tskm-3x

Better flash
TSK Manager v0.11.0
2026-05-05 19:10:15 +08:00 · 2026-04-15 20:36:26 -07:00 · 2026-04-10 13:49:54 -07:00 · 2026-04-09 09:29:51 +00:00
4098 changed files with 458470 additions and 614820 deletions
@@ -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 }}
@@ -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
@@ -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
@@ -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 >> $GITHUB_STEP_SUMMARY
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ 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 }}
@@ -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 }}
@@ -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
@@ -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
@@ -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,
-          });
@@ -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 }}
@@ -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 }}
@@ -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"
@@ -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 }}
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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 }}
@@ -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: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
@@ -1,294 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ 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
@@ -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
@@ -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"
@@ -7,23 +7,20 @@ venv/
 .tags
 .ipynb_checkpoints
 .idea
+*.iml
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
 a.out
 .hypothesis
 .cache/
-.host_runtime/
-.comma_sysroot/
-.venv-linux-arm64/
-compiledmodels/
-
-/docs_site/
+bin/

 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -43,94 +40,51 @@ 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
+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
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# 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/**
+# agents
+.claude/
+.context/
+PLAN.md
+TASK.md
@@ -0,0 +1 @@
+3.12.13
@@ -4,6 +4,5 @@
    "ms-vscode.cpptools",
    "elagil.pre-commit-helper",
    "charliermarsh.ruff",
-    "openai.chatgpt",
  ]
 }
@@ -52,6 +52,9 @@
      "type": "lldb",
      "request": "attach",
      "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
      "initCommands": [
        "script import time; time.sleep(3)"
      ]
@@ -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
@@ -0,0 +1,98 @@
+# TSK Manager
+
+## Background
+
+### The Problem
+
+comma.ai makes DIY ADAS devices. Older devices include the comma eon; current ones are comma three (C3, aka tici), comma threeX (C3X, aka tizi), and comma four (C4, aka mici). comma discontinued support for C3.
+
+Not all cars work with comma. Some use FlexRay (e.g. BMW) instead of CAN/CAN-FD. Toyota added cryptographic signatures to CAN messages — comma can still read the bus but can't write because it can't generate valid signatures.
+
+### The Hack
+
+Willem, an ex-comma.ai employee, found a way to extract the security key from the EPS firmware on 2021-23 RAV4 Prime. The same hack works unmodified on 2021-23 Sienna Hybrid, and with modifications on Yaris. Details are in `/Users/calvin/GitRepos/docs/README.md`.
+
+Willem's hack was a Python script run over SSH. Calvin built a GUI around it — that's TSK Manager (TSKM), living in `tsk/` in this repo.
+
+### Calvin's Cars
+
+- 2023 Sienna Hybrid — C3X
+- 2023 Bolt EV 2LT (no ACC) — C4
+
+### Architecture
+
+- `tsk/main.py` dispatches based on device type (C3X vs C4)
+- `tsk/c3/` — C3X code (maintenance mode, 1920x1080)
+- `tsk/c4/` — C4 code (active development, 536x240)
+- `tsk/common/` — shared code (extractor, key file manager, widget base)
+- Run with `./c3x` or `./c4`; requires .venv
+
+### The Rebasing Problem
+
+comma devices use vertical phone LCD screens (C3/C3X are 1920x1080 portrait). comma wrote their own GUI libs to draw on the rotated screen — there's no way to use the display without going through their libs. They replaced Qt with RayLib, and rewrite these GUI libs constantly with zero backwards compatibility. TSKM has been rewritten 3+ times to keep up.
+
+TSKM rebases on `nightly-dev` to stay current with AGNOS (the device OS). This is necessary because:
+
+- AGNOS updates are ~1GB and take ~10 minutes
+- The key extraction process is already stressful for users (removing camera housing, running the extractor, hoping the car still drives)
+- Adding an AGNOS update mid-process is a terrible experience
+- Some users have poor connectivity (rural US)
+
+The goal: user installs the TSKM branch at home, AGNOS updates while on Wi-Fi, then they drive to do the extraction with everything already current.
+
+SunnyPilot's SunnyLink integration is a potential long-term path to avoid the rebasing entirely.
+
+### SSH / Device Tips
+
+- tmux detach on comma devices: backtick (`` ` ``) then `d`
+
+### comma Release Branches
+
+Each device family has its own release branch:
+
+- C3X (tizi): `release-tizi`
+- C4 (mici): `release-mici`
+- C3 (tici): `release-tici` (no longer supported)
+- `release3` is an older legacy device-agnostic branch
+
+### Versioned Branches
+
+Each release is tagged as a branch (e.g. `tskm-0.10.4`, `tskm-0.10.2`, `tskm-0.9.8`). These were meant to be frozen fallbacks, but comma's changes can break even old branches.
+
+---
+
+## Journal
+
+When the user says "update the journal", write a summary of what was done in the current session into the journal below.
+
+### 2025-11-15
+Released TSK Manager v0.10.4 (latest commit on `tskm` branch).
+
+### 2026-04-09
+Current status: **fixed and verified end-to-end in car**.
+- Latest `tskm` branch had a Panda error; older `tskm-0.10.2` also broken (three stripes black/gray/white screen).
+- Diagnosed: `RuntimeError: CAN packet version mismatch` — the panda firmware is stale because TSKM kills boardd/pandad before they can flash it. The panda's `can_version` (firmware) doesn't match `CAN_PACKET_VERSION` (library). Different tskm versions show different library values: older tskm hardcoded `4`, current tskm uses `compute_version_hash()` which produces `1974202998`.
+- Fix: added `panda.flash()` to `TSKExtractor.hack()` right after `panda = Panda()` in `tsk/common/extractor.py`. The `up_to_date()` guard makes it safe to call every run (no-ops in 0.0s if current). C3X uses the same `tsk.common.extractor`, so the fix covers both devices.
+- Flash takes ~2.8s, no network required (firmware bundled locally). Reversible — when user installs nightly-dev/sunnypilot afterwards, pandad's signature check will reflash to that branch's version.
+- End-to-end test passed: install release3 → panda flashed to release3 firmware (`can_version=4`) → install pre-fix tskm → got mismatch error as expected → install post-fix tskm → `panda.flash()` ran, extractor proceeded all the way to writing SecOC key to `/data/params/d/SecOCKey`.
+- Bonus fix: `launch_chffrplus.sh` had an active `bash  # Debug` line between `python3 tsk/main.py` and `sudo reboot`, which left the device in a debug shell after the user clicked "Install nightly-dev" instead of auto-rebooting. Commented it out so the install→reboot flow works end-to-end.
+
+### 2026-04-10
+Two users reported successful key extraction using `calvinpark/tskm` — fix confirmed in the wild. Plan: squash the tskm branch to a single commit and push to `optskug/tskm` to ship it.
+
+### 2026-04-15
+Third user hit the same `can_version=0, library v1974202998` error after the 2026-04-09 fix shipped to `optskug/tskm`. Root-cause investigation revealed a harder failure mode.
+
+**What happened**: The user's device had `DEV-18392c3e-RELEASE` firmware. `panda.flash()` ran without error — but the firmware string and `up_to_date: False` were identical before and after. The SPI bulk writes were accepted without error but didn't persist. Immediately re-checking showed the same DEV firmware.
+
+**Why bare `panda.flash()` worked before but not here**: Previous users' firmware was overwritable via SPI. This device's DEV firmware resists SPI writes — possibly flash write protection, a hardware difference, or something specific to DEV builds. We can't prove it from the outside. What we know: the same scenario is exactly what pandad handles with its GPIO recovery path.
+
+**How the user was unblocked**: Installed `commaai/nightly-dev` on the device, which let pandad run and flash panda successfully via its full recovery sequence (GPIO BOOT0 HIGH → hardware DFU mode). Then ran TSKM from bare clone. This confirmed pandad's GPIO path could flash the device when bare `panda.flash()` could not.
+
+**Fix**: Replaced `panda = Panda(); panda.flash()` with `flash_panda()` from `selfdrive/pandad/pandad.py`. pandad's sequence adds: (1) `HARDWARE.recover_internal_panda()` on `PandaProtocolMismatch` (asserts BOOT0 HIGH during reset, forcing STM32 into hardware DFU mode), (2) `panda.recover()` (flashes bootstub via USB DFU), then reflashes the main app. The GPIO path bypasses whatever blocks SPI writes on resistant firmware.
+
+**Code changes** (`tsk/common/extractor.py`):
+- Added `class PandaError(Exception)` — hardware precondition failure, not retryable (falls through to "Unexpected error" handler, not `RetryError`)
+- Extracted flash logic to `TSKExtractor._connect_and_flash_panda()` staticmethod with full historical commentary (background, original fix, new failure, hypothesis, fix rationale, source attribution)
+- `hack()` call site: `panda = cls._connect_and_flash_panda()`
+- New imports: `from panda import PandaProtocolMismatch`, `from selfdrive.pandad.pandad import flash_panda`
@@ -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 PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
+ENV UV_BIN="/home/$USER/.local/bin/"
+ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
+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 '*'
@@ -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
@@ -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
-  }
-}
@@ -1,75 +1,111 @@
-# StarPilot
+<div align="center" style="text-align: center;">

-[![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/firestar5683/StarPilot)
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://firestar.link/discord)
-[![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)
+<h1>openpilot</h1>

-**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
-an open source driver assistance system.
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 300+ supported cars.
+</p>

-Openpilot provides
-* Automated Lane Centering
-* Adaptive Cruise Control
-* Lane Change Assist
-* Driver Monitoring *without wheel nags*
+<h3>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma four</a>
+</h3>

-StarPilot adds support for many GM vehicles along with improved tuning,
-especially for radar-less (camera only) vehicles.
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`

-StarPilot is built off of [StarPilot](https://github.com/FrogAi/StarPilot)
-and supports the major features StarPilot offers.
+[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)

-StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
-Stop by to chat or ask questions!
+</div>

-## Documentation
+<table>
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+  </tr>
+</table>

-Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
-installation guides, and software configuration.

-## Features
+Using openpilot in a car
+------

-* Full support for Comma C3, C3X, and C4
-  * C4 is currently in release testing. Join our fleet of C4 testers!
-* 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)
+To use openpilot in a car, you need four things:
+1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
+2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.

-\* [Inherited from StarPilot](https://github.com/FrogAi/StarPilot#openpilot-vs-starpilot)
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

-## GM-only Features

-* Increased LKAS fault resiliency
-* 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
+### Branches

-## Developer Features
+Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:

-* Native and cross compilation for Windows, Mac, and Ubuntu
-* Custom AGNOS to support C3, C3X, and C4
-* To run UI on PC:
-  * `./c3` for large UI
-  * `./c4` for small UI
-* `./build` to produce cross compiled binaries for comma devices.
-Uses your comma's sysroot/toolchain
-* Toggle: "Use Precompiled Binaries" to allow switching between fast boot / editable builds
-* Custom long maneuver tests, specifically designed for regen-only vehicles
+| comma four branch      | comma 3X branch        | URL                                    | description                                                                         |
+|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
+| `release-mici`         | `release-tizi`         | openpilot.comma.ai                     | This is openpilot's release branch.                                                 |
+| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
+| `nightly`              | `nightly`              | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
+| `nightly-dev`          | `nightly-dev`          | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+
+To start developing openpilot
+------
+
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
+
+* Join the [community Discord](https://discord.comma.ai)
+* Check out [the contributing docs](docs/CONTRIBUTING.md)
+* Check out the [openpilot tools](tools/)
+* Code documentation lives at https://docs.comma.ai
+* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
+
+Safety and Testing
+----
+
+* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+
+<details>
+<summary>MIT Licensed</summary>
+
+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.**
+</details>
+
+<details>
+<summary>User Data and comma Account</summary>
+
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
+
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+</details>
@@ -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
@@ -1,477 +1,224 @@
 import os
-import shutil
 import subprocess
 import sys
 import sysconfig
 import platform
+import shlex
+import importlib
 import numpy as np

 import SCons.Errors
+from SCons.Defaults import _stripixes

 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('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
+AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 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)
+          default=os.path.exists(File('#.gitattributes').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":
+# Detect platform
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
+elif arch == "aarch64" and os.path.isfile('/TICI'):
  arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
+assert arch in [
+  "larch64",  # linux tici arm64
+  "aarch64",  # linux pc arm64
+  "x86_64",   # linux pc x64
+  "Darwin",   # macOS arm64 (x86 not supported)
+]

-# 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'
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkgs = [importlib.import_module(name) for name in pkg_names]

-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"
+# ***** enforce a whitelist of system libraries *****
+# this prevents silently relying on a 3rd party package,
+# e.g. apt-installed libusb. all libraries should either
+# be distributed with all Linux distros and macOS, or
+# vendored in commaai/dependencies.
+allowed_system_libs = {
+  "EGL", "GLESv2", "GL",
+  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "dl", "drm", "gbm", "m", "pthread",
 }

-# 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]
+def _resolve_lib(env, name):
+  for d in env.Flatten(env.get('LIBPATH', [])):
+    p = Dir(str(d)).abspath
+    for ext in ('.a', '.so', '.dylib'):
+      f = File(os.path.join(p, f'lib{name}{ext}'))
+      if f.exists() or f.has_builder():
+        return name
+  if name in allowed_system_libs:
+    return name
+  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")

-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(' ')
+def _libflags(target, source, env, for_signature):
+  libs = []
+  lp = env.subst('$LIBLITERALPREFIX')
+  for lib in env.Flatten(env.get('LIBS', [])):
+    if isinstance(lib, str):
+      if os.sep in lib or lib.startswith('#'):
+        libs.append(File(lib))
+      elif lib.startswith('-') or (lp and lib.startswith(lp)):
+        libs.append(lib)
+      else:
+        libs.append(_resolve_lib(env, lib))
+    else:
+      libs.append(lib)
+  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
+                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])

 env = Environment(
-  ENV=lenv,
+  ENV={
+    "PATH": os.environ['PATH'],
+    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+  },
  CCFLAGS=[
-    debug_flag,
+    "-g",
    "-fPIC",
    "-O2",
    "-Wunused",
    "-Werror",
-    "-Wshadow",
+    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
    "-Wno-unknown-warning-option",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
    "-Wno-vla-cxx-extension",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
+  ],
+  CFLAGS=["-std=gnu11"],
+  CXXFLAGS=["-std=c++1z"],
+  CPPPATH=[
    "#",
+    "#msgq",
+    "#third_party",
+    "#third_party/json11",
+    "#third_party/linux/include",
    "#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",
+    [x.INCLUDE_DIR for x in pkgs],
  ],
-
-  CC=cc,
-  CXX=cxx,
-  AR=ar,
-  RANLIB=ranlib,
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
+  LIBPATH=[
+    "#common",
    "#msgq_repo",
    "#third_party",
    "#selfdrive/pandad",
-    "#common",
    "#rednose/helpers",
+    f"#third_party/acados/{arch}/lib",
+    [x.LIB_DIR for x in pkgs],
  ],
+  RPATH=[],
  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 != "larch64":
+  env['_LIBFLAGS'] = _libflags

-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
+# Arch-specific flags and paths
+if arch == "larch64":
+  env["CC"] = "clang"
+  env["CXX"] = "clang++"
+  env.Append(LIBPATH=[
+    "/usr/lib/aarch64-linux-gnu",
+  ])
+  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
+  env.Append(CCFLAGS=arch_flags)
+  env.Append(CXXFLAGS=arch_flags)
+elif arch == "Darwin":
+  env.Append(LIBPATH=[
+    "/System/Library/Frameworks/OpenGL.framework/Libraries",
+  ])
+  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])

-env.CompilationDatabase('compile_commands.json')
+_extra_cc = shlex.split(GetOption('ccflags') or '')
+if _extra_cc:
+  env.Append(CCFLAGS=_extra_cc)

-# 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)
+# no --as-needed on mac linker
+if arch != "Darwin":
+  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])

+# Shorter build output: show brief descriptions instead of full commands.
+# Full command lines are still printed on failure by scons.
+if not GetOption('verbose'):
+  for action, short in (
+    ("CC",     "CC"),
+    ("CXX",    "CXX"),
+    ("LINK",   "LINK"),
+    ("SHCC",   "CC"),
+    ("SHCXX",  "CXX"),
+    ("SHLINK", "LINK"),
+    ("AR",     "AR"),
+    ("RANLIB", "RANLIB"),
+    ("AS",     "AS"),
+  ):
+    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
+
+# progress output
 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
+# ********** Cython build environment **********
 envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")

 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
+  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
 else:
-  envCython["LINKFLAGS"] = arch_ldflags + ["-pthread", "-shared"]
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]

 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')

-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
+Export('env', 'arch')

-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()
+# Setup cache dir
+cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)

-  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')
+# ********** start building stuff **********

 # Build common module
 SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
+Import('_common')
 common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
+Export('common')

 # 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'])

@@ -488,7 +235,6 @@ SConscript(['rednose/SConscript'])

 # Build system services
 SConscript([
-  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
 ])

@@ -498,13 +244,23 @@ if arch == "larch64":
 # Build openpilot
 SConscript(['third_party/SConscript'])

-SConscript(['selfdrive/SConscript'])
+# Build selfdrive
+SConscript([
+  'selfdrive/pandad/SConscript',
+  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
+  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'selfdrive/locationd/SConscript',
+  'selfdrive/modeld/SConscript',
+  'selfdrive/ui/SConscript',
+])

-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+# Build tools
+if arch != "larch64":
+  SConscript([
+    'tools/replay/SConscript',
+    'tools/cabana/SConscript',
+    'tools/jotpluggler/SConscript',
+  ])

-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])
+
+env.CompilationDatabase('compile_commands.json')
@@ -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 "$@"
@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c3 "$@"
@@ -0,0 +1,2 @@
+#!/bin/sh
+BIG=1 SCALE=1 .venv/bin/python tsk/main.py
@@ -1,6 +1,2 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c4 "$@"
+#!/bin/sh
+SCALE=0.5 .venv/bin/python tsk/main.py
@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')

 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'deprecated.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/")
@@ -13,7 +13,7 @@ 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'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])

 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])

@@ -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
@@ -12,239 +10,34 @@ using Car = import "car.capnp";
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)

-struct StarPilotCarControl @0x81c2f05a394cf4af {
-  hudControl @0 :HUDControl;
-
-  struct HUDControl {
-    audibleAlert @0 :AudibleAlert;
-
-    enum AudibleAlert {
-      none @0;
-
-      engage @1;
-      disengage @2;
-      refuse @3;
-
-      warningSoft @4;
-      warningImmediate @5;
-
-      prompt @6;
-      promptRepeat @7;
-      promptDistracted @8;
-
-      # Random Events
-      angry @9;
-      continued @10;
-      dejaVu @11;
-      doc @12;
-      fart @13;
-      firefox @14;
-      goat @15;
-      hal9000 @16;
-      mail @17;
-      nessie @18;
-      noice @19;
-      startup @20;
-      thisIsFine @21;
-      uwu @22;
-    }
-  }
+struct CustomReserved0 @0x81c2f05a394cf4af {
 }

-struct StarPilotCarParams @0xaedffd8f31e7b55d {
-  alternativeExperience @0 :Int16;
-  canUsePedal @1 :Bool;
-  canUseSDSU @2 :Bool;
-  flags @3 :UInt32;
-  isHDA2 @4 :Bool;
-  openpilotLongitudinalControlDisabled @5 :Bool;
-  safetyConfigs @6 :List(SafetyConfig);
-
-  struct SafetyConfig {
-    safetyParam @0 :UInt16;
-  }
+struct CustomReserved1 @0xaedffd8f31e7b55d {
 }

-struct StarPilotCarState @0xf35cc4560bbf6ec2 {
-  accelPressed @0 :Bool;
-  alwaysOnLateralEnabled @1 :Bool;
-  brakeLights @2 :Bool;
-  dashboardSpeedLimit @3 :Float32;
-  decelPressed @4 :Bool;
-  distancePressed @5 :Bool;
-  distanceLongPressed @6 :Bool;
-  distanceVeryLongPressed @7 :Bool;
-  ecoGear @8 :Bool;
-  forceCoast @9 :Bool;
-  isParked @10 :Bool;
-  pauseLateral @11 :Bool;
-  pauseLongitudinal @12 :Bool;
-  sportGear @13 :Bool;
-  trafficModeEnabled @14 :Bool;
-  gasStack @15 :Bool;  # Compatibility with older StarPilot payloads
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }

-struct StarPilotDeviceState @0xda96579883444c35 {
-  freeSpace @0 :Int16;
-  usedSpace @1 :Int16;
+struct CustomReserved3 @0xda96579883444c35 {
 }

-struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
-  turnDirection @0 :TurnDirection;
-
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
+struct CustomReserved4 @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 CustomReserved5 @0xa5cd762cd951a455 {
 }

-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 CustomReserved6 @0xf98d843bfd7004a3 {
 }

-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 CustomReserved7 @0xb86e6369214c01c8 {
 }

-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 CustomReserved8 @0xf416ec09499d9d19 {
 }

 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 +61,11 @@ struct CustomReserved15 @0xbd443b539493bc68 {
 struct CustomReserved16 @0xfc6241ed8877b611 {
 }

-struct MapdDownloadLocationDetails @0xff889853e7b0987f {
-  location @0 :Text;
-  totalFiles @1 :UInt32;
-  downloadedFiles @2 :UInt32;
+struct CustomReserved17 @0xa30662f84033036c {
 }

-struct MapdDownloadProgress @0xfaa35dcac85073a2 {
-  active @0 :Bool;
-  cancelled @1 :Bool;
-  totalFiles @2 :UInt32;
-  downloadedFiles @3 :UInt32;
-  locations @4 :List(Text);
-  locationDetails @5 :List(MapdDownloadLocationDetails);
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
 }

-struct MapdPathPoint @0xd6f78acca1bc3939 {
-  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;
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
 }
@@ -0,0 +1,574 @@
+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;
+}
+
+
@@ -0,0 +1,777 @@
+// Generated by Cap'n Proto compiler, DO NOT EDIT
+// source: custom.capnp
+
+#include "custom.capnp.h"
+
+namespace capnp {
+namespace schemas {
+static const ::capnp::_::AlignedData<17> b_81c2f05a394cf4af = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    175, 244,  76,  57,  90, 240, 194, 129,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  48,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_aedffd8f31e7b55d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     93, 181, 231,  49, 143, 253, 223, 174,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
+  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f35cc4560bbf6ec2 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    194, 110, 191,  11,  86, 196,  92, 243,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  50,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_da96579883444c35 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     53,  76,  68, 131, 152,  87, 150, 218,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  51,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_da96579883444c35 = {
+  0xda96579883444c35, b_da96579883444c35.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     17, 107,  89, 226, 110, 116, 174, 128,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  52,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
+  0x80ae746ee2596b11, b_80ae746ee2596b11.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     85, 164,  81, 217,  44, 118, 205, 165,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  53,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
+  0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    163,   4, 112, 253,  59, 132, 141, 249,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  54,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
+  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    200,   1,  76,  33, 105,  99, 110, 184,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  55,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
+  0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     25, 157, 157,  73,   9, 236,  22, 244,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  56,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
+  0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     45, 219,  31,   3,  68,   7, 104, 161,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 234,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  57,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a1680744031fdb2d = {
+  0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_cb9fd56c7057593a = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     58,  89,  87, 112, 108, 213, 159, 203,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  48,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_cb9fd56c7057593a = b_cb9fd56c7057593a.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_cb9fd56c7057593a = {
+  0xcb9fd56c7057593a, b_cb9fd56c7057593a.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_cb9fd56c7057593a, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_c2243c65e0340384 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    132,   3,  52, 224, 101,  60,  36, 194,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  49,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_c2243c65e0340384 = b_c2243c65e0340384.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_c2243c65e0340384 = {
+  0xc2243c65e0340384, b_c2243c65e0340384.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_c2243c65e0340384, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_9ccdc8676701b412 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     18, 180,   1, 103, 103, 200, 205, 156,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  50,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_9ccdc8676701b412 = b_9ccdc8676701b412.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_9ccdc8676701b412 = {
+  0x9ccdc8676701b412, b_9ccdc8676701b412.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_9ccdc8676701b412, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_cd96dafb67a082d0 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    208, 130, 160, 103, 251, 218, 150, 205,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  51,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_cd96dafb67a082d0 = b_cd96dafb67a082d0.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_cd96dafb67a082d0 = {
+  0xcd96dafb67a082d0, b_cd96dafb67a082d0.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_cd96dafb67a082d0, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_b057204d7deadf3f = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     63, 223, 234, 125,  77,  32,  87, 176,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  52,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_b057204d7deadf3f = b_b057204d7deadf3f.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_b057204d7deadf3f = {
+  0xb057204d7deadf3f, b_b057204d7deadf3f.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_b057204d7deadf3f, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_bd443b539493bc68 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    104, 188, 147, 148,  83,  59,  68, 189,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  53,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_bd443b539493bc68 = b_bd443b539493bc68.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_bd443b539493bc68 = {
+  0xbd443b539493bc68, b_bd443b539493bc68.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_bd443b539493bc68, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_fc6241ed8877b611 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     17, 182, 119, 136, 237,  65,  98, 252,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  54,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_fc6241ed8877b611 = b_fc6241ed8877b611.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_fc6241ed8877b611 = {
+  0xfc6241ed8877b611, b_fc6241ed8877b611.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_fc6241ed8877b611, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a30662f84033036c = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    108,   3,  51,  64, 248,  98,   6, 163,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  55,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a30662f84033036c = b_a30662f84033036c.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a30662f84033036c = {
+  0xa30662f84033036c, b_a30662f84033036c.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a30662f84033036c, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_c86a3d38d13eb3ef = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    239, 179,  62, 209,  56,  61, 106, 200,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  56,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_c86a3d38d13eb3ef = b_c86a3d38d13eb3ef.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_c86a3d38d13eb3ef = {
+  0xc86a3d38d13eb3ef, b_c86a3d38d13eb3ef.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_c86a3d38d13eb3ef, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<17> b_a4f1eb3323f5f582 = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+    130, 245, 245,  35,  51, 235, 241, 164,
+     13,   0,   0,   0,   1,   0,   0,   0,
+     89,  10,  85,  29, 102, 186,  38, 181,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 242,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 117, 115, 116, 111, 109,  46,  99,
+     97, 112, 110, 112,  58,  67, 117, 115,
+    116, 111, 109,  82, 101, 115, 101, 114,
+    118, 101, 100,  49,  57,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0, }
+};
+::capnp::word const* const bp_a4f1eb3323f5f582 = b_a4f1eb3323f5f582.words;
+#if !CAPNP_LITE
+const ::capnp::_::RawSchema s_a4f1eb3323f5f582 = {
+  0xa4f1eb3323f5f582, b_a4f1eb3323f5f582.words, 17, nullptr, nullptr,
+  0, 0, nullptr, nullptr, nullptr, { &s_a4f1eb3323f5f582, nullptr, nullptr, 0, 0, nullptr }, false
+};
+#endif  // !CAPNP_LITE
+}  // namespace schemas
+}  // namespace capnp
+
+// =======================================================================================
+
+namespace cereal {
+
+// CustomReserved0
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved0::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved0::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved0::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved0::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved1
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved1::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved1::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved1::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved1::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved2
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved2::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved2::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved2::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved2::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved3
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved3::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved3::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved3::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved3::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved4
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved4::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved4::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved4::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved4::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved5
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved6
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved7
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved8
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved9
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved10
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved10::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved10::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved10::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved10::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved11
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved11::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved11::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved11::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved11::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved12
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved12::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved12::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved12::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved12::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved13
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved13::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved13::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved13::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved13::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved14
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved14::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved14::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved14::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved14::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved15
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved15::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved15::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved15::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved15::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved16
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved16::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved16::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved16::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved16::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved17
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved17::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved17::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved17::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved17::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved18
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved18::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved18::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved18::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved18::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+// CustomReserved19
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t CustomReserved19::_capnpPrivate::dataWordSize;
+constexpr uint16_t CustomReserved19::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind CustomReserved19::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* CustomReserved19::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+#endif  // !CAPNP_LITE
+
+
+}  // namespace
+
@@ -1,574 +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;
-}
-
-
@@ -2,7 +2,7 @@ using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

 using Car = import "car.capnp";
-using Legacy = import "legacy.capnp";
+using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";

@0xf3b1f17e25a4285b;
@@ -68,12 +68,12 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    longitudinalManeuver @30;
    steerTempUnavailableSilent @31;
    resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
+    driverDistracted1 @33;
+    driverDistracted2 @34;
+    driverDistracted3 @35;
+    driverUnresponsive1 @36;
+    driverUnresponsive2 @37;
+    driverUnresponsive3 @38;
    belowSteerSpeed @39;
    lowBattery @40;
    accFaulted @41;
@@ -87,6 +87,8 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    laneChange @50;
    lowMemory @51;
    stockAeb @52;
+    stockLkas @98;
+    lateralManeuver @99;
    ldw @53;
    carUnrecognized @54;
    invalidLkasSetting @55;
@@ -130,7 +132,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    userBookmark @95;
    excessiveActuation @96;
    audioFeedback @97;
-    lateralManeuver @98;

    soundsUnavailableDEPRECATED @47;
  }
@@ -499,7 +500,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  pmicTempC @39 :List(Float32);
  intakeTempC @46 :Float32;
  exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
+  gnssTempC @48 :Float32;
+  bottomSocTempC @50 :Float32;
  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;
@@ -592,6 +594,7 @@ struct PandaState @0xa7649e2575e4591e {
  harnessStatus @21 :HarnessStatus;
  sbu1Voltage @35 :Float32;
  sbu2Voltage @36 :Float32;
+  soundOutputLevel @37 :UInt16;

  # can health
  canState0 @29 :PandaCanState;
@@ -610,6 +613,11 @@ struct PandaState @0xa7649e2575e4591e {
  voltage @0 :UInt32;
  current @1 :UInt32;

+  # these fields are not used by openpilot, but they're
+  # reserved for forks building alternate experiences.
+  controlsAllowedRESERVED1 @38 :Bool;
+  controlsAllowedRESERVED2 @39 :Bool;
+
  enum FaultStatus {
    none @0;
    faultTemp @1;
@@ -1088,7 +1096,7 @@ struct ModelDataV2 {
  confidence @23: ConfidenceClass;

  # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;

  # e2e lateral planner
  action @26: Action;
@@ -1428,6 +1436,8 @@ struct LivePose {
  posenetOK @5 :Bool = false;
  sensorsOK @6 :Bool = false;

+  timestamp @8 :UInt64;
+
  debugFilterState @7 :FilterState;

  struct XYZMeasurement {
@@ -1482,6 +1492,11 @@ struct ProcLog {

    cmdline @15 :List(Text);
    exe @16 :Text;
+
+    # from /proc/<pid>/smaps_rollup (proportional/private memory)
+    memPss @17 :UInt64;        # Pss — shared pages split by mapper count
+    memPssAnon @18 :UInt64;    # Pss_Anon — private anonymous (heap, stack)
+    memPssShmem @19 :UInt64;   # Pss_Shmem — proportional MSGQ/tmpfs share
  }

  struct CPUTimes {
@@ -2233,9 +2248,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
  isActiveMode @16 :Bool;
  isRHD @4 :Bool;
  uncertainCount @19 :UInt32;
-  phoneProbOffset @20 :Float32;
-  phoneProbValidCount @21 :UInt32;

+  phoneProbOffsetDEPRECATED @20 :Float32;
+  phoneProbValidCountDEPRECATED @21 :UInt32;
  isPreviewDEPRECATED @15 :Bool;
  rhdCheckedDEPRECATED @5 :Bool;
  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
@@ -2608,6 +2623,7 @@ struct Event {
    userBookmark @93 :UserBookmark;
    bookmarkButton @148 :UserBookmark;
    audioFeedback @149 :AudioFeedback;
+
    lateralManeuverPlan @150 :LateralManeuverPlan;

    # *********** debug ***********
@@ -2633,15 +2649,15 @@ struct Event {
    # DO change the name of the field and struct
    # DON'T change the ID (e.g. @107)
    # DON'T change which struct it points to
-    starpilotCarControl @107 :Custom.StarPilotCarControl;
-    starpilotCarParams @108 :Custom.StarPilotCarParams;
-    starpilotCarState @109 :Custom.StarPilotCarState;
-    starpilotDeviceState @110 :Custom.StarPilotDeviceState;
-    starpilotModelV2 @111 :Custom.StarPilotModelDataV2;
-    starpilotOnroadEvents @112 :List(Custom.StarPilotOnroadEvent);
-    starpilotPlan @113 :Custom.StarPilotPlan;
-    starpilotRadarState @114 :Custom.StarPilotRadarState;
-    starpilotSelfdriveState @115 :Custom.StarPilotSelfdriveState;
+    customReserved0 @107 :Custom.CustomReserved0;
+    customReserved1 @108 :Custom.CustomReserved1;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
+    customReserved6 @113 :Custom.CustomReserved6;
+    customReserved7 @114 :Custom.CustomReserved7;
+    customReserved8 @115 :Custom.CustomReserved8;
    customReserved9 @116 :Custom.CustomReserved9;
    customReserved10 @136 :Custom.CustomReserved10;
    customReserved11 @137 :Custom.CustomReserved11;
@@ -2650,45 +2666,45 @@ struct Event {
    customReserved14 @140 :Custom.CustomReserved14;
    customReserved15 @141 :Custom.CustomReserved15;
    customReserved16 @142 :Custom.CustomReserved16;
-    mapdExtendedOut @143 :Custom.MapdExtendedOut;
-    mapdIn @144 :Custom.MapdIn;
-    mapdOut @145 :Custom.MapdOut;
+    customReserved17 @143 :Custom.CustomReserved17;
+    customReserved18 @144 :Custom.CustomReserved18;
+    customReserved19 @145 :Custom.CustomReserved19;

    # *********** legacy + deprecated ***********
-    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
    liveMpcDEPRECATED @36 :LiveMpcData;
    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
-    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
-    liveUIDEPRECATED @14 :Legacy.LiveUI;
+    liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;
+    orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection;
+    liveUIDEPRECATED @14 :Deprecated.LiveUI;
    sensorEventDEPRECATED @4 :SensorEventData;
-    liveEventDEPRECATED @8 :List(Legacy.LiveEventData);
-    liveLocationDEPRECATED @25 :Legacy.LiveLocationData;
-    ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket);
-    cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
-    wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
-    uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
+    liveEventDEPRECATED @8 :List(Deprecated.LiveEventData);
+    liveLocationDEPRECATED @25 :Deprecated.LiveLocationData;
+    ethernetDataDEPRECATED @26 :List(Deprecated.EthernetPacket);
+    cellInfoDEPRECATED @28 :List(Deprecated.CellInfo);
+    wifiScanDEPRECATED @29 :List(Deprecated.WifiScan);
+    uiNavigationEventDEPRECATED @50 :Deprecated.UiNavigationEvent;
    liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
-    gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
-    gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
+    gpsPlannerPointsDEPRECATED @40 :Deprecated.GPSPlannerPoints;
+    gpsPlannerPlanDEPRECATED @41 :Deprecated.GPSPlannerPlan;
    applanixRawDEPRECATED @42 :Data;
-    androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
-    lidarPtsDEPRECATED @32 :Legacy.LidarPts;
-    navStatusDEPRECATED @38 :Legacy.NavStatus;
-    trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
-    liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData;
-    liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData;
-    navUpdateDEPRECATED @27 :Legacy.NavUpdate;
-    orbObservationDEPRECATED @47 :List(Legacy.OrbObservation);
-    locationDEPRECATED @49 :Legacy.LiveLocationData;
-    orbOdometryDEPRECATED @53 :Legacy.OrbOdometry;
-    orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures;
-    applanixLocationDEPRECATED @55 :Legacy.LiveLocationData;
-    orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame;
-    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
-    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
-    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
-    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
+    androidGnssDEPRECATED @30 :Deprecated.AndroidGnss;
+    lidarPtsDEPRECATED @32 :Deprecated.LidarPts;
+    navStatusDEPRECATED @38 :Deprecated.NavStatus;
+    trafficEventsDEPRECATED @43 :List(Deprecated.TrafficEvent);
+    liveLocationTimingDEPRECATED @44 :Deprecated.LiveLocationData;
+    liveLocationCorrectedDEPRECATED @46 :Deprecated.LiveLocationData;
+    navUpdateDEPRECATED @27 :Deprecated.NavUpdate;
+    orbObservationDEPRECATED @47 :List(Deprecated.OrbObservation);
+    locationDEPRECATED @49 :Deprecated.LiveLocationData;
+    orbOdometryDEPRECATED @53 :Deprecated.OrbOdometry;
+    orbFeaturesDEPRECATED @54 :Deprecated.OrbFeatures;
+    applanixLocationDEPRECATED @55 :Deprecated.LiveLocationData;
+    orbKeyFrameDEPRECATED @56 :Deprecated.OrbKeyFrame;
+    orbFeaturesSummaryDEPRECATED @58 :Deprecated.OrbFeaturesSummary;
+    featuresDEPRECATED @10 :Deprecated.CalibrationFeatures;
+    kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry;
+    uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState;
    pandaStateDEPRECATED @12 :PandaState;
    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
    sensorEventsDEPRECATED @11 :List(SensorEventData);
@@ -1,10 +1,8 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, drain_sock_raw
+from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
+                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 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
@@ -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 pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
+  auto poller = std::make_unique<BridgeZmqPoller>();
+  auto pub_context = std::make_unique<Context>();
+  auto sub_context = std::make_unique<BridgeZmqContext>();
+  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;

  for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
+    auto pub_sock = new PubSocket();
+    auto sub_sock = new BridgeZmqSubSocket();
+    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);
@@ -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;
+}
@@ -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;
+};
@@ -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>();
-  msgq_context = std::make_unique<MSGQContext>();
+  zmq_context = std::make_unique<BridgeZmqContext>();
+  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();
@@ -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<ZMQContext> zmq_context;
+  std::unique_ptr<Context> msgq_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;
 };
@@ -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
@@ -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
@@ -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}},
-  { "errorLogMessage", {"errorLogMessage", true, 0.000000, 1, 256000}},
+  { "logMessage", {"logMessage", true, 0.000000, -1, 10485760}},
+  { "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}},
@@ -81,22 +81,9 @@ 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

@@ -39,8 +39,8 @@ _services: dict[str, tuple] = {
  "roadEncodeIdx": (False, 20., 1),
  "liveTracks": (True, 20.),
  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
+  "logMessage": (True, 0., None, QueueSize.BIG),
+  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
  "liveCalibration": (True, 4., 4),
  "liveTorqueParameters": (True, 4., 1),
  "liveDelay": (True, 4., 1),
@@ -100,24 +100,9 @@ _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())}
@@ -1,2 +0,0 @@
-*.cpp
-!params_pyx.cpp
@@ -1,21 +1,14 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython')

 common_libs = [
  'params.cc',
  'swaglog.cc',
  'util.cc',
-  'watchdog.cc',
-  'ratekeeper.cc'
+  'ratekeeper.cc',
 ]

 _common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
-  'clutil.cc',
-]
-
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
+Export('_common')

 if GetOption('extras'):
  env.Program('tests/test_common',
@@ -25,11 +18,6 @@ if GetOption('extras'):
 # 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]
+common_python = [params_python]

 Export('common_python')
@@ -5,9 +5,7 @@ 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'}")
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')

 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
@@ -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;
-}
@@ -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);
@@ -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
@@ -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:
@@ -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
@@ -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) \
@@ -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]]
@@ -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));
-}
@@ -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
@@ -91,28 +91,16 @@ private:
 } // namespace


-Params::Params(const std::string &path, bool memory) {
+Params::Params(const std::string &path) {
  params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
-
-  // 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_path = ensure_params_path(params_prefix, path);
 }

 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 {
@@ -181,12 +169,6 @@ 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 +215,6 @@ 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 +225,18 @@ void Params::clearAll(ParamKeyFlag key_flag) {
 }

 void Params::putNonBlocking(const std::string &key, const std::string &val) {
-  bool should_enqueue = false;
-  bool should_start_thread = false;
-
-  {
-    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) {
+   queue.push(std::make_pair(key, val));
+  // start thread on demand
+  if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
    future = std::async(std::launch::async, &Params::asyncWriteThread, this);
  }
 }

 void Params::asyncWriteThread() {
-  std::string key;
-  while (true) {
-    if (!queue.try_pop(key, 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);
-    }
-
+  // TODO: write the latest one if a key has multiple values in the queue.
+  std::pair<std::string, std::string> p;
+  while (queue.try_pop(p, 0)) {
    // 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;
-}
@@ -2,11 +2,9 @@

 #include <future>
 #include <map>
-#include <mutex>
 #include <optional>
 #include <string>
 #include <tuple>
-#include <unordered_map>
 #include <utility>
 #include <vector>

@@ -37,16 +35,11 @@ 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;
@@ -85,35 +78,6 @@ 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 +86,5 @@ private:

  // for nonblocking write
  std::future<void> future;
-  SafeQueue<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;
+  SafeQueue<std::pair<std::string, std::string>> queue;
 };
@@ -1,71 +1,9 @@
-from openpilot.common.params_pyx import Params as _Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-assert _Params
+from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
+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

@@ -8,7 +8,6 @@
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
    {"AdbEnabled", {PERSISTENT, BOOL}},
-    {"AlwaysAllowUploads", {PERSISTENT, BOOL, "0"}},
    {"AlwaysOnDM", {PERSISTENT, BOOL}},
    {"ApiCache_Device", {PERSISTENT, STRING}},
    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
@@ -38,12 +37,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"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}},
-    {"ExperimentalLongitudinalEnabled", {PERSISTENT, BOOL}},
+    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
    {"ExperimentalMode", {PERSISTENT, 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}},
@@ -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, STRING, "en"}},
    {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
    {"LastGPSPosition", {PERSISTENT, STRING}},
    {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
@@ -85,8 +81,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"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))}},
    {"NetworkMetered", {PERSISTENT, BOOL}},
@@ -116,13 +112,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
    {"SecOCKey", {PERSISTENT | DONT_LOG, 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}},
-    {"TermsVersion", {PERSISTENT, STRING}},
-    {"TrainingVersion", {PERSISTENT, STRING}},
    {"UbloxAvailable", {PERSISTENT, BOOL}},
    {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
@@ -138,423 +130,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
    {"Version", {PERSISTENT, STRING}},
-
-    // StarPilot variables
-    {"AccelerationPath", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"AccelerationProfile", {PERSISTENT, INT, "2", "0", 0}},
-    {"AdjacentLeadsUI", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"AdjacentPath", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"AdjacentPathMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"AdvancedCustomUI", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"AdvancedLateralTune", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"AdvancedLongitudinalTune", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"AggressiveFollow", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
-    {"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
-    {"AggressiveJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AggressiveJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"AggressiveJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AggressiveJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
-    {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
-    {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
-    {"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
-    {"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
-    {"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
-    {"BlacklistedModels", {PERSISTENT, STRING, "", "", 2}},
-    {"BootLogo", {PERSISTENT, STRING, "starpilot", "stock", 0}},
-    {"BuildMetadata", {PERSISTENT, STRING, "", "", 0}},
-    {"BlindSpotMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"BlindSpotPath", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"BelowSteerSpeedVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"BorderMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
-    {"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"CameraView", {PERSISTENT, INT, "3", "0", 2}},
-    {"CancelDownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"CancelModelDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"CancelThemeDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"CarMake", {PERSISTENT, STRING, "mock", "mock", 0}},
-    {"CarModel", {PERSISTENT, STRING, "MOCK", "MOCK", 0}},
-    {"CarModelName", {PERSISTENT, STRING, "", "", 0}},
-    {"CECurves", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"CECurvesLead", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"CELead", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CEModelStopTime", {PERSISTENT, FLOAT, "7.0", "0.0", 2}},
-    {"CESignalLaneDetection", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"CESignalSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
-    {"CESlowerLead", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CESpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"CESpeedLead", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
-    {"CEStatus", {CLEAR_ON_OFFROAD_TRANSITION, INT, "0", "0"}},
-    {"CEStopLights", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CEStoppedLead", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"ClusterOffset", {PERSISTENT, FLOAT, "1.015", "1.015", 2}},
-    {"ColorScheme", {PERSISTENT, STRING, "frog", "stock", 0}},
-    {"ColorToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"BootLogoToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"Compass", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
-    {"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
-    {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"CustomAccelProfile", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"CustomAccelProfileInitialized", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"CustomAccelProfile0MPH", {PERSISTENT, FLOAT, "3.0", "3.0", 3}},
-    {"CustomAccelProfile11MPH", {PERSISTENT, FLOAT, "2.5", "2.5", 3}},
-    {"CustomAccelProfile22MPH", {PERSISTENT, FLOAT, "2.0", "2.0", 3}},
-    {"CustomAccelProfile34MPH", {PERSISTENT, FLOAT, "1.5", "1.5", 3}},
-    {"CustomAccelProfile45MPH", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
-    {"CustomAccelProfile56MPH", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
-    {"CustomAccelProfile89MPH", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
-    {"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2}},
-    {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"TrafficPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"AggressivePersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"StandardPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"RelaxedPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"CustomThemes", {PERSISTENT, BOOL, "1", "0", 0}},
-    {"CustomUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"DebugMode", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
-    {"DecelerationProfile", {PERSISTENT, INT, "1", "0", 2}},
-    {"DeveloperMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"DeveloperSidebar", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"DeveloperSidebarMetric1", {PERSISTENT, INT, "1", "0", 3}},
-    {"DeveloperSidebarMetric2", {PERSISTENT, INT, "2", "0", 3}},
-    {"DeveloperSidebarMetric3", {PERSISTENT, INT, "3", "0", 3}},
-    {"DeveloperSidebarMetric4", {PERSISTENT, INT, "4", "0", 3}},
-    {"DeveloperSidebarMetric5", {PERSISTENT, INT, "5", "0", 3}},
-    {"DeveloperSidebarMetric6", {PERSISTENT, INT, "6", "0", 3}},
-    {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
-    {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"DeviceShutdown", {PERSISTENT, INT, "9", "33", 1}},
-    {"DisableOnroadUploads", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"DisableOpenpilotLongitudinal", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"DiscordUsername", {PERSISTENT, STRING, "", "", 0}},
-    {"DisengageVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"DistanceButtonControl", {PERSISTENT, INT, "1", "0", 2}},
-    {"DistanceIconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
-    {"DistanceIconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
-    {"DownloadableBootLogos", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableColors", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableDistanceIcons", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableIcons", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableSignals", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableSounds", {PERSISTENT, STRING, "", ""}},
-    {"DownloadableWheels", {PERSISTENT, STRING, "", ""}},
-    {"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"Model", {PERSISTENT, STRING, "sc2", "sc2", 1}},
-    {"ModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
-    {"DrivingModel", {PERSISTENT, STRING, "sc2", "sc2", 1}},
-    {"DrivingModelName", {PERSISTENT, STRING, "South Carolina", "South Carolina", 1}},
-    {"DrivingModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
-    {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1}},
-    {"EngageVolume", {PERSISTENT, INT, "101", "101", 2}},
-    {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},
-    {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0"}},
-    {"ForceAutoTune", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"ForceAutoTuneOff", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"ForceFingerprint", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"ForceOffroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"ForceOnroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"ForceStops", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"FPSCounter", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"StarPilotApiToken", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"StarPilotCarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES, "", ""}},
-    {"StarPilotCarParamsPersistent", {PERSISTENT, BYTES, "", ""}},
-    {"StarPilotDongleId", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
-    {"StarPilotStats", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
-    {"StarPilotTogglesUpdated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
-    {"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, "", ""}},
 };
@@ -20,9 +20,6 @@ cdef extern from "common/params.h":
    CLEAR_ON_IGNITION_ON
    ALL

-    # StarPilot variables
-    DONT_LOG
-
  cpdef enum ParamKeyType:
    STRING
    BOOL
@@ -33,7 +30,7 @@ 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
@@ -48,13 +45,6 @@ cdef extern from "common/params.h":
    void clearAll(ParamKeyFlag)
    vector[string] allKeys()

-    # StarPilot variables
-    ParamKeyFlag getKeyFlag(string) nogil
-
-    optional[string] getStockValue(string) nogil
-
-    int getTuningLevel(string) nogil
-
 PYTHON_2_CPP = {
  (str, STRING): lambda v: v,
  (builtins.bool, BOOL): lambda v: "1" if v else "0",
@@ -65,35 +55,12 @@ 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 +75,14 @@ cdef class Params:
  cdef c_Params* p
  cdef str d

-  # StarPilot variables
-  cdef bool m
-  cdef bool return_defaults
-
-  def __cinit__(self, d="", *, memory=False, return_defaults=False):
+  def __cinit__(self, d=""):
    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 +119,7 @@ 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
@@ -240,18 +194,3 @@ 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
@@ -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_i = k_i
-    self._k_d = 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._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d

    self.set_limits(pos_limit, neg_limit)

@@ -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());
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
    unsetenv("OPENPILOT_PREFIX");
  }

@@ -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
@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"

-RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
+RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
+    : name(name_),
+      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
  interval = 1 / rate;
  last_monitor_time = seconds_since_boot();
  next_frame_time = last_monitor_time + interval;
@@ -6,7 +6,7 @@ import time

 from setproctitle import getproctitle

-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC


@@ -30,10 +30,7 @@ class Priority:

 def set_core_affinity(cores: list[int]) -> None:
  if sys.platform == 'linux' and not PC:
-    try:
-      os.sched_setaffinity(0, cores)
-    except OSError:
-      pass
+    os.sched_setaffinity(0, cores)


 def config_realtime_process(cores: int | list[int], priority: int) -> None:
@@ -5,28 +5,10 @@ from openpilot.common.basedir import BASEDIR

 class Spinner:
  def __init__(self):
-    self.spinner_proc = None
-
-    # Prefer the legacy compiled spinner on device.
-    legacy_spinner = os.path.join(BASEDIR, "selfdrive", "ui", "spinner")
-    if os.path.isfile("/TICI") and os.path.isfile(legacy_spinner) and os.access(legacy_spinner, os.X_OK):
-      try:
-        self.spinner_proc = subprocess.Popen([legacy_spinner],
-                                             stdin=subprocess.PIPE,
-                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                             close_fds=True)
-        return
-      except OSError:
-        self.spinner_proc = None
-
-    # Raylib spinner requires Python deps from the repo virtualenv.
-    spinner_cwd = os.path.join(BASEDIR, "system", "ui")
-    venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
-    python_exec = venv_python if os.path.isfile(venv_python) else "python3"
    try:
-      self.spinner_proc = subprocess.Popen([python_exec, "./spinner.py"],
+      self.spinner_proc = subprocess.Popen(["./spinner.py"],
                                           stdin=subprocess.PIPE,
-                                           cwd=spinner_cwd,
+                                           cwd=os.path.join(BASEDIR, "system", "ui"),
                                           close_fds=True)
    except OSError:
      self.spinner_proc = None
@@ -101,16 +101,6 @@ class TestParams:
    assert q.get("CarParams") is None
    assert q.get("CarParams", True) == b"1"

-  def test_put_nonblocking_latest_value_wins(self, tmp_path):
-    q = Params(str(tmp_path))
-    for i in range(100):
-      q.put_nonblocking("CarParams", f"value-{i}".encode())
-
-    del q
-
-    r = Params(str(tmp_path))
-    assert r.get("CarParams") == b"value-99"
-
  def test_params_all_keys(self):
    keys = Params().all_keys()

@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
    REQUIRE(util::read_file(filename).empty());

    std::string content = random_bytes(64 * 1024);
-    write(fd, content.c_str(), content.size());
+    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
    std::string ret = util::read_file(filename);
    bool equal = (ret == content);
    REQUIRE(equal);
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
 }

 TEST_CASE("util::create_directories") {
-  system("rm /tmp/test_create_directories -rf");
+  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";

-  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
+  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
    struct stat st = {};
-    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
+    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
  };

  SECTION("create_directories") {
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
  }
  SECTION("a file exists with the same name") {
    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
+    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
    REQUIRE(f != -1);
    close(f);
    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
@@ -7,27 +7,10 @@ from openpilot.common.basedir import BASEDIR

 class TextWindow:
  def __init__(self, text):
-    self.text_proc = None
-
-    # Prefer the legacy compiled text window on device.
-    legacy_text = os.path.join(BASEDIR, "selfdrive", "ui", "text")
-    if os.path.isfile("/TICI") and os.path.isfile(legacy_text) and os.access(legacy_text, os.X_OK):
-      try:
-        self.text_proc = subprocess.Popen([legacy_text, text],
-                                          stdin=subprocess.PIPE,
-                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                          close_fds=True)
-        return
-      except OSError:
-        self.text_proc = None
-
-    text_cwd = os.path.join(BASEDIR, "system", "ui")
-    venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
-    python_exec = venv_python if os.path.isfile(venv_python) else "python3"
    try:
-      self.text_proc = subprocess.Popen([python_exec, "./text.py", text],
+      self.text_proc = subprocess.Popen(["./text.py", text],
                                        stdin=subprocess.PIPE,
-                                        cwd=text_cwd,
+                                        cwd=os.path.join(BASEDIR, "system", "ui"),
                                        close_fds=True)
    except OSError:
      self.text_proc = None
@@ -2,6 +2,7 @@ import datetime
 from pathlib import Path

 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
+MAX_DATE = datetime.datetime(year=2035, month=1, day=1)

 def min_date():
  # on systemd systems, the default time is the systemd build time
@@ -12,4 +13,4 @@ def min_date():
  return MIN_DATE

 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return min_date() < datetime.datetime.now() < MAX_DATE
@@ -1,2 +0,0 @@
-transformations
-transformations.cpp
@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')
@@ -1,100 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include "common/transformations/coordinates.hpp"
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-double a = 6378137; // lgtm [cpp/short-global-name]
-double b = 6356752.3142; // lgtm [cpp/short-global-name]
-double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
-double e1sq = 6.73949674228 * 0.001;
-
-
-static Geodetic to_degrees(Geodetic geodetic){
-  geodetic.lat = RAD2DEG(geodetic.lat);
-  geodetic.lon = RAD2DEG(geodetic.lon);
-  return geodetic;
-}
-
-static Geodetic to_radians(Geodetic geodetic){
-  geodetic.lat = DEG2RAD(geodetic.lat);
-  geodetic.lon = DEG2RAD(geodetic.lon);
-  return geodetic;
-}
-
-
-ECEF geodetic2ecef(const Geodetic &geodetic) {
-  auto g = to_radians(geodetic);
-  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
-  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
-  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
-  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
-  return {x, y, z};
-}
-
-Geodetic ecef2geodetic(const ECEF &e) {
-  // Convert from ECEF to geodetic using Ferrari's methods
-  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  double x = e.x;
-  double y = e.y;
-  double z = e.z;
-
-  double r = sqrt(x * x + y * y);
-  double Esq = a * a - b * b;
-  double F = 54 * b * b * z * z;
-  double G = r * r + (1 - esq) * z * z - esq * Esq;
-  double C = (esq * esq * F * r * r) / (pow(G, 3));
-  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
-  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
-  double Q = sqrt(1 + 2 * esq * esq * P);
-  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
-  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
-  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
-  double Z_0 = b * b * z / (a * V);
-  double h = U * (1 - b * b / (a * V));
-
-  double lat = atan((z + e1sq * Z_0) / r);
-  double lon = atan2(y, x);
-
-  return to_degrees({lat, lon, h});
-}
-
-LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
-  init_ecef <<  e.x, e.y, e.z;
-
-  auto g = to_radians(geodetic);
-
-  ned2ecef_matrix <<
-    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
-    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
-    cos(g.lat), 0, -sin(g.lat);
-  ecef2ned_matrix = ned2ecef_matrix.transpose();
-}
-
-NED LocalCoord::ecef2ned(const ECEF &e) {
-  Eigen::Vector3d ecef;
-  ecef << e.x, e.y, e.z;
-
-  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
-  return {ned[0], ned[1], ned[2]};
-}
-
-ECEF LocalCoord::ned2ecef(const NED &n) {
-  Eigen::Vector3d ned;
-  ned << n.n, n.e, n.d;
-
-  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
-  return {ecef[0], ecef[1], ecef[2]};
-}
-
-NED LocalCoord::geodetic2ned(const Geodetic &g) {
-  ECEF e = ::geodetic2ecef(g);
-  return ecef2ned(e);
-}
-
-Geodetic LocalCoord::ned2geodetic(const NED &n) {
-  ECEF e = ned2ecef(n);
-  return ::ecef2geodetic(e);
-}
@@ -1,43 +0,0 @@
-#pragma once
-
-#include <eigen3/Eigen/Dense>
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)
-
-struct ECEF {
-  double x, y, z;
-  Eigen::Vector3d to_vector() const {
-    return Eigen::Vector3d(x, y, z);
-  }
-};
-
-struct NED {
-  double n, e, d;
-  Eigen::Vector3d to_vector() const {
-    return Eigen::Vector3d(n, e, d);
-  }
-};
-
-struct Geodetic {
-  double lat, lon, alt;
-  bool radians=false;
-};
-
-ECEF geodetic2ecef(const Geodetic &g);
-Geodetic ecef2geodetic(const ECEF &e);
-
-class LocalCoord {
-public:
-  Eigen::Matrix3d ned2ecef_matrix;
-  Eigen::Matrix3d ecef2ned_matrix;
-  Eigen::Vector3d init_ecef;
-  LocalCoord(const Geodetic &g, const ECEF &e);
-  LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
-  LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
-
-  NED ecef2ned(const ECEF &e);
-  ECEF ned2ecef(const NED &n);
-  NED geodetic2ned(const Geodetic &g);
-  Geodetic ned2geodetic(const NED &n);
-};
@@ -1,144 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-#include "common/transformations/orientation.hpp"
-#include "common/transformations/coordinates.hpp"
-
-Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
-  if (quat.w() > 0){
-    return quat;
-  } else {
-    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
-  }
-}
-
-Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
-  Eigen::Quaterniond q;
-
-  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
-    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
-    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
-  return ensure_unique(q);
-}
-
-
-Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
-  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
-  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
-  // return {euler(2), euler(1), euler(0)};
-  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
-  double theta = asin(asin_arg_clipped);
-  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
-  return {gamma, theta, psi};
-}
-
-Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
-  return quat.toRotationMatrix();
-}
-
-Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
-  return ensure_unique(Eigen::Quaterniond(rot));
-}
-
-Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
-  return quat2rot(euler2quat(euler));
-}
-
-Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
-  return quat2euler(rot2quat(rot));
-}
-
-Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
-  return euler2rot({roll, pitch, yaw});
-}
-
-Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
-  Eigen::Quaterniond q;
-  q = Eigen::AngleAxisd(angle, axis);
-  return q.toRotationMatrix();
-}
-
-
-Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-  Eigen::Vector3d zero = ecef_init.to_vector();
-
-  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
-
-
-  x0 = Eigen::Vector3d(1, 0, 0);
-  y0 = Eigen::Vector3d(0, 1, 0);
-  z0 = Eigen::Vector3d(0, 0, 1);
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-
-Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-
-  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
-  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
-  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
-
-  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
-
-  Eigen::Vector3d zero = ecef_init.to_vector();
-  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
1okko	77c8172167	tskm-3x	2026-05-05 19:10:15 +08:00
Calvin Park	cbc88b461d	Better flash	2026-04-15 20:36:26 -07:00
Calvin Park	209db8f320	TSK Manager v0.11.0	2026-04-10 13:49:54 -07:00
Vehicle Researcher	8069b6611d	openpilot v0.11.1	2026-04-09 09:29:51 +00:00