666

version: sunnypilot v2026.001.000 (dev)
date: 2026-05-07T23:07:19
master commit: c28eb958740187620f2282023b8f1997cf90f583

.codespellignore

@@ -0,0 +1,6 @@
+Wen
+REGIST
+PullRequest
+cancelled
+FOF
+NoO

.github/ISSUE_TEMPLATE/bug_report.yml

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

.github/ISSUE_TEMPLATE/config.yml

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

.github/ISSUE_TEMPLATE/enhancement.md

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

.github/ISSUE_TEMPLATE/pc_bug_report.yml

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

.github/labeler.yaml

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

.github/pull_request_template.md

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

.github/workflows/auto-cache/action.yaml

@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -1,52 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [opened, reopened, synchronize, edited]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v5.0.0
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant

.github/workflows/badges.yaml

@@ -1,37 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Push badges
-      run: |
-        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@comma.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

.github/workflows/ci_weekly_report.yaml

@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'commaai/openpilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY

.github/workflows/ci_weekly_run.yaml

@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  tests:
-    uses: commaai/openpilot/.github/workflows/tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/compile_starpilot.yaml

@@ -1,239 +0,0 @@
-name: Compile StarPilot
-
-on:
-  workflow_dispatch:
-    inputs:
-      not_vetted:
-        description: "This branch is not vetted"
-        type: boolean
-        default: false
-        required: false
-      publish_custom_branch:
-        description: "Push to custom branch:"
-        type: string
-        default: ""
-        required: false
-      publish_starpilot:
-        description: "Push to StarPilot"
-        type: boolean
-        default: false
-        required: false
-      publish_staging:
-        description: "Push to StarPilot-Staging"
-        type: boolean
-        default: false
-        required: false
-      publish_testing:
-        description: "Push to StarPilot-Testing"
-        type: boolean
-        default: false
-        required: false
-      runner:
-        description: "Select runner"
-        type: choice
-        options:
-          - c3
-          - c3x
-        default: "c3"
-        required: true
-      update_translations:
-        description: "Update missing/outdated translations"
-        type: boolean
-        default: false
-        required: false
-      vet_existing_translations:
-        description: "Vet existing translations"
-        type: boolean
-        default: false
-        required: false
-
-env:
-  BASE_DIR: ${{ github.workspace }}
-  BUILD_DIR: "/data/openpilot"
-  CUSTOM_BRANCH: ${{ inputs.publish_custom_branch }}
-  GIT_EMAIL: "91348155+FrogAi@users.noreply.github.com"
-  GIT_NAME: "James"
-  OPENAI_API_KEY: ${{ secrets.OPENAI_API_KEY }}
-
-jobs:
-  get_branch:
-    runs-on: [self-hosted, "${{ inputs.runner }}"]
-    outputs:
-      branch: ${{ steps.get_branch.outputs.branch }}
-      python_version: ${{ steps.get_python_version.outputs.python_version }}
-    steps:
-      - name: Get Current Branch
-        id: get_branch
-        run: |
-          cd "$BUILD_DIR"
-          echo "branch=$(git rev-parse --abbrev-ref HEAD)" >> "$GITHUB_OUTPUT"
-
-      - name: Get Python Version
-        id: get_python_version
-        run: |
-          echo "python_version=$(tr -d '[:space:]' < "$BUILD_DIR/.python-version")" >> $GITHUB_OUTPUT
-
-  translate:
-    needs: get_branch
-    if: inputs.update_translations
-    runs-on: ubuntu-latest
-    steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "$GIT_NAME"
-          git config --global user.email "$GIT_EMAIL"
-
-      - name: Checkout Required Files
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ needs.get_branch.outputs.branch }}
-          sparse-checkout: |
-            starpilot/ui/
-            selfdrive/controls/lib/alerts_offroad.json
-            selfdrive/ui/
-            selfdrive/ui/translations/
-            selfdrive/ui/translations/auto_translate.py
-            selfdrive/ui/update_translations.py
-
-      - name: Set Up Python
-        uses: actions/setup-python@v4
-        with:
-          cache: "pip"
-          python-version: ${{ needs.get_branch.outputs.python_version }}
-
-      - name: Install Dependencies
-        run: |
-          pip install requests
-          sudo apt-get update && sudo apt-get install -y --no-install-recommends qttools5-dev-tools
-
-      - name: Update Translations
-        run: |
-          python selfdrive/ui/update_translations.py --vanish
-
-      - name: Update Missing Translations
-        continue-on-error: true
-        timeout-minutes: 300
-        run: |
-          python selfdrive/ui/translations/auto_translate.py --all-files
-
-      - name: Vet Existing Translations
-        if: inputs.vet_existing_translations
-        continue-on-error: true
-        timeout-minutes: 300
-        run: |
-          python selfdrive/ui/translations/auto_translate.py --all-files --vet-translations
-
-      - name: Commit and Push Translations
-        run: |
-          if git diff --quiet selfdrive/ui/translations/*.ts; then
-            echo "No translation updates detected."
-            exit 0
-          fi
-
-          git fetch --unshallow origin "${{ needs.get_branch.outputs.branch }}"
-          git checkout "${{ needs.get_branch.outputs.branch }}"
-          git add selfdrive/ui/translations/*.ts
-          git commit --amend --no-edit
-          git push --force origin "${{ needs.get_branch.outputs.branch }}"
-
-  build_and_push:
-    needs: [get_branch, translate]
-    if: ${{ !failure() && !cancelled() && needs.get_branch.result == 'success' }}
-    runs-on: [self-hosted, "${{ inputs.runner }}"]
-    permissions:
-      contents: write
-    defaults:
-      run:
-        working-directory: ${{ env.BUILD_DIR }}
-    steps:
-      - name: Configure Git
-        run: |
-          git config http.postBuffer 104857600
-          git config user.name "$GIT_NAME"
-          git config user.email "$GIT_EMAIL"
-          git remote set-url origin "https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/FrogAi/StarPilot.git"
-
-      - name: Sync Translation Updates
-        if: inputs.update_translations
-        run: |
-          git fetch origin "${{ needs.get_branch.outputs.branch }}"
-          git reset --hard FETCH_HEAD
-
-      - name: Take Ownership of Build Directory
-        run: |
-          sudo chown -R $(whoami):$(whoami) .
-
-      - name: Clean Build Artifacts
-        run: |
-          find . -name "matlab.*.md" -delete
-
-          find . -type d \( -iname "debug" -o -iname "test" -o -iname "tests" -o -name '__pycache__' \) -exec rm -rf {} +
-
-          find . -type f \( \
-            -name '*.a' -o \
-            -name '*.o' -o \
-            -name '*.onnx' -o \
-            -name '*.os' -o \
-            -name '*.pyc' -o \
-            -name 'moc_*' \
-          \) -delete
-
-          find .github -mindepth 1 -maxdepth 1 ! -name 'workflows' -exec rm -rf {} +
-          find .github/workflows -mindepth 1 ! \( \
-            -type f \( \
-              -name 'compile_starpilot.yaml' -o \
-              -name 'review_pull_request.yaml' -o \
-              -name 'schedule_update.yaml' -o \
-              -name 'update_pr_branch.yaml' -o \
-              -name 'update_release_branch.yaml' -o \
-              -name 'update_tinygrad.yaml' \
-            \) \
-          \) -exec rm -rf {} +
-
-          find panda/board -type f \
-            ! -name '__init__.py' \
-            ! -name 'bootstub.panda.bin' \
-            ! -name 'bootstub.panda_h7.bin' \
-            ! -name 'panda.bin.signed' \
-            ! -name 'panda_h7.bin.signed' \
-            -delete
-
-          find third_party/ -name '*Darwin*' -exec rm -rf {} +
-          find third_party/ -name '*x86*' -exec rm -rf {} +
-
-          rm -f .gitignore .gitmodules .gitattributes .lfsconfig .overlay_init
-
-          rm -rf .sconsign.dblite .vscode/ Jenkinsfile release/ scripts/ site_scons/ teleoprtc_repo/
-
-          find . -type d -empty ! -path "./.git*" -delete
-
-          touch prebuilt
-          [ "${{ inputs.not_vetted }}" = "true" ] && touch not_vetted || true
-
-      - name: Add Update Date File
-        if: inputs.publish_staging
-        continue-on-error: true
-        run: |
-          curl -fLsS https://raw.githubusercontent.com/FrogAi/StarPilot/StarPilot-Staging/.github/update_date -o .github/update_date || echo "No update_date found, skipping..."
-
-      - name: Commit and Push Build
-        run: |
-          git add -f .
-          git commit -m "Compile StarPilot"
-          git push --force origin HEAD
-
-          if [ "${{ inputs.publish_starpilot }}" = "true" ]; then
-            git push --force origin HEAD:StarPilot
-          fi
-
-          if [ "${{ inputs.publish_staging }}" = "true" ]; then
-            git push --force origin HEAD:StarPilot-Staging
-          fi
-
-          if [ "${{ inputs.publish_testing }}" = "true" ]; then
-            git push --force origin HEAD:StarPilot-Testing
-          fi
-
-          if [ -n "$CUSTOM_BRANCH" ]; then
-            git push --force origin HEAD:"$CUSTOM_BRANCH"
-          fi

.github/workflows/docs.yaml

@@ -1,65 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: commaai/timeout@v1
-
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-
-    # Build
-    - name: Build docs
-      run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
-
-    # Push to docs.comma.ai
-    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      with:
-        path: openpilot-docs
-        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: commaai/openpilot-docs
-    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      run: |
-        set -x
-
-        source release/identity.sh
-
-        cd openpilot-docs
-        git checkout --orphan tmp
-        git rm -rf .
-
-        # copy over docs
-        cp -r ../docs_site/ docs/
-
-        # GitHub pages config
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-
-        git add -f .
-        git commit -m "build docs"
-
-        # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages

.github/workflows/jenkins-pr-trigger.yaml

@@ -1,59 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  # TODO: gc old branches in a separate job in this workflow
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v7
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v7
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/mici_raylib_ui_preview.yaml

@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Checkout master
-        uses: actions/checkout@v4
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh prebuilt
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/raylib_ui_preview.yaml

@@ -1,175 +0,0 @@
-name: "raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
-
-jobs:
-  preview:
-    if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: openpilot_master_ui_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_raylib
-          git rm -rf *
-          git branch -D openpilot_master_ui_raylib
-          git branch -m openpilot_master_ui_raylib
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui_raylib --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
-            ## raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -1,42 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build_masterci:
-    name: build master-ci
-    env:
-      ImageOS: ubuntu24
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
-    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build master-ci'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
-    - name: Push master-ci
-      run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -1,72 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: Vehicle Researcher <user@comma.ai>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: uv lock
-      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git submodule update --remote
-        git add .
-    - name: update car docs
-      run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
-        python selfdrive/car/docs.py
-        git add docs/CARS.md
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
-        labels: bot

.github/workflows/schedule_update.yaml

@@ -1,71 +0,0 @@
-name: Schedule StarPilot Update
-
-on:
-  workflow_dispatch:
-    inputs:
-      scheduled_date:
-        description: "Enter the date to update the \"StarPilot\" branch (YYYY-MM-DD)"
-        required: true
-
-env:
-  GIT_EMAIL: "91348155+FrogAi@users.noreply.github.com"
-  GIT_NAME: "James"
-  TARGET_BRANCH: "StarPilot-Staging"
-  UPDATE_FILE_PATH: ".github/update_date"
-
-jobs:
-  schedule_update:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout Target Branch
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ env.TARGET_BRANCH }}
-          token: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-          fetch-depth: 3
-
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "$GIT_NAME"
-          git config --global user.email "$GIT_EMAIL"
-
-      - name: Write Schedule Date
-        env:
-          SCHEDULED_DATE: ${{ github.event.inputs.scheduled_date }}
-        run: |
-          echo "$SCHEDULED_DATE" > "$UPDATE_FILE_PATH"
-          git add "$UPDATE_FILE_PATH"
-
-      - name: Get Target Commit Data
-        id: get_target
-        run: |
-          TARGET_COMMIT=$(git rev-parse HEAD~1)
-          AUTHOR_DATE=$(git show -s --format=%aD "$TARGET_COMMIT")
-          COMMITTER_DATE=$(git show -s --format=%cD "$TARGET_COMMIT")
-
-          echo "AUTHOR_DATE=$AUTHOR_DATE" >> "$GITHUB_ENV"
-          echo "COMMITTER_DATE=$COMMITTER_DATE" >> "$GITHUB_ENV"
-          echo "TARGET_COMMIT=$TARGET_COMMIT" >> "$GITHUB_ENV"
-
-      - name: Create Fixup Commit
-        id: fixup_commit
-        run: |
-          if git diff --cached --quiet; then
-            echo "No changes detected."
-            echo "has_changes=false" >> "$GITHUB_OUTPUT"
-          else
-            echo "Changes detected. Creating fixup commit."
-            git commit --fixup="$TARGET_COMMIT"
-            echo "has_changes=true" >> "$GITHUB_OUTPUT"
-          fi
-
-      - name: Autosquash and Restore Timestamps
-        if: steps.fixup_commit.outputs.has_changes == 'true'
-        run: |
-          GIT_SEQUENCE_EDITOR=: git rebase --autosquash -i HEAD~3
-          git rebase --exec "GIT_COMMITTER_DATE='$COMMITTER_DATE' git commit --amend --no-edit --date='$AUTHOR_DATE'" HEAD~2
-
-      - name: Push Changes
-        if: steps.fixup_commit.outputs.has_changes == 'true'
-        run: |
-          git push origin "$TARGET_BRANCH" --force-with-lease

.github/workflows/setup-with-retry/action.yaml

@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT

.github/workflows/setup/action.yaml

@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt 1 ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/tests.yaml

@@ -1,294 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
-
-  build:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
-  build_mac:
-    name: build macOS
-    if: false # tmp disable due to brew install not working
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  process_replay:
-    name: process replay
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_raylib_ui_report:
-    name: Create raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
-
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report

.github/workflows/update_release_branch.yaml

@@ -1,107 +0,0 @@
-name: Update StarPilot Branch
-
-on:
-  schedule:
-    - cron: "0 18 * * 6"
-
-env:
-  BRANCH_STARPILOT: StarPilot
-  BRANCH_PREVIOUS: StarPilot-Previous
-  BRANCH_STAGING: StarPilot-Staging
-  GIT_EMAIL: "91348155+FrogAi@users.noreply.github.com"
-  GIT_NAME: "James"
-  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-  TZ: America/Phoenix
-  UPDATE_FILE: .github/update_date
-
-jobs:
-  check_update:
-    runs-on: ubuntu-latest
-    outputs:
-      update_due: ${{ steps.check_update.outputs.update_due }}
-      scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
-    steps:
-      - name: Check Update Status
-        id: check_update
-        env:
-          REPO_NAME: ${{ github.repository }}
-        run: |
-          URL="https://raw.githubusercontent.com/$REPO_NAME/$BRANCH_STAGING/$UPDATE_FILE"
-          STATUS=$(curl -o /dev/null -s -w "%{http_code}\n" "$URL")
-
-          if [ "$STATUS" != "200" ]; then
-            echo "update_due=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-
-          SCHEDULED_DATE=$(curl -s "$URL")
-          CURRENT_DATE=$(TZ="$TZ" date +%F)
-
-          if [ "$SCHEDULED_DATE" == "$CURRENT_DATE" ]; then
-            echo "update_due=true" >> "$GITHUB_OUTPUT"
-            echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
-          else
-            echo "update_due=false" >> "$GITHUB_OUTPUT"
-          fi
-
-  update_branch:
-    needs: check_update
-    if: ${{ needs.check_update.outputs.update_due == 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout Staging
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ env.BRANCH_STAGING }}
-          fetch-depth: 0
-          token: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
-
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "$GIT_NAME"
-          git config --global user.email "$GIT_EMAIL"
-
-      - name: Update README and Cleanup
-        env:
-          SCHEDULED_DATE: ${{ needs.check_update.outputs.scheduled_date }}
-        run: |
-          DAY=$(TZ="$TZ" date +'%d' | sed 's/^0//')
-          case "$DAY" in
-            1|21|31) SUFFIX="st" ;;
-            2|22)    SUFFIX="nd" ;;
-            3|23)    SUFFIX="rd" ;;
-            *)       SUFFIX="th" ;;
-          esac
-
-          MONTH=$(TZ="$TZ" date +'%B')
-          YEAR=$(TZ="$TZ" date +'%Y')
-          DATE_FMT="${MONTH} ${DAY}${SUFFIX}, ${YEAR}"
-          DATE_ESCAPED=$(printf '%s' "$DATE_FMT" | sed -E 's/ /%20/g; s/,/%2C/g')
-
-          sed -i -E "s|(Last%20Updated-)[^-)]*|\1${DATE_ESCAPED}|g" README.md
-
-          git rm -f "$UPDATE_FILE"
-          git add README.md
-          git commit -m "Updated README date to ${DATE_FMT}"
-
-          git reset --soft HEAD~2
-          ORIGINAL_MSG=$(git log -1 --pretty=%B HEAD)
-
-          COMMIT_PHX=$(TZ="$TZ" date -d "$SCHEDULED_DATE 12:00" +"%Y-%m-%dT%H:%M:%S %z")
-          GIT_COMMITTER_DATE="$COMMIT_PHX" GIT_AUTHOR_DATE="$COMMIT_PHX" git commit -m "$ORIGINAL_MSG"
-
-      - name: Wait Until Noon ${{ env.TZ }}
-        run: |
-          NOW=$(TZ="$TZ" date +%s)
-          TARGET=$(TZ="$TZ" date -d "12:00" +%s)
-
-          if [ "$NOW" -lt "$TARGET" ]; then
-            sleep $((TARGET - NOW))
-          fi
-
-      - name: Push and Sync Branches
-        run: |
-          git push origin "$BRANCH_STAGING" --force
-          git fetch origin "$BRANCH_STARPILOT:$BRANCH_STARPILOT"
-          git push origin "$BRANCH_STARPILOT:$BRANCH_PREVIOUS" --force
-          git push origin "$BRANCH_STAGING:$BRANCH_STARPILOT" --force

.github/workflows/update_tinygrad.yaml

@@ -1,95 +0,0 @@
-name: Update Tinygrad
-
-on:
-  workflow_dispatch:
-    inputs:
-      runner:
-        description: "Select runner"
-        type: choice
-        options:
-          - c3
-          - c3x
-        default: "c3"
-        required: true
-
-env:
-  GIT_EMAIL: "91348155+FrogAi@users.noreply.github.com"
-  GIT_NAME: "James"
-  GITLAB_REPO_DIR: "StarPilot-Resources"
-  GITLAB_URL: "gitlab.com/FrogAi/StarPilot-Resources.git"
-  OPENPILOT_DIR: "/data/openpilot"
-
-jobs:
-  update_tinygrad:
-    runs-on: [self-hosted, "${{ inputs.runner }}"]
-    steps:
-      - name: Get Version
-        id: get_version
-        run: |
-          VERSION=$(grep -oP '^VERSION\s*=\s*"\K[^"]+' "$OPENPILOT_DIR/starpilot/assets/model_manager.py")
-          echo "VERSION=$VERSION"
-          echo "version=$VERSION" >> "$GITHUB_OUTPUT"
-
-      - name: Setup Workspace and Clone GitLab
-        id: setup
-        env:
-          GITLAB_TOKEN: ${{ secrets.GITLAB_TOKEN }}
-        run: |
-          WORK_DIR="$RUNNER_TEMP/starpilot_tinygrad"
-          rm -rf "$WORK_DIR" && mkdir -p "$WORK_DIR"
-          echo "work_dir=$WORK_DIR" >> "$GITHUB_OUTPUT"
-
-          cd "$WORK_DIR"
-          git clone --depth 1 --branch Tinygrad "https://oauth2:${GITLAB_TOKEN}@$GITLAB_URL"
-
-      - name: Create Tinygrad Archive
-        working-directory: ${{ env.OPENPILOT_DIR }}
-        env:
-          WORK_DIR: ${{ steps.setup.outputs.work_dir }}
-          VERSION: ${{ steps.get_version.outputs.version }}
-        run: |
-          set -euo pipefail
-
-          ARCHIVE_DEST="$WORK_DIR/$GITLAB_REPO_DIR"
-          ARCHIVE_NAME="Tinygrad_$VERSION.tar.gz"
-
-          DUMMY_DIR=$(mktemp -d)
-          touch "$DUMMY_DIR/SConscript"
-
-          tar -czf "$ARCHIVE_DEST/$ARCHIVE_NAME" \
-            --exclude="*.a" \
-            --exclude="*.o" \
-            --exclude="*.onnx" \
-            --exclude="*__pycache__*" \
-            --exclude="*tests*" \
-            --exclude="selfdrive/modeld/SConscript" \
-            selfdrive/modeld tinygrad_repo \
-            -C "$DUMMY_DIR" \
-            --transform 's|^SConscript$|selfdrive/modeld/SConscript|' \
-            SConscript
-
-          rm -rf "$DUMMY_DIR"
-
-      - name: Push Updated Tinygrad
-        working-directory: ${{ steps.setup.outputs.work_dir }}/${{ env.GITLAB_REPO_DIR }}
-        env:
-          VERSION: ${{ steps.get_version.outputs.version }}
-        run: |
-          git config user.name "$GIT_NAME"
-          git config user.email "$GIT_EMAIL"
-
-          git add Tinygrad_*.tar.gz
-
-          if git diff --staged --quiet; then
-            echo "No changes to commit."
-          else
-            git commit -m "Updated Tinygrad: $VERSION"
-            git push origin Tinygrad
-          fi
-
-      - name: Cleanup Temporary Files
-        if: always()
-        env:
-          WORK_DIR: ${{ steps.setup.outputs.work_dir }}
-        run: |
-          rm -rf "$WORK_DIR"

.gitignore

@@ -13,17 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-.host_runtime/
+bin/
-.comma_sysroot/
-.venv-linux-arm64/
-compiledmodels/
-
-/docs_site/
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -43,94 +39,59 @@ compiledmodels/
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html
+selfdrive/modeld/models/tg_compiled_flags.json
 
+# build artifacts
+docs_site/
+selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
+cereal/messaging/bridge
 selfdrive/ui/translations/tmp
 selfdrive/car/tests/cars_dump
+system/camerad/camerad
 system/camerad/test/ae_gray_test
-selfdrive/ui/ui.macos
-selfdrive/ui/ui.larch64
 
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl
-!selfdrive/modeld/models/driving_vision_tinygrad.pkl
-!selfdrive/modeld/models/driving_policy_tinygrad.pkl
-!selfdrive/modeld/models/driving_vision_metadata.pkl
-!selfdrive/modeld/models/driving_policy_metadata.pkl
-!selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
-!selfdrive/modeld/models/dmonitoring_model_metadata.pkl
-!selfdrive/modeld/models/warp_1928x1208_tinygrad.pkl
-!selfdrive/modeld/models/warp_1344x760_tinygrad.pkl
-!selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl
-!selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl
 
 # openpilot log files
 *.bz2
 *.zst
+*.rlog
 
 build/
 
 !**/.gitkeep
 
-poetry.toml
-Pipfile
 
 ### VisualStudioCode ###
+*.vsix
+.history
+.ionide
 .vscode/*
+.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# Local History for Visual Studio Code
+# agents
-.history/
+.claude/
+.context/
+PLAN.md
+TASK.md
+CLAUDE.md
+SKILL.md
 
-# Built Visual Studio Code Extensions
+### JetBrains ###
-*.vsix
+!.idea/customTargets.xml
-
+!.idea/tools/*
-### VisualStudioCode Patch ###
+!.run/*
-# Ignore all local history of files
-.history
-.ionide
-
-# Keep prebuilt runtime artifacts trackable
-!cereal/messaging/bridge
-!system/camerad/camerad
-!system/loggerd/loggerd
-!system/loggerd/encoderd
-!system/loggerd/bootlog
-!selfdrive/pandad/pandad
-!cereal/services.h
-!cereal/libcereal.a
-!cereal/libsocketmaster.a
-!common/params_pyx.so
-!common/params_pyx.cpp
-!common/transformations/transformations.so
-!selfdrive/modeld/models/commonmodel_pyx.so
-!selfdrive/pandad/pandad_api_impl.so
-!selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
-!selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so
-!selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
-!selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so
-!common/libcommon.a
-!msgq_repo/msgq/ipc_pyx.so
-!msgq_repo/msgq/visionipc/visionipc_pyx.so
-!rednose_repo/rednose/helpers/ekf_sym_pyx.so
-!panda/board/obj/
-!panda/board/obj/**

.python-version

@@ -0,0 +1 @@
+3.12.13

.vscode/extensions.json

@@ -4,6 +4,5 @@
     "ms-vscode.cpptools",
     "elagil.pre-commit-helper",
     "charliermarsh.ruff",
-    "openai.chatgpt",
   ]
 }

.vscode/launch.json

@@ -52,6 +52,9 @@
       "type": "lldb",
       "request": "attach",
       "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
       "initCommands": [
         "script import time; time.sleep(3)"
       ]

1.sh

@@ -0,0 +1,83 @@
+#!/bin/env sh
+
+persist_dir=/persist
+target_dir=${persist_dir}/comma
+# Change target dir from sunnylink to comma to make this no longer a test
+
+
+# Function to remount /persist as read-only
+cleanup() {
+    echo "Remounting ${persist_dir} as read-only..."
+    sudo mount -o remount,ro ${persist_dir}
+}
+
+# Function to check and backup existing keys
+backup_keys() {
+    if [ -f "id_rsa" ] || [ -f "id_rsa.pub" ]; then
+        timestamp=$(date +%s)
+        backup_base="id_rsa_backup_$timestamp"
+        backup_private="$backup_base"
+        backup_public="${backup_base}.pub"
+
+        # Ensure we're not overwriting an existing backup
+        counter=0
+        while [ -f "$backup_private" ] || [ -f "$backup_public" ]; do
+            counter=$((counter + 1))
+            backup_private="${backup_base}_$counter"
+            backup_public="${backup_base}_$counter.pub"
+        done
+
+        # Backup the keys
+        cp id_rsa "$backup_private"
+        cp id_rsa.pub "$backup_public"
+
+        # Verify the backup
+        original_private_hash=$(sha256sum id_rsa | cut -d ' ' -f 1)
+        backup_private_hash=$(sha256sum "$backup_private" | cut -d ' ' -f 1)
+        original_public_hash=$(sha256sum id_rsa.pub | cut -d ' ' -f 1)
+        backup_public_hash=$(sha256sum "$backup_public" | cut -d ' ' -f 1)
+
+        if [ "$original_private_hash" = "$backup_private_hash" ] && [ "$original_public_hash" = "$backup_public_hash" ]; then
+            echo "Backup verified successfully."
+            # Safe to delete original keys after successful backup verification
+        else
+            echo "Backup verification failed. Aborting operation."
+            exit 1
+        fi
+
+        echo "Existing keys backed up as $backup_private and $backup_public"
+    fi
+}
+
+# Trap any signal that exits the script to run cleanup function
+trap cleanup EXIT
+
+# Remount /persist as read-write
+sudo mount -o remount,rw ${persist_dir}
+
+# Ensure the directory exists
+mkdir -p ${target_dir}
+cd ${target_dir}
+
+# Check for and backup existing keys
+#backup_keys
+
+# Generate new keys
+if ! ssh-keygen -t rsa -b 4096 -m PEM -f id_rsa -N ''; then
+    echo "Failed to generate new RSA keys. Exiting..."
+    exit 1
+fi
+
+# Convert the generated SSH public key to PEM format and store it temporarily
+if ! openssl rsa -pubout -in id_rsa -out id_rsa.pub -outform PEM; then
+    echo "Failed to convert the public key to PEM format. Exiting..."
+    exit 1
+fi
+
+# Display the public key
+echo "Displaying the public key:"
+cat id_rsa.pub
+
+# Cleanup will be called automatically due to trap on EXIT
+#echo "Operation completed successfully. System will reboot now."
+#sudo reboot

Dockerfile.openpilot

@@ -1,14 +1,38 @@
-FROM ghcr.io/commaai/openpilot-base:latest
+FROM ubuntu:24.04
 
 ENV PYTHONUNBUFFERED=1
 
-ENV OPENPILOT_PATH=/home/batman/openpilot
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*
 
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY . ${OPENPILOT_PATH}/
+COPY --chown=$USER . ${OPENPILOT_PATH}/
 
-ENV UV_BIN="/home/batman/.local/bin/"
+ENV UV_BIN="/home/$USER/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
+ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
+ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
+RUN tools/setup_dependencies.sh && \
+    sudo rm -rf /var/lib/apt/lists/*
+
+USER root
+RUN git config --global --add safe.directory '*'

Dockerfile.openpilot_base

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

Jenkinsfile

@@ -1,269 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-export LOGPRINT=debug
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

LICENSE.md

@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: 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.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC

README.md

@@ -1,75 +1,74 @@
-# StarPilot
+![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
 
-[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/firestar5683/StarPilot)
+## 🌞 What is sunnypilot?
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://firestar.link/discord)
+[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
-[![Last Updated](https://img.shields.io/github/last-commit/firestar5683/StarPilot/StarPilot)](https://github.com/firestar5683/StarPilot)
-[![Wiki](https://img.shields.io/badge/Wiki-StarPilot-blue?logo=wiki)](https://wiki.firestar.link)
 
-**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
+## 💭 Join our Community Forum
-an open source driver assistance system.
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-
+* https://community.sunnypilot.ai/
-Openpilot provides
-* Automated Lane Centering
-* Adaptive Cruise Control
-* Lane Change Assist
-* Driver Monitoring *without wheel nags*
-
-StarPilot adds support for many GM vehicles along with improved tuning,
-especially for radar-less (camera only) vehicles.
-
-StarPilot is built off of [StarPilot](https://github.com/FrogAi/StarPilot)
-and supports the major features StarPilot offers.
-
-StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
-Stop by to chat or ask questions!
 
 ## Documentation
+https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
-Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
+## 🚘 Running on a dedicated device in a car
-installation guides, and software configuration.
+First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
 
-## Features
+## Installation
+Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
 
-* Full support for Comma C3, C3X, and C4
+## 🎆 Pull Requests
-  * C4 is currently in release testing. Join our fleet of C4 testers!
+We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
-* Model switcher with all of comma's tinygrad driving models
-* Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
-* Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
-Download models, change settings, update software, visualize live model outputs for tuning.
-* Always On Lateral (full time steering assist)*
-* Speed Limit Controller*
-* Learning Curve Speed Controller*
-* Conditional Experimental Mode (CEM)*
-* Driving Profiles*
-* Custom themes*
-* Alert Volume Controller*
-* Comma Pedal Interceptor support*
-* Toyota SDSU support*
-* ZSS support*
-* High quality dashcam recordings*
-* Enhanced tuning for CEM (dynamic experimental mode switching)
 
-\* [Inherited from StarPilot](https://github.com/FrogAi/StarPilot#openpilot-vs-starpilot)
+Pull requests should be against the most current `master` branch.
 
-## GM-only Features
+## 📊 User Data
 
-* Increased LKAS fault resiliency
+By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
-* ASCM_INT and SASCM support
-* Custom lateral torque controller, with special tuning for Bolts
-* 50% extra torque on 2017 Chevy Bolt
-* Improved lateral and longitudinal tuning
-* Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
-* Extra steering wheel button functionality for vehicles with pedal interceptor
-* Optional toggle to boot comma when remote starting your vehicle
 
-## Developer Features
+sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
 
-* Native and cross compilation for Windows, Mac, and Ubuntu
+sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-* Custom AGNOS to support C3, C3X, and C4
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
-* To run UI on PC:
+
-  * `./c3` for large UI
+By using this software, 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.
-  * `./c4` for small UI
+
-* `./build` to produce cross compiled binaries for comma devices.
+## Licensing
-Uses your comma's sysroot/toolchain
+
-* Toggle: "Use Precompiled Binaries" to allow switching between fast boot / editable builds
+sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
-* Custom long maneuver tests, specifically designed for regen-only vehicles
+
+The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
+
+> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+>
+> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+>
+> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+> NO WARRANTY EXPRESSED OR IMPLIED.**
+
+For full license terms, please see the [`LICENSE`](LICENSE) file.
+
+## 💰 Support sunnypilot
+If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
+
+
+By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
+
+
+<h3>GitHub Sponsor</h3>
+
+<a href="https://github.com/sponsors/sunnyhaibin">
+  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
+</a>
+<br>
+
+<h3>PayPal</h3>
+
+<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
+<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
+</a>
+<br></br>
+
+Your continuous love and support are greatly appreciated! Enjoy 🥰
+
+<span>-</span> Jason, Founder of sunnypilot

RELEASES.md

@@ -1,3 +1,18 @@
+Version 0.11.1 (2026-04-22)
+========================
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+
+Version 0.11.0 (2026-03-17)
+========================
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+
 Version 0.10.3 (2025-12-17)
 ========================
 * New driving model #36249

SConstruct

@@ -1,510 +0,0 @@
-import os
-import shutil
-import subprocess
-import sys
-import sysconfig
-import platform
-import numpy as np
-
-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-# pending upstream fix - https://github.com/SCons/scons/issues/4461
-#SetOption('warn', 'all')
-
-force_tici = os.environ.get("SP_FORCE_TICI", "").lower() in {"1", "true", "yes", "on"}
-TICI = os.path.isfile('/TICI') or force_tici
-AGNOS = TICI
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--kaitai',
-          action='store_true',
-          help='Regenerate kaitai struct parsers')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-AddOption('--coverage',
-          action='store_true',
-          help='build with test coverage options')
-
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
-AddOption('--ccflags',
-          action='store',
-          type='string',
-          default='',
-          help='pass arbitrary flags over the command line')
-
-AddOption('--external-sconscript',
-          action='store',
-          metavar='FILE',
-          dest='external_sconscript',
-          help='add an external SConscript to the build')
-
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
-
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-AddOption('--extras',
-          action='store_true',
-          dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath),
-          help='build optional tools/tests even when minimal is the default')
-
-def maybe_delegate_to_laptop_device_builder() -> None:
-  if platform.system() != "Darwin":
-    return
-  if os.environ.get("SP_FORCE_ARCH"):
-    return
-  if os.environ.get("SP_SKIP_CONTAINER_REEXEC"):
-    return
-  if os.environ.get("SP_DISABLE_AUTO_DEVICE_SCONS", "").lower() in {"1", "true", "yes", "on"}:
-    return
-
-  basedir = Dir("#").abspath
-  sysroot_dir = os.environ.get("COMMA_SYSROOT_DIR", os.path.join(basedir, ".comma_sysroot"))
-  required_sysroot_dirs = (
-    "usr/local/lib",
-    "lib/aarch64-linux-gnu",
-    "usr/lib/aarch64-linux-gnu",
-    "system/vendor/lib64",
-  )
-  if not all(os.path.isdir(os.path.join(sysroot_dir, p)) for p in required_sysroot_dirs):
-    return
-
-  docker_bin = shutil.which("docker")
-  if docker_bin is None:
-    mac_docker = "/Applications/Docker.app/Contents/Resources/bin/docker"
-    if os.path.isfile(mac_docker):
-      docker_bin = mac_docker
-
-  if docker_bin is None and shutil.which("podman") is None:
-    return
-
-  builder = os.path.join(basedir, "scripts", "laptop_device_build.sh")
-  if not os.path.isfile(builder):
-    return
-
-  print(f"Auto-routing scons to laptop device build (sysroot: {sysroot_dir})", flush=True)
-  env = os.environ.copy()
-  env["SP_SKIP_CONTAINER_REEXEC"] = "1"
-  env.setdefault("COMMA_SYSROOT_DIR", sysroot_dir)
-  if docker_bin is not None and shutil.which("docker") is None:
-    docker_dir = os.path.dirname(docker_bin)
-    env["PATH"] = f"{docker_dir}:{env.get('PATH', '')}"
-
-  cmd = [builder, "build", *sys.argv[1:]]
-  raise SystemExit(subprocess.call(cmd, cwd=basedir, env=env))
-
-maybe_delegate_to_laptop_device_builder()
-
-## Architecture name breakdown (arch)
-## - larch64: linux tici aarch64
-## - aarch64: linux pc aarch64
-## - x86_64:  linux pc x64
-## - Darwin:  mac x64 or arm64
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-forced_arch = os.environ.get("SP_FORCE_ARCH")
-if forced_arch:
-  arch = forced_arch
-elif platform.system() == "Darwin":
-  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
-  arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
-
-# Homebrew llvm can shadow Apple clang and break macOS SDK header resolution.
-# Use the system toolchain explicitly on macOS for reliable local builds.
-cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
-cxx = '/usr/bin/clang++' if arch == "Darwin" else 'clang++'
-ar = '/usr/bin/ar' if arch == "Darwin" else 'ar'
-ranlib = '/usr/bin/ranlib' if arch == "Darwin" else 'ranlib'
-
-lenv = {
-  "PATH": os.environ['PATH'],
-  "PYTHONPATH": ":".join([
-    Dir("#").abspath,
-    Dir("#third_party/acados").abspath,
-    Dir("#opendbc_repo").abspath,
-  ]),
-
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-}
-
-# Allow callers to override cache/temp dirs used by subprocesses (e.g. tinygrad model compilation).
-for key in ("HOME", "TMPDIR", "XDG_CACHE_HOME", "CACHEDB"):
-  if key in os.environ:
-    lenv[key] = os.environ[key]
-
-rpath = []
-arch_ldflags = []
-
-def tici_libpath(path: str) -> str:
-  tici_sysroot = os.environ.get("SP_TICI_SYSROOT", "").strip().rstrip("/")
-  if arch != "larch64" or not tici_sysroot or not path.startswith("/"):
-    return path
-  return os.path.join(tici_sysroot, path.lstrip("/"))
-
-if arch == "larch64":
-  cpppath = [
-    "#third_party/opencl/include",
-    tici_libpath("/usr/local/include"),
-    tici_libpath("/usr/include"),
-    tici_libpath("/usr/include/aarch64-linux-gnu"),
-  ]
-
-  libpath = [
-    tici_libpath("/usr/local/lib"),
-    tici_libpath("/system/vendor/lib64"),
-    f"#third_party/acados/{arch}/lib",
-  ]
-
-  libpath += [
-    "#third_party/libyuv/larch64/lib",
-    tici_libpath("/lib/aarch64-linux-gnu"),
-    tici_libpath("/usr/lib/aarch64-linux-gnu")
-  ]
-  cflags = ["-D__TICI__", "-DQCOM2", "-mcpu=cortex-a57"]
-  cxxflags = ["-D__TICI__", "-DQCOM2", "-mcpu=cortex-a57"]
-  arch_ldflags += [
-    f"-Wl,-rpath-link,{tici_libpath('/usr/local/lib')}",
-    f"-Wl,-rpath-link,{tici_libpath('/lib/aarch64-linux-gnu')}",
-    f"-Wl,-rpath-link,{tici_libpath('/usr/lib/aarch64-linux-gnu')}",
-    f"-Wl,-rpath-link,{tici_libpath('/system/vendor/lib64')}",
-    f"-Wl,-rpath-link,{tici_libpath('/vendor/lib64')}",
-  ]
-  # On non-aarch64 hosts (e.g. Docker on macOS), force clang cross-targeting.
-  if platform.machine() not in ("aarch64", "arm64"):
-    cross_target = os.environ.get("SP_CROSS_TARGET", "aarch64-linux-gnu")
-    cflags += [f"--target={cross_target}"]
-    cxxflags += [f"--target={cross_target}"]
-    arch_ldflags += [f"--target={cross_target}"]
-  rpath += ["/usr/local/lib"]
-else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-  rpath += []
-
-  # MacOS
-  if arch == "Darwin":
-    libpath = [
-      f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/acados/{arch}/lib",
-      f"{brew_prefix}/lib",
-      f"{brew_prefix}/opt/openssl@3.0/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-
-    cflags += ["-DGL_SILENCE_DEPRECATION"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += [
-      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl@3.0/include",
-    ]
-  # Linux
-  else:
-    libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-ldflags += arch_ldflags
-
-# AGNOS devices are memory-constrained during on-device C++ compiles.
-# Building without debug symbols dramatically reduces peak clang memory and
-# prevents lowmemorykiller SIGKILLs (Error -9) on large translation units.
-use_debug_symbols = os.environ.get("SP_FORCE_DEBUG_SYMBOLS", "").lower() in {"1", "true", "yes", "on"}
-debug_flag = "-g" if (not AGNOS or use_debug_symbols) else "-g0"
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
-
-ccflags_option = GetOption('ccflags')
-if ccflags_option:
-  ccflags += ccflags_option.split(' ')
-
-env = Environment(
-  ENV=lenv,
-  CCFLAGS=[
-    debug_flag,
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
-    "#",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party",
-    "#msgq",
-  ],
-
-  CC=cc,
-  CXX=cxx,
-  AR=ar,
-  RANLIB=ranlib,
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#common",
-    "#rednose/helpers",
-  ],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-
-if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
-
-env.CompilationDatabase('compile_commands.json')
-
-# Setup cache dir
-cache_dir = os.environ.get("SP_SCONS_CACHE_DIR", "").strip()
-if not cache_dir:
-  cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-# Cython build environment
-py_include = sysconfig.get_paths()['include']
-if arch == "larch64" and platform.machine() not in ("aarch64", "arm64"):
-  tici_py_include = tici_libpath(f"/usr/include/python{sys.version_info.major}.{sys.version_info.minor}")
-  if os.path.isdir(tici_py_include):
-    py_include = tici_py_include
-envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
-else:
-  envCython["LINKFLAGS"] = arch_ldflags + ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
-
-qt_libs = []
-if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  if arch == "larch64":
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  # For laptop/device builds that mount an AGNOS sysroot, always prefer Qt
-  # headers from that sysroot to keep headers/libs ABI-matched (Qt 5.12.x).
-  if arch == "larch64" and os.environ.get("SP_TICI_SYSROOT"):
-    qt_install_prefix = tici_libpath("/usr")
-    qt_install_headers = tici_libpath("/usr/include/aarch64-linux-gnu/qt5")
-  else:
-    qmake = os.environ.get("SP_QMAKE", "qmake")
-    qt_install_prefix = subprocess.check_output([qmake, '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-    qt_install_headers = subprocess.check_output([qmake, '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
-if arch == "larch64" and os.environ.get("SP_TICI_SYSROOT"):
-  qt_tool_bin = tici_libpath("/usr/lib/qt5/bin")
-  qt_tool_root = tici_libpath("/")
-  qt_arm_moc = os.path.join(qt_tool_bin, "moc")
-  qt_arm_uic = os.path.join(qt_tool_bin, "uic")
-  qt_arm_rcc = os.path.join(qt_tool_bin, "rcc")
-  if platform.machine() in ("aarch64", "arm64"):
-    if os.path.isfile(qt_arm_moc):
-      qt_env['QT3_MOC'] = qt_arm_moc
-    if os.path.isfile(qt_arm_uic):
-      qt_env['QT3_UIC'] = qt_arm_uic
-    if os.path.isfile(qt_arm_rcc):
-      qt_env['SP_QT_RCC'] = qt_arm_rcc
-  else:
-    qt_qemu = shutil.which("qemu-aarch64-static") or shutil.which("qemu-aarch64")
-
-    if qt_qemu and os.path.isfile(qt_arm_moc):
-      qt_env['QT3_MOC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_moc}"
-    else:
-      qt_host_bin = os.environ.get("SP_QT_HOST_BIN", "/usr/lib/qt5/bin")
-      qt_env['QT3_MOC'] = os.environ.get("SP_QT_HOST_MOC", os.path.join(qt_host_bin, "moc"))
-
-    if qt_qemu and os.path.isfile(qt_arm_uic):
-      qt_env['QT3_UIC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_uic}"
-    else:
-      qt_host_bin = os.environ.get("SP_QT_HOST_BIN", "/usr/lib/qt5/bin")
-      qt_env['QT3_UIC'] = os.environ.get("SP_QT_HOST_UIC", os.path.join(qt_host_bin, "uic"))
-
-    if qt_qemu and os.path.isfile(qt_arm_rcc):
-      qt_env['SP_QT_RCC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_rcc}"
-    else:
-      qt_env['SP_QT_RCC'] = os.environ.get("SP_QT_HOST_RCC", "rcc")
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
-qt_env['LIBS'] = qt_libs
-
-if GetOption("clazy"):
-  checks = [
-    "level0",
-    "level1",
-    "no-range-loop",
-    "no-non-pod-global-static",
-  ]
-  qt_env['CXX'] = 'clazy'
-  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-
-Export('env', 'qt_env', 'arch', 'real_arch')
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
-common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
-
-SConscript(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
-])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
-SConscript(['selfdrive/SConscript'])
-
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
-
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])

build

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build "$@"

c3

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c3 "$@"

c4

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c4 "$@"

cereal/SConscript

@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')

cereal/custom.capnp

@@ -1,8 +1,6 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
-
 @0xb526ba661d550a59;
 
 # custom.capnp: a home for empty structs reserved for custom forks
@@ -12,85 +10,444 @@ using Car = import "car.capnp";
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-struct StarPilotCarControl @0x81c2f05a394cf4af {
+struct ModularAssistiveDrivingSystem {
-  hudControl @0 :HUDControl;
+  state @0 :ModularAssistiveDrivingSystemState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  available @3 :Bool;
 
-  struct HUDControl {
+  enum ModularAssistiveDrivingSystemState {
-    audibleAlert @0 :AudibleAlert;
+    disabled @0;
+    paused @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;
+  }
+}
 
-    enum AudibleAlert {
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
+# Same struct as Log.RadarState.LeadData
+struct LeadData {
+  dRel @0 :Float32;
+  yRel @1 :Float32;
+  vRel @2 :Float32;
+  aRel @3 :Float32;
+  vLead @4 :Float32;
+  dPath @6 :Float32;
+  vLat @7 :Float32;
+  vLeadK @8 :Float32;
+  aLeadK @9 :Float32;
+  fcw @10 :Bool;
+  status @11 :Bool;
+  aLeadTau @12 :Float32;
+  modelProb @13 :Float32;
+  radar @14 :Bool;
+  radarTrackId @15 :Int32 = -1;
+
+  aLeadDEPRECATED @5 :Float32;
+}
+
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
+}
+
+struct ModelManagerSP @0xaedffd8f31e7b55d {
+  activeBundle @0 :ModelBundle;
+  selectedBundle @1 :ModelBundle;
+  availableBundles @2 :List(ModelBundle);
+
+  struct DownloadUri {
+    uri @0 :Text;
+    sha256 @1 :Text;
+  }
+
+  enum DownloadStatus {
+    notDownloading @0;
+    downloading @1;
+    downloaded @2;
+    cached @3;
+    failed @4;
+  }
+
+  struct DownloadProgress {
+    status @0 :DownloadStatus;
+    progress @1 :Float32;
+    eta @2 :UInt32;
+  }
+
+  struct Artifact {
+    fileName @0 :Text;
+    downloadUri @1 :DownloadUri;
+    downloadProgress @2 :DownloadProgress;
+  }
+
+  struct Model {
+    type @0 :Type;
+    artifact @1 :Artifact;  # Main artifact
+    metadata @2 :Artifact;  # Metadata artifact
+
+    enum Type {
+      supercombo @0;
+      navigation @1;
+      vision @2;
+      policy @3;
+      offPolicy @4;
+      onPolicy @5;
+    }
+  }
+
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+    stock @2;
+  }
+
+  struct Override {
+    key @0 :Text;
+    value @1 :Text;
+  }
+
+  struct ModelBundle {
+    index @0 :UInt32;
+    internalName @1 :Text;
+    displayName @2 :Text;
+    models @3 :List(Model);
+    status @4 :DownloadStatus;
+    generation @5 :UInt32;
+    environment @6 :Text;
+    runner @7 :Runner;
+    is20hz @8 :Bool;
+    ref @9 :Text;
+    minimumSelectorVersion @10 :UInt32;
+    overrides @11 :List(Override);
+  }
+}
+
+struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
+  dec @0 :DynamicExperimentalControl;
+  longitudinalPlanSource @1 :LongitudinalPlanSource;
+  smartCruiseControl @2 :SmartCruiseControl;
+  speedLimit @3 :SpeedLimit;
+  vTarget @4 :Float32;
+  aTarget @5 :Float32;
+  events @6 :List(OnroadEventSP.Event);
+  e2eAlerts @7 :E2eAlerts;
+
+  struct DynamicExperimentalControl {
+    state @0 :DynamicExperimentalControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+
+    enum DynamicExperimentalControlState {
+      acc @0;
+      blended @1;
+    }
+  }
+
+  struct SmartCruiseControl {
+    vision @0 :Vision;
+    map @1 :Map;
+
+    struct Vision {
+      state @0 :VisionState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      currentLateralAccel @3 :Float32;
+      maxPredictedLateralAccel @4 :Float32;
+      enabled @5 :Bool;
+      active @6 :Bool;
+    }
+
+    struct Map {
+      state @0 :MapState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      enabled @3 :Bool;
+      active @4 :Bool;
+    }
+
+    enum VisionState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on vision range.
+      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
+      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
+      overriding @5; # System overriding with manual control.
+    }
+
+    enum MapState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on map range.
+      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      overriding @3; # System overriding with manual control.
+    }
+  }
+
+  struct SpeedLimit {
+    resolver @0 :Resolver;
+    assist @1 :Assist;
+
+    struct Resolver {
+      speedLimit @0 :Float32;
+      distToSpeedLimit @1 :Float32;
+      source @2 :Source;
+      speedLimitOffset @3 :Float32;
+      speedLimitLast @4 :Float32;
+      speedLimitFinal @5 :Float32;
+      speedLimitFinalLast @6 :Float32;
+      speedLimitValid @7 :Bool;
+      speedLimitLastValid @8 :Bool;
+    }
+
+    struct Assist {
+      state @0 :AssistState;
+      enabled @1 :Bool;
+      active @2 :Bool;
+      vTarget @3 :Float32;
+      aTarget @4 :Float32;
+    }
+
+    enum Source {
       none @0;
+      car @1;
+      map @2;
+    }
 
-      engage @1;
+    enum AssistState {
-      disengage @2;
+      disabled @0;
-      refuse @3;
+      inactive @1; # No speed limit set or not enabled by parameter.
+      preActive @2;
+      pending @3; # Awaiting new speed limit.
+      adapting @4; # Reducing speed to match new speed limit.
+      active @5; # Cruising at speed limit.
+    }
+  }
 
-      warningSoft @4;
+  enum LongitudinalPlanSource {
-      warningImmediate @5;
+    cruise @0;
+    sccVision @1;
+    sccMap @2;
+    speedLimitAssist @3;
+  }
 
-      prompt @6;
+  struct E2eAlerts {
-      promptRepeat @7;
+    greenLightAlert @0 :Bool;
-      promptDistracted @8;
+    leadDepartAlert @1 :Bool;
+  }
+}
 
-      # Random Events
+struct OnroadEventSP @0xda96579883444c35 {
-      angry @9;
+  events @0 :List(Event);
-      continued @10;
+
-      dejaVu @11;
+  struct Event {
-      doc @12;
+    name @0 :EventName;
-      fart @13;
+
-      firefox @14;
+    # event types
-      goat @15;
+    enable @1 :Bool;
-      hal9000 @16;
+    noEntry @2 :Bool;
-      mail @17;
+    warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-      nessie @18;
+    userDisable @4 :Bool;
-      noice @19;
+    softDisable @5 :Bool;
-      startup @20;
+    immediateDisable @6 :Bool;
-      thisIsFine @21;
+    preEnable @7 :Bool;
-      uwu @22;
+    permanent @8 :Bool; # alerts presented regardless of openpilot state
+    overrideLateral @10 :Bool;
+    overrideLongitudinal @9 :Bool;
+  }
+
+  enum EventName {
+    lkasEnable @0;
+    lkasDisable @1;
+    manualSteeringRequired @2;
+    manualLongitudinalRequired @3;
+    silentLkasEnable @4;
+    silentLkasDisable @5;
+    silentBrakeHold @6;
+    silentWrongGear @7;
+    silentReverseGear @8;
+    silentDoorOpen @9;
+    silentSeatbeltNotLatched @10;
+    silentParkBrake @11;
+    controlsMismatchLateral @12;
+    hyundaiRadarTracksConfirmed @13;
+    experimentalModeSwitched @14;
+    wrongCarModeAlertOnly @15;
+    pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
+    speedLimitPreActive @19;
+    speedLimitActive @20;
+    speedLimitChanged @21;
+    speedLimitPending @22;
+    e2eChime @23;
+  }
+}
+
+struct CarParamsSP @0x80ae746ee2596b11 {
+  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
+  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
+  enableGasInterceptor @5 :Bool;
+
+  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
+
+  struct NeuralNetworkLateralControl {
+    model @0 :Model;
+    fuzzyFingerprint @1 :Bool;
+
+    struct Model {
+      path @0 :Text;
+      name @1 :Text;
     }
   }
 }
 
-struct StarPilotCarParams @0xaedffd8f31e7b55d {
+struct CarControlSP @0xa5cd762cd951a455 {
-  alternativeExperience @0 :Int16;
+  mads @0 :ModularAssistiveDrivingSystem;
-  canUsePedal @1 :Bool;
+  params @1 :List(Param);
-  canUseSDSU @2 :Bool;
+  leadOne @2 :LeadData;
-  flags @3 :UInt32;
+  leadTwo @3 :LeadData;
-  isHDA2 @4 :Bool;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
-  openpilotLongitudinalControlDisabled @5 :Bool;
-  safetyConfigs @6 :List(SafetyConfig);
 
-  struct SafetyConfig {
+  struct Param {
-    safetyParam @0 :UInt16;
+    key @0 :Text;
+    type @2 :ParamType;
+    value @3 :Data;
+
+    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
+  }
+
+  enum ParamType {
+    string @0;
+    bool @1;
+    int @2;
+    float @3;
+    time @4;
+    json @5;
+    bytes @6;
   }
 }
 
-struct StarPilotCarState @0xf35cc4560bbf6ec2 {
+struct BackupManagerSP @0xf98d843bfd7004a3 {
-  accelPressed @0 :Bool;
+  backupStatus @0 :Status;
-  alwaysOnLateralEnabled @1 :Bool;
+  restoreStatus @1 :Status;
-  brakeLights @2 :Bool;
+  backupProgress @2 :Float32;
-  dashboardSpeedLimit @3 :Float32;
+  restoreProgress @3 :Float32;
-  decelPressed @4 :Bool;
+  lastError @4 :Text;
-  distancePressed @5 :Bool;
+  currentBackup @5 :BackupInfo;
-  distanceLongPressed @6 :Bool;
+  backupHistory @6 :List(BackupInfo);
-  distanceVeryLongPressed @7 :Bool;
+
-  ecoGear @8 :Bool;
+  enum Status {
-  forceCoast @9 :Bool;
+    idle @0;
-  isParked @10 :Bool;
+    inProgress @1;
-  pauseLateral @11 :Bool;
+    completed @2;
-  pauseLongitudinal @12 :Bool;
+    failed @3;
-  sportGear @13 :Bool;
+  }
-  trafficModeEnabled @14 :Bool;
+
-  gasStack @15 :Bool;  # Compatibility with older StarPilot payloads
+  struct Version {
+    major @0 :UInt16;
+    minor @1 :UInt16;
+    patch @2 :UInt16;
+    build @3 :UInt16;
+    branch @4 :Text;
+  }
+
+  struct MetadataEntry {
+    key @0 :Text;
+    value @1 :Text;
+    tags @2 :List(Text);
+  }
+
+  struct BackupInfo {
+    deviceId @0 :Text;
+    version @1 :UInt32;
+    config @2 :Text;
+    isEncrypted @3 :Bool;
+    createdAt @4 :Text;  # ISO timestamp
+    updatedAt @5 :Text;  # ISO timestamp
+    sunnypilotVersion @6 :Version;
+    backupMetadata @7 :List(MetadataEntry);
+  }
 }
 
-struct StarPilotDeviceState @0xda96579883444c35 {
+struct CarStateSP @0xb86e6369214c01c8 {
-  freeSpace @0 :Int16;
+  speedLimit @0 :Float32;
-  usedSpace @1 :Int16;
 }
 
-struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
+struct LiveMapDataSP @0xf416ec09499d9d19 {
-  turnDirection @0 :TurnDirection;
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  roadName @5 :Text;
+}
+
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 
   enum TurnDirection {
     none @0;
@@ -99,154 +456,6 @@ struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
   }
 }
 
-struct StarPilotOnroadEvent @0xa5cd762cd951a455 {
-  name @0 :EventName;
-
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool;
-  overrideLateral @9 :Bool;
-  overrideLongitudinal @10 :Bool;
-
-  enum EventName {
-    blockUser @0;
-    customStartupAlert @1;
-    forcingStop @2;
-    goatSteerSaturated @3;
-    greenLight @4;
-    holidayActive @5;
-    laneChangeBlockedLoud @6;
-    leadDeparting @7;
-    noLaneAvailable @8;
-    nnffLoaded @9;
-    openpilotCrashed @10;
-    pedalInterceptorNoBrake @11;
-    speedLimitChanged @12;
-    trafficModeActive @13;
-    trafficModeInactive @14;
-    turningLeft @15;
-    turningRight @16;
-
-    # Random Events
-    accel30 @17;
-    accel35 @18;
-    accel40 @19;
-    dejaVuCurve @20;
-    firefoxSteerSaturated @21;
-    hal9000 @22;
-    openpilotCrashedRandomEvent @23;
-    thisIsFineSteerSaturated @24;
-    toBeContinued @25;
-    vCruise69 @26;
-    yourFrogTriedToKillMe @27;
-    youveGotMail @28;
-    switchbackModeActive @29;
-    switchbackModeInactive @30;
-  }
-}
-
-struct StarPilotPlan @0xf98d843bfd7004a3 {
-  accelerationJerk @0 :Float32;
-  cscControllingSpeed @1 :Bool;
-  cscSpeed @2 :Float32;
-  cscTraining @3 :Bool;
-  dangerFactor @4 :Float32;
-  dangerJerk @5 :Float32;
-  desiredFollowDistance @6 :Int64;
-  experimentalMode @7 :Bool;
-  forcingStop @8 :Bool;
-  forcingStopLength @9 :Float32;
-  starpilotEvents @10 :List(StarPilotOnroadEvent);
-  starpilotToggles @11 :Text;
-  increasedStoppedDistance @12 :Float32;
-  lateralCheck @13 :Bool;
-  laneWidthLeft @14 :Float32;
-  laneWidthRight @15 :Float32;
-  maxAcceleration @16 :Float32;
-  minAcceleration @17 :Float32;
-  redLight @18 :Bool;
-  roadCurvature @19 :Float32;
-  slcMapSpeedLimit @20 :Float32;
-  slcMapboxSpeedLimit @21 :Float32;
-  slcNextSpeedLimit @22 :Float32;
-  slcOverriddenSpeed @23 :Float32;
-  slcSpeedLimit @24 :Float32;
-  slcSpeedLimitOffset @25 :Float32;
-  slcSpeedLimitSource @26 :Text;
-  speedJerk @27 :Float32;
-  speedLimitChanged @28 :Bool;
-  tFollow @29 :Float32;
-  themeUpdated @30 :Bool;
-  unconfirmedSlcSpeedLimit @31 :Float32;
-  vCruise @32 :Float32;
-  weatherDaytime @33 :Bool;
-  weatherId @34 :Int16;
-  disableThrottle @35 :Bool;
-  trackingLead @36 :Bool;
-}
-
-struct StarPilotRadarState @0xb86e6369214c01c8 {
-  leadLeft @0 :LeadData;
-  leadRight @1 :LeadData;
-
-  struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
-
-    aLeadDEPRECATED @5 :Float32;
-  }
-}
-
-struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
-  alertText1 @0 :Text;
-  alertText2 @1 :Text;
-  alertStatus @2 :AlertStatus;
-  alertSize @3 :AlertSize;
-  alertType @4 :Text;
-  alertSound @5 :Car.CarControl.HUDControl.AudibleAlert;
-
-  enum AlertStatus {
-    normal @0;
-    userPrompt @1;
-    critical @2;
-    starpilot @3;
-  }
-
-  enum AlertSize {
-    none @0;
-    small @1;
-    mid @2;
-    full @3;
-  }
-}
-
-struct CustomReserved9 @0xa1680744031fdb2d {
-  slotId @0 :Text;
-  slotName @1 :Text;
-  variant @2 :Text;
-  variantLabel @3 :Text;
-  reason @4 :Text;
-  wallTimeNanos @5 :UInt64;
-}
-
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 
@@ -268,125 +477,11 @@ struct CustomReserved15 @0xbd443b539493bc68 {
 struct CustomReserved16 @0xfc6241ed8877b611 {
 }
 
-struct MapdDownloadLocationDetails @0xff889853e7b0987f {
+struct CustomReserved17 @0xa30662f84033036c {
-  location @0 :Text;
-  totalFiles @1 :UInt32;
-  downloadedFiles @2 :UInt32;
 }
 
-struct MapdDownloadProgress @0xfaa35dcac85073a2 {
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
-  active @0 :Bool;
-  cancelled @1 :Bool;
-  totalFiles @2 :UInt32;
-  downloadedFiles @3 :UInt32;
-  locations @4 :List(Text);
-  locationDetails @5 :List(MapdDownloadLocationDetails);
 }
 
-struct MapdPathPoint @0xd6f78acca1bc3939 {
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
-  latitude @0 :Float64;
-  longitude @1 :Float64;
-  curvature @2 :Float32;
-  targetVelocity @3 :Float32;
-}
-
-struct MapdExtendedOut @0xa30662f84033036c {
-  downloadProgress @0 :MapdDownloadProgress;
-  settings @1 :Text;
-  path @2 :List(MapdPathPoint);
-}
-
-enum MapdInputType {
-  download @0;
-  setTargetLateralAccel @1;
-  setSpeedLimitOffset @2;
-  setSpeedLimitControl @3;
-  setMapCurveSpeedControl @4;
-  setVisionCurveSpeedControl @5;
-  setLogLevel @6;
-  setVisionCurveTargetLatA @7;
-  setVisionCurveMinTargetV @8;
-  reloadSettings @9;
-  saveSettings @10;
-  setEnableSpeed @11;
-  setVisionCurveUseEnableSpeed @12;
-  setMapCurveUseEnableSpeed @13;
-  setSpeedLimitUseEnableSpeed @14;
-  setHoldLastSeenSpeedLimit @15;
-  setTargetSpeedJerk @16;
-  setTargetSpeedAccel @17;
-  setTargetSpeedTimeOffset @18;
-  setDefaultLaneWidth @19;
-  setMapCurveTargetLatA @20;
-  loadDefaultSettings @21;
-  loadRecommendedSettings @22;
-  setSlowDownForNextSpeedLimit @23;
-  setSpeedUpForNextSpeedLimit @24;
-  setHoldSpeedLimitWhileChangingSetSpeed @25;
-  loadPersistentSettings @26;
-  cancelDownload @27;
-  setLogJson @28;
-  setLogSource @29;
-  setExternalSpeedLimitControl @30;
-  setExternalSpeedLimit @31;
-  setSpeedLimitPriority @32;
-  setSpeedLimitChangeRequiresAccept @33;
-  acceptSpeedLimit @34;
-  setPressGasToAcceptSpeedLimit @35;
-  setAdjustSetSpeedToAcceptSpeedLimit @36;
-  setAcceptSpeedLimitTimeout @37;
-  setPressGasToOverrideSpeedLimit @38;
-}
-
-enum WaySelectionType {
-  current @0;
-  predicted @1;
-  possible @2;
-  extended @3;
-  fail @4;
-}
-
-enum SpeedLimitOffsetType {
-  static @0;
-  percent @1;
-}
-
-struct MapdIn @0xc86a3d38d13eb3ef {
-  type @0 :MapdInputType;
-  float @1 :Float32;
-  str @2 :Text;
-  bool @3 :Bool;
-}
-
-enum RoadContext {
-  freeway @0;
-  city @1;
-  unknown @2;
-}
-
-struct MapdOut @0xa4f1eb3323f5f582 {
-  wayName @0 :Text;
-  wayRef @1 :Text;
-  roadName @2 :Text;
-  speedLimit @3 :Float32;
-  nextSpeedLimit @4 :Float32;
-  nextSpeedLimitDistance @5 :Float32;
-  hazard @6 :Text;
-  nextHazard @7 :Text;
-  nextHazardDistance @8 :Float32;
-  advisorySpeed @9 :Float32;
-  nextAdvisorySpeed @10 :Float32;
-  nextAdvisorySpeedDistance @11 :Float32;
-  oneWay @12 :Bool;
-  lanes @13 :UInt8;
-  tileLoaded @14 :Bool;
-  speedLimitSuggestedSpeed @15 :Float32;
-  suggestedSpeed @16 :Float32;
-  estimatedRoadWidth @17 :Float32;
-  roadContext @18 :RoadContext;
-  distanceFromWayCenter @19 :Float32;
-  visionCurveSpeed @20 :Float32;
-  mapCurveSpeed @21 :Float32;
-  waySelectionType @22 :WaySelectionType;
-  speedLimitAccepted @23 :Bool;
 }

cereal/deprecated.capnp

@@ -0,0 +1,789 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x80ef1ec4889c2a63;
+
+# deprecated.capnp: a home for deprecated structs
+
+struct LogRotate @0x9811e1f38f62f2d1 {
+  segmentNum @0 :Int32;
+  path @1 :Text;
+}
+
+struct LiveUI @0xc08240f996aefced {
+  rearViewCam @0 :Bool;
+  alertText1 @1 :Text;
+  alertText2 @2 :Text;
+  awarenessStatus @3 :Float32;
+}
+
+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
+struct OrbslamCorrection @0x8afd33dc9b35e1aa {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
+struct EthernetPacket @0xa99a9d5b33cf5859 {
+  pkt @0 :Data;
+  ts @1 :Float32;
+}
+
+struct CellInfo @0xcff7566681c277ce {
+  timestamp @0 :UInt64;
+  repr @1 :Text; # android toString() for now
+}
+
+struct WifiScan @0xd4df5a192382ba0b {
+  bssid @0 :Text;
+  ssid @1 :Text;
+  capabilities @2 :Text;
+  frequency @3 :Int32;
+  level @4 :Int32;
+  timestamp @5 :Int64;
+
+  centerFreq0 @6 :Int32;
+  centerFreq1 @7 :Int32;
+  channelWidth @8 :ChannelWidth;
+  operatorFriendlyName @9 :Text;
+  venueName @10 :Text;
+  is80211mcResponder @11 :Bool;
+  passpoint @12 :Bool;
+
+  distanceCm @13 :Int32;
+  distanceSdCm @14 :Int32;
+
+  enum ChannelWidth @0xcb6a279f015f6b51 {
+    w20Mhz @0;
+    w40Mhz @1;
+    w80Mhz @2;
+    w160Mhz @3;
+    w80Plus80Mhz @4;
+  }
+}
+
+struct LiveEventData @0x94b7baa90c5c321e {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData @0xb8aad62cffef28a9 {
+  frameId @0 :UInt32;
+  frameAge @12 :UInt32;
+  frameDropPerc @13 :Float32;
+  timestampEof @9 :UInt64;
+  modelExecutionTime @14 :Float32;
+  gpuExecutionTime @16 :Float32;
+  rawPred @15 :Data;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+  freePath @6 :List(Float32);
+
+  settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
+  meta @10 :MetaData;
+  longitudinal @11 :LongitudinalData;
+
+  struct PathData @0x8817eeea389e9f08 {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+    stds @3 :List(Float32);
+    poly @4 :List(Float32);
+    validLen @5 :Float32;
+  }
+
+  struct LeadData @0xd1c9bef96d26fa91 {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+    relVel @3 :Float32;
+    relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
+  }
+
+  struct ModelSettings @0xa26e3710efd3e914 {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
+  }
+
+  struct MetaData @0x9744f25fb60f2bf8 {
+    engagedProb @0 :Float32;
+    desirePrediction @1 :List(Float32);
+    brakeDisengageProb @2 :Float32;
+    gasDisengageProb @3 :Float32;
+    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
+  }
+
+  struct LongitudinalData @0xf98f999c6a071122 {
+    distances @2 :List(Float32);
+    speeds @0 :List(Float32);
+    accelerations @1 :List(Float32);
+  }
+}
+
+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints @0xab54c59699f8f9f3 {
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
+}
+
+struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
+}
+
+struct UiNavigationEvent @0x90c8426c3eaddd3b {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type @0xe8db07dcf8fcea05 {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status @0xb9aa88c75ef99a1f {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct LiveLocationData @0xb99b2bc7a57e8128 {
+  status @0 :UInt8;
+
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m
+
+  # speed
+  speed @4 :Float32;   # m/s
+
+  # NED velocity components
+  vNED @5 :List(Float32);
+
+  # roll, pitch, heading (x,y,z)
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?
+
+  # what are these?
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;
+
+  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
+
+  # gyro, in car frame, deg/s
+  gyro @11 :List(Float32);
+
+  # accel, in car frame, m/s^2
+  accel @12 :List(Float32);
+
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;
+  imuFrame @22 :List(Float32);
+
+  struct Accuracy @0x943dc4625473b03f {
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource @0xc871d3cc252af657 {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
+    dummy @4;
+  }
+}
+
+struct OrbOdometry @0xd7700859ed1f5b76 {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures @0xcd60164a8a0159ef {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbFeaturesSummary @0xd500d30c5803fa4f {
+  timestampEof @0 :UInt64;
+  timestampLastEof @1 :UInt64;
+
+  featureCount @2 :UInt16;
+  matchCount @3 :UInt16;
+  computeNs @4 :UInt64;
+}
+
+struct OrbKeyFrame @0xc8233c0345e27e24 {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
+struct KalmanOdometry @0x92e21bb7ea38793a {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct OrbObservation @0x9b326d4e436afec7 {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct CalibrationFeatures @0x8fdfadb254ea867a {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct NavStatus @0xbd8822120928120c {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address @0xce7cd672cacc7814 {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
+struct NavUpdate @0xdb98be6565516acb {
+  isNavigating @0 :Bool;
+  curSegment @1 :Int32;
+  segments @2 :List(Segment);
+
+  struct LatLng @0x9eaef9187cadbb9b {
+    lat @0 :Float64;
+    lng @1 :Float64;
+  }
+
+  struct Segment @0xa5b39b4fc4d7da3f {
+    from @0 :LatLng;
+    to @1 :LatLng;
+    updateTime @2 :Int32;
+    distance @3 :Int32;
+    crossTime @4 :Int32;
+    exitNo @5 :Int32;
+    instruction @6 :Instruction;
+
+    parts @7 :List(LatLng);
+
+    enum Instruction @0xc5417a637451246f {
+      turnLeft @0;
+      turnRight @1;
+      keepLeft @2;
+      keepRight @3;
+      straight @4;
+      roundaboutExitNumber @5;
+      roundaboutExit @6;
+      roundaboutTurnLeft @7;
+      unkn8 @8;
+      roundaboutStraight @9;
+      unkn10 @10;
+      roundaboutTurnRight @11;
+      unkn12 @12;
+      roundaboutUturn @13;
+      unkn14 @14;
+      arrive @15;
+      exitLeft @16;
+      exitRight @17;
+      unkn18 @18;
+      uturn @19;
+      # ...
+    }
+  }
+}
+
+struct TrafficEvent @0xacfa74a094e62626 {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type @0xd85d75253435bf4b {
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
+  }
+
+  enum Action @0xa6f6ce72165ccb49 {
+    none @0;
+    yield @1;
+    stop @2;
+    resumeReady @3;
+  }
+
+}
+
+
+struct AndroidGnss @0xdfdf30d03fc485bd {
+  union {
+    measurements @0 :Measurements;
+    navigationMessage @1 :NavigationMessage;
+  }
+
+  struct Measurements @0xa20710d4f428d6cd {
+    clock @0 :Clock;
+    measurements @1 :List(Measurement);
+
+    struct Clock @0xa0e27b453a38f450 {
+      timeNanos @0 :Int64;
+      hardwareClockDiscontinuityCount @1 :Int32;
+
+      hasTimeUncertaintyNanos @2 :Bool;
+      timeUncertaintyNanos @3 :Float64;
+
+      hasLeapSecond @4 :Bool;
+      leapSecond @5 :Int32;
+
+      hasFullBiasNanos @6 :Bool;
+      fullBiasNanos @7 :Int64;
+
+      hasBiasNanos @8 :Bool;
+      biasNanos @9 :Float64;
+
+      hasBiasUncertaintyNanos @10 :Bool;
+      biasUncertaintyNanos @11 :Float64;
+
+      hasDriftNanosPerSecond @12 :Bool;
+      driftNanosPerSecond @13 :Float64;
+
+      hasDriftUncertaintyNanosPerSecond @14 :Bool;
+      driftUncertaintyNanosPerSecond @15 :Float64;
+    }
+
+    struct Measurement @0xd949bf717d77614d {
+      svId @0 :Int32;
+      constellation @1 :Constellation;
+
+      timeOffsetNanos @2 :Float64;
+      state @3 :Int32;
+      receivedSvTimeNanos @4 :Int64;
+      receivedSvTimeUncertaintyNanos @5 :Int64;
+      cn0DbHz @6 :Float64;
+      pseudorangeRateMetersPerSecond @7 :Float64;
+      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
+      accumulatedDeltaRangeState @9 :Int32;
+      accumulatedDeltaRangeMeters @10 :Float64;
+      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
+
+      hasCarrierFrequencyHz @12 :Bool;
+      carrierFrequencyHz @13 :Float32;
+      hasCarrierCycles @14 :Bool;
+      carrierCycles @15 :Int64;
+      hasCarrierPhase @16 :Bool;
+      carrierPhase @17 :Float64;
+      hasCarrierPhaseUncertainty @18 :Bool;
+      carrierPhaseUncertainty @19 :Float64;
+      hasSnrInDb @20 :Bool;
+      snrInDb @21 :Float64;
+
+      multipathIndicator @22 :MultipathIndicator;
+
+      enum Constellation @0x9ef1f3ff0deb5ffb {
+        unknown @0;
+        gps @1;
+        sbas @2;
+        glonass @3;
+        qzss @4;
+        beidou @5;
+        galileo @6;
+      }
+
+      enum State @0xcbb9490adce12d72 {
+        unknown @0;
+        codeLock @1;
+        bitSync @2;
+        subframeSync @3;
+        towDecoded @4;
+        msecAmbiguous @5;
+        symbolSync @6;
+        gloStringSync @7;
+        gloTodDecoded @8;
+        bdsD2BitSync @9;
+        bdsD2SubframeSync @10;
+        galE1bcCodeLock @11;
+        galE1c2ndCodeLock @12;
+        galE1bPageSync @13;
+        sbasSync @14;
+      }
+
+      enum MultipathIndicator @0xc04e7b6231d4caa8 {
+        unknown @0;
+        detected @1;
+        notDetected @2;
+      }
+    }
+  }
+
+  struct NavigationMessage @0xe2517b083095fd4e {
+    type @0 :Int32;
+    svId @1 :Int32;
+    messageId @2 :Int32;
+    submessageId @3 :Int32;
+    data @4 :Data;
+    status @5 :Status;
+
+    enum Status @0xec1ff7996b35366f {
+      unknown @0;
+      parityPassed @1;
+      parityRebuilt @2;
+    }
+  }
+}
+
+struct LidarPts @0xe3d6685d4e9d8f7a {
+  r @0 :List(UInt16);        # uint16   m*500.0
+  theta @1 :List(UInt16);    # uint16 deg*100.0
+  reflect @2 :List(UInt8);   # uint8      0-255
+
+  # For storing out of file.
+  idx @3 :UInt64;
+
+  # For storing in file
+  pkt @4 :Data;
+}
+
+struct LiveTracksDEPRECATED @0xb16f60103159415a {
+  trackId @0 :Int32;
+  dRel @1 :Float32;
+  yRel @2 :Float32;
+  vRel @3 :Float32;
+  aRel @4 :Float32;
+  timeStamp @5 :Float32;
+  status @6 :Float32;
+  currentTime @7 :Float32;
+  stationary @8 :Bool;
+  oncoming @9 :Bool;
+}
+
+struct LiveMpcData @0x92a5e332a85f32a0 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  psi @2 :List(Float32);
+  curvature @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+  cost @6 :Float64;
+}
+
+struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
+  cost @10 :Float64;
+}
+
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
+  frameId @0 :UInt32;
+  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
+  rawPredictions @15 :Data;
+
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+  sunglassesProb @13 :Float32;
+  poorVision @17 :Float32;
+  partialFace @18 :Float32;
+  distractedPose @19 :Float32;
+  distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
+
+  readyProb @24 :List(Float32);
+  notReadyProb @25 :List(Float32);
+
+  irPwrDEPRECATED @10 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+}
+
+struct NavModelData @0xac3de5c437be057a {
+  frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  features @3 :List(Float32);
+  # predicted future position
+  position @4 :XYData;
+  desirePrediction @5 :List(Float32);
+
+  # All SI units and in device frame
+  struct XYData @0xbe09e615b2507e26 {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    xStd @2 :List(Float32);
+    yStd @3 :List(Float32);
+  }
+}
+
+struct AndroidBuildInfo @0xfe2919d5c21f426c {
+  board @0 :Text;
+  bootloader @1 :Text;
+  brand @2 :Text;
+  device @3 :Text;
+  display @4 :Text;
+  fingerprint @5 :Text;
+  hardware @6 :Text;
+  host @7 :Text;
+  id @8 :Text;
+  manufacturer @9 :Text;
+  model @10 :Text;
+  product @11 :Text;
+  radioVersion @12 :Text;
+  serial @13 :Text;
+  supportedAbis @14 :List(Text);
+  tags @15 :Text;
+  time @16 :Int64;
+  type @17 :Text;
+  user @18 :Text;
+
+  versionCodename @19 :Text;
+  versionRelease @20 :Text;
+  versionSdk @21 :Int32;
+  versionSecurityPatch @22 :Text;
+}
+
+struct AndroidSensor @0x9b513b93a887dbcd {
+  id @0 :Int32;
+  name @1 :Text;
+  vendor @2 :Text;
+  version @3 :Int32;
+  handle @4 :Int32;
+  type @5 :Int32;
+  maxRange @6 :Float32;
+  resolution @7 :Float32;
+  power @8 :Float32;
+  minDelay @9 :Int32;
+  fifoReservedEventCount @10 :UInt32;
+  fifoMaxEventCount @11 :UInt32;
+  stringType @12 :Text;
+  maxDelay @13 :Int32;
+}
+
+struct IosBuildInfo @0xd97e3b28239f5580 {
+  appVersion @0 :Text;
+  appBuild @1 :UInt32;
+  osVersion @2 :Text;
+  deviceModel @3 :Text;
+}
+
+enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
+  unknown @0;
+  neo @1;
+  chffrAndroid @2;
+  front @3;
+}
+
+struct AndroidCaptureResult @0xbcc3efbac41d2048 {
+  sensitivity @0 :Int32;
+  frameDuration @1 :Int64;
+  exposureTime @2 :Int64;
+  rollingShutterSkew @3 :UInt64;
+  colorCorrectionTransform @4 :List(Int32);
+  colorCorrectionGains @5 :List(Float32);
+  displayRotation @6 :Int8;
+}
+
+enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
+  none @0;
+  client @1;
+  cdp @2;
+  dcp @3;
+}
+
+struct LateralINDIState @0x939463348632375e {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  steeringRateDeg @2 :Float32;
+  steeringAccelDeg @3 :Float32;
+  rateSetPoint @4 :Float32;
+  accelSetPoint @5 :Float32;
+  accelError @6 :Float32;
+  delayedOutput @7 :Float32;
+  delta @8 :Float32;
+  output @9 :Float32;
+  saturated @10 :Bool;
+  steeringAngleDesiredDeg @11 :Float32;
+  steeringRateDesiredDeg @12 :Float32;
+}
+
+struct LateralLQRState @0x9024e2d790c82ade {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  i @2 :Float32;
+  output @3 :Float32;
+  lqrOutput @4 :Float32;
+  saturated @5 :Bool;
+  steeringAngleDesiredDeg @6 :Float32;
+}
+
+struct LateralCurvatureState @0xad9d8095c06f7c61 {
+  active @0 :Bool;
+  actualCurvature @1 :Float32;
+  desiredCurvature @2 :Float32;
+  error @3 :Float32;
+  p @4 :Float32;
+  i @5 :Float32;
+  f @6 :Float32;
+  output @7 :Float32;
+  saturated @8 :Bool;
+}
+
+struct LateralPlannerSolution @0x84caeca5a6b4acfe {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  yaw @2 :List(Float32);
+  yawRate @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  yawStd @6 :List(Float32);
+  yawRateStd @7 :List(Float32);
+}
+
+struct GpsTrajectory @0x8cfeb072f5301000 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+}

cereal/legacy.capnp

@@ -1,574 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x80ef1ec4889c2a63;
-
-# legacy.capnp: a home for deprecated structs
-
-struct LogRotate @0x9811e1f38f62f2d1 {
-  segmentNum @0 :Int32;
-  path @1 :Text;
-}
-
-struct LiveUI @0xc08240f996aefced {
-  rearViewCam @0 :Bool;
-  alertText1 @1 :Text;
-  alertText2 @2 :Text;
-  awarenessStatus @3 :Float32;
-}
-
-struct UiLayoutState @0x88dcce08ad29dda0 {
-  activeApp @0 :App;
-  sidebarCollapsed @1 :Bool;
-  mapEnabled @2 :Bool;
-  mockEngaged @3 :Bool;
-
-  enum App @0x9917470acf94d285 {
-    home @0;
-    music @1;
-    nav @2;
-    settings @3;
-    none @4;
-  }
-}
-
-struct OrbslamCorrection @0x8afd33dc9b35e1aa {
-  correctionMonoTime @0 :UInt64;
-  prePositionECEF @1 :List(Float64);
-  postPositionECEF @2 :List(Float64);
-  prePoseQuatECEF @3 :List(Float32);
-  postPoseQuatECEF @4 :List(Float32);
-  numInliers @5 :UInt32;
-}
-
-struct EthernetPacket @0xa99a9d5b33cf5859 {
-  pkt @0 :Data;
-  ts @1 :Float32;
-}
-
-struct CellInfo @0xcff7566681c277ce {
-  timestamp @0 :UInt64;
-  repr @1 :Text; # android toString() for now
-}
-
-struct WifiScan @0xd4df5a192382ba0b {
-  bssid @0 :Text;
-  ssid @1 :Text;
-  capabilities @2 :Text;
-  frequency @3 :Int32;
-  level @4 :Int32;
-  timestamp @5 :Int64;
-
-  centerFreq0 @6 :Int32;
-  centerFreq1 @7 :Int32;
-  channelWidth @8 :ChannelWidth;
-  operatorFriendlyName @9 :Text;
-  venueName @10 :Text;
-  is80211mcResponder @11 :Bool;
-  passpoint @12 :Bool;
-
-  distanceCm @13 :Int32;
-  distanceSdCm @14 :Int32;
-
-  enum ChannelWidth @0xcb6a279f015f6b51 {
-    w20Mhz @0;
-    w40Mhz @1;
-    w80Mhz @2;
-    w160Mhz @3;
-    w80Plus80Mhz @4;
-  }
-}
-
-struct LiveEventData @0x94b7baa90c5c321e {
-  name @0 :Text;
-  value @1 :Int32;
-}
-
-struct ModelData @0xb8aad62cffef28a9 {
-  frameId @0 :UInt32;
-  frameAge @12 :UInt32;
-  frameDropPerc @13 :Float32;
-  timestampEof @9 :UInt64;
-  modelExecutionTime @14 :Float32;
-  gpuExecutionTime @16 :Float32;
-  rawPred @15 :Data;
-
-  path @1 :PathData;
-  leftLane @2 :PathData;
-  rightLane @3 :PathData;
-  lead @4 :LeadData;
-  freePath @6 :List(Float32);
-
-  settings @5 :ModelSettings;
-  leadFuture @7 :LeadData;
-  speed @8 :List(Float32);
-  meta @10 :MetaData;
-  longitudinal @11 :LongitudinalData;
-
-  struct PathData @0x8817eeea389e9f08 {
-    points @0 :List(Float32);
-    prob @1 :Float32;
-    std @2 :Float32;
-    stds @3 :List(Float32);
-    poly @4 :List(Float32);
-    validLen @5 :Float32;
-  }
-
-  struct LeadData @0xd1c9bef96d26fa91 {
-    dist @0 :Float32;
-    prob @1 :Float32;
-    std @2 :Float32;
-    relVel @3 :Float32;
-    relVelStd @4 :Float32;
-    relY @5 :Float32;
-    relYStd @6 :Float32;
-    relA @7 :Float32;
-    relAStd @8 :Float32;
-  }
-
-  struct ModelSettings @0xa26e3710efd3e914 {
-    bigBoxX @0 :UInt16;
-    bigBoxY @1 :UInt16;
-    bigBoxWidth @2 :UInt16;
-    bigBoxHeight @3 :UInt16;
-    boxProjection @4 :List(Float32);
-    yuvCorrection @5 :List(Float32);
-    inputTransform @6 :List(Float32);
-  }
-
-  struct MetaData @0x9744f25fb60f2bf8 {
-    engagedProb @0 :Float32;
-    desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
-    desireState @5 :List(Float32);
-  }
-
-  struct LongitudinalData @0xf98f999c6a071122 {
-    distances @2 :List(Float32);
-    speeds @0 :List(Float32);
-    accelerations @1 :List(Float32);
-  }
-}
-
-struct ECEFPoint @0xc25bbbd524983447 {
-  x @0 :Float64;
-  y @1 :Float64;
-  z @2 :Float64;
-}
-
-struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
-  x @0 :Float32;
-  y @1 :Float32;
-  z @2 :Float32;
-}
-
-struct GPSPlannerPoints @0xab54c59699f8f9f3 {
-  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
-  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
-  curPos @6 :ECEFPoint;
-  points @7 :List(ECEFPoint);
-  valid @2 :Bool;
-  trackName @3 :Text;
-  speedLimit @4 :Float32;
-  accelTarget @5 :Float32;
-}
-
-struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
-  valid @0 :Bool;
-  poly @1 :List(Float32);
-  trackName @2 :Text;
-  speed @3 :Float32;
-  acceleration @4 :Float32;
-  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
-  points @6 :List(ECEFPoint);
-  xLookahead @7 :Float32;
-}
-
-struct UiNavigationEvent @0x90c8426c3eaddd3b {
-  type @0: Type;
-  status @1: Status;
-  distanceTo @2: Float32;
-  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
-  endRoadPoint @4: ECEFPoint;
-
-  enum Type @0xe8db07dcf8fcea05 {
-    none @0;
-    laneChangeLeft @1;
-    laneChangeRight @2;
-    mergeLeft @3;
-    mergeRight @4;
-    turnLeft @5;
-    turnRight @6;
-  }
-
-  enum Status @0xb9aa88c75ef99a1f {
-    none @0;
-    passive @1;
-    approaching @2;
-    active @3;
-  }
-}
-
-struct LiveLocationData @0xb99b2bc7a57e8128 {
-  status @0 :UInt8;
-
-  # 3D fix
-  lat @1 :Float64;
-  lon @2 :Float64;
-  alt @3 :Float32;     # m
-
-  # speed
-  speed @4 :Float32;   # m/s
-
-  # NED velocity components
-  vNED @5 :List(Float32);
-
-  # roll, pitch, heading (x,y,z)
-  roll @6 :Float32;     # WRT to center of earth?
-  pitch @7 :Float32;    # WRT to center of earth?
-  heading @8 :Float32;  # WRT to north?
-
-  # what are these?
-  wanderAngle @9 :Float32;
-  trackAngle @10 :Float32;
-
-  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
-
-  # gyro, in car frame, deg/s
-  gyro @11 :List(Float32);
-
-  # accel, in car frame, m/s^2
-  accel @12 :List(Float32);
-
-  accuracy @13 :Accuracy;
-
-  source @14 :SensorSource;
-  # if we are fixing a location in the past
-  fixMonoTime @15 :UInt64;
-
-  gpsWeek @16 :Int32;
-  timeOfWeek @17 :Float64;
-
-  positionECEF @18 :List(Float64);
-  poseQuatECEF @19 :List(Float32);
-  pitchCalibration @20 :Float32;
-  yawCalibration @21 :Float32;
-  imuFrame @22 :List(Float32);
-
-  struct Accuracy @0x943dc4625473b03f {
-    pNEDError @0 :List(Float32);
-    vNEDError @1 :List(Float32);
-    rollError @2 :Float32;
-    pitchError @3 :Float32;
-    headingError @4 :Float32;
-    ellipsoidSemiMajorError @5 :Float32;
-    ellipsoidSemiMinorError @6 :Float32;
-    ellipsoidOrientationError @7 :Float32;
-  }
-
-  enum SensorSource @0xc871d3cc252af657 {
-    applanix @0;
-    kalman @1;
-    orbslam @2;
-    timing @3;
-    dummy @4;
-  }
-}
-
-struct OrbOdometry @0xd7700859ed1f5b76 {
-  # timing first
-  startMonoTime @0 :UInt64;
-  endMonoTime @1 :UInt64;
-
-  # fundamental matrix and error
-  f @2: List(Float64);
-  err @3: Float64;
-
-  # number of inlier points
-  inliers @4: Int32;
-
-  # for debug only
-  # indexed by endMonoTime features
-  # value is startMonoTime feature match
-  # -1 if no match
-  matches @5: List(Int16);
-}
-
-struct OrbFeatures @0xcd60164a8a0159ef {
-  timestampEof @0 :UInt64;
-  # transposed arrays of normalized image coordinates
-  # len(xs) == len(ys) == len(descriptors) * 32
-  xs @1 :List(Float32);
-  ys @2 :List(Float32);
-  descriptors @3 :Data;
-  octaves @4 :List(Int8);
-
-  # match index to last OrbFeatures
-  # -1 if no match
-  timestampLastEof @5 :UInt64;
-  matches @6: List(Int16);
-}
-
-struct OrbFeaturesSummary @0xd500d30c5803fa4f {
-  timestampEof @0 :UInt64;
-  timestampLastEof @1 :UInt64;
-
-  featureCount @2 :UInt16;
-  matchCount @3 :UInt16;
-  computeNs @4 :UInt64;
-}
-
-struct OrbKeyFrame @0xc8233c0345e27e24 {
-  # this is a globally unique id for the KeyFrame
-  id @0: UInt64;
-
-  # this is the location of the KeyFrame
-  pos @1: ECEFPoint;
-
-  # these are the features in the world
-  # len(dpos) == len(descriptors) * 32
-  dpos @2 :List(ECEFPoint);
-  descriptors @3 :Data;
-}
-
-struct KalmanOdometry @0x92e21bb7ea38793a {
-  trans @0 :List(Float32); # m/s in device frame
-  rot @1 :List(Float32); # rad/s in device frame
-  transStd @2 :List(Float32); # std m/s in device frame
-  rotStd @3 :List(Float32); # std rad/s in device frame
-}
-
-struct OrbObservation @0x9b326d4e436afec7 {
-  observationMonoTime @0 :UInt64;
-  normalizedCoordinates @1 :List(Float32);
-  locationECEF @2 :List(Float64);
-  matchDistance @3: UInt32;
-}
-
-struct CalibrationFeatures @0x8fdfadb254ea867a {
-  frameId @0 :UInt32;
-
-  p0 @1 :List(Float32);
-  p1 @2 :List(Float32);
-  status @3 :List(Int8);
-}
-
-struct NavStatus @0xbd8822120928120c {
-  isNavigating @0 :Bool;
-  currentAddress @1 :Address;
-
-  struct Address @0xce7cd672cacc7814 {
-    title @0 :Text;
-    lat @1 :Float64;
-    lng @2 :Float64;
-    house @3 :Text;
-    address @4 :Text;
-    street @5 :Text;
-    city @6 :Text;
-    state @7 :Text;
-    country @8 :Text;
-  }
-}
-
-struct NavUpdate @0xdb98be6565516acb {
-  isNavigating @0 :Bool;
-  curSegment @1 :Int32;
-  segments @2 :List(Segment);
-
-  struct LatLng @0x9eaef9187cadbb9b {
-    lat @0 :Float64;
-    lng @1 :Float64;
-  }
-
-  struct Segment @0xa5b39b4fc4d7da3f {
-    from @0 :LatLng;
-    to @1 :LatLng;
-    updateTime @2 :Int32;
-    distance @3 :Int32;
-    crossTime @4 :Int32;
-    exitNo @5 :Int32;
-    instruction @6 :Instruction;
-
-    parts @7 :List(LatLng);
-
-    enum Instruction @0xc5417a637451246f {
-      turnLeft @0;
-      turnRight @1;
-      keepLeft @2;
-      keepRight @3;
-      straight @4;
-      roundaboutExitNumber @5;
-      roundaboutExit @6;
-      roundaboutTurnLeft @7;
-      unkn8 @8;
-      roundaboutStraight @9;
-      unkn10 @10;
-      roundaboutTurnRight @11;
-      unkn12 @12;
-      roundaboutUturn @13;
-      unkn14 @14;
-      arrive @15;
-      exitLeft @16;
-      exitRight @17;
-      unkn18 @18;
-      uturn @19;
-      # ...
-    }
-  }
-}
-
-struct TrafficEvent @0xacfa74a094e62626 {
-  type @0 :Type;
-  distance @1 :Float32;
-  action @2 :Action;
-  resuming @3 :Bool;
-
-  enum Type @0xd85d75253435bf4b {
-    stopSign @0;
-    lightRed @1;
-    lightYellow @2;
-    lightGreen @3;
-    stopLight @4;
-  }
-
-  enum Action @0xa6f6ce72165ccb49 {
-    none @0;
-    yield @1;
-    stop @2;
-    resumeReady @3;
-  }
-
-}
-
-
-struct AndroidGnss @0xdfdf30d03fc485bd {
-  union {
-    measurements @0 :Measurements;
-    navigationMessage @1 :NavigationMessage;
-  }
-
-  struct Measurements @0xa20710d4f428d6cd {
-    clock @0 :Clock;
-    measurements @1 :List(Measurement);
-
-    struct Clock @0xa0e27b453a38f450 {
-      timeNanos @0 :Int64;
-      hardwareClockDiscontinuityCount @1 :Int32;
-
-      hasTimeUncertaintyNanos @2 :Bool;
-      timeUncertaintyNanos @3 :Float64;
-
-      hasLeapSecond @4 :Bool;
-      leapSecond @5 :Int32;
-
-      hasFullBiasNanos @6 :Bool;
-      fullBiasNanos @7 :Int64;
-
-      hasBiasNanos @8 :Bool;
-      biasNanos @9 :Float64;
-
-      hasBiasUncertaintyNanos @10 :Bool;
-      biasUncertaintyNanos @11 :Float64;
-
-      hasDriftNanosPerSecond @12 :Bool;
-      driftNanosPerSecond @13 :Float64;
-
-      hasDriftUncertaintyNanosPerSecond @14 :Bool;
-      driftUncertaintyNanosPerSecond @15 :Float64;
-    }
-
-    struct Measurement @0xd949bf717d77614d {
-      svId @0 :Int32;
-      constellation @1 :Constellation;
-
-      timeOffsetNanos @2 :Float64;
-      state @3 :Int32;
-      receivedSvTimeNanos @4 :Int64;
-      receivedSvTimeUncertaintyNanos @5 :Int64;
-      cn0DbHz @6 :Float64;
-      pseudorangeRateMetersPerSecond @7 :Float64;
-      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
-      accumulatedDeltaRangeState @9 :Int32;
-      accumulatedDeltaRangeMeters @10 :Float64;
-      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
-
-      hasCarrierFrequencyHz @12 :Bool;
-      carrierFrequencyHz @13 :Float32;
-      hasCarrierCycles @14 :Bool;
-      carrierCycles @15 :Int64;
-      hasCarrierPhase @16 :Bool;
-      carrierPhase @17 :Float64;
-      hasCarrierPhaseUncertainty @18 :Bool;
-      carrierPhaseUncertainty @19 :Float64;
-      hasSnrInDb @20 :Bool;
-      snrInDb @21 :Float64;
-
-      multipathIndicator @22 :MultipathIndicator;
-
-      enum Constellation @0x9ef1f3ff0deb5ffb {
-        unknown @0;
-        gps @1;
-        sbas @2;
-        glonass @3;
-        qzss @4;
-        beidou @5;
-        galileo @6;
-      }
-
-      enum State @0xcbb9490adce12d72 {
-        unknown @0;
-        codeLock @1;
-        bitSync @2;
-        subframeSync @3;
-        towDecoded @4;
-        msecAmbiguous @5;
-        symbolSync @6;
-        gloStringSync @7;
-        gloTodDecoded @8;
-        bdsD2BitSync @9;
-        bdsD2SubframeSync @10;
-        galE1bcCodeLock @11;
-        galE1c2ndCodeLock @12;
-        galE1bPageSync @13;
-        sbasSync @14;
-      }
-
-      enum MultipathIndicator @0xc04e7b6231d4caa8 {
-        unknown @0;
-        detected @1;
-        notDetected @2;
-      }
-    }
-  }
-
-  struct NavigationMessage @0xe2517b083095fd4e {
-    type @0 :Int32;
-    svId @1 :Int32;
-    messageId @2 :Int32;
-    submessageId @3 :Int32;
-    data @4 :Data;
-    status @5 :Status;
-
-    enum Status @0xec1ff7996b35366f {
-      unknown @0;
-      parityPassed @1;
-      parityRebuilt @2;
-    }
-  }
-}
-
-struct LidarPts @0xe3d6685d4e9d8f7a {
-  r @0 :List(UInt16);        # uint16   m*500.0
-  theta @1 :List(UInt16);    # uint16 deg*100.0
-  reflect @2 :List(UInt8);   # uint8      0-255
-
-  # For storing out of file.
-  idx @3 :UInt64;
-
-  # For storing in file
-  pkt @4 :Data;
-}
-
-

cereal/messaging/__init__.py

@@ -1,10 +1,8 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
+                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq import fake_event_handle, drain_sock_raw
 import msgq
-
 import os
 import capnp
 import time
@@ -13,7 +11,7 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 
@@ -197,10 +195,6 @@ class SubMaster:
       self.data[s] = getattr(data.as_reader(), s)
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
-    # StarPilot variables
-    self.addr = addr
-    self.poll = poll
-
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
@@ -252,18 +246,6 @@ class SubMaster:
   def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
-  # StarPilot variables
-  def extend(self, new_services: List[str]):
-    return SubMaster(
-      self.services + new_services,
-      poll=self.poll,
-      ignore_alive=self.ignore_alive,
-      ignore_avg_freq=self.ignore_average_freq,
-      ignore_valid=self.ignore_valid,
-      addr=self.addr,
-      frequency=None if self.poll is not None else self.update_freq,
-    )
-
 
 class PubMaster:
   def __init__(self, services: List[str]):
@@ -285,10 +267,3 @@ class PubMaster:
 
   def all_readers_updated(self, s: str) -> bool:
     return self.sock[s].all_readers_updated()  # type: ignore
-
-  # StarPilot variables
-  def extend(self, new_services: List[str]):
-    for service in new_services:
-      if service not in self.sock:
-        self.sock[service] = pub_sock(service)
-    return self

cereal/messaging/bridge.cc

@@ -25,15 +25,16 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }
 
 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
+  auto poller = std::make_unique<BridgeZmqPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
+  auto pub_context = std::make_unique<Context>();
-  auto sub_context = std::make_unique<ZMQContext>();
+  auto sub_context = std::make_unique<BridgeZmqContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
+  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
 
   for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
+    auto pub_sock = new PubSocket();
-    auto sub_sock = new ZMQSubSocket();
+    auto sub_sock = new BridgeZmqSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
+    size_t queue_size = services.at(endpoint).queue_size;
+    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);

cereal/messaging/bridge_zmq.cc

@@ -0,0 +1,170 @@
+#include "cereal/messaging/bridge_zmq.h"
+
+#include <cassert>
+#include <cstring>
+#include <unistd.h>
+
+static size_t fnv1a_hash(const std::string &str) {
+  const size_t fnv_prime = 0x100000001b3;
+  size_t hash_value = 0xcbf29ce484222325;
+  for (char c : str) {
+    hash_value ^= (unsigned char)c;
+    hash_value *= fnv_prime;
+  }
+  return hash_value;
+}
+
+// FIXME: This is a hack to get the port number from the socket name, might have collisions.
+static int get_port(std::string endpoint) {
+  size_t hash_value = fnv1a_hash(endpoint);
+  int start_port = 8023;
+  int max_port = 65535;
+  return start_port + (hash_value % (max_port - start_port));
+}
+
+BridgeZmqContext::BridgeZmqContext() {
+  context = zmq_ctx_new();
+}
+
+BridgeZmqContext::~BridgeZmqContext() {
+  if (context != nullptr) {
+    zmq_ctx_term(context);
+  }
+}
+
+void BridgeZmqMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void BridgeZmqMessage::init(char *d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void BridgeZmqMessage::close() {
+  if (size > 0) {
+    delete[] data;
+  }
+  data = nullptr;
+  size = 0;
+}
+
+BridgeZmqMessage::~BridgeZmqMessage() {
+  close();
+}
+
+int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
+
+  if (conflate) {
+    int arg = 1;
+    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
+  }
+
+  int reconnect_ivl = 500;
+  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
+
+  full_endpoint = "tcp://" + address + ":";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  return zmq_connect(sock, full_endpoint.c_str());
+}
+
+void BridgeZmqSubSocket::setTimeout(int timeout) {
+  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
+}
+
+Message *BridgeZmqSubSocket::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 *ret = nullptr;
+  if (rc >= 0) {
+    ret = new BridgeZmqMessage;
+    ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+
+  zmq_msg_close(&msg);
+  return ret;
+}
+
+BridgeZmqSubSocket::~BridgeZmqSubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  full_endpoint = "tcp://*:";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
+  pid = getpid();
+
+  return zmq_bind(sock, full_endpoint.c_str());
+}
+
+int BridgeZmqPubSocket::sendMessage(Message *message) {
+  assert(pid == getpid());
+  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
+}
+
+int BridgeZmqPubSocket::send(char *data, size_t size) {
+  assert(pid == getpid());
+  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
+}
+
+BridgeZmqPubSocket::~BridgeZmqPubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
+  assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
+  polls[num_polls].socket = socket->getRawSocket();
+  polls[num_polls].events = ZMQ_POLLIN;
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
+  std::vector<BridgeZmqSubSocket *> ret;
+
+  int rc = zmq_poll(polls, num_polls, timeout);
+  if (rc < 0) {
+    return ret;
+  }
+
+  for (size_t i = 0; i < num_polls; i++) {
+    if (polls[i].revents) {
+      ret.push_back(sockets[i]);
+    }
+  }
+
+  return ret;
+}

cereal/messaging/bridge_zmq.h

@@ -0,0 +1,72 @@
+#pragma once
+
+#include <cstddef>
+#include <string>
+#include <vector>
+
+#include <zmq.h>
+
+#include "msgq/ipc.h"
+
+class BridgeZmqContext {
+public:
+  BridgeZmqContext();
+  void *getRawContext() { return context; }
+  ~BridgeZmqContext();
+
+private:
+  void *context = nullptr;
+};
+
+class BridgeZmqMessage : public Message {
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  void close();
+  size_t getSize() { return size; }
+  char *getData() { return data; }
+  ~BridgeZmqMessage();
+
+private:
+  char *data = nullptr;
+  size_t size = 0;
+};
+
+class BridgeZmqSubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
+  void setTimeout(int timeout);
+  Message *receive(bool non_blocking = false);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqSubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+};
+
+class BridgeZmqPubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqPubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+  int pid = -1;
+};
+
+class BridgeZmqPoller {
+public:
+  void registerSocket(BridgeZmqSubSocket *socket);
+  std::vector<BridgeZmqSubSocket *> poll(int timeout);
+
+private:
+  static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
+  std::vector<BridgeZmqSubSocket *> sockets;
+  zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
+  size_t num_polls = 0;
+};

cereal/messaging/msgq_to_zmq.cc

@@ -2,6 +2,7 @@
 
 #include <cassert>
 
+#include "cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -21,14 +22,14 @@ static std::string recv_zmq_msg(void *sock) {
 }
 
 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
+  zmq_context = std::make_unique<BridgeZmqContext>();
-  msgq_context = std::make_unique<MSGQContext>();
+  msgq_context = std::make_unique<Context>();
 
   // Create ZMQPubSockets for each endpoint
   for (const auto &endpoint : endpoints) {
     auto &socket_pair = socket_pairs.emplace_back();
     socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
+    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
     int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
     if (ret != 0) {
       printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -48,7 +49,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
+        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
@@ -71,7 +72,7 @@ void MsgqToZmq::zmqMonitorThread() {
   // Set up ZMQ monitor for each pub socket
   for (int i = 0; i < socket_pairs.size(); ++i) {
     std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
 
     void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
     zmq_connect(monitor_socket, addr.c_str());
@@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            size_t queue_size = services.at(pair.endpoint).queue_size;
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }
@@ -128,7 +130,7 @@ void MsgqToZmq::zmqMonitorThread() {
 
   // Clean up monitor sockets
   for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
     zmq_close(pollitems[i].socket);
   }
   cv.notify_one();

cereal/messaging/msgq_to_zmq.h

@@ -7,9 +7,8 @@
 #include <string>
 #include <vector>
 
-#define private public
 #include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "cereal/messaging/bridge_zmq.h"
 
 class MsgqToZmq {
 public:
@@ -22,16 +21,16 @@ protected:
 
   struct SocketPair {
     std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<BridgeZmqPubSocket> pub_sock;
     std::unique_ptr<MSGQSubSocket> sub_sock;
     int connected_clients = 0;
   };
 
-  std::unique_ptr<MSGQContext> msgq_context;
+  std::unique_ptr<Context> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
+  std::unique_ptr<BridgeZmqContext> zmq_context;
   std::mutex mutex;
   std::condition_variable cv;
   std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
   std::vector<SocketPair> socket_pairs;
 };

cereal/messaging/tests/test_messaging.py

@@ -5,7 +5,7 @@ import numbers
 import random
 import threading
 import time
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 import pytest
 
 from cereal import log, car

cereal/messaging/tests/test_services.py

@@ -1,7 +1,7 @@
 import os
 import tempfile
 from typing import Dict
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -0,0 +1,251 @@
+#!/usr/bin/env python3
+"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
+
+Rules (per struct matched across sides by typeId):
+  R1  shared ordinal must reference the same type.
+  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
+  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
+  R4  upstream-only ordinal -> OK.
+  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from typing import Any
+
+NO_DISCRIMINANT = 0xFFFF
+
+
+def hex_id(value: int) -> str:
+  return f"0x{value:016x}"
+
+
+def encode_type(type_node: Any) -> dict:
+  which = type_node.which()
+  if which == "struct":
+    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
+  if which == "enum":
+    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
+  if which == "interface":
+    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
+  if which == "list":
+    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
+  if which == "anyPointer":
+    return {"kind": "anyPointer"}
+  return {"kind": which}
+
+
+def encode_field(name: str, field: Any) -> dict:
+  proto = field.proto
+  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+
+  if proto.which() == "group":
+    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
+  else:
+    type_desc = encode_type(proto.slot.type)
+
+  return {
+    "name": name,
+    "ordinal": ordinal,
+    "discriminant": discriminant,
+    "type": type_desc,
+  }
+
+
+def encode_struct(schema: Any) -> dict:
+  node = schema.node
+  return {
+    "typeId": hex_id(node.id),
+    "displayName": node.displayName,
+    "hasUnion": node.struct.discriminantCount > 0,
+    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
+  }
+
+
+def _child_struct_schema(field: Any) -> Any:
+  proto = field.proto
+  if proto.which() == "group":
+    return field.schema
+  type_node = proto.slot.type
+  which = type_node.which()
+  if which == "struct":
+    return field.schema
+  if which == "list":
+    container = field.schema
+    element_type = type_node.list.elementType
+    while element_type.which() == "list":
+      container = container.elementType
+      element_type = element_type.list.elementType
+    if element_type.which() == "struct":
+      return container.elementType
+  return None
+
+
+def collect_schema(root: Any) -> dict[str, dict]:
+  structs: dict[str, dict] = {}
+  stack = [root]
+  while stack:
+    schema = stack.pop()
+    type_id = hex_id(schema.node.id)
+    if type_id in structs:
+      continue
+    structs[type_id] = encode_struct(schema)
+    for _name, field in schema.fields.items():
+      try:
+        child = _child_struct_schema(field)
+      except Exception:
+        child = None
+      if child is not None:
+        stack.append(child)
+  return structs
+
+
+def dump_schema(path: str) -> None:
+  from cereal import log
+  payload = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  with open(path, "w", encoding="utf-8") as handle:
+    json.dump(payload, handle, indent=2, sort_keys=True)
+  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
+
+
+def types_equal(a: dict, b: dict) -> bool:
+  if a.get("kind") != b.get("kind"):
+    return False
+  kind = a["kind"]
+  if kind in ("struct", "enum", "interface", "group"):
+    return a.get("typeId") == b.get("typeId")
+  if kind == "list":
+    return types_equal(a["element"], b["element"])
+  return True
+
+
+def type_repr(t: dict) -> str:
+  kind = t.get("kind", "?")
+  if kind in ("struct", "enum", "interface", "group"):
+    return f"{kind}({t.get('typeId')})"
+  if kind == "list":
+    return f"list<{type_repr(t['element'])}>"
+  return kind
+
+
+def field_is_union_variant(field: dict) -> bool:
+  return field.get("discriminant") is not None
+
+
+def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
+  indexed: dict[int, dict] = {}
+  for field in struct["fields"]:
+    ordinal = field.get("ordinal")
+    if ordinal is None:
+      continue
+    indexed[ordinal] = field
+  return indexed
+
+
+def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
+  violations: list[str] = []
+  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
+  upstream_structs: dict[str, dict] = upstream_dump["structs"]
+
+  sunnypilot_struct_referenced_from_shared: set[str] = set()
+
+  for type_id, sunnypilot_struct in sunnypilot_structs.items():
+    upstream_struct = upstream_structs.get(type_id)
+    if upstream_struct is None:
+      continue
+
+    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
+    upstream_fields = index_fields_by_ordinal(upstream_struct)
+    display = sunnypilot_struct["displayName"]
+
+    for ordinal, sunnypilot_field in sunnypilot_fields.items():
+      upstream_field = upstream_fields.get(ordinal)
+      if upstream_field is None:
+        if field_is_union_variant(sunnypilot_field):
+          violations.append(
+            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
+            f"union variant not present upstream. upstream cannot parse this discriminant."
+          )
+        continue
+
+      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
+        violations.append(
+          f"[R1] {display} @{ordinal}: type mismatch. "
+          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
+          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
+        )
+        continue
+
+      cursor = sunnypilot_field["type"]
+      while cursor.get("kind") == "list":
+        cursor = cursor["element"]
+      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
+        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
+
+  for type_id, sunnypilot_struct in sunnypilot_structs.items():
+    if type_id in upstream_structs:
+      continue
+    if type_id in sunnypilot_struct_referenced_from_shared:
+      violations.append(
+        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
+        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
+      )
+
+  return violations
+
+
+def load_peer(path: str) -> dict:
+  with open(path, "r", encoding="utf-8") as handle:
+    return json.load(handle)
+
+
+def run_read(peer_path: str) -> int:
+  from cereal import log
+  peer_dump = load_peer(peer_path)
+  local_dump = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
+
+  if not violations:
+    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
+          "(no leaked structs, no ordinal collisions).")
+    return 0
+
+  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
+        f"({len(violations)} violation(s)):")
+  for v in violations:
+    print(f"  {v}")
+  return 1
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(
+    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
+  )
+  mode = parser.add_mutually_exclusive_group(required=True)
+  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
+  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
+  args = parser.parse_args()
+
+  try:
+    if args.generate:
+      dump_schema(args.file)
+      return 0
+    return run_read(args.file)
+  except ImportError as exc:
+    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
+    return 2
+
+
+if __name__ == "__main__":
+  sys.exit(main())

cereal/services.h

@@ -22,8 +22,8 @@ static std::map<std::string, service> services = {
   { "roadEncodeIdx", {"roadEncodeIdx", false, 20.000000, 1, 256000}},
   { "liveTracks", {"liveTracks", true, 20.000000, -1, 256000}},
   { "sendcan", {"sendcan", true, 100.000000, 139, 2097152}},
-  { "logMessage", {"logMessage", true, 0.000000, -1, 256000}},
+  { "logMessage", {"logMessage", true, 0.000000, -1, 10485760}},
-  { "errorLogMessage", {"errorLogMessage", true, 0.000000, 1, 256000}},
+  { "errorLogMessage", {"errorLogMessage", true, 0.000000, 1, 10485760}},
   { "liveCalibration", {"liveCalibration", true, 4.000000, 4, 256000}},
   { "liveTorqueParameters", {"liveTorqueParameters", true, 4.000000, 1, 256000}},
   { "liveDelay", {"liveDelay", true, 4.000000, 1, 256000}},
@@ -72,6 +72,17 @@ static std::map<std::string, service> services = {
   { "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
   { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
   { "qRoadEncodeData", {"qRoadEncodeData", false, 20.000000, -1, 10485760}},
+  { "modelManagerSP", {"modelManagerSP", false, 1.000000, 1, 10485760}},
+  { "backupManagerSP", {"backupManagerSP", false, 1.000000, 1, 10485760}},
+  { "selfdriveStateSP", {"selfdriveStateSP", true, 100.000000, 10, 256000}},
+  { "longitudinalPlanSP", {"longitudinalPlanSP", true, 20.000000, 10, 256000}},
+  { "onroadEventsSP", {"onroadEventsSP", true, 1.000000, 1, 256000}},
+  { "carParamsSP", {"carParamsSP", true, 0.020000, 1, 256000}},
+  { "carControlSP", {"carControlSP", true, 100.000000, 10, 256000}},
+  { "carStateSP", {"carStateSP", true, 100.000000, 10, 256000}},
+  { "liveMapDataSP", {"liveMapDataSP", true, 1.000000, 1, 256000}},
+  { "modelDataV2SP", {"modelDataV2SP", true, 20.000000, -1, 10485760}},
+  { "liveLocationKalman", {"liveLocationKalman", true, 20.000000, -1, 256000}},
   { "uiDebug", {"uiDebug", true, 0.000000, 1, 256000}},
   { "testJoystick", {"testJoystick", true, 0.000000, -1, 256000}},
   { "alertDebug", {"alertDebug", true, 20.000000, 5, 256000}},
@@ -81,22 +92,9 @@ static std::map<std::string, service> services = {
   { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20.000000, -1, 2097152}},
   { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}},
   { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}},
-  { "customReserved9", {"customReserved9", true, 0.000000, 1, 256000}},
   { "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}},
   { "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1, 256000}},
   { "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1, 256000}},
-  { "starpilotCarControl", {"starpilotCarControl", true, 100.000000, 10, 256000}},
-  { "starpilotCarParams", {"starpilotCarParams", true, 0.020000, 1, 256000}},
-  { "starpilotCarState", {"starpilotCarState", true, 100.000000, 10, 256000}},
-  { "starpilotDeviceState", {"starpilotDeviceState", true, 2.000000, 1, 256000}},
-  { "starpilotModelV2", {"starpilotModelV2", true, 20.000000, -1, 256000}},
-  { "starpilotOnroadEvents", {"starpilotOnroadEvents", true, 1.000000, 1, 256000}},
-  { "starpilotPlan", {"starpilotPlan", true, 20.000000, 10, 256000}},
-  { "starpilotRadarState", {"starpilotRadarState", true, 20.000000, 5, 256000}},
-  { "starpilotSelfdriveState", {"starpilotSelfdriveState", true, 100.000000, 10, 256000}},
-  { "mapdExtendedOut", {"mapdExtendedOut", true, 1.000000, 1, 2097152}},
-  { "mapdIn", {"mapdIn", true, 1.000000, 1, 2097152}},
-  { "mapdOut", {"mapdOut", true, 20.000000, 20, 2097152}},
 };
 #endif
 

cereal/services.py

@@ -39,8 +39,8 @@ _services: dict[str, tuple] = {
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
+  "logMessage": (True, 0., None, QueueSize.BIG),
-  "errorLogMessage": (True, 0., 1),
+  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
   "liveDelay": (True, 4., 1),
@@ -90,6 +90,19 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
   "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
+  # sunnypilot
+  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
+  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
+  "selfdriveStateSP": (True, 100., 10),
+  "longitudinalPlanSP": (True, 20., 10),
+  "onroadEventsSP": (True, 1., 1),
+  "carParamsSP": (True, 0.02, 1),
+  "carControlSP": (True, 100., 10),
+  "carStateSP": (True, 100., 10),
+  "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "liveLocationKalman": (True, 20.),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
@@ -100,24 +113,9 @@ _services: dict[str, tuple] = {
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "customReserved9": (True, 0., 1),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
-
-  # StarPilot variables
-  "starpilotCarControl": (True, 100., 10),
-  "starpilotCarParams": (True, 0.02, 1),
-  "starpilotCarState": (True, 100., 10),
-  "starpilotDeviceState": (True, 2., 1),
-  "starpilotModelV2": (True, 20.),
-  "starpilotOnroadEvents": (True, 1., 1),
-  "starpilotPlan": (True, 20., 10),
-  "starpilotRadarState": (True, 20., 5),
-  "starpilotSelfdriveState": (True, 100., 10),
-  "mapdExtendedOut": (True, 1., 1, QueueSize.MEDIUM),
-  "mapdIn": (True, 1., 1, QueueSize.MEDIUM),
-  "mapdOut": (True, 20., 20, QueueSize.MEDIUM),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

common/.gitignore

@@ -1,2 +0,0 @@
-*.cpp
-!params_pyx.cpp

common/SConscript

@@ -1,35 +0,0 @@
-Import('env', 'envCython', 'arch')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'watchdog.cc',
-  'ratekeeper.cc'
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
-  'clutil.cc',
-]
-
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
-
-Export('common_python')

common/api.py

@@ -1,64 +0,0 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-from openpilot.starpilot.common.starpilot_utilities import use_konik_server
-
-API_HOST = os.getenv('API_HOST', f"https://api.{'konik.ai' if use_konik_server() else 'commadotai.com'}")
-
-# name: jwt signature algorithm
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
-
-
-class Api:
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    self.jwt_algorithm, self.private_key, _ = get_key_pair()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def get_token(self, payload_extra=None, expiry_hours=1):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    if payload_extra is not None:
-      payload.update(payload_extra)
-    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  # TODO: add session to Api
-  req = requests if session is None else session
-  return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
-
-
-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-  for key in KEYS:
-    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
-      with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
-        return KEYS[key], private.read(), public.read()
-  return None, None, None

common/api/__init__.py

@@ -0,0 +1,26 @@
+from openpilot.common.api.comma_connect import CommaConnectApi
+
+
+class Api:
+  def __init__(self, dongle_id):
+    self.service = CommaConnectApi(dongle_id)
+
+  def request(self, method, endpoint, **params):
+    return self.service.request(method, endpoint, **params)
+
+  def get(self, *args, **kwargs):
+    return self.service.get(*args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.service.post(*args, **kwargs)
+
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self.service.get_token(payload_extra, expiry_hours)
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
+
+
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  return CommaConnectApi(None).get_key_pair()

common/api/base.py

@@ -0,0 +1,72 @@
+import jwt
+import os
+import requests
+import unicodedata
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
+
+
+class BaseApi:
+  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
+    self.dongle_id = dongle_id
+    self.api_host = api_host
+    self.user_agent = user_agent
+    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours),
+      **extra_payload
+    }
+    if payload_extra is not None:
+      payload.update(payload_extra)
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self._get_token(payload_extra, expiry_hours)
+
+  def remove_non_ascii_chars(self, text):
+    normalized_text = unicodedata.normalize('NFD', text)
+    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
+    return ascii_encoded_text.decode()
+
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
+    headers = {}
+    if access_token is not None:
+      headers['Authorization'] = "JWT " + access_token
+
+    version = self.remove_non_ascii_chars(get_version())
+    headers['User-Agent'] = self.user_agent + version
+
+    # TODO: add session to Api
+    req = requests if session is None else session
+    return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+
+  @staticmethod
+  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+    for key in KEYS:
+      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+          return KEYS[key], private.read(), public.read()
+    return None, None, None

common/api/comma_connect.py

@@ -0,0 +1,11 @@
+import os
+
+from openpilot.common.api.base import BaseApi
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+
+class CommaConnectApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "openpilot-"

common/clutil.cc

@@ -1,129 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-std::string resolve_program_path(const char *path) {
-  std::string resolved_path(path);
-  if (util::file_exists(resolved_path)) {
-    return resolved_path;
-  }
-
-  const std::string basedir = util::getenv("BASEDIR", "");
-  if (!basedir.empty()) {
-    // Handle repository-relative paths, e.g. "selfdrive/modeld/transforms/transform.cl".
-    if (!resolved_path.empty() && resolved_path.front() != '/') {
-      const std::string candidate = basedir + "/" + resolved_path;
-      if (util::file_exists(candidate)) {
-        return candidate;
-      }
-    }
-
-    // Recover from build-path-embedded absolute paths like "/work/selfdrive/...".
-    for (const char *marker : {"/selfdrive/", "/starpilot/", "/common/"}) {
-      if (const size_t idx = resolved_path.find(marker); idx != std::string::npos) {
-        const std::string candidate = basedir + "/" + resolved_path.substr(idx + 1);
-        if (util::file_exists(candidate)) {
-          LOGW("OpenCL source path remapped: %s -> %s", resolved_path.c_str(), candidate.c_str());
-          return candidate;
-        }
-      }
-    }
-  }
-
-  return resolved_path;
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(resolve_program_path(path)), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}

common/clutil.h

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

common/constants.py

@@ -19,11 +19,5 @@ class CV:
   # Mass
   LB_TO_KG = 0.453592
 
-  # StarPilot variables
-  METER_TO_FOOT = 3.28084
-  FOOT_TO_METER = 1. / METER_TO_FOOT
-  CM_TO_INCH = 1. / 2.54
-  INCH_TO_CM = 1. / CM_TO_INCH
-
 
 ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2

common/file_chunker.py

@@ -4,20 +4,16 @@ from pathlib import Path
 
 CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
 
-
 def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx + 1:02d}of{num_chunks:02d}"
+  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
 
 def get_manifest_path(name):
   return f"{name}.chunkmanifest"
 
-
 def get_chunk_paths(path, file_size):
   num_chunks = math.ceil(file_size / CHUNK_SIZE)
   return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
 
-
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
   with open(path, 'rb') as f:

common/filter_simple.py

@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
     scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
     self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
     self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
+    if abs(self.velocity.x) < 1e-3:
       self.velocity.x = 0.0
     self.x += self.velocity.x
     return self.x

common/git.py

@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str = None) -> str:
+def get_short_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str = None) -> str:
+def get_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str = None) -> str:
+def get_origin(cwd: str | None = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str = None) -> str:
+def get_normalized_origin(cwd: str | None = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/i2c.py

@@ -0,0 +1,81 @@
+import os
+import fcntl
+import ctypes
+
+# I2C constants from /usr/include/linux/i2c-dev.h
+I2C_SLAVE = 0x0703
+I2C_SLAVE_FORCE = 0x0706
+I2C_SMBUS = 0x0720
+
+# SMBus transfer types
+I2C_SMBUS_READ = 1
+I2C_SMBUS_WRITE = 0
+I2C_SMBUS_BYTE_DATA = 2
+I2C_SMBUS_I2C_BLOCK_DATA = 8
+
+I2C_SMBUS_BLOCK_MAX = 32
+
+
+class _I2cSmbusData(ctypes.Union):
+  _fields_ = [
+    ("byte", ctypes.c_uint8),
+    ("word", ctypes.c_uint16),
+    ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
+  ]
+
+
+class _I2cSmbusIoctlData(ctypes.Structure):
+  _fields_ = [
+    ("read_write", ctypes.c_uint8),
+    ("command", ctypes.c_uint8),
+    ("size", ctypes.c_uint32),
+    ("data", ctypes.POINTER(_I2cSmbusData)),
+  ]
+
+
+class SMBus:
+  def __init__(self, bus: int):
+    self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
+
+  def __enter__(self) -> 'SMBus':
+    return self
+
+  def __exit__(self, *args) -> None:
+    self.close()
+
+  def close(self) -> None:
+    if hasattr(self, '_fd') and self._fd >= 0:
+      os.close(self._fd)
+      self._fd = -1
+
+  def _set_address(self, addr: int, force: bool = False) -> None:
+    ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
+    fcntl.ioctl(self._fd, ioctl_arg, addr)
+
+  def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
+    ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
+    fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
+
+  def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
+    return int(data.byte)
+
+  def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    data.byte = value & 0xFF
+    self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
+
+  def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
+    self._set_address(addr, force)
+    if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
+      raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
+
+    data = _I2cSmbusData()
+    data.block[0] = length
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
+    read_len = int(data.block[0]) or length
+    read_len = min(read_len, length)
+    return [int(b) for b in data.block[1 : read_len + 1]]

common/mat.h

@@ -1,85 +0,0 @@
-#pragma once
-
-typedef struct vec3 {
-  float v[3];
-} vec3;
-
-typedef struct vec4 {
-  float v[4];
-} vec4;
-
-typedef struct mat3 {
-  float v[3*3];
-} mat3;
-
-typedef struct mat4 {
-  float v[4*4];
-} mat4;
-
-static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
-  mat3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      float v = 0.0;
-      for (int k=0; k<3; k++) {
-        v += a.v[r*3+k] * b.v[k*3+c];
-      }
-      ret.v[r*3+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
-  vec3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      ret.v[r] += a.v[r*3+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-static inline mat4 matmul(const mat4 &a, const mat4 &b) {
-  mat4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      float v = 0.0;
-      for (int k=0; k<4; k++) {
-        v += a.v[r*4+k] * b.v[k*4+c];
-      }
-      ret.v[r*4+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
-  vec4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      ret.v[r] += a.v[r*4+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-// scales the input and output space of a transformation matrix
-// that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
-  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
-
-  mat3 transform_out = {{
-    1.0f/s, 0.0f, 0.5f,
-    0.0f, 1.0f/s, 0.5f,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  mat3 transform_in = {{
-    s,  0.0f, -0.5f*s,
-    0.0f, s, -0.5f*s,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  return matmul3(transform_in, matmul3(in, transform_out));
-}

common/model.h

@@ -0,0 +1 @@
+#define DEFAULT_MODEL "POP model (Default)"

common/parameterized.py

@@ -0,0 +1,47 @@
+import sys
+import pytest
+import inspect
+
+
+class parameterized:
+  @staticmethod
+  def expand(cases):
+    cases = list(cases)
+
+    if not cases:
+      return lambda func: pytest.mark.skip("no parameterized cases")(func)
+
+    def decorator(func):
+      params = [p for p in inspect.signature(func).parameters if p != 'self']
+      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
+      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
+      expand_params = params[: len(normalized[0])]
+      if len(expand_params) == 1:
+        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
+      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
+
+    return decorator
+
+
+def parameterized_class(attrs, input_list=None):
+  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
+    params_list = attrs
+  else:
+    assert input_list is not None
+    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
+    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
+
+  def decorator(cls):
+    globs = sys._getframe(1).f_globals
+    for i, params in enumerate(params_list):
+      name = f"{cls.__name__}_{i}"
+      new_cls = type(name, (cls,), dict(params))
+      new_cls.__module__ = cls.__module__
+      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
+      globs[name] = new_cls
+    # Don't collect the un-parametrised base, but return it so outer decorators
+    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
+    cls.__test__ = False
+    return cls
+
+  return decorator

common/params.cc

@@ -91,34 +91,24 @@ private:
 } // namespace
 
 
-Params::Params(const std::string &path, bool memory) {
+Params::Params(const std::string &path) {
   params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
-
+  params_path = ensure_params_path(params_prefix, path);
-  // StarPilot variables
-  std::string params_folder;
-  if (memory) {
-    params_folder = Path::shm_path() + "/params";
-  } else {
-    cache_path = "/cache/params" + params_prefix + "/";
-    params_folder = path;
-  }
-  params_path = ensure_params_path(params_prefix, params_folder);
 }
 
 Params::~Params() {
   if (future.valid()) {
     future.wait();
   }
-  std::scoped_lock lk(pending_writes_lock);
   assert(queue.empty());
-  assert(pending_writes.empty());
-  assert(!writer_running);
 }
 
-std::vector<std::string> Params::allKeys() const {
+std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    ret.push_back(p.first);
+    if (flag == ALL || (p.second.flags & flag)) {
+      ret.push_back(p.first);
+    }
   }
   return ret;
 }
@@ -181,12 +171,6 @@ int Params::put(const char* key, const char* value, size_t value_size) {
 int Params::remove(const std::string &key) {
   FileLock file_lock(params_path + "/.lock");
   int result = unlink(getParamPath(key).c_str());
-
-  // StarPilot variables
-  if (!cache_path.empty()) {
-    unlink((cache_path + key).c_str());
-  }
-
   if (result != 0) {
     return result;
   }
@@ -233,11 +217,6 @@ void Params::clearAll(ParamKeyFlag key_flag) {
         auto it = keys.find(de->d_name);
         if (it == keys.end() || (it->second.flags & key_flag)) {
           unlink(getParamPath(de->d_name).c_str());
-
-          // StarPilot variables
-          if (!cache_path.empty()) {
-            unlink((cache_path + de->d_name).c_str());
-          }
         }
       }
     }
@@ -248,71 +227,18 @@ void Params::clearAll(ParamKeyFlag key_flag) {
 }
 
 void Params::putNonBlocking(const std::string &key, const std::string &val) {
-  bool should_enqueue = false;
+   queue.push(std::make_pair(key, val));
-  bool should_start_thread = false;
+  // start thread on demand
-
+  if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
-  {
-    std::scoped_lock lk(pending_writes_lock);
-    auto it = pending_writes.find(key);
-    if (it == pending_writes.end()) {
-      pending_writes.emplace(key, val);
-      should_enqueue = true;
-    } else {
-      it->second = val;
-    }
-
-    if (!writer_running) {
-      writer_running = true;
-      should_start_thread = true;
-    }
-  }
-
-  if (should_enqueue) {
-    queue.push(key);
-  }
-
-  if (should_start_thread) {
     future = std::async(std::launch::async, &Params::asyncWriteThread, this);
   }
 }
 
 void Params::asyncWriteThread() {
-  std::string key;
+  // TODO: write the latest one if a key has multiple values in the queue.
-  while (true) {
+  std::pair<std::string, std::string> p;
-    if (!queue.try_pop(key, 0)) {
+  while (queue.try_pop(p, 0)) {
-      std::scoped_lock lk(pending_writes_lock);
-      if (queue.empty() && pending_writes.empty()) {
-        writer_running = false;
-        return;
-      }
-      continue;
-    }
-
-    std::string val;
-    {
-      std::scoped_lock lk(pending_writes_lock);
-      auto it = pending_writes.find(key);
-      if (it == pending_writes.end()) {
-        continue;
-      }
-      val = std::move(it->second);
-      pending_writes.erase(it);
-    }
-
     // Params::put is Thread-Safe
-    put(key, val);
+    put(p.first, p.second);
   }
 }
-
-// StarPilot variables
-int Params::getTuningLevel(const std::string &key) {
-  return keys[key].tuning_level;
-}
-
-std::optional<std::string> Params::getStockValue(const std::string &key) {
-  ParamKeyAttributes &attributes = keys[key];
-  if (attributes.stock_value) {
-    return attributes.stock_value;
-  }
-  return attributes.default_value;
-}

common/params.h

@@ -2,11 +2,9 @@
 
 #include <future>
 #include <map>
-#include <mutex>
 #include <optional>
 #include <string>
 #include <tuple>
-#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -20,6 +18,7 @@ enum ParamKeyFlag {
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
   CLEAR_ON_IGNITION_ON = 0x80,
+  BACKUP = 0x100,
   ALL = 0xFFFFFFFF
 };
 
@@ -37,22 +36,17 @@ struct ParamKeyAttributes {
   uint32_t flags;
   ParamKeyType type;
   std::optional<std::string> default_value = std::nullopt;
-
-  // StarPilot variables
-  std::optional<std::string> stock_value = std::nullopt;
-
-  int tuning_level = 0;
 };
 
 class Params {
 public:
-  explicit Params(const std::string &path = {}, bool memory = false);
+  explicit Params(const std::string &path = {});
   ~Params();
   // Not copyable.
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys() const;
+  std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
   bool checkKey(const std::string &key);
   ParamKeyFlag getKeyFlag(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
@@ -85,35 +79,6 @@ public:
     putNonBlocking(key, val ? "1" : "0");
   }
 
-  // StarPilot variables
-  int getInt(const std::string &key, bool block = false) {
-    std::string value = get(key, block);
-    return value.empty() ? 0 : std::stoi(value);
-  }
-  float getFloat(const std::string &key, bool block = false) {
-    std::string value = get(key, block);
-    return value.empty() ? 0.0f : std::stof(value);
-  }
-
-  int putInt(const std::string &key, int val) {
-    std::string str = std::to_string(val);
-    return put(key.c_str(), str.c_str(), str.size());
-  }
-  int putFloat(const std::string &key, float val) {
-    std::string str = std::to_string(val);
-    return put(key.c_str(), str.c_str(), str.size());
-  }
-  void putIntNonBlocking(const std::string &key, int val) {
-    putNonBlocking(key, std::to_string(val));
-  }
-  void putFloatNonBlocking(const std::string &key, float val) {
-    putNonBlocking(key, std::to_string(val));
-  }
-
-  int getTuningLevel(const std::string &key);
-
-  std::optional<std::string> getStockValue(const std::string &key);
-
 private:
   void asyncWriteThread();
 
@@ -122,11 +87,5 @@ private:
 
   // for nonblocking write
   std::future<void> future;
-  SafeQueue<std::string> queue;
+  SafeQueue<std::pair<std::string, std::string>> queue;
-  std::mutex pending_writes_lock;
-  std::unordered_map<std::string, std::string> pending_writes;
-  bool writer_running = false;
-
-  // StarPilot variables
-  std::string cache_path;
 };

common/params.py

@@ -1,71 +1,9 @@
-from openpilot.common.params_pyx import Params as _Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
+from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-assert _Params
+assert Params
 assert ParamKeyFlag
 assert ParamKeyType
 assert UnknownKeyName
 
-
-class Params(_Params):
-  def get(self, key, block=False, return_default=False, encoding=None, default=None):
-    try:
-      value = super().get(key, block=block, return_default=return_default)
-    except UnknownKeyName:
-      return default
-    if value is None:
-      return default
-    if encoding is not None and isinstance(value, bytes):
-      try:
-        return value.decode(encoding)
-      except Exception:
-        return value.decode("utf-8", errors="replace")
-    return value
-
-  def get_bool(self, key, block=False, default=False):
-    try:
-      return super().get_bool(key, block=block)
-    except UnknownKeyName:
-      return bool(default)
-
-  def get_int(self, key, block=False, return_default=False, default=0):
-    val = self.get(key, block=block, return_default=return_default, encoding="utf-8")
-    if val is None or val == "":
-      return default
-    try:
-      return int(float(val))
-    except ValueError:
-      return default
-
-  def get_float(self, key, block=False, return_default=False, default=0.0):
-    val = self.get(key, block=block, return_default=return_default, encoding="utf-8")
-    if val is None or val == "":
-      return default
-    try:
-      return float(val)
-    except ValueError:
-      return default
-
-  def put_int(self, key, val):
-    t = self.get_type(key)
-    if t == ParamKeyType.FLOAT:
-      self.put(key, float(val))
-    elif t == ParamKeyType.INT:
-      self.put(key, int(val))
-    elif t == ParamKeyType.BOOL:
-      self.put(key, bool(val))
-    else:
-      self.put(key, str(int(val)))
-
-  def put_float(self, key, val):
-    t = self.get_type(key)
-    if t == ParamKeyType.FLOAT:
-      self.put(key, float(val))
-    elif t == ParamKeyType.INT:
-      self.put(key, int(val))
-    elif t == ParamKeyType.BOOL:
-      self.put(key, bool(val))
-    else:
-      self.put(key, str(float(val)))
-
 if __name__ == "__main__":
   import sys
 

common/params_keys.h

@@ -7,9 +7,8 @@
 
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
-    {"AdbEnabled", {PERSISTENT, BOOL}},
+    {"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"AlwaysAllowUploads", {PERSISTENT, BOOL, "0"}},
+    {"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
-    {"AlwaysOnDM", {PERSISTENT, BOOL}},
     {"ApiCache_Device", {PERSISTENT, STRING}},
     {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
     {"AssistNowToken", {PERSISTENT, STRING}},
@@ -30,39 +29,36 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CurrentBootlog", {PERSISTENT, STRING}},
     {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"DisablePowerDown", {PERSISTENT, BOOL}},
+    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
-    {"DisableUpdates", {PERSISTENT, BOOL}},
+    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
+    {"DisengageOnAccelerator", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"DongleId", {PERSISTENT, STRING}},
     {"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"AlphaLongitudinalEnabled", {PERSISTENT, BOOL}},
+    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
-    {"ExperimentalLongitudinalEnabled", {PERSISTENT, BOOL}},
+    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalMode", {PERSISTENT, BOOL}},
+    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
-    {"PersistExperimentalState", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PersistedCEStatus", {PERSISTENT, INT, "0", "0"}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
     {"GitBranch", {PERSISTENT, STRING}},
     {"GitCommit", {PERSISTENT, STRING}},
     {"GitCommitDate", {PERSISTENT, STRING}},
     {"GitDiff", {PERSISTENT, STRING}},
-    {"GithubSshKeys", {PERSISTENT, STRING}},
+    {"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
-    {"GithubUsername", {PERSISTENT, STRING}},
+    {"GithubUsername", {PERSISTENT | BACKUP, STRING}},
     {"GitRemote", {PERSISTENT, STRING}},
-    {"GsmApn", {PERSISTENT, STRING}},
+    {"GsmApn", {PERSISTENT | BACKUP, STRING}},
-    {"GsmMetered", {PERSISTENT, BOOL, "1"}},
+    {"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"GsmRoaming", {PERSISTENT, BOOL}},
+    {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
     {"InstallDate", {PERSISTENT, TIME}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
-    {"IsLdwEnabled", {PERSISTENT, BOOL}},
+    {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"IsMetric", {PERSISTENT, BOOL}},
+    {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
@@ -70,7 +66,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LanguageSetting", {PERSISTENT, STRING, "main_en"}},
+    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
     {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
@@ -81,15 +77,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
     {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"LiveDelay", {PERSISTENT, BYTES}},
+    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
-    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
+    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
-    {"NetworkMetered", {PERSISTENT, BOOL}},
+    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
@@ -105,23 +101,22 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
+    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
-    {"RecordAudio", {PERSISTENT, BOOL}},
+    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
+    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RecordFront", {PERSISTENT, BOOL}},
+    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
-    {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
+    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
     {"ShowDebugInfo", {PERSISTENT, BOOL}},
-    {"ShowAllToggles", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"UsePrebuilt", {PERSISTENT, BOOL, "1"}},
     {"RouteCount", {PERSISTENT, INT, "0"}},
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"SshEnabled", {PERSISTENT, BOOL}},
+    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
     {"TermsVersion", {PERSISTENT, STRING}},
+    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrainingVersion", {PERSISTENT, STRING}},
     {"UbloxAvailable", {PERSISTENT, BOOL}},
     {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
@@ -139,422 +134,147 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"Version", {PERSISTENT, STRING}},
 
-    // StarPilot variables
+    // --- sunnypilot params --- //
-    {"AccelerationPath", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
-    {"AccelerationProfile", {PERSISTENT, INT, "2", "0", 0}},
+    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AdjacentLeadsUI", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
-    {"AdjacentPath", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
-    {"AdjacentPathMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
-    {"AdvancedCustomUI", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
-    {"AdvancedLateralTune", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"AdvancedLongitudinalTune", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"CarList", {PERSISTENT, JSON}},
-    {"AggressiveFollow", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
+    {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
-    {"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
+    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
-    {"AggressiveJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
+    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
-    {"AggressiveJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
+    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
-    {"AggressiveJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
+    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
-    {"AggressiveJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
+    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
-    {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
+    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
-    {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
-    {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
-    {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
-    {"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
+    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
+    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
+    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
-    {"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
+    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
-    {"BlacklistedModels", {PERSISTENT, STRING, "", "", 2}},
+    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"BootLogo", {PERSISTENT, STRING, "starpilot", "stock", 0}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
-    {"BuildMetadata", {PERSISTENT, STRING, "", "", 0}},
+    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
-    {"BlindSpotMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"BlindSpotPath", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"BelowSteerSpeedVolume", {PERSISTENT, INT, "101", "101", 2}},
+    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
-    {"BorderMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
+    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
-    {"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
+    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
-    {"CameraView", {PERSISTENT, INT, "3", "0", 2}},
+    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"CancelDownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"CancelModelDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"CancelThemeDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
-    {"CarMake", {PERSISTENT, STRING, "mock", "mock", 0}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
-    {"CarModel", {PERSISTENT, STRING, "MOCK", "MOCK", 0}},
+    {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
-    {"CarModelName", {PERSISTENT, STRING, "", "", 0}},
+    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"CECurves", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CECurvesLead", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CELead", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CEModelStopTime", {PERSISTENT, FLOAT, "7.0", "0.0", 2}},
+    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CESignalLaneDetection", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CESignalSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
+    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CESlowerLead", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CESpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
+    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CESpeedLead", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
+
-    {"CEStatus", {CLEAR_ON_OFFROAD_TRANSITION, INT, "0", "0"}},
+    // MADS params
-    {"CEStopLights", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"CEStoppedLead", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"ClusterOffset", {PERSISTENT, FLOAT, "1.015", "1.015", 2}},
+    {"MadsSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"ColorScheme", {PERSISTENT, STRING, "frog", "stock", 0}},
+    {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"ColorToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
+
-    {"BootLogoToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
+    // Model Manager params
-    {"Compass", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
-    {"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
+    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
-    {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
-    {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
-    {"CustomAccelProfile", {PERSISTENT, BOOL, "0", "0", 3}},
+
-    {"CustomAccelProfileInitialized", {PERSISTENT, BOOL, "0", "0", 3}},
+    // Neural Network Lateral Control
-    {"CustomAccelProfile0MPH", {PERSISTENT, FLOAT, "3.0", "3.0", 3}},
+    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CustomAccelProfile11MPH", {PERSISTENT, FLOAT, "2.5", "2.5", 3}},
+
-    {"CustomAccelProfile22MPH", {PERSISTENT, FLOAT, "2.0", "2.0", 3}},
+    // sunnylink params
-    {"CustomAccelProfile34MPH", {PERSISTENT, FLOAT, "1.5", "1.5", 3}},
+    {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
-    {"CustomAccelProfile45MPH", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
+    {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
-    {"CustomAccelProfile56MPH", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
+    {"ParamsVersion", {PERSISTENT, INT}},
-    {"CustomAccelProfile89MPH", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
+    {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
-    {"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
+    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
-    {"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2}},
+    {"SunnylinkDongleId", {PERSISTENT, STRING}},
-    {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"SunnylinkdPid", {PERSISTENT, INT}},
-    {"TrafficPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
-    {"AggressivePersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-    {"StandardPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
+
-    {"RelaxedPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
+    // Backup Manager params
-    {"CustomThemes", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
-    {"CustomUI", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
-    {"DebugMode", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
+
-    {"DecelerationProfile", {PERSISTENT, INT, "1", "0", 2}},
+    // sunnypilot car specific params
-    {"DeveloperMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DeveloperSidebar", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DeveloperSidebarMetric1", {PERSISTENT, INT, "1", "0", 3}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DeveloperSidebarMetric2", {PERSISTENT, INT, "2", "0", 3}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DeveloperSidebarMetric3", {PERSISTENT, INT, "3", "0", 3}},
+    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DeveloperSidebarMetric4", {PERSISTENT, INT, "4", "0", 3}},
+    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DeveloperSidebarMetric5", {PERSISTENT, INT, "5", "0", 3}},
+
-    {"DeveloperSidebarMetric6", {PERSISTENT, INT, "6", "0", 3}},
+    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
+    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
+
-    {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
+    // sunnypilot model params
-    {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
-    {"DeviceShutdown", {PERSISTENT, INT, "9", "33", 1}},
+    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"DisableOnroadUploads", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
-    {"DisableOpenpilotLongitudinal", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
-    {"DiscordUsername", {PERSISTENT, STRING, "", "", 0}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DisengageVolume", {PERSISTENT, INT, "101", "101", 2}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"DistanceButtonControl", {PERSISTENT, INT, "1", "0", 2}},
+    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
-    {"DistanceIconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
+
-    {"DistanceIconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
+    // mapd
-    {"DownloadableBootLogos", {PERSISTENT, STRING, "", ""}},
+    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"DownloadableColors", {PERSISTENT, STRING, "", ""}},
+    {"MapdVersion", {PERSISTENT, STRING}},
-    {"DownloadableDistanceIcons", {PERSISTENT, STRING, "", ""}},
+    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
-    {"DownloadableIcons", {PERSISTENT, STRING, "", ""}},
+    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"DownloadableSignals", {PERSISTENT, STRING, "", ""}},
+    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
-    {"DownloadableSounds", {PERSISTENT, STRING, "", ""}},
+    {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
-    {"DownloadableWheels", {PERSISTENT, STRING, "", ""}},
+    {"OSMDownloadBounds", {PERSISTENT, STRING}},
-    {"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
-    {"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"OSMDownloadLocations", {PERSISTENT, JSON}},
-    {"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Model", {PERSISTENT, STRING, "sc2", "sc2", 1}},
+    {"OsmLocal", {PERSISTENT, BOOL}},
-    {"ModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
+    {"OsmLocationName", {PERSISTENT, STRING}},
-    {"DrivingModel", {PERSISTENT, STRING, "sc2", "sc2", 1}},
+    {"OsmLocationTitle", {PERSISTENT, STRING}},
-    {"DrivingModelName", {PERSISTENT, STRING, "South Carolina", "South Carolina", 1}},
+    {"OsmLocationUrl", {PERSISTENT, STRING}},
-    {"DrivingModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
+    {"OsmStateName", {PERSISTENT, STRING, "All"}},
-    {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"OsmStateTitle", {PERSISTENT, STRING}},
-    {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"OsmWayTest", {PERSISTENT, STRING}},
-    {"EngageVolume", {PERSISTENT, INT, "101", "101", 2}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
+
-    {"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    // Speed Limit
-    {"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
-    {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},
+    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
-    {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-    {"ForceAutoTune", {PERSISTENT, BOOL, "0", "0", 3}},
+
-    {"ForceAutoTuneOff", {PERSISTENT, BOOL, "1", "0", 2}},
+    // Smart Cruise Control
-    {"ForceFingerprint", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"ForceOffroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ForceOnroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ForceStops", {PERSISTENT, BOOL, "0", "0", 2}},
+
-    {"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2}},
+    // Torque lateral control custom params
-    {"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
-    {"FPSCounter", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
-    {"StarPilotApiToken", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
+    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"StarPilotCarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES, "", ""}},
+    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"StarPilotCarParamsPersistent", {PERSISTENT, BYTES, "", ""}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
-    {"StarPilotDongleId", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
+    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"StarPilotStats", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
+    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
-    {"StarPilotTogglesUpdated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
-    {"FrogsGoMoosTweak", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"GoatScream", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"GoatScreamCriticalAlerts", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"GreenLightAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"HideAlerts", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideLeadMarker", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideMaxSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"HumanAcceleration", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HumanFollowing", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"IconPack", {PERSISTENT, STRING, "frog-animated", "stock", 0}},
-    {"IconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"IncreasedStoppedDistance", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"IncreasedStoppedDistanceLowVisibility", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreasedStoppedDistanceRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreasedStoppedDistanceRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreasedStoppedDistanceSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseFollowingLowVisibility", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseFollowingRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseFollowingRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseFollowingSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"IncreaseThermalLimits", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
-    {"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
-    {"KonikMinutes", {PERSISTENT, INT, "0", "0", 0}},
-    {"LaneChanges", {PERSISTENT, BOOL, "1", "1", 0}},
-    {"LaneChangeTime", {PERSISTENT, FLOAT, "1.0", "0.0", 1}},
-    {"LaneDetectionWidth", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"LaneLinesWidth", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
-    {"LastMapsUpdate", {PERSISTENT, STRING, "", ""}},
-    {"LateralTune", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
-    {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2}},
-    {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
-    {"LongDistanceButtonControl", {PERSISTENT, INT, "5", "0", 2}},
-    {"LongitudinalActuatorDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"LongitudinalActuatorDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"LateralManeuverStatus", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
-    {"LongitudinalManeuverPaddleMode", {PERSISTENT, STRING, "auto", "auto"}},
-    {"LongitudinalManeuverStatus", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
-    {"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
-    {"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"MapAcceleration", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"MapboxPublicKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"MapBoxRequests", {PERSISTENT, JSON, "{}", "{}"}},
-    {"MapboxSecretKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"MapDeceleration", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"MapdSettings", {PERSISTENT, JSON, "{}", "{}"}},
-    {"MapGears", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
-    {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
-    {"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
-    {"VisionSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
-    {"VisionSpeedLimitConfidence", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
-    {"VisionSpeedLimitBookmarkCount", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
-    {"VisionSpeedLimitDebugSession", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"VisionSpeedLimitLastEvent", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"VisionSpeedLimitStatus", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"VisionSpeedLimitStream", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"MaxDesiredAcceleration", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
-    {"MinimumBackupSize", {PERSISTENT, INT, "0", "0"}},
-    {"MinimumLaneChangeSpeed", {PERSISTENT, FLOAT, "20.0", "20.0", 2}},
-    {"ModelDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"ModelDrivesAndScores", {PERSISTENT, JSON, "{}", "{}"}},
-    {"ModelReleasedDates", {PERSISTENT, STRING, "", "", 1}},
-    {"ModelRandomizer", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"ModelSortMode", {PERSISTENT, STRING, "alphabetical", "alphabetical", 1}},
-    {"ModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"ModelUI", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ModelVersions", {PERSISTENT, STRING, "", "", 1}},
-    {"NavigationUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"NNFF", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NNFFLite", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NNFFModelName", {CLEAR_ON_MANAGER_START, STRING, "", "", 0}},
-    {"NoLogging", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NoUploads", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NudgelessLaneChange", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"NumericalTemp", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"Offset1", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset2", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset3", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset4", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
-    {"Offset5", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
-    {"Offset6", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
-    {"Offset7", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
-    {"OneLaneChange", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"OnroadDistanceButton", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"OnroadDistanceButtonPressed", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"openpilotMinutes", {PERSISTENT, INT, "0", "0", 0}},
-    {"OverpassRequests", {PERSISTENT, JSON, "{}", "{}"}},
-    {"PathEdgeWidth", {PERSISTENT, FLOAT, "20.0", "0.0", 2}},
-    {"PathWidth", {PERSISTENT, FLOAT, "6.1", "5.9", 2}},
-    {"PauseAOLOnBrake", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PauseLateralOnSignal", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PondPaired", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"PondUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
-    {"PreviousSpeedLimit", {PERSISTENT, FLOAT, "0.0", "0.0"}},
-    {"PromptDistractedVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"PromptVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"RadarTracksUI", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"RainbowPath", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RandomEvents", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RandomThemes", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RandomThemesHolidays", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"ReduceAccelerationLowVisibility", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceAccelerationRain", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceAccelerationRainStorm", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationLowVisibility", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationRain", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationRainStorm", {PERSISTENT, INT, "0", "0", 2}},
-    {"ReduceLateralAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
-    {"RefuseVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"RelaxedFollow", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
-    {"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
-    {"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"RelaxedJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"RecoveryPower", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
-    {"RoadNameUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2}},
-    {"ScreenBrightnessOnroad", {PERSISTENT, INT, "101", "101", 2}},
-    {"ScreenManagement", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"ScreenRecorder", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ScreenTimeout", {PERSISTENT, INT, "30", "30", 2}},
-    {"ScreenTimeoutOnroad", {PERSISTENT, INT, "30", "10", 2}},
-    {"SecOCKeys", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"SafeMode", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SafeModeBackup", {PERSISTENT, JSON, "{}", "{}"}},
-    {"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ShowCPU", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShowCSCStatus", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ShowGPU", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowIP", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowMemoryUsage", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShownToggleDescriptions", {PERSISTENT, JSON, "{}", "{}"}},
-    {"ShowSLCOffset", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"ShowSpeedLimits", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"ShowSteering", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowStoppingPoint", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShowStoppingPointMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"ShowStorageLeft", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ShowStorageUsed", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"SidebarMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"SidebarOpen", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SignalAnimation", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"SignalMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"SignalToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"SimpleMode", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCConfirmation", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCConfirmationHigher", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCConfirmationLower", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SLCFallback", {PERSISTENT, INT, "2", "0", 1}},
-    {"SLCLookaheadHigher", {PERSISTENT, INT, "0", "0", 2}},
-    {"SLCLookaheadLower", {PERSISTENT, INT, "0", "0", 2}},
-    {"SLCMapboxFiller", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"SLCOverride", {PERSISTENT, INT, "1", "0", 1}},
-    {"SLCPriority", {PERSISTENT, STRING, "", "", 2}},
-    {"SLCPriority1", {PERSISTENT, STRING, "Map Data", "Map Data", 2}},
-    {"SLCPriority2", {PERSISTENT, STRING, "Dashboard", "Dashboard", 2}},
-    {"SNGHack", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"SoundPack", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"SoundToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"SpeedLimitAccepted", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"SpeedLimitChangedAlert", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SpeedLimitController", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SpeedLimitFiller", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SpeedLimits", {PERSISTENT | DONT_LOG, JSON, "[]", "[]"}},
-    {"SpeedLimitsFiltered", {PERSISTENT | DONT_LOG, JSON, "[]", "[]"}},
-    {"SpeedLimitSources", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"VisionSpeedLimitAutoBookmark", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"VisionSpeedLimitAutoPreserveSegment", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"VisionSpeedLimitTrainingCollector", {PERSISTENT, BOOL, "1", "1", 0}},
-    {"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
-    {"StandardFollowHigh", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
-    {"StandardJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"StandardJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"StandardJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"StandardJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StartupMessageBottom", {PERSISTENT, STRING, "Human-tested, frog-approved 🐸", "Always keep hands on wheel and eyes on road", 0}},
-    {"StartupMessageTop", {PERSISTENT, STRING, "Hop in and buckle up!", "Be ready to take over at any time", 0}},
-    {"StaticPedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"SteerDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerFriction", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerFrictionStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerKP", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerKPStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerLatAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerLatAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerOffsetStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerRatio", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SteerRatioStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StockDongleId", {PERSISTENT, STRING, "", ""}},
-    {"StopAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StopAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StoppedTimer", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"StopDistance", {PERSISTENT, FLOAT, "6.0", "6.0", 2}},
-    {"StoppingDecelRate", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StoppingDecelRateStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"SwitchbackModeCooldown", {PERSISTENT, INT, "5", "0", 2}},
-    {"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
-    {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"TacoTuneHacks", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},
-    {"ThemeDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"ThemesDownloaded", {PERSISTENT, JSON, "{}", "{}"}},
-    {"Timezone", {PERSISTENT, STRING, "", ""}},
-    {"TinygradUpdateAvailable", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"ToyotaDoors", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"TrafficFollow", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
-    {"TrafficJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TrafficJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"TrafficJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TrafficJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TrafficJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"TruckTuning", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"TuningLevel", {PERSISTENT, INT, "0", "0", 0}},
-    {"TuningLevelConfirmed", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"TurnDesires", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"UnlockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"Updated", {PERSISTENT, STRING, "0", "0"}},
-    {"UpdateSpeedLimits", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UpdateSpeedLimitsStatus", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"UpdateTinygrad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UpdateWheelImage", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UseActiveTheme", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"UseKonikServer", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"UseSI", {PERSISTENT, BOOL, "1", "1", 3}},
-    {"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
-    {"UseVienna", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"VEgoStarting", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VEgoStartingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VEgoStopping", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VEgoStoppingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"VeryLongDistanceButtonControl", {PERSISTENT, INT, "6", "0", 2}},
-    {"VoltSNG", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"WarningImmediateVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"WarningSoftVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"WeatherPresets", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"WeatherToken", {PERSISTENT | DONT_LOG, STRING, "", "", 2}},
-    {"WheelControls", {PERSISTENT, STRING, "", "", 2}},
-    {"WheelIcon", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"WheelSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"WheelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
 };

common/params_pyx.pyx

@@ -18,11 +18,9 @@ cdef extern from "common/params.h":
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
     CLEAR_ON_IGNITION_ON
+    BACKUP
     ALL
 
-    # StarPilot variables
-    DONT_LOG
-
   cpdef enum ParamKeyType:
     STRING
     BOOL
@@ -33,7 +31,7 @@ cdef extern from "common/params.h":
     BYTES
 
   cdef cppclass c_Params "Params":
-    c_Params(string, bool) except + nogil
+    c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil
@@ -46,14 +44,7 @@ cdef extern from "common/params.h":
     optional[string] getKeyDefaultValue(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyFlag)
-    vector[string] allKeys()
+    vector[string] allKeys(ParamKeyFlag)
-
-    # StarPilot variables
-    ParamKeyFlag getKeyFlag(string) nogil
-
-    optional[string] getStockValue(string) nogil
-
-    int getTuningLevel(string) nogil
 
 PYTHON_2_CPP = {
   (str, STRING): lambda v: v,
@@ -65,35 +56,12 @@ PYTHON_2_CPP = {
   (list, JSON): json.dumps,
   (bytes, BYTES): lambda v: v,
 }
-
-
-def _decode_int(v):
-  decoded = v.decode("utf-8")
-  try:
-    return int(decoded)
-  except ValueError:
-    return int(float(decoded))
-
-
-def _decode_time(v):
-  decoded = v.decode("utf-8")
-  try:
-    return datetime.datetime.fromisoformat(decoded)
-  except ValueError:
-    for fmt in ("%B %d, %Y - %I:%M%p", "%B %d, %Y - %I:%M %p"):
-      try:
-        return datetime.datetime.strptime(decoded, fmt)
-      except ValueError:
-        pass
-    raise
-
-
 CPP_2_PYTHON = {
   STRING: lambda v: v.decode("utf-8"),
   BOOL: lambda v: v == b"1",
-  INT: _decode_int,
+  INT: int,
   FLOAT: float,
-  TIME: _decode_time,
+  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
   JSON: json.loads,
   BYTES: lambda v: v,
 }
@@ -108,27 +76,14 @@ cdef class Params:
   cdef c_Params* p
   cdef str d
 
-  # StarPilot variables
+  def __cinit__(self, d=""):
-  cdef bool m
-  cdef bool return_defaults
-
-  def __cinit__(self, d="", *, memory=False, return_defaults=False):
     cdef string path = <string>d.encode()
-
-    # StarPilot variables
-    cdef bool c_memory = memory
-
     with nogil:
-      self.p = new c_Params(path, c_memory)
+      self.p = new c_Params(path)
     self.d = d
 
-    # StarPilot variables
-    self.m = memory
-
-    self.return_defaults = return_defaults or memory
-
   def __reduce__(self):
-    return (type(self), (self.d, self.m, self.return_defaults))
+    return (type(self), (self.d,))
 
   def __dealloc__(self):
     del self.p
@@ -165,7 +120,7 @@ cdef class Params:
     with nogil:
       val = self.p.get(k, block)
 
-    default_val = (default.value() if default.has_value() else None) if (return_default or self.return_defaults and not block) else None
+    default_val = (default.value() if default.has_value() else None) if return_default else None
     if val == b"":
       if block:
         # If we got no value while running in blocked mode
@@ -227,8 +182,8 @@ cdef class Params:
   def get_type(self, key):
     return self.p.getKeyType(self.check_key(key))
 
-  def all_keys(self):
+  def all_keys(self, flag=ParamKeyFlag.ALL):
-    return self.p.allKeys()
+    return self.p.allKeys(flag)
 
   def get_default_value(self, key):
     cdef string k = self.check_key(key)
@@ -240,18 +195,3 @@ cdef class Params:
     cdef string k = self.check_key(key)
     cdef ParamKeyType t = self.p.getKeyType(k)
     return self._cpp2python(t, value, None, key)
-
-  # StarPilot variables
-  def get_key_flag(self, key):
-    return self.p.getKeyFlag(self.check_key(key))
-
-  def get_stock_value(self, key):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] stock = self.p.getStockValue(k)
-    return self._cpp2python(t, stock.value(), None, key) if stock.has_value() else None
-
-  def get_tuning_level(self, key):
-    cdef string k = self.check_key(key)
-    cdef optional[int] level = self.p.getTuningLevel(k)
-    return level.value() if level.has_value() else 0

common/pid.py

@@ -3,15 +3,9 @@ from numbers import Number
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i = k_i
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d = k_d
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
 
     self.set_limits(pos_limit, neg_limit)
 

common/prefix.h

@@ -13,7 +13,11 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/" + prefix;
+#ifdef __APPLE__
+    msgq_path = "/tmp/msgq_" + prefix;
+#else
+    msgq_path = "/dev/shm/msgq_" + prefix;
+#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -23,14 +27,14 @@ public:
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
     }
-    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
+    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
     unsetenv("OPENPILOT_PREFIX");
   }
 

common/prefix.py

@@ -1,4 +1,5 @@
 import os
+import platform
 import shutil
 import uuid
 
@@ -9,9 +10,10 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
+    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache