when to start and stop onroad
+#   subscribes: health, location
+#   publishes: thermal
+
+# boardd -- communicates with the car
+#   subscribes: sendcan
+#   publishes: can, health, ubloxRaw
+
+# sensord -- publishes IMU and Magnetometer
+#   publishes: sensorEvents
+
+# gpsd -- publishes EON's gps
+#   publishes: gpsNMEA
+
+# camerad -- publishes camera frames
+#   publishes: frame, frontFrame, thumbnail
+#   subscribes: driverState
+
+# dmonitoringmodeld -- runs face detection on camera frames
+#   publishes: driverState
+
+# **** stateful data transformers ****
+
+# modeld -- runs & publishes the model 
+#   publishes: model, cameraOdometry
+#   subscribes: liveCalibration, pathPlan
+
+# plannerd -- decides where to drive the car
+#   subscribes: carState, model, radarState, controlsState, liveParameters
+#   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
+
+# controlsd -- drives the car by sending CAN messages to panda
+#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
+#   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
+
+# dmonitoringd -- processes driver monitoring data and publishes driver awareness
+#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
+#   publishes: dMonitoringState
+
+# radard -- processes the radar and vision data
+#   subscribes: can, controlsState, model, liveParameters
+#   publishes:  radarState, liveTracks
+
+# params_learner -- learns vehicle params by observing the vehicle dynamics
+#   subscribes: controlsState, sensorEvents, cameraOdometry
+#   publishes: liveParameters
+
+# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
+#   subscribes: cameraOdometry
+#   publishes: liveCalibration
+
+# ubloxd -- read raw ublox data and converts them in readable format
+#   subscribes: ubloxRaw
+#   publishes: ubloxGnss
+
+# **** LOGGING SERVICE ****
+
+# loggerd
+#   subscribes: EVERYTHING
+
+# **** NON VITAL SERVICES ****
+
+# ui
+#   subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
+
+# uploader
+#   communicates through file system with loggerd
+
+# deleter
+#   communicates through file system with loggerd and uploader
+
+# logmessaged -- central logging service, can log to cloud
+#   publishes:  logMessage
+
+# logcatd -- fetches logcat info from android
+#   publishes:  androidLog
+
+# proclogd -- fetches process information
+#   publishes: procLog
+
+# tombstoned -- reports native crashes
+
+# athenad -- on request, open a sub socket and return the value
+
+# updated -- waits for network access and tries to update every hour
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+import os
+import yaml
+
+class Service():
+  def __init__(self, port, should_log, frequency, decimation=None):
+    self.port = port
+    self.should_log = should_log
+    self.frequency = frequency
+    self.decimation = decimation
+
+service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
+
+service_list = {}
+with open(service_list_path, "r") as f:
+  for k, v in yaml.safe_load(f).items():
+    decimation = None
+    if len(v) == 4:
+      decimation = v[3]
+
+    service_list[k] = Service(v[0], v[1], v[2], decimation)
+
+if __name__ == "__main__":
+  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
+  print("#ifndef __SERVICES_H")
+  print("#define __SERVICES_H")
+  print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
+  print("static struct service services[] = {")
+  for k, v in service_list.items():
+    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
+  print("};")
+  print("#endif")
+
@@ -0,0 +1,7 @@
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
@@ -0,0 +1 @@
+*.cpp
@@ -0,0 +1,6 @@
+Import('env')
+
+# parser
+env.Command(['common_pyx.so'],
+  ['common_pyx_setup.py', 'clock.pyx'],
+  "cd common && python3 common_pyx_setup.py build_ext --inplace")
@@ -0,0 +1,281 @@
+import os
+import binascii
+import itertools
+import re
+import struct
+import subprocess
+import random
+from cereal import log
+
+NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength
+
+ANDROID = os.path.isfile('/EON')
+
+def getprop(key):
+  if not ANDROID:
+    return ""
+  return subprocess.check_output(["getprop", key], encoding='utf8').strip()
+
+def get_imei(slot):
+  slot = str(slot)
+  if slot not in ("0", "1"):
+    raise ValueError("SIM slot must be 0 or 1")
+
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
+  if not ret:
+    # allow non android to be identified differently
+    ret = "%015d" % random.randint(0, 1<<32)
+  return ret
+
+def get_serial():
+  ret = getprop("ro.serialno")
+  if ret == "":
+    ret = "cccccccc"
+  return ret
+
+def get_subscriber_info():
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
+  if ret is None or len(ret) < 8:
+    return ""
+  return ret
+
+def reboot(reason=None):
+  if reason is None:
+    reason_args = ["null"]
+  else:
+    reason_args = ["s16", reason]
+
+  subprocess.check_output([
+    "service", "call", "power", "16", # IPowerManager.reboot
+    "i32", "0", # no confirmation,
+    *reason_args,
+    "i32", "1" # wait
+  ])
+
+def service_call(call):
+  if not ANDROID:
+    return None
+
+  ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
+  if 'Parcel' not in ret:
+    return None
+
+  return parse_service_call_bytes(ret)
+
+def parse_service_call_unpack(r, fmt):
+  try:
+    return struct.unpack(fmt, r)[0]
+  except Exception:
+    return None
+
+def parse_service_call_string(r):
+  try:
+    r = r[8:] # Cut off length field
+    r = r.decode('utf_16_be')
+
+    # All pairs of two characters seem to be swapped. Not sure why
+    result = ""
+    for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
+        result += b + a
+
+    result = result.replace('\x00', '')
+
+    return result
+  except Exception:
+    return None
+
+def parse_service_call_bytes(ret):
+  try:
+    r = b""
+    for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
+      r += binascii.unhexlify(hex_part)
+    return r
+  except Exception:
+    return None
+
+def get_network_type():
+  if not ANDROID:
+    return NetworkType.none
+
+  wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
+  if wifi_check is None:
+    return NetworkType.none
+  elif 'WIFI' in wifi_check:
+    return NetworkType.wifi
+  else:
+    cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
+    # from TelephonyManager.java
+    cell_networks = {
+      0: NetworkType.none,
+      1: NetworkType.cell2G,
+      2: NetworkType.cell2G,
+      3: NetworkType.cell3G,
+      4: NetworkType.cell2G,
+      5: NetworkType.cell3G,
+      6: NetworkType.cell3G,
+      7: NetworkType.cell3G,
+      8: NetworkType.cell3G,
+      9: NetworkType.cell3G,
+      10: NetworkType.cell3G,
+      11: NetworkType.cell2G,
+      12: NetworkType.cell3G,
+      13: NetworkType.cell4G,
+      14: NetworkType.cell4G,
+      15: NetworkType.cell3G,
+      16: NetworkType.cell2G,
+      17: NetworkType.cell3G,
+      18: NetworkType.cell4G,
+      19: NetworkType.cell4G
+    }
+    return cell_networks.get(cell_check, NetworkType.none)
+
+def get_network_strength(network_type):
+  network_strength = NetworkStrength.unknown
+  # from SignalStrength.java
+  def get_lte_level(rsrp, rssnr):
+    INT_MAX = 2147483647
+    if rsrp == INT_MAX:
+      lvl_rsrp = NetworkStrength.unknown
+    elif rsrp >= -95:
+      lvl_rsrp = NetworkStrength.great
+    elif rsrp >= -105:
+      lvl_rsrp = NetworkStrength.good
+    elif rsrp >= -115:
+      lvl_rsrp = NetworkStrength.moderate
+    else:
+      lvl_rsrp = NetworkStrength.poor
+    if rssnr == INT_MAX:
+      lvl_rssnr = NetworkStrength.unknown
+    elif rssnr >= 45:
+      lvl_rssnr = NetworkStrength.great
+    elif rssnr >= 10:
+      lvl_rssnr = NetworkStrength.good
+    elif rssnr >= -30:
+      lvl_rssnr = NetworkStrength.moderate
+    else:
+      lvl_rssnr = NetworkStrength.poor
+    return max(lvl_rsrp, lvl_rssnr)
+
+  def get_tdscdma_level(tdscmadbm):
+    lvl = NetworkStrength.unknown
+    if tdscmadbm > -25:
+      lvl = NetworkStrength.unknown
+    elif tdscmadbm >= -49:
+      lvl = NetworkStrength.great
+    elif tdscmadbm >= -73:
+      lvl = NetworkStrength.good
+    elif tdscmadbm >= -97:
+      lvl = NetworkStrength.moderate
+    elif tdscmadbm >= -110:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_gsm_level(asu):
+    if asu <= 2 or asu == 99:
+      lvl = NetworkStrength.unknown
+    elif asu >= 12:
+      lvl = NetworkStrength.great
+    elif asu >= 8:
+      lvl = NetworkStrength.good
+    elif asu >= 5:
+      lvl = NetworkStrength.moderate
+    else:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_evdo_level(evdodbm, evdosnr):
+    lvl_evdodbm = NetworkStrength.unknown
+    lvl_evdosnr = NetworkStrength.unknown
+    if evdodbm >= -65:
+      lvl_evdodbm = NetworkStrength.great
+    elif evdodbm >= -75:
+      lvl_evdodbm = NetworkStrength.good
+    elif evdodbm >= -90:
+      lvl_evdodbm = NetworkStrength.moderate
+    elif evdodbm >= -105:
+      lvl_evdodbm = NetworkStrength.poor
+    if evdosnr >= 7:
+      lvl_evdosnr = NetworkStrength.great
+    elif evdosnr >= 5:
+      lvl_evdosnr = NetworkStrength.good
+    elif evdosnr >= 3:
+      lvl_evdosnr = NetworkStrength.moderate
+    elif evdosnr >= 1:
+      lvl_evdosnr = NetworkStrength.poor
+    return max(lvl_evdodbm, lvl_evdosnr)
+
+  def get_cdma_level(cdmadbm, cdmaecio):
+    lvl_cdmadbm = NetworkStrength.unknown
+    lvl_cdmaecio = NetworkStrength.unknown
+    if cdmadbm >= -75:
+      lvl_cdmadbm = NetworkStrength.great
+    elif cdmadbm >= -85:
+      lvl_cdmadbm = NetworkStrength.good
+    elif cdmadbm >= -95:
+      lvl_cdmadbm = NetworkStrength.moderate
+    elif cdmadbm >= -100:
+      lvl_cdmadbm = NetworkStrength.poor
+    if cdmaecio >= -90:
+      lvl_cdmaecio = NetworkStrength.great
+    elif cdmaecio >= -110:
+      lvl_cdmaecio = NetworkStrength.good
+    elif cdmaecio >= -130:
+      lvl_cdmaecio = NetworkStrength.moderate
+    elif cdmaecio >= -150:
+      lvl_cdmaecio = NetworkStrength.poor
+    return max(lvl_cdmadbm, lvl_cdmaecio)
+
+  if network_type == NetworkType.none:
+    return network_strength
+  if network_type == NetworkType.wifi:
+    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
+    network_strength = NetworkStrength.unknown
+    for line in out.split('\n'):
+      signal_str = "SignalStrength: "
+      if signal_str in line:
+        lvl_idx_start = line.find(signal_str) + len(signal_str)
+        lvl_idx_end = line.find(']', lvl_idx_start)
+        lvl = int(line[lvl_idx_start : lvl_idx_end])
+        if lvl >= -50:
+          network_strength = NetworkStrength.great
+        elif lvl >= -60:
+          network_strength = NetworkStrength.good
+        elif lvl >= -70:
+          network_strength = NetworkStrength.moderate
+        else:
+          network_strength = NetworkStrength.poor
+    return network_strength
+  else:
+    # check cell strength
+    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
+    for line in out.split('\n'):
+      if "mSignalStrength" in line:
+        arr = line.split(' ')
+        ns = 0
+        if ("gsm" in arr[14]):
+          rsrp = int(arr[9])
+          rssnr = int(arr[11])
+          ns = get_lte_level(rsrp, rssnr)
+          if ns == NetworkStrength.unknown:
+            tdscmadbm = int(arr[13])
+            ns = get_tdscdma_level(tdscmadbm)
+            if ns == NetworkStrength.unknown:
+              asu = int(arr[1])
+              ns = get_gsm_level(asu)
+        else:
+          cdmadbm = int(arr[3])
+          cdmaecio = int(arr[4])
+          evdodbm = int(arr[5])
+          evdosnr = int(arr[7])
+          lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
+          lvl_edmo = get_evdo_level(evdodbm, evdosnr)
+          if lvl_edmo == NetworkStrength.unknown:
+            ns = lvl_cdma
+          elif lvl_cdma == NetworkStrength.unknown:
+            ns = lvl_edmo
+          else:
+            ns = min(lvl_cdma, lvl_edmo)
+        network_strength = max(network_strength, ns)
+
+    return network_strength
@@ -1,7 +1,34 @@
+import jwt
 import requests
-
+from datetime import datetime, timedelta
+from common.basedir import PERSIST
 from selfdrive.version import version

+class Api():
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(PERSIST+'/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=1)
+    }
+    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
+
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"

@@ -0,0 +1,97 @@
+import os
+import subprocess
+import glob
+import hashlib
+import shutil
+from common.basedir import BASEDIR
+from selfdrive.swaglog import cloudlog
+
+android_packages = ("ai.comma.plus.offroad",)
+
+def get_installed_apks():
+  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
+  ret = {}
+  for x in dat:
+    if x.startswith("package:"):
+      v,k = x.split("package:")[1].split("=")
+      ret[k] = v
+  return ret
+
+def install_apk(path):
+  # can only install from world readable path
+  install_path = "/sdcard/%s" % os.path.basename(path)
+  shutil.copyfile(path, install_path)
+
+  ret = subprocess.call(["pm", "install", "-r", install_path])
+  os.remove(install_path)
+  return ret == 0
+
+def start_offroad():
+  set_package_permissions()
+  system("am start -n ai.comma.plus.offroad/.MainActivity")
+
+def set_package_permissions():
+  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
+  pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
+  pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
+  appops_set("ai.comma.plus.offroad", "SU", "allow")
+  appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
+
+def appops_set(package, op, mode):
+  system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
+
+def pm_grant(package, permission):
+  system(f"pm grant {package} {permission}")
+
+def system(cmd):
+  try:
+    cloudlog.info("running %s" % cmd)
+    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+  except subprocess.CalledProcessError as e:
+    cloudlog.event("running failed",
+      cmd=e.cmd,
+      output=e.output[-1024:],
+      returncode=e.returncode)
+
+# *** external functions ***
+
+def update_apks():
+  # install apks
+  installed = get_installed_apks()
+
+  install_apks = glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
+  for apk in install_apks:
+    app = os.path.basename(apk)[:-4]
+    if app not in installed:
+      installed[app] = None
+
+  cloudlog.info("installed apks %s" % (str(installed), ))
+
+  for app in installed.keys():
+    apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
+    if not os.path.exists(apk_path):
+      continue
+
+    h1 = hashlib.sha1(open(apk_path, 'rb').read()).hexdigest()
+    h2 = None
+    if installed[app] is not None:
+      h2 = hashlib.sha1(open(installed[app], 'rb').read()).hexdigest()
+      cloudlog.info("comparing version of %s  %s vs %s" % (app, h1, h2))
+
+    if h2 is None or h1 != h2:
+      cloudlog.info("installing %s" % app)
+
+      success = install_apk(apk_path)
+      if not success:
+        cloudlog.info("needing to uninstall %s" % app)
+        system("pm uninstall %s" % app)
+        success = install_apk(apk_path)
+
+      assert success
+
+def pm_apply_packages(cmd):
+  for p in android_packages:
+    system("pm %s %s" % (cmd, p))
+
+if __name__ == "__main__":
+  update_apks()
@@ -1,4 +1,11 @@
 import os
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

+from common.android import ANDROID
+if ANDROID:
+  PERSIST = "/persist"
+  PARAMS = "/data/params"
+else:
+  PERSIST = os.path.join(BASEDIR, "persist")
+  PARAMS = os.path.join(BASEDIR, "persist", "params")

@@ -0,0 +1,22 @@
+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)
+
@@ -0,0 +1,20 @@
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
+sourcefiles = ['clock.pyx']
+extra_compile_args = ["-std=c++11"]
+
+setup(name='Common',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "common_pyx",
+          language="c++",
+          sources=sourcefiles,
+          extra_compile_args=extra_compile_args,
+        )
+      ),
+      nthreads=4,
+)
@@ -0,0 +1,23 @@
+import os
+import sysconfig
+from Cython.Distutils import build_ext
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3.7
+import subprocess
+from common.params import Params
+params = Params()
+
+def get_last_modified():
+  return Params().get('DragonLastModified', encoding='utf-8')
+
+def is_online():
+  return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+
+def common_controller_update():
+  dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+  if dragon_lat_ctrl:
+    dragon_enable_steering_on_signal = True if (params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" and params.get("LaneChangeEnabled", encoding='utf8') == "0") else False
+    if dragon_enable_steering_on_signal:
+      try:
+        dragon_blinker_off_timer = float(params.get("DragonBlinkerOffTimer", encoding='utf8')) * 100
+      except (TypeError, ValueError):
+        dragon_blinker_off_timer = 0
+    else:
+      dragon_blinker_off_timer = 0
+  else:
+    dragon_enable_steering_on_signal = False
+    dragon_blinker_off_timer = 0
+  return dragon_lat_ctrl, dragon_enable_steering_on_signal, dragon_blinker_off_timer
+
+def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
+  if enabled:
+    if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
+      steer_req = 0 if isinstance(steer_req, int) else False
+
+  return steer_req
@@ -2,12 +2,20 @@ import os
 import sys
 import fcntl
 import hashlib
+import platform
 from cffi import FFI

-TMPDIR = "/tmp/ccache"
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"

-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
  try:
    os.mkdir(tmpdir)
  except OSError:
@@ -20,7 +28,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
    try:
      mod = __import__(cache)
    except Exception:
-      print "cache miss", cache
+      print("cache miss {0}".format(cache))
      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
      mod = __import__(cache)
  finally:
@@ -28,7 +36,11 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):

  return mod.ffi, mod.lib

-def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
  ffibuilder = FFI()
  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
  ffibuilder.cdef(c_header)
@@ -36,6 +48,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
  os.environ['CFLAGS'] = cflags
  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

+
 def wrap_compiled(name, directory):
  sys.path.append(directory)
  mod = __import__(name)
@@ -0,0 +1,109 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+def get_tmpdir_on_same_filesystem(path):
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1 and parts[1] == "scratch":
+    return "/scratch/tmp"
+  elif len(parts) > 2 and parts[2] == "runner":
+    return "/{}/runner/tmp".format(parts[1])
+  return "/tmp"
+
+class AutoMoveTempdir():
+  def __init__(self, target_path, temp_dir=None):
+    self._target_path = target_path
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    os.rename(self._path, self._target_path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    if type is None:
+      self.close()
+    else:
+      shutil.rmtree(self._path)
+
+class NamedTemporaryDir():
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    file_obj = writer.get_fileobject(dir=temp_dir)
+    os.chmod(file_obj.name, 0o644)
+    return file_obj
+  return _get_fileobject
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+
+def atomic_write_in_dir_neos(path, contents, mode=None):
+  """
+  Atomically writes contents to path using a temporary file in the same directory
+  as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
+  """
+
+  f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
+  f.write(contents)
+  f.flush()
+  if mode is not None:
+    os.fchmod(f.fileno(), mode)
+  os.fsync(f.fileno())
+  f.close()
+
+  os.rename(f.name, path)
@@ -6,5 +6,4 @@ class FirstOrderFilter():

  def update(self, x):
    self.x = (1. - self.k) * self.x + self.k * x
-
-
+    return self.x
@@ -1,64 +0,0 @@
-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()
@@ -0,0 +1 @@
+simple_kalman_impl.c
@@ -0,0 +1,6 @@
+Import('env')
+
+env.Command(['simple_kalman_impl.so'],
+  ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
+  "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
+
@@ -1,253 +0,0 @@
-# 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
@@ -1,23 +1,3 @@
-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
+# pylint: skip-file
+from common.kalman.simple_kalman_impl import KF1D as KF1D
+assert KF1D
@@ -0,0 +1,16 @@
+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
@@ -0,0 +1,36 @@
+# 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]
@@ -0,0 +1,23 @@
+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
@@ -0,0 +1,9 @@
+from distutils.core import Extension, setup
+
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
+setup(name='Simple Kalman Implementation',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
@@ -0,0 +1,85 @@
+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.matrix([[x0_0], [x1_0]]),
+                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.matrix([C0_0, C0_1]),
+                           K=np.matrix([[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
+      self.assertAlmostEqual(x_old[0], x[0])
+      self.assertAlmostEqual(x_old[1], x[1])
+
+
+  def test_new_is_faster(self):
+    setup = """
+import numpy as np
+
+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.matrix([[x0_0], [x1_0]]),
+                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.matrix([C0_0, C0_1]),
+                  K=np.matrix([[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)
@@ -1,9 +1,11 @@
+import io
 import os
 import sys
 import copy
 import json
 import socket
 import logging
+import traceback
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -78,28 +80,6 @@ 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
@@ -140,6 +120,42 @@ class SwagLogger(logging.Logger):
    else:
      self.info(evt)

+  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)
+        if filename == _srcfile:
+            f = f.f_back
+            continue
+        sinfo = None
+        if stack_info:
+            sio = io.StringIO()
+            sio.write('Stack (most recent call last):\n')
+            traceback.print_stack(f, file=sio)
+            sinfo = sio.getvalue()
+            if sinfo[-1] == '\n':
+                sinfo = sinfo[:-1]
+            sio.close()
+        rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+        break
+    return rv
+
 if __name__ == "__main__":
  log = SwagLogger()

@@ -0,0 +1,50 @@
+def cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+
+def print_cpu_usage(first_proc, last_proc):
+  r = 0
+  procs = [
+      ("selfdrive.controls.controlsd", 59.46),
+      ("./_modeld", 48.94),
+      ("./loggerd", 28.49),
+      ("selfdrive.controls.plannerd", 19.77),
+      ("selfdrive.controls.radard", 9.54),
+      ("./_ui", 9.54),
+      ("./camerad", 7.07),
+      ("selfdrive.locationd.locationd", 7.13),
+      ("./_sensord", 6.17),
+      ("selfdrive.controls.dmonitoringd", 5.48),
+      ("./boardd", 3.63),
+      ("./_dmonitoringmodeld", 2.67),
+      ("selfdrive.logmessaged", 2.71),
+      ("selfdrive.thermald", 2.41),
+      ("./paramsd", 2.18),
+      ("selfdrive.locationd.calibrationd", 1.76),
+      ("./proclogd", 1.54),
+      ("./_gpsd", 0.09),
+      ("./clocksd", 0.02),
+      ("./ubloxd", 0.02),
+      ("selfdrive.tombstoned", 0),
+      ("./logcatd", 0),
+      ("selfdrive.updated", 0),
+  ]
+
+  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
+  print("------------------------------------------------")
+  for proc_name, normal_cpu_usage in procs:
+    try:
+      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
+      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
+      cpu_time = cputime_total(last) - cputime_total(first)
+      cpu_usage = cpu_time / dt * 100.
+      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
+        print(f"Warning {proc_name} using more CPU than normal")
+        r = 1
+
+      print(f"{proc_name.ljust(35)}  {cpu_usage:.2f}%")
+    except IndexError:
+      print(f"{proc_name.ljust(35)}  NO METRICS FOUND")
+  print("------------------------------------------------")
+
+  return r
@@ -12,7 +12,10 @@ def interp(x, xp, fp):
      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)
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """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.
@@ -22,12 +22,16 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
+import string
+import binascii
 import errno
 import sys
 import shutil
 import fcntl
 import tempfile
+import threading
 from enum import Enum
+from common.basedir import PARAMS

 def mkdirs_exists_ok(path):
  try:
@@ -36,52 +40,168 @@ def mkdirs_exists_ok(path):
    if not os.path.isdir(path):
      raise

+
 class TxType(Enum):
  PERSISTENT = 1
  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_CAR_START = 3
+  CLEAR_ON_PANDA_DISCONNECT = 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,
-  "SpeedLimitOffset": TxType.PERSISTENT,
-# written: visiond
-# read:    visiond, controlsd
-  "CalibrationParams": TxType.PERSISTENT,
-  "ControlsParams": 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,
-  "LongitudinalControl": TxType.PERSISTENT,
-  "LimitSetSpeed": TxType.PERSISTENT,
-
-  "RecordFront": TxType.PERSISTENT,
+  "AccessToken": [TxType.CLEAR_ON_MANAGER_START],
+  "AthenadPid": [TxType.PERSISTENT],
+  "CalibrationParams": [TxType.PERSISTENT],
+  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CommunityFeaturesToggle": [TxType.PERSISTENT],
+  "CompletedTrainingVersion": [TxType.PERSISTENT],
+  "ControlsParams": [TxType.PERSISTENT],
+  "DisablePowerDown": [TxType.PERSISTENT],
+  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
+  "DongleId": [TxType.PERSISTENT],
+  "GitBranch": [TxType.PERSISTENT],
+  "GitCommit": [TxType.PERSISTENT],
+  "GitRemote": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
+  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "HasCompletedSetup": [TxType.PERSISTENT],
+  "IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
+  "IsLdwEnabled": [TxType.PERSISTENT],
+  "IsGeofenceEnabled": [TxType.PERSISTENT],
+  "IsMetric": [TxType.PERSISTENT],
+  "IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
+  "IsRHD": [TxType.PERSISTENT],
+  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
+  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  "IsUploadRawEnabled": [TxType.PERSISTENT],
+  "LastAthenaPingTime": [TxType.PERSISTENT],
+  "LastUpdateTime": [TxType.PERSISTENT],
+  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LimitSetSpeedNeural": [TxType.PERSISTENT],
+  "LiveParameters": [TxType.PERSISTENT],
+  "LongitudinalControl": [TxType.PERSISTENT],
+  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  "LaneChangeEnabled": [TxType.PERSISTENT],
+  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Passive": [TxType.PERSISTENT],
+  "RecordFront": [TxType.PERSISTENT],
+  "ReleaseNotes": [TxType.PERSISTENT],
+  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  "SpeedLimitOffset": [TxType.PERSISTENT],
+  "SubscriberInfo": [TxType.PERSISTENT],
+  "TermsVersion": [TxType.PERSISTENT],
+  "TrainingVersion": [TxType.PERSISTENT],
+  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  "UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
+  "Version": [TxType.PERSISTENT],
+  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
+  #dragonpilot config
+  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonEnableAutoShutdown": [TxType.PERSISTENT],
+  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonEnableUploader": [TxType.PERSISTENT],
+  "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedFP": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedVIN": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedCarFW": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedSource": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "DragonUISpeed": [TxType.PERSISTENT],
+  "DragonUIEvent": [TxType.PERSISTENT],
+  "DragonUIMaxSpeed": [TxType.PERSISTENT],
+  "DragonUIFace": [TxType.PERSISTENT],
+  "DragonUIDev": [TxType.PERSISTENT],
+  "DragonUIDevMini": [TxType.PERSISTENT],
+  "DragonEnableTomTom": [TxType.PERSISTENT],
+  "DragonBootTomTom": [TxType.PERSISTENT],
+  "DragonRunTomTom": [TxType.PERSISTENT],
+  "DragonEnableAutonavi": [TxType.PERSISTENT],
+  "DragonBootAutonavi": [TxType.PERSISTENT],
+  "DragonRunAutonavi": [TxType.PERSISTENT],
+  "DragonEnableAegis": [TxType.PERSISTENT],
+  "DragonBootAegis": [TxType.PERSISTENT],
+  "DragonRunAegis": [TxType.PERSISTENT],
+  "DragonEnableMixplorer": [TxType.PERSISTENT],
+  "DragonRunMixplorer": [TxType.PERSISTENT],
+  "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
+  "DragonCameraOffset": [TxType.PERSISTENT],
+  "DragonUIVolumeBoost": [TxType.PERSISTENT],
+  "DragonGreyPandaMode": [TxType.PERSISTENT],
+  "DragonDrivingUI": [TxType.PERSISTENT],
+  "DragonDisplaySteeringLimitAlert": [TxType.PERSISTENT],
+  "DragonChargingCtrl": [TxType.PERSISTENT],
+  "DragonCharging": [TxType.PERSISTENT],
+  "DragonDisCharging": [TxType.PERSISTENT],
+  "DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
+  "DragonUILane": [TxType.PERSISTENT],
+  "DragonUILead": [TxType.PERSISTENT],
+  "DragonUIPath": [TxType.PERSISTENT],
+  "DragonUIBlinker": [TxType.PERSISTENT],
+  "DragonUIDMView": [TxType.PERSISTENT],
+  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
+  "DragonCarModel": [TxType.CLEAR_ON_MANAGER_START],
+  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
+  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
+  "DragonToyotaSnGMod": [TxType.PERSISTENT],
+  "DragonWazeMode": [TxType.PERSISTENT],
+  "DragonRunWaze": [TxType.PERSISTENT],
+  "DragonEnableAutoLC": [TxType.PERSISTENT],
+  "DragonAssistedLCMinMPH": [TxType.PERSISTENT],
+  "DragonAutoLCMinMPH": [TxType.PERSISTENT],
+  "DragonAutoLCDelay": [TxType.PERSISTENT],
+  "DragonBTG": [TxType.PERSISTENT],
+  "DragonBootHotspot": [TxType.PERSISTENT],
+  "DragonAccelProfile": [TxType.PERSISTENT],
+  "DragonLastModified": [TxType.CLEAR_ON_MANAGER_START],
+  "DragonEnableRegistration": [TxType.PERSISTENT],
+  "DragonDynamicFollow": [TxType.PERSISTENT],
+  "DragonToyotaSngResponse": [TxType.PERSISTENT],
+  "DragonEnableGearCheck": [TxType.PERSISTENT],
+  "DragonEnableTempMonitor": [TxType.PERSISTENT],
+  "DragonAppAutoUpdate": [TxType.PERSISTENT],
+  "DragonUpdating": [TxType.CLEAR_ON_MANAGER_START],
+  "DragonCustomModel": [TxType.PERSISTENT],
+  "DragonSupportedCars": [TxType.PERSISTENT],
+  "DragonLocale": [TxType.PERSISTENT],
+  "DragonUIScreenOffReversing": [TxType.PERSISTENT],
+  "DragonEnableSRLearner": [TxType.PERSISTENT],
+  "DragonEnableSteerBoost": [TxType.PERSISTENT],
+  "DragonSteerBoostMin": [TxType.PERSISTENT],
+  "DragonSteerBoostMax": [TxType.PERSISTENT],
+  "DragonSteerBoostMinAt": [TxType.PERSISTENT],
+  "DragonSteerBoostMaxAt": [TxType.PERSISTENT],
+  "DragonDashcamHours": [TxType.PERSISTENT],
+  "DragonUIScreenOffDriving": [TxType.PERSISTENT],
+  "DragonEnableAutoUpdate": [TxType.PERSISTENT],
+  "DragonUIBrightness": [TxType.PERSISTENT],
+  "DragonEnableUploadOnMobile": [TxType.PERSISTENT],
+  "DragonEnableUploadOnHotspot": [TxType.PERSISTENT],
+  "DragonMaxSpeedLimit": [TxType.PERSISTENT],
+  "DragonEnableRating": [TxType.PERSISTENT],
+  "DragonEnableContALC": [TxType.PERSISTENT],
+  "DragonBlinkerOffTimer": [TxType.PERSISTENT],
 }

+
 def fsync_dir(path):
  fd = os.open(path, os.O_RDONLY)
  try:
@@ -90,7 +210,7 @@ def fsync_dir(path):
    os.close(fd)


-class FileLock(object):
+class FileLock():
  def __init__(self, path, create):
    self._path = path
    self._create = create
@@ -106,7 +226,7 @@ class FileLock(object):
      self._fd = None


-class DBAccessor(object):
+class DBAccessor():
  def __init__(self, path):
    self._path = path
    self._vals = None
@@ -276,6 +396,9 @@ def read_db(params_path, key):
    return None

 def write_db(params_path, key, value):
+  if isinstance(value, str):
+    value = value.encode('utf8')
+
  prev_umask = os.umask(0)
  lock = FileLock(params_path+"/.lock", True)
  lock.acquire()
@@ -294,8 +417,8 @@ def write_db(params_path, key, value):
    os.umask(prev_umask)
    lock.release()

-class Params(object):
-  def __init__(self, db='/data/params'):
+class Params():
+  def __init__(self, db=PARAMS):
    self.db = db

    # create the database if it doesn't exist...
@@ -303,6 +426,11 @@ class Params(object):
      with self.transaction(write=True):
        pass

+  def clear_all(self):
+    shutil.rmtree(self.db, ignore_errors=True)
+    with self.transaction(write=True):
+      pass
+
  def transaction(self, write=False):
    if write:
      return DBWriter(self.db)
@@ -312,20 +440,20 @@ class Params(object):
  def _clear_keys_with_type(self, tx_type):
    with self.transaction(write=True) as txn:
      for key in keys:
-        if keys[key] == tx_type:
+        if tx_type in keys[key]:
          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 panda_disconnect(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)

  def delete(self, key):
    with self.transaction(write=True) as txn:
      txn.delete(key)

-  def get(self, key, block=False):
+  def get(self, key, block=False, encoding=None):
    if key not in keys:
      raise UnknownKeyName(key)

@@ -335,14 +463,37 @@ class Params(object):
        break
      # is polling really the best we can do?
      time.sleep(0.05)
+
+    if ret is not None and encoding is not None:
+      ret = ret.decode(encoding)
+
    return ret

  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.
+    """
+
    if key not in keys:
      raise UnknownKeyName(key)

    write_db(self.db, key, dat)

+
+def put_nonblocking(key, val):
+  def f(key, val):
+    params = Params()
+    params.put(key, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t
+
+
 if __name__ == "__main__":
  params = Params()
  if len(sys.argv) > 2:
@@ -352,10 +503,10 @@ if __name__ == "__main__":
      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):
+      elif all(chr(c) in string.printable for c in pp):
        print("%s = %s" % (k, pp))
      else:
-        print("%s = %s" % (k, pp.encode("hex")))
+        print("%s = %s" % (k, binascii.hexlify(pp)))

  # Test multiprocess:
  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
@@ -1,6 +1,6 @@
 import time

-class Profiler(object):
+class Profiler():
  def __init__(self, enabled=False):
    self.enabled = enabled
    self.cp = {}
@@ -39,8 +39,8 @@ class Profiler(object):
    print("******* Profiling *******")
    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
      if n in self.cp_ignored:
-        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
      else:
-        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f   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))

@@ -2,58 +2,25 @@
 import os
 import time
 import platform
-import threading
 import subprocess
 import multiprocessing
-
 from cffi import FFI
+
+from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+
+
+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_MDL = 0.05  # model
+DT_DMON = 0.1  # driver monitoring
+DT_TRML = 0.5  # thermald and manager
+
+
 ffi = FFI()
-ffi.cdef("""
-
-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, ...);
-
-"""
-)
+ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)


-# 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)
-
-
 def set_realtime_priority(level):
  if os.getuid() != 0:
    print("not setting priority, not root")
@@ -69,7 +36,7 @@ def set_realtime_priority(level):
  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])


-class Ratekeeper(object):
+class Ratekeeper():
  def __init__(self, rate, print_delay_threshold=0.):
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
@@ -99,10 +66,9 @@ class Ratekeeper(object):
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
-    if remaining < -self._print_delay_threshold:
+    if self._print_delay_threshold is not None and 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
-
@@ -0,0 +1,66 @@
+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", "spinner"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
+
+  def __enter__(self):
+    return self
+
+  def update(self, spinner_text):
+    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 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, type, value, traceback):
+    self.close()
+
+
+class FakeSpinner():
+  def __init__(self):
+    pass
+
+  def __enter__(self):
+    return self
+
+  def update(self, _):
+    pass
+
+  def close(self):
+    pass
+
+  def __exit__(self, type, value, traceback):
+    pass
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+  print("gone")
+  time.sleep(5.0)
@@ -0,0 +1,73 @@
+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():
@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from common.basedir import BASEDIR
+
+
+class TextWindow():
+  def __init__(self, s):
+    try:
+      self.text_proc = subprocess.Popen(["./text", s],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
+                                        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):
+    while True:
+      if self.get_status() == 1:
+        return
+      time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+
+class FakeTextWindow():
+  def __init__(self, s):
+    pass
+
+  def get_status(self):
+    return 1
+
+  def wait_for_exit(self):
+    return
+
+  def __enter__(self):
+    return self
+
+  def update(self, _):
+    pass
+
+  def __exit__(self, type, value, traceback):
+    pass
+
+
+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")
@@ -0,0 +1,28 @@
+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 = 'Timed out after {} seconds'.format(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)
+
@@ -1,6 +1,5 @@
 import numpy as np
 import common.transformations.orientation as orient
-import cv2

 FULL_FRAME_SIZE = (1164, 874)
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@@ -12,6 +11,17 @@ eon_intrinsics = np.array([
  [  0.,  FOCAL,  H/2.],
  [  0.,    0.,     1.]])

+
+leon_dcam_intrinsics = np.array([
+  [650,   0,   816//2],
+  [  0,  650,  612//2],
+  [  0,    0,     1]])
+
+eon_dcam_intrinsics = np.array([
+  [860,   0,   1152//2],
+  [  0,  860,  864//2],
+  [  0,    0,     1]])
+
 # aka 'K_inv' aka view_frame_from_camera_frame
 eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)

@@ -33,6 +43,7 @@ def get_calib_from_vp(vp):
  roll_calib = 0
  return roll_calib, pitch_calib, yaw_calib

+
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -50,6 +61,13 @@ def vp_from_ke(m):
  """
  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])

+
+def vp_from_rpy(rpy):
+  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
+  ke = np.dot(eon_intrinsics, e)
+  return vp_from_ke(ke)
+
+
 def roll_from_ke(m):
  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
  return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
@@ -64,7 +82,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
  input_shape = img_pts.shape
  img_pts = np.atleast_2d(img_pts)
  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_normalized = intrinsics_inv.dot(img_pts.T).T
+  img_pts_normalized = img_pts.dot(intrinsics_inv.T)
  img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
  return img_pts_normalized[:,:2].reshape(input_shape)

@@ -76,7 +94,7 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
  input_shape = img_pts.shape
  img_pts = np.atleast_2d(img_pts)
  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_denormalized = intrinsics.dot(img_pts.T).T
+  img_pts_denormalized = img_pts.dot(intrinsics.T)
  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
@@ -112,29 +130,19 @@ def img_from_device(pt_device):
  return pt_img.reshape(input_shape)[:,:2]


-def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  size = img.shape[:2]
-  rot = orient.rot_from_euler(eulers)
-  quadrangle = np.array([[0, 0],
-                         [size[1]-1, 0],
-                         [0, size[0]-1],
-                         [size[1]-1, size[0]-1]], dtype=np.float32)
-  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
-  warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
-  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-  if crop:
-    W_border = (size[1] - crop[0])/2
-    H_border = (size[0] - crop[1])/2
-    outside_crop = (((warped_quadrangle[:,0] < W_border) |
-                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
-                    ((warped_quadrangle[:,1] < H_border) |
-                     (warped_quadrangle[:,1] >= size[0] - H_border)))
-    if not outside_crop.all():
-      raise ValueError("warped image not contained inside crop")
-  else:
-    H_border, W_border = 0, 0
-  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
-  img_warped = cv2.warpPerspective(img, M, size[::-1])
-  return img_warped[H_border: size[0] - H_border,
-                    W_border: size[1] - W_border]
+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  calib_frame_from_ground = np.dot(eon_intrinsics,
+                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
+  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
+  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
+  return camera_frame_from_calib_frame
+
+
+def pretransform_from_calib(calib):
+  roll, pitch, yaw, height = calib
+  view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
+  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
+  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
+  return np.linalg.inv(camera_frame_from_calib_frame)
+
@@ -65,7 +65,7 @@ def ecef2geodetic(ecef, radians=False):
  geodetic = np.column_stack((lat, lon, h))
  return geodetic.reshape(input_shape)

-class LocalCoord(object):
+class LocalCoord():
  """
   Allows conversions to local frames. In this case NED.
   That is: North East Down from the start position in
@@ -1,9 +1,8 @@
 import numpy as np

-from common.transformations.camera import eon_focal_length, \
-	vp_from_ke, \
-	get_view_frame_from_road_frame, \
-	FULL_FRAME_SIZE
+from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
+                                           get_view_frame_from_road_frame,
+                                           vp_from_ke)

 # segnet

@@ -31,33 +30,40 @@ model_intrinsics = np.array(
   [   0. ,                            0. ,   1.]])


+# MED model
+MEDMODEL_INPUT_SIZE = (512, 256)
+MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
+MEDMODEL_CY = 47.6
+
+medmodel_zoom = 1.
+medmodel_intrinsics = np.array(
+  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
+   [   0. ,                            0. ,   1.]])
+
+
 # BIG model

-BIGMODEL_INPUT_SIZE = (864, 288)
+BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)

 bigmodel_zoom = 1.
 bigmodel_intrinsics = np.array(
  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
+   [   0. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
   [   0. ,                            0. ,   1.]])

-
-bigmodel_border = np.array([
-    [0,0,1],
-    [BIGMODEL_INPUT_SIZE[0], 0, 1],
-    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
-    [0, BIGMODEL_INPUT_SIZE[1], 1],
-])
-
-
 model_frame_from_road_frame = np.dot(model_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

+medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))

 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
@@ -102,6 +108,16 @@ def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model
  return np.dot(camera_from_model_camera, model_camera_from_model_frame)


+def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
+
+  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
+  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+
+  return camera_frame_from_medmodel_frame
+
+
 def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
@@ -110,3 +126,17 @@ def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)

  return camera_frame_from_bigmodel_frame
+
+
+def get_model_frame(snu_full, camera_frame_from_model_frame, size):
+  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
+                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
+                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
+  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
+  if len(snu_full.shape) == 3:
+    calib = calib_flat.reshape((size[1], size[0], 3))
+  elif len(snu_full.shape) == 2:
+    calib = calib_flat.reshape((size[1], size[0]))
+  else:
+    raise ValueError("shape of input img is weird")
+  return calib
@@ -29,7 +29,7 @@ def euler2quat(eulers):
       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)

  quats = array([q0, q1, q2, q3]).T
-  for i in xrange(len(quats)):
+  for i in range(len(quats)):
    if quats[i,0] < 0:
      quats[i] = -quats[i]
  return quats.reshape(output_shape)
@@ -99,7 +99,7 @@ def rot2quat(rots):
  K3[:, 3, 2] = K3[:, 2, 3]
  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
  q = np.empty((len(rots), 4))
-  for i in xrange(len(rots)):
+  for i in range(len(rots)):
    _, eigvecs = linalg.eigh(K3[i].T)
    eigvecs = eigvecs[:,3:]
    q[i, 0] = eigvecs[-1]
@@ -0,0 +1,45 @@
+import os
+from cffi import FFI
+
+# Workaround for the EON/termux build of Python having os.*xattr removed.
+ffi = FFI()
+ffi.cdef("""
+int setxattr(const char *path, const char *name, const void *value, size_t size, int flags);
+ssize_t getxattr(const char *path, const char *name, void *value, size_t size);
+ssize_t listxattr(const char *path, char *list, size_t size);
+int removexattr(const char *path, const char *name);
+""")
+libc = ffi.dlopen(None)
+
+def setxattr(path, name, value, flags=0):
+  path = path.encode()
+  name = name.encode()
+  if libc.setxattr(path, name, value, len(value), flags) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})")
+
+def getxattr(path, name, size=128):
+  path = path.encode()
+  name = name.encode()
+  value = ffi.new(f"char[{size}]")
+  l = libc.getxattr(path, name, value, size)
+  if l == -1:
+    # errno 61 means attribute hasn't been set
+    if ffi.errno == 61:
+      return None
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
+  return ffi.buffer(value)[:l]
+
+def listxattr(path, size=128):
+  path = path.encode()
+  attrs = ffi.new(f"char[{size}]")
+  l = libc.listxattr(path, attrs, size)
+  if l == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})")
+  # attrs is b'\0' delimited values (so chop off trailing empty item)
+  return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
+
+def removexattr(path, name):
+  path = path.encode()
+  name = name.encode()
+  if libc.removexattr(path, name) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})")
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
@@ -0,0 +1,92 @@
+This Font Software is licensed under the SIL Open Font License,
+Version 1.1.
+
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font
+creation efforts of academic and linguistic communities, and to
+provide a free and open framework in which fonts may be shared and
+improved in partnership with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply to
+any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software
+components as distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to,
+deleting, or substituting -- in part or in whole -- any of the
+components of the Original Version, by changing formats or by porting
+the Font Software to a new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed,
+modify, redistribute, and sell modified and unmodified copies of the
+Font Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components, in
+Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the
+corresponding Copyright Holder. This restriction only applies to the
+primary font name as presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created using
+the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
--- a/Show More
+++ b/Show More