sunnypilot v2026.07.20-4574

version: sunnypilot v2026.002.000 (feature-branch)
date: 2026-07-20T03:45:01
master commit: 560cde61ae

.gitattributes

@@ -1,17 +0,0 @@
-* text=auto
-
-# to move existing files into LFS:
-# git add --renormalize .
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.svg filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.ttf filter=lfs diff=lfs merge=lfs -text
-*.otf filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-
-# Small vendored Leaflet UI icons are kept directly in Git.
-tools/clustermaps/web/vendor/leaflet/images/*.png -filter -diff -merge -text

.github/CODEOWNERS

@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve

.github/ISSUE_TEMPLATE/bug_report.yml

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

.github/ISSUE_TEMPLATE/config.yml

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

.github/ISSUE_TEMPLATE/pc_bug_report.yml

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

.github/labeler.yaml

@@ -1,31 +0,0 @@
-ci:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-chore:
-  - changed-files:
-      - any-glob-to-all-files: "{.github/**}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-autonomy:
-  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"

.github/pull_request_template.md

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

.github/release-drafter.yml

@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES

.github/workflows/auto_pr_review.yaml

@@ -1,91 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [ opened, reopened, synchronize, edited ]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-      issues: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v6
-      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 == 'sunnypilot/sunnypilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /sunnypilot:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-  update-pr-labels:
-    name: Update fork's PR Labels
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env:
-      PR_LABEL: 'dev'
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
-    steps:
-      - name: Check if PR has dev label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });

.github/workflows/badges.yaml

@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

.github/workflows/build-all-tinygrad-models.yaml

@@ -1,306 +0,0 @@
-name: Build and push all tinygrad models
-
-on:
-  workflow_dispatch:
-    inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
-        type: string
-
-jobs:
-  setup:
-    runs-on: ubuntu-latest
-    outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-      json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
-    steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use (from GitHub docs repo)
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
-          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
-
-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
-          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
-          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
-
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
-    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  retry_get_and_build:
-    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/build-single-tinygrad-model.yaml

@@ -1,238 +0,0 @@
-name: Build Single Tinygrad Model and Push
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
-        required: false
-        default: true
-        type: boolean
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      model_folder:
-        description: 'Model folder'
-        type: choice
-        default: 'None'
-        options:
-          - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
-          - Custom Merge Models
-          - FOF series models
-          - Other
-      custom_model_folder:
-        description: 'Custom model folder name (if "Other" selected)'
-        required: false
-        type: string
-      generation:
-        description: 'Model generation'
-        required: false
-        type: string
-      version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-env:
-  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
-
-jobs:
-  build_model:
-    uses: ./.github/workflows/sunnypilot-build-model.yaml
-    with:
-      upstream_branch: ${{ inputs.upstream_branch }}
-      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: ${{ inputs.is_20hz }}
-      artifact_suffix: ${{ inputs.artifact_suffix }}
-    secrets: inherit
-
-  publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
-    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
-    needs: build_model
-    runs-on: ubuntu-latest
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
-
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          FOLDER="${{ inputs.model_folder }}"
-          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ inputs.custom_model_folder }}"
-          fi
-          ARGS=""
-          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
-            ARGS="$ARGS --model-folder \"$FOLDER\""
-          fi
-          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
-          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/cereal_validation.yaml

@@ -1,84 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-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:
-  CI: 1
-
-jobs:
-  validate_cereal_with_upstream:
-    name: Validate cereal with Upstream
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Checkout sunnypilot cereal
-        uses: actions/checkout@v6
-        with:
-          sparse-checkout: cereal
-
-      - name: Init sunnypilot opendbc submodule
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Checkout upstream openpilot
-        uses: actions/checkout@v6
-        with:
-          repository: 'commaai/openpilot'
-          path: upstream_openpilot
-          ref: "refs/heads/master"
-
-      - name: Init upstream opendbc submodule
-        working-directory: upstream_openpilot
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Locate upstream capnp paths
-        id: locate-capnp
-        run: |
-          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
-          if [ -z "$CEREAL_DIR" ]; then
-            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
-            exit 1
-          fi
-          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
-          echo "Found upstream cereal at: $CEREAL_DIR"
-
-          IMPORT_ARGS=""
-          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
-          if [ -n "$CAR_CAPNP" ]; then
-            IMPORT_ARGS="-I $CAR_CAPNP"
-            echo "Found car.capnp at: $CAR_CAPNP"
-          fi
-          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
-
-      - name: Install uv
-        run: pip install uv
-
-      - name: Generate sunnypilot schema
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
-
-      - name: Validate against upstream
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
-            ${{ steps.locate-capnp.outputs.import_args }}

.github/workflows/diff_report.yaml

@@ -1,45 +0,0 @@
-name: diff report
-
-on:
-  pull_request_target:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  comment:
-    name: comment
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-    - name: Wait for process replay
-      id: wait
-      continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
-      with:
-        ref: ${{ github.event.pull_request.head.sha }}
-        check-name: process replay
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        allowed-conclusions: success,failure
-        wait-interval: 20
-    - name: Download diff
-      if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
-        name: diff_report_${{ github.event.number }}
-        path: .
-        allow_forks: true
-    - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
-      with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -1,65 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: commaai/timeout@v1
-
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-
-    # Build
-    - name: Build docs
-      run: |
-        git lfs pull
-        pip install zensical
-        python scripts/docs.py build
-
-    # Push to docs.comma.ai
-    - uses: actions/checkout@v6
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
-      with:
-        path: openpilot-docs
-        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: sunnypilot/sunnypilot-docs
-    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        set -x
-
-        source release/identity.sh
-
-        cd openpilot-docs
-        git checkout --orphan tmp
-        git rm -rf .
-
-        # copy over docs
-        cp -r ../docs_site/ docs/
-
-        # GitHub pages config
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-
-        git add -f .
-        git commit -m "build docs"
-
-        # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages

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

@@ -1,96 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  cleanup-branches:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-    steps:
-      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
-        with:
-          script: |
-            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
-            const prefixes = ['tmp-jenkins', '__jenkins'];
-
-            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              per_page: 100,
-            })) {
-              for (const branch of response.data) {
-                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
-
-                const { data: commit } = await github.rest.repos.getCommit({
-                  owner: context.repo.owner,
-                  repo: context.repo.repo,
-                  ref: branch.commit.sha,
-                });
-
-                const commitDate = new Date(commit.commit.committer.date).getTime();
-                if (commitDate < cutoff) {
-                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
-                  await github.rest.git.deleteRef({
-                    owner: context.repo.owner,
-                    repo: context.repo.repo,
-                    ref: `heads/${branch.name}`,
-                  });
-                }
-              }
-            }
-
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v8
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
-      with:
-        ref: refs/pull/${{ 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@v8
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/lfs-maintenance.yaml

@@ -1,72 +0,0 @@
-name: Sync comma's LFS
-
-env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  schedule:
-    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
-  push:
-    branches:
-      - 'master'
-  pull_request:
-    branches:
-      - 'master'
-  workflow_dispatch: # enables manual triggering
-    inputs:
-      upstream_branch:
-        default: 'master'
-        type: string
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    # Skip if PR is in draft mode
-    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          ref: ${{ inputs.upstream_branch }}
-
-      - name: LFS Fetch
-        run: |
-          git lfs fetch
-
-      - name: Set up Git
-        run: |
-          git config --global user.name 'GitHub Action'
-          git config --global user.email 'action@github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Ensure branch
-        run: |
-          if git symbolic-ref -q HEAD >/dev/null; then
-              echo "Already on a branch, proceeding with push"
-            else
-              echo "Detached HEAD state detected, creating temporary branch"
-            git checkout -b temp_branch
-          fi
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push LFS
-        id: sync-and-commit
-        run: |
-          git lfs ls-files -l
-          git lfs push --all origin

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v6
-        with:
-          submodules: true
-      - name: Checkout master
-        uses: actions/checkout@v6
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/post-to-discourse/action.yml

@@ -1,105 +0,0 @@
-name: 'Post to Discourse'
-description: 'Posts a message to a Discourse topic (existing or new)'
-
-inputs:
-  discourse-url:
-    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
-    required: true
-  api-key:
-    description: 'Discourse API key'
-    required: true
-  api-username:
-    description: 'Discourse API username'
-    required: true
-  topic-id:
-    description: 'Discourse topic ID to post to (use this OR category-id + title)'
-    required: false
-  category-id:
-    description: 'Category ID for new topic (required if topic-id not provided)'
-    required: false
-  title:
-    description: 'Title for new topic (required if topic-id not provided)'
-    required: false
-  message:
-    description: 'Message content (markdown supported)'
-    required: true
-
-outputs:
-  post-number:
-    description: 'The post number in the topic'
-    value: ${{ steps.post.outputs.post_number }}
-  post-url:
-    description: 'Direct URL to the post'
-    value: ${{ steps.post.outputs.post_url }}
-  topic-id:
-    description: 'The topic ID (useful when creating a new topic)'
-    value: ${{ steps.post.outputs.topic_id }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: Post to Discourse
-      id: post
-      shell: bash
-      run: |
-        # Validate inputs
-        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
-          echo "❌ Error: Must provide either topic-id OR both category-id and title"
-          exit 1
-        fi
-        
-        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
-          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
-        fi
-        
-        # Determine if creating new topic or posting to existing
-        if [ -n "${{ inputs.topic-id }}" ]; then
-          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
-        
-          # Create JSON payload for posting to existing topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg topic_id "${{ inputs.topic-id }}" \
-            '{topic_id: $topic_id, raw: $content}')
-        else
-          echo "✨ Creating new topic: ${{ inputs.title }}"
-        
-          # Create JSON payload for new topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg title "${{ inputs.title }}" \
-            --arg category "${{ inputs.category-id }}" \
-            '{title: $title, category: ($category | tonumber), raw: $content}')
-        fi
-        
-        # Post to Discourse
-        RESPONSE=$(curl -s -w "\n%{http_code}" \
-          -X POST "${{ inputs.discourse-url }}/posts.json" \
-          -H "Content-Type: application/json" \
-          -H "Api-Key: ${{ inputs.api-key }}" \
-          -H "Api-Username: ${{ inputs.api-username }}" \
-          -d "$PAYLOAD")
-        
-        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
-        BODY=$(echo "$RESPONSE" | sed '$d')
-        
-        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
-          echo "✅ Successfully posted to Discourse!"
-        
-          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
-          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
-          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
-        
-          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
-          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
-          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
-        
-          echo "Topic ID: ${TOPIC_ID}"
-          echo "Post number: ${POST_NUMBER}"
-          echo "URL: ${POST_URL}"
-        else
-          echo "❌ Failed to post to Discourse"
-          echo "HTTP Code: ${HTTP_CODE}"
-          echo "Response: ${BODY}"
-          exit 1
-        fi

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    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: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/release-drafter.yml

@@ -1,28 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -1,31 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build___nightly:
-    name: build __nightly
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - 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 __nightly'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - run: ./tools/op.sh setup
-    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -1,77 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: uv lock
-      run: uv lock --upgrade
-    - name: uv pip tree
-      id: pip_tree
-      run: |
-        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
-        uv pip tree >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: venv size
-      id: venv_size
-      run: |
-        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
-        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
-        echo "" >> $GITHUB_OUTPUT
-        echo "Top 10 by size:" >> $GITHUB_OUTPUT
-        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
-          | grep -v '\.dist-info' \
-          | grep -v '__pycache__' \
-          | sort -rh \
-          | head -10 \
-          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: bump submodules
-      run: |
-        git config submodule.msgq.update none
-        git config submodule.rednose_repo.update none
-        git config submodule.teleoprtc_repo.update none
-        git config submodule.tinygrad.update none
-        git submodule update --remote
-        git add .
-    - name: update car docs
-      run: |
-        python selfdrive/car/docs.py
-        git add docs/CARS.md
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
-      with:
-        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
-        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
-
-          ```
-          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
-          ${{ steps.venv_size.outputs.VENV_SIZE }}
-          ```
-
-          ```
-          $ uv pip tree
-          ${{ steps.pip_tree.outputs.PIP_TREE }}
-          ```
-        labels: bot

.github/workflows/stale.yaml

@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v10
-        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 == 'sunnypilot/sunnypilot' }} # 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@v10
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/sunnypilot-build-model.yaml

@@ -1,267 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    env:
-      REF: ${{ inputs.upstream_branch }}
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
-      # and fallback to sunnypilot if the ref checkout fails.
-      - name: Checkout commaai/openpilot
-        id: checkout_upstream
-        continue-on-error: true
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/openpilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-
-      - name: Fallback to sunnypilot/sunnypilot
-        if: steps.checkout_upstream.outcome == 'failure'
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-      - name: Get commit date
-        id: commit-date
-        run: |
-          cd ${{ github.workspace }}/openpilot
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
-
-  build_model:
-    runs-on: [self-hosted, tici]
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-      REF: ${{ inputs.upstream_branch }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
-
-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          # Generate metadata for all ONNX files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-          # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
-
-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
-            fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi
-
-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
-          fi
-
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.pkl' \
-            --include='*.chunk*' \
-            --include='*.chunkmanifest' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Write artifact name to file
-        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Upload Build Artifacts
-        id: upload-artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
-
-      - name: Upload artifact name file
-        uses: actions/upload-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -1,369 +0,0 @@
-name: sunnypilot prebuilt action
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-
-  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
-
-on:
-  push:
-    branches: [ master, master-dev ]
-    tags: [ 'release/*' ]
-  pull_request_target:
-    types: [ labeled ]
-  workflow_dispatch:
-    inputs:
-      wait_for_tests:
-        description: 'Wait for tests to finish'
-        required: false
-        type: boolean
-        default: false
-
-jobs:
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    outputs:
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
-      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
-      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
-      build: ${{ steps.strategy.outputs.build }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-
-          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$BUILD" >> $GITHUB_OUTPUT
-            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
-            echo "environment=feature-branch" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            environment=$(echo "$CONFIG" | jq -r '.environment')
-            echo "environment=$environment" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
-            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-
-            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
-            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
-
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
-            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
-          fi
-          echo "build=$BUILD" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-
-  validate_tests:
-    runs-on: ubuntu-24.04
-    needs: [ prepare_strategy ]
-    if: ${{
-      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
-      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
-      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
-
-  build:
-    needs: [ validate_tests, prepare_strategy ]
-    concurrency:
-      group: build-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: false
-    runs-on: [self-hosted, tici]
-    outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
-    if: ${{
-      (always() && !cancelled() && !failure()) &&
-      needs.prepare_strategy.result == 'success' &&
-      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
-      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-          ref: ${{ env.SOURCE_BRANCH }}
-          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-
-      - name: Build Main Project
-        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
-          echo "Building rest of sunnypilot"
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
-          touch ${BUILD_DIR}/prebuilt
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            ls -la ${BUILD_DIR}
-          fi
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='__pycache__' \
-            --exclude='Jenkinsfile' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
-
-      - name: 'Tar.gz files'
-        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
-          ls -la prebuilt.tar.gz
-
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: prebuilt
-          path: prebuilt.tar.gz
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
-  publish:
-    concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
-      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
-      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
-    runs-on: ubuntu-24.04
-    environment: ${{ needs.prepare_strategy.outputs.environment }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: prebuilt
-
-      - name: Untar prebuilt
-        run: |
-          mkdir -p ${{ env.OUTPUT_DIR }}
-          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.email "github-actions[bot]@users.noreply.github.com"
-          git config --global user.name "github-actions[bot]"
-
-      - name: Publish to Public Repository
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
-          ls -la ${{ env.OUTPUT_DIR }}
-
-          ${{ env.CI_DIR }}/publish.sh \
-            "${{ github.workspace }}" \
-            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
-            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-
-      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
-        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
-        run: |
-            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
-            git push -f origin ${TAG}
-
-  notify:
-    needs:
-    - prepare_strategy
-    - build
-    - publish
-    runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure())
-      && needs.publish.result == 'success'
-      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Prepare notification message
-        id: message
-        run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
-          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
-          export branch_name="${{ env.SOURCE_BRANCH }}"
-          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
-          export commit_sha="${{ github.sha }}"
-          export commit_short_sha="${{ github.sha }}"
-          export commit_short_sha="${commit_short_sha:0:7}"
-          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
-          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
-
-          MESSAGE=$(cat << 'EOF' | envsubst
-          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
-          EOF
-          )
-
-          {
-            echo 'content<<EOFMARKER'
-            echo "$MESSAGE"
-            echo 'EOFMARKER'
-          } >> $GITHUB_OUTPUT
-        shell: bash
-
-      - name: Post to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: "system"
-          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
-          message: ${{ steps.message.outputs.content }}
-
-  manage-pr-labels:
-    name: Remove prebuilt label
-    runs-on: ubuntu-latest
-    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    env:
-      LABEL: prebuilt
-    steps:
-      - name: Remove trust-fork-pr label if present
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.LABEL
-            });
-
-            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -1,243 +0,0 @@
-name: Build dev
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [ labeled ]
-    branches:
-      - 'master'
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev'
-        type: string
-      cancel_in_progress:
-        description: 'Cancel any in-progress runs of this workflow'
-        required: false
-        default: true
-        type: boolean
-
-concurrency:
-  group: ${{ github.workflow }}
-  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-      )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-          persist-credentials: false
-
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        if: (
-          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-          )
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:40) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
-
-          PR_LIST=${PR_LIST//\'/}
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
-          chmod +x /tmp/squash_and_merge.py && \
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '/tmp/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Restore workflows from source
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-
-          # Ensure we are on the target branch
-          git checkout $TARGET_BRANCH
-
-          echo "Restoring .github/workflows from $SOURCE_BRANCH"
-          git checkout origin/$SOURCE_BRANCH -- .github/workflows
-
-          if ! git diff --cached --quiet; then
-            echo "Workflows differ. Committing restoration."
-            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
-          else
-            echo "Workflows match $SOURCE_BRANCH."
-          fi
-
-      - uses: actions/create-github-app-token@v2
-        id: ci-token
-        with:
-          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
-          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
-
-      - name: Push changes if there are diffs
-        id: push-changes
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Use the App Token to set the remote URL with authentication
-          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # Push with the authenticated origin
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/test-discourse.yaml.yml

@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"

.github/workflows/tests.yaml

@@ -1,254 +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:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-      PYTHONPATH: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - run: ./tools/op.sh setup
-    - name: Build openpilot and run checks
-      timeout-minutes: 30
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
-    - name: Run tests
-      timeout-minutes: 1
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
-
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
-            if git ls-files --stage "$path" | grep -q "^160000"; then
-              echo "$path"
-            fi
-          done | tr '\n' ' ')
-
-          if [ -n "$SUBMODULE_PATHS" ]; then
-            echo "Changed submodule paths: $SUBMODULE_PATHS"
-            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
-            export CHECK_PR_REFS=true
-          fi
-        fi
-        release/check-submodules.sh
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Remove Homebrew from environment
-      run: |
-        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
-        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./tools/op.sh setup
-    - name: Building openpilot
-      run: scons
-
-  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"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Static analysis
-      timeout-minutes: 1
-      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"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
-      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'
-
-  process_replay:
-    name: process replay
-    if: false  # disable process_replay for forks
-    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"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - name: Print diff report
-      if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload diff report
-      uses: actions/upload-artifact@v6
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
-    - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
-      with:
-        repository: commaai/ci-artifacts
-        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-        path: ${{ github.workspace }}/ci-artifacts
-    - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      working-directory: ${{ github.workspace }}/ci-artifacts
-      run: |
-        git config user.name "GitHub Actions Bot"
-        git config user.email "<>"
-        git fetch origin process-replay || true
-        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
-        echo "${{ github.sha }}" > ref_commit
-        git add .
-        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
-
-  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"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Driving test
-      timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons
-      - name: Create UI Report
-        run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
-      - name: Upload UI Report
-        uses: actions/upload-artifact@v6
-        with:
-          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -1,175 +0,0 @@
-name: "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 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 }}-ui-preview"
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-  # variant:video_prefix:master_branch
-  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v6
-        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
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: ui-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting mici master ui
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_mici
-          ref: openpilot_master_ui_mici_raylib
-
-      - name: Getting big master ui
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_big
-          ref: openpilot_master_ui_big_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        run: |
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video branch <<< "$variant"
-            master_dir="${{ github.workspace }}/master_${name}"
-            cd "$master_dir"
-            git checkout --orphan=new_branch
-            git rm -rf *
-            git branch -D "$branch"
-            git branch -m "$branch"
-            git config user.name "GitHub Actions Bot"
-            git config user.email "<>"
-            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
-            git add .
-            git commit -m "${name} video for commit ${{ env.SHA }}"
-            git push origin "$branch" --force
-          done
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diffs
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-
-          COMMENT=""
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video _ <<< "$variant"
-            diff_name="${name}_diff"
-
-            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
-            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
-
-            diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
-              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
-              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
-              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
-
-            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
-            if [ $diff_exit_code -eq 0 ]; then
-              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
-            else
-              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
-            fi
-          done
-
-          {
-            echo "COMMENT<<EOF"
-            echo "$COMMENT"
-            echo "EOF"
-          } >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_mici
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "ui videos for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff reports to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          for variant in $VARIANTS; do
-            IFS=':' read -r name _ _ <<< "$variant"
-            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
-            git add "${diff_name}_pr_${{ github.event.number }}.html"
-          done
-          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
-            ## UI Preview
-            ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/wait-for-action/action.yaml

@@ -1,52 +0,0 @@
-name: 'Wait for Tests'
-description: 'Action to wait for workflow tests to start and complete'
-inputs:
-  workflow:
-    description: 'The workflow file name to monitor'
-    required: true
-    default: 'tests.yaml'
-  branch:
-    description: 'The branch to monitor (defaults to current branch)'
-    required: false
-    default: ''
-  github-token:
-    description: 'GitHub token for API access'
-    required: true
-  wait-time:
-    description: 'Initial sleep time in seconds before monitoring starts'
-    required: false
-    default: '30'
-  should-wait-for-start:
-    description: 'Whether to wait for tests to start'
-    required: false
-    default: false
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Wait for tests to start
-      if: inputs.should-wait-for-start == 'true'
-      shell: bash
-      run: |
-        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
-        sleep ${{ inputs.wait-time }}
-
-    - name: Wait for tests to finish
-      shell: bash
-      run: |
-        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
-        
-        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
-        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
-        echo "Watching run ID: $RUN_ID"
-        gh run watch "$RUN_ID"
-
-        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
-        echo "Run concluded with: $CONCLUSION"
-
-        if [[ "$CONCLUSION" != "success" ]]; then
-          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
-          exit 1
-        fi
-      env:
-        GITHUB_TOKEN: ${{ inputs.github-token }}

.gitignore

@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/
 
+# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
@@ -44,18 +51,18 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_input_devices.json
+openpilot/selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
 docs_site/
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml

.gitmodules

@@ -1,21 +0,0 @@
-[submodule "panda"]
-  path = panda
-  url = https://github.com/sunnyhaibin/panda.git
-[submodule "opendbc"]
-  path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
-[submodule "msgq"]
-  path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
-[submodule "rednose_repo"]
-  path = rednose_repo
-  url = https://github.com/commaai/rednose.git
-[submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
-[submodule "tinygrad"]
-  path = tinygrad_repo
-  url = https://github.com/sunnypilot/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git

.idea/customTargets.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>

.idea/tools/External Tools.xml

@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>

.lfsconfig

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
-	locksverify = false

.lfsconfig-comma

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false

.run/Build Debug.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build Release.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build_BIG_UI.run.xml

@@ -1,26 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="BIG" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

.run/Build_SMALL_UI.run.xml

@@ -1,23 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

.vscode/launch.json

@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,7 +16,7 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
       ]
     },
     {

.vscode/settings.json

@@ -17,10 +17,5 @@
     "**/.git",
     "**/.venv",
     "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "tools/**",
   ]
 }

Jenkinsfile

@@ -1,259 +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 ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -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 # this has gotten too spammy...
-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',
-                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-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,release-mici-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 power draw", "pytest -s selfdrive/test//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"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      '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", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest common/hardware/tici/tests/test_amplifier.py"),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

RELEASES.md

@@ -1104,7 +1104,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now

SConstruct

@@ -1,312 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import shlex
-import importlib
-import numpy as np
-
-import SCons.Errors
-from SCons.Defaults import _stripixes
-
-TICI = os.path.isfile('/TICI')
-
-SCons.Warnings.warningAsException(True)
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
-
-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')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=(not TICI and not release),
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-elif arch == "aarch64" and TICI:
-  arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
-
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
-pkgs = [importlib.import_module(name) for name in pkg_names]
-acados = pkgs[pkg_names.index('acados')]
-acados_include_dirs = [
-  acados.INCLUDE_DIR,
-  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
-  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
-]
-
-
-# ***** 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",
-}
-
-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}'")
-
-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={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
-    "ACADOS_SOURCE_DIR": acados.DIR,
-    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
-    "TERA_PATH": acados.TERA_PATH
-  },
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-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=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#",
-    "#msgq",
-    acados_include_dirs,
-    [x.INCLUDE_DIR for x in pkgs],
-  ],
-  LIBPATH=[
-    "#common",
-    "#msgq_repo",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    [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
-
-# 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", "-DQCOM2"]
-  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"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# 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"
-
-# ********** Cython build environment **********
-envCython = env.Clone()
-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"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-Export('env', 'arch', 'acados', 'release')
-
-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-cache_size_limit = 4e9 if "CI" in os.environ else 2e9
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-def prune_cache_dir(target=None, source=None, env=None):
-  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
-  cache_size = sum(os.path.getsize(f) for f in cache_files)
-  for f in cache_files:
-    if cache_size < cache_size_limit:
-      break
-    cache_size -= os.path.getsize(f)
-    os.unlink(f)
-
-# ********** start building stuff **********
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-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(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/loggerd/SConscript',
-])
-
-if arch == "larch64":
-  SConscript(['system/camerad/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',
-])
-
-SConscript(['sunnypilot/SConscript'])
-
-# Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
-  SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
-  ])
-
-
-env.CompilationDatabase('compile_commands.json')
-
-# progress output
-def count_scons_nodes(nodes):
-  seen = set()
-  stack = list(nodes)
-
-  while stack:
-    node = stack.pop().disambiguate()
-    if node in seen:
-      continue
-    seen.add(node)
-    if hasattr(node, 'has_builder') and node.has_builder():
-      build_product_nodes.add(node)
-    executor = node.get_executor()
-    if executor is not None:
-      stack += executor.get_all_prerequisites() + executor.get_all_children()
-
-  return len(seen)
-
-progress_interval = 5
-progress_count = 0
-build_product_nodes = set()
-progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
-
-def progress_function(node):
-  global progress_count
-  if progress_count >= progress_total:
-    return
-  progress_count = min(progress_count + progress_interval, progress_total)
-  progress = round(100. * progress_count / progress_total, 1)
-  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
-  if progress == 100. and sys.stderr.isatty():
-    sys.stderr.write("\n")
-  sys.stderr.flush()
-
-Progress(progress_function, interval=progress_interval)
-AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-def check_build_product_size(target, source, env):
-  limit = 50 * 1024 * 1024  # GitHub max size
-  for t in target:
-    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
-      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
-if not GetOption('extras'):
-  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))

cereal/README.md

@@ -1,95 +0,0 @@
-# What is cereal?
-
-cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
-
-
-## Messaging Spec
-
-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
-
-All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
-
-### Best Practices
-
-- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
-- In the context of the message they are in, field names should be completely unambiguous.
-- All values should be easy to plot and be human-readable with minimal parsing.
-
-### Maintaining backwards-compatibility
-
-When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
-be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
-things are not. Read more details [here](https://capnproto.org/language.html).
-
-### Custom forks
-
-Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
-then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
-
-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
--struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
--    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # 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
--    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
----
-
-Example
----
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-```
-
-```python
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message('sensorEvents', size=1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```

cereal/SConscript

@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', '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/")
-
-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', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')

cereal/__init__.py

@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp

cereal/messaging/__init__.py

@@ -1,269 +0,0 @@
-# must be built with scons
-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
-
-from typing import Optional, List, Union, Dict
-
-from cereal import log
-from cereal.services import SERVICE_LIST
-from openpilot.common.utils import MovingAverage
-
-NO_TRAVERSAL_LIMIT = 2**64-1
-
-
-def pub_sock(endpoint: str) -> PubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.pub_sock(endpoint, segment_size)
-
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  service = SERVICE_LIST.get(endpoint)
-  segment_size = service.queue_size if service else 0
-  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
-                       timeout=timeout, segment_size=segment_size)
-
-
-def reset_context():
-  msgq.context = Context()
-
-
-def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
-    return msg
-
-
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  args = {
-    'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
-    **kwargs
-  }
-  dat = log.Event.new_message(**args)
-  if service is not None:
-    if size is None:
-      dat.init(service)
-    else:
-      dat.init(service, size)
-  return dat
-
-
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
-  """Receive all message currently available on the queue"""
-  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
-  return [log_from_bytes(m) for m in msgs]
-
-
-# TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
-  dat = None
-
-  while 1:
-    if wait and dat is None:
-      recv = sock.receive()
-    else:
-      recv = sock.receive(non_blocking=True)
-
-    if recv is None:  # Timeout hit
-      break
-
-    dat = recv
-
-  if dat is not None:
-    dat = log_from_bytes(dat)
-
-  return dat
-
-
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  dat = sock.receive()
-  if dat is not None:
-    dat = log_from_bytes(dat)
-  return dat
-
-
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  dat = sock.receive(non_blocking=True)
-  if dat is not None:
-    dat = log_from_bytes(dat)
-  return dat
-
-
-def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
-  """Keep receiving until we get a message"""
-  while True:
-    dat = sock.receive()
-    if dat is not None:
-      return log_from_bytes(dat)
-
-
-class FrequencyTracker:
-  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
-    freq = max(min(service_freq, update_freq), 1.)
-    if is_poll:
-      min_freq = max_freq = freq
-    else:
-      max_freq = min(freq, update_freq)
-      if service_freq >= 2 * update_freq:
-        min_freq = update_freq
-      elif update_freq >= 2* service_freq:
-        min_freq = freq
-      else:
-        min_freq = min(freq, freq / 2.)
-
-    self.min_freq = min_freq * 0.8
-    self.max_freq = max_freq * 1.2
-    self.avg_dt = MovingAverage(int(10 * freq))
-    self.recent_avg_dt = MovingAverage(int(freq))
-    self.prev_time = 0.0
-
-  def record_recv_time(self, cur_time: float) -> None:
-    # TODO: Handle case where cur_time is less than prev_time
-    if self.prev_time > 1e-5:
-      dt = cur_time - self.prev_time
-
-      self.avg_dt.add_value(dt)
-      self.recent_avg_dt.add_value(dt)
-
-    self.prev_time = cur_time
-
-  @property
-  def valid(self) -> bool:
-    if self.avg_dt.count == 0:
-      return False
-
-    avg_freq = 1.0 / self.avg_dt.get_average()
-    if self.min_freq <= avg_freq <= self.max_freq:
-      return True
-
-    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
-    return self.min_freq <= avg_freq_recent <= self.max_freq
-
-
-class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
-    self.frame = -1
-    self.services = services
-    self.seen = {s: False for s in services}
-    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
-    self.sock = {}
-    self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
-
-    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
-    self.alive = {s: on_demand[s] for s in services}
-    self.freq_ok = {s: on_demand[s] for s in services}
-    self.valid = {s: on_demand[s] for s in services}
-
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
-    self.poller = Poller()
-    polled_services = set([poll, ] if poll is not None else services)
-    self.non_polled_services = set(services) - polled_services
-
-    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
-    self.ignore_alive = [] if ignore_alive is None else ignore_alive
-    self.ignore_valid = [] if ignore_valid is None else ignore_valid
-
-    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
-
-    # if freq and poll aren't specified, assume the max to be conservative
-    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
-    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
-
-    for s in services:
-      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
-
-      try:
-        data = new_message(s)
-      except capnp.lib.capnp.KjException:
-        data = new_message(s, 0) # lists
-
-      self.data[s] = getattr(data.as_reader(), s)
-      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
-
-  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
-    return self.data[s]
-
-  def _check_avg_freq(self, s: str) -> bool:
-    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
-
-  def update(self, timeout: int = 100) -> None:
-    msgs = []
-    for sock in self.poller.poll(timeout):
-      msgs.append(recv_one_or_none(sock))
-
-    # non-blocking receive for non-polled sockets
-    for s in self.non_polled_services:
-      msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(time.monotonic(), msgs)
-
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
-    self.frame += 1
-    self.updated = dict.fromkeys(self.services, False)
-    for msg in msgs:
-      if msg is None:
-        continue
-
-      s = msg.which()
-      self.seen[s] = True
-      self.updated[s] = True
-
-      self.freq_tracker[s].record_recv_time(cur_time)
-      self.recv_time[s] = cur_time
-      self.recv_frame[s] = self.frame
-      self.data[s] = getattr(msg, s)
-      self.logMonoTime[s] = msg.logMonoTime
-      self.valid[s] = msg.valid
-
-    for s in self.static_freq_services:
-      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
-      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
-      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
-
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
-
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
-
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
-
-  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)
-
-
-class PubMaster:
-  def __init__(self, services: List[str]):
-    self.sock = {}
-    for s in services:
-      self.sock[s] = pub_sock(s)
-
-  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
-    if not isinstance(dat, bytes):
-      dat = dat.to_bytes()
-    self.sock[s].send(dat)
-
-  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    try:
-      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
-      return True
-    except TimeoutError:
-      return False
-
-  def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()

cereal/messaging/tests/test_messaging.py

@@ -1,185 +0,0 @@
-import os
-import capnp
-import multiprocessing
-import numbers
-import random
-import threading
-import time
-from openpilot.common.parameterized import parameterized
-import pytest
-
-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
-
-def random_sock():
-  return random.choice(events)
-
-def random_socks(num_socks=10):
-  return list({random_sock() for _ in range(num_socks)})
-
-def random_bytes(length=1000):
-  return bytes([random.randrange(0xFF) for _ in range(length)])
-
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
-
-# TODO: this should take any capnp struct and returrn a msg with random populated data
-def random_carstate():
-  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
-  msg = messaging.new_message("carState")
-  cs = msg.carState
-  for f in fields:
-    setattr(cs, f, random.random() * 10)
-  return msg
-
-# TODO: this should compare any capnp structs
-def assert_carstate(cs1, cs2):
-  for f in car.CarState.schema.non_union_fields:
-    # TODO: check all types
-    val1, val2 = getattr(cs1, f), getattr(cs2, f)
-    if isinstance(val1, numbers.Number):
-      assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
-
-def delayed_send(delay, sock, dat):
-  def send_func():
-    sock.send(dat)
-  threading.Timer(delay, send_func).start()
-
-
-class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
-  @parameterized.expand(events)
-  def test_new_message(self, evt):
-    try:
-      msg = messaging.new_message(evt)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(evt, random.randrange(200))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    assert not msg.valid
-    assert evt == msg.which()
-
-  @parameterized.expand(events)
-  def test_pub_sock(self, evt):
-    messaging.pub_sock(evt)
-
-  @parameterized.expand(events)
-  def test_sub_sock(self, evt):
-    messaging.sub_sock(evt)
-
-  @parameterized.expand([
-    (messaging.drain_sock, capnp._DynamicStructReader),
-    (messaging.drain_sock_raw, bytes),
-  ])
-  def test_drain_sock(self, func, expected_type):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no wait and no msgs in queue
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert len(msgs) == 0
-
-    # no wait but msgs are queued up
-    num_msgs = random.randrange(3, 10)
-    for _ in range(num_msgs):
-      pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert all(isinstance(msg, expected_type) for msg in msgs)
-    assert len(msgs) == num_msgs
-
-  def test_recv_sock(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
-
-    # no wait and no msg in queue, socket should timeout
-    recvd = messaging.recv_sock(sub_sock)
-    assert recvd is None
-
-    # no wait and one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    time.sleep(0.01)
-    recvd = messaging.recv_sock(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    # https://github.com/python/mypy/issues/13038
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no msg in queue, socket should timeout
-    recvd = messaging.recv_one(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
-  def test_recv_one_or_none(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
-
-    # no msg in queue, socket shouldn't block
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one_retry(self):
-    sock = "carState"
-    sock_timeout = 0.1
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
-
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
-
-    # wait 5 socket timeouts before sending
-    msg = random_carstate()
-    start_time = time.monotonic()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
-    recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*5
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)

cereal/messaging/tests/test_services.py

@@ -1,21 +0,0 @@
-import os
-import tempfile
-from typing import Dict
-from openpilot.common.parameterized import parameterized
-
-import cereal.services as services
-from cereal.services import SERVICE_LIST
-
-
-class TestServices:
-
-  @parameterized.expand(SERVICE_LIST.keys())
-  def test_services(self, s):
-    service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
-
-  def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
-      assert ret == 0, "generated services header is not valid C"

common/SConscript

@@ -1,23 +0,0 @@
-Import('env', 'envCython')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-common_python = [params_python]
-
-Export('common_python')

common/api/base.py

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

common/file_chunker.py

@@ -1,55 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import math
-import os
-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}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def _chunk_paths(path, num_chunks):
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def get_chunk_targets(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return _chunk_paths(path, num_chunks)
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-def get_existing_chunks(path):
-  if os.path.isfile(path):
-    return [path]
-  if os.path.isfile(manifest := get_manifest_path(path)):
-    num_chunks = int(Path(manifest).read_text().strip())
-    return _chunk_paths(path, num_chunks)
-  raise FileNotFoundError(path)
-
-def read_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)
-
-
-if __name__ == "__main__":
-  path = sys.argv[1]
-  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
-  chunk_file(path, chunk_paths)

common/hardware/base.py

@@ -1,161 +0,0 @@
-import os
-from abc import abstractmethod, ABC
-from dataclasses import dataclass, fields
-
-from cereal import log
-from openpilot.common.esim.base import LPABase
-
-NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
-
-@dataclass
-class ThermalZone:
-  # a zone from /sys/class/thermal/thermal_zone*
-  name: str             # a.k.a type
-  scale: float = 1000.  # scale to get degrees in C
-  zone_number = -1
-
-  def read(self) -> float:
-    if self.zone_number < 0:
-      for n in os.listdir("/sys/devices/virtual/thermal"):
-        if not n.startswith("thermal_zone"):
-          continue
-        with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-          if f.read().strip() == self.name:
-            self.zone_number = int(n.removeprefix("thermal_zone"))
-            break
-
-    try:
-      with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
-        return int(f.read()) / self.scale
-    except FileNotFoundError:
-      return 0
-
-@dataclass
-class ThermalConfig:
-  cpu: list[ThermalZone] | None = None
-  gpu: list[ThermalZone] | None = None
-  dsp: ThermalZone | None = None
-  pmic: list[ThermalZone] | None = None
-  memory: ThermalZone | None = None
-  intake: ThermalZone | None = None
-  exhaust: ThermalZone | None = None
-  gnss: ThermalZone | None = None
-  bottomSoc: ThermalZone | None = None
-
-  def get_msg(self):
-    ret = {}
-    for f in fields(ThermalConfig):
-      v = getattr(self, f.name)
-      if v is not None:
-        if isinstance(v, list):
-          ret[f.name + "TempC"] = [x.read() for x in v]
-        else:
-          ret[f.name + "TempC"] = v.read()
-    return ret
-
-class HardwareBase(ABC):
-  @staticmethod
-  def get_cmdline() -> dict[str, str]:
-    with open('/proc/cmdline') as f:
-      cmdline = f.read()
-    return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
-
-  @staticmethod
-  def read_param_file(path, parser, default=0):
-    try:
-      with open(path) as f:
-        return parser(f.read())
-    except Exception:
-      return default
-
-  def booted(self) -> bool:
-    return True
-
-  def reboot(self, reason=None):
-    print("REBOOT!")
-
-  def uninstall(self):
-    print("uninstall")
-
-  def get_os_version(self):
-    return None
-
-  @abstractmethod
-  def get_device_type(self):
-    pass
-
-  def get_imei(self) -> str:
-    return ""
-
-  def get_serial(self):
-    return ""
-
-  def get_network_info(self):
-    return None
-
-  def get_network_type(self):
-    return NetworkType.none
-
-  def get_sim_info(self):
-    return {
-      'sim_id': '',
-      'mcc_mnc': None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"],
-      'data_connected': False
-    }
-
-  def get_sim_lpa(self) -> LPABase:
-    raise NotImplementedError("SIM LPA not available")
-
-  def get_network_strength(self, network_type):
-    return NetworkStrength.unknown
-
-  def get_network_metered(self, network_type) -> bool:
-    return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
-
-  def get_current_power_draw(self):
-    return 0
-
-  def get_som_power_draw(self):
-    return 0
-
-  def shutdown(self):
-    print("SHUTDOWN!")
-
-  def get_thermal_config(self):
-    return ThermalConfig()
-
-  def set_display_power(self, on: bool):
-    pass
-
-  def set_screen_brightness(self, percentage):
-    pass
-
-  def get_screen_brightness(self):
-    return 0
-
-  def set_power_save(self, powersave_enabled):
-    pass
-
-  def get_gpu_usage_percent(self):
-    return 0
-
-  def get_modem_temperatures(self):
-    return []
-
-  def initialize_hardware(self):
-    pass
-
-  def reset_internal_panda(self):
-    pass
-
-  def recover_internal_panda(self):
-    pass
-
-  def get_modem_data_usage(self):
-    return -1, -1
-
-  def set_ir_power(self, percent: int):
-    pass

common/hardware/pc/hardware.py

@@ -1,10 +0,0 @@
-from cereal import log
-from openpilot.common.hardware.base import HardwareBase
-
-class Pc(HardwareBase):
-  def get_device_type(self):
-    return "pc"
-
-  def get_network_type(self):
-    # some stuff is gated on wifi, so just assume for now
-    return log.DeviceState.NetworkType.wifi

common/hardware/tici/hardware.py

@@ -1,419 +0,0 @@
-import configparser
-import json
-import os
-import socket
-import subprocess
-import time
-from functools import cached_property, lru_cache
-from pathlib import Path
-
-from cereal import log
-from openpilot.common.utils import sudo_read, sudo_write
-from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.common.esim.base import LPABase
-from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
-from openpilot.common.esim.lpa import TiciLPA
-from openpilot.common.hardware.tici.pins import GPIO
-from openpilot.common.hardware.tici.amplifier import Amplifier
-
-MODEM_STATE_PATH = "/dev/shm/modem"
-
-NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
-
-
-def affine_irq(val, action):
-  irqs = get_irqs_for_action(action)
-  if len(irqs) == 0:
-    print(f"No IRQs found for '{action}'")
-    return
-
-  for i in irqs:
-    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
-
-@lru_cache
-def get_device_type():
-  # lru_cache and cache can cause memory leaks when used in classes
-  with open("/sys/firmware/devicetree/base/model") as f:
-    model = f.read().strip('\x00')
-  return model.split('comma ')[-1]
-
-def wpa_supplicant_cmd(cmd: str, timeout: float = 0.2) -> dict[str, str]:
-  with socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM) as sock:
-    sock.settimeout(timeout)
-    sock.bind(f"\0openpilot-wpa-{os.getpid()}-{time.monotonic_ns()}")
-    sock.connect("/run/wpa_supplicant/wlan0")
-    sock.send(cmd.encode())
-
-    while True:
-      out = sock.recv(8192).decode("utf-8", "replace")
-      if out.startswith("<"):
-        continue
-      if out.startswith("FAIL"):
-        return {}
-      return dict(l.split("=", 1) for l in out.splitlines() if "=" in l)
-
-def get_default_route_iface():
-  with open("/proc/net/route") as f:
-    routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
-  return min(routes)[1] if routes else None
-
-class Tici(HardwareBase):
-  @cached_property
-  def amplifier(self):
-    if self.get_device_type() == "mici":
-      return None
-    return Amplifier()
-
-  def get_modem_state(self) -> dict:
-    try:
-      with open(MODEM_STATE_PATH) as f:
-        return json.load(f)
-    except (FileNotFoundError, json.JSONDecodeError):
-      return {}
-
-  def get_os_version(self):
-    with open("/VERSION") as f:
-      return f.read().strip()
-
-  def get_device_type(self):
-    return get_device_type()
-
-  def reboot(self, reason=None):
-    subprocess.check_output(["sudo", "reboot"])
-
-  def uninstall(self):
-    Path("/data/__system_reset__").touch()
-    os.sync()
-    self.reboot()
-
-  def get_serial(self):
-    return self.get_cmdline()['androidboot.serialno']
-
-  def get_voltage(self):
-    with open("/sys/class/hwmon/hwmon1/in1_input") as f:
-      return int(f.read())
-
-  def get_current(self):
-    with open("/sys/class/hwmon/hwmon1/curr1_input") as f:
-      return int(f.read())
-
-  def set_ir_power(self, percent: int):
-    if self.get_device_type() == "tizi":
-      return
-
-    value = int((percent / 100) * 300)
-    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
-      f.write("0\n")
-    with open("/sys/class/leds/led:torch_2/brightness", "w") as f:
-      f.write(f"{value}\n")
-    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
-      f.write(f"{value}\n")
-
-  def get_network_type(self):
-    try:
-      if (iface := get_default_route_iface()):
-        if iface.startswith('wlan'):
-          return NetworkType.wifi
-        if iface.startswith('eth'):
-          return NetworkType.ethernet
-    except Exception:
-      pass
-
-    ms = self.get_modem_state()
-    if ms.get('connected'):
-      nt = ms.get('network_type', '')
-      if nt == 'nr':
-        return NetworkType.cell5G
-      elif nt == 'lte':
-        return NetworkType.cell4G
-      elif nt in ('utran', 'umts'):
-        return NetworkType.cell3G
-      elif nt == 'gsm':
-        return NetworkType.cell2G
-    return NetworkType.none
-
-  def get_sim_info(self):
-    ms = self.get_modem_state()
-    sim_id = ms.get('iccid', '')
-    return {
-      'sim_id': sim_id,
-      'mcc_mnc': ms.get('mcc_mnc') or None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"] if not sim_id else ["READY"],
-      'data_connected': ms.get('connected', False),
-    }
-
-  def get_sim_lpa(self) -> LPABase:
-    return TiciLPA()
-
-  def get_imei(self):
-    return self.get_modem_state().get('imei', '')
-
-  def get_network_info(self):
-    if self.get_device_type() == "mici":
-      return None
-
-    ms = self.get_modem_state()
-    return {
-      'technology': ms.get('network_type', '').upper() if ms.get('network_type') else '',
-      'operator': ms.get('operator', ''),
-      'band': ms.get('band', ''),
-      'channel': ms.get('channel', 0),
-      'extra': ms.get('extra', ''),
-      'state': ms.get('state', 'UNKNOWN'),
-    }
-
-  def parse_strength(self, percentage):
-    if percentage < 25:
-      return NetworkStrength.poor
-    elif percentage < 50:
-      return NetworkStrength.moderate
-    elif percentage < 75:
-      return NetworkStrength.good
-    else:
-      return NetworkStrength.great
-
-  def get_network_strength(self, network_type):
-    network_strength = NetworkStrength.unknown
-
-    try:
-      if network_type == NetworkType.none:
-        pass
-      elif network_type == NetworkType.ethernet:
-        network_strength = NetworkStrength.great
-      elif network_type == NetworkType.wifi:
-        rssi = wpa_supplicant_cmd("SIGNAL_POLL").get("RSSI")
-        if rssi is not None:
-          dbm = int(rssi)
-          if -100 < dbm <= 0:
-            network_strength = self.parse_strength(120 + max(-100, min(-20, dbm)))
-      else:  # Cellular
-        network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
-    except Exception:
-      pass
-
-    return network_strength
-
-  def get_network_metered(self, network_type) -> bool:
-    if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
-      from openpilot.common.params import Params
-      return Params().get_bool("GsmMetered")
-    try:
-      if network_type == NetworkType.wifi:
-        ssid = wpa_supplicant_cmd("STATUS").get("ssid", "")
-        if ssid:
-          # wpa_supplicant escapes non-printable bytes as \xNN; NM keyfile stores ASCII SSIDs as a literal and others as a byte;byte; list
-          ssid_bytes = ssid.encode().decode('unicode_escape').encode('latin-1')
-          ssid_keyfile_list = ';'.join(str(b) for b in ssid_bytes) + ';'
-
-          nm_dirs = ("/run/NetworkManager/system-connections", "/data/etc/NetworkManager/system-connections")
-          for fpath in (p for d in nm_dirs for p in Path(d).glob("*.nmconnection")):
-            raw = sudo_read(str(fpath))
-            if not raw:
-              continue
-            cp = configparser.ConfigParser(interpolation=None)
-            try:
-              cp.read_string(raw)
-              keyfile_ssid = cp.get("wifi", "ssid", fallback="")
-              if keyfile_ssid != ssid and keyfile_ssid != ssid_keyfile_list:
-                continue
-              metered = cp.getint("connection", "metered", fallback=0)
-            except (configparser.Error, ValueError):
-              continue
-            if metered == 1:  # NM_METERED_YES
-              return True
-            if metered == 2:  # NM_METERED_NO
-              return False
-            break
-    except Exception:
-      pass
-
-    return super().get_network_metered(network_type)
-
-  def get_modem_temperatures(self):
-    return self.get_modem_state().get('temperatures', [])
-
-  def get_current_power_draw(self):
-    return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
-
-  def get_som_power_draw(self):
-    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
-
-  def shutdown(self):
-    os.system("sudo poweroff")
-
-  def get_thermal_config(self):
-    intake, exhaust, gnss, bottomSoc = None, None, None, None
-    if self.get_device_type() == "mici":
-      gnss = ThermalZone("gnss")
-      intake = ThermalZone("intake")
-      exhaust = ThermalZone("exhaust")
-      bottomSoc = ThermalZone("bottom_soc")
-    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
-                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
-                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
-                         dsp=ThermalZone("compute-hvx-usr"),
-                         memory=ThermalZone("ddr-usr"),
-                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
-                         intake=intake,
-                         exhaust=exhaust,
-                         gnss=gnss,
-                         bottomSoc=bottomSoc)
-
-  def set_display_power(self, on):
-    try:
-      with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
-        f.write("0" if on else "4")
-    except Exception:
-      pass
-
-  def set_screen_brightness(self, percentage):
-    try:
-      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
-        max_brightness = float(f.read().strip())
-
-      val = int(percentage * (max_brightness / 100.))
-      with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
-        f.write(str(val))
-    except Exception:
-      pass
-
-  def get_screen_brightness(self):
-    try:
-      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
-        max_brightness = float(f.read().strip())
-
-      with open("/sys/class/backlight/panel0-backlight/brightness") as f:
-        return int(float(f.read()) / (max_brightness / 100.))
-    except Exception:
-      return 0
-
-  def set_power_save(self, powersave_enabled):
-    # amplifier, 100mW at idle
-    if self.amplifier is not None:
-      self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
-      if not powersave_enabled:
-        self.amplifier.initialize_configuration()
-
-    # *** CPU config ***
-
-    # offline big cluster
-    for i in range(4, 8):
-      val = '0' if powersave_enabled else '1'
-      sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
-
-    for n in ('0', '4'):
-      if powersave_enabled and n == '4':
-        continue
-      gov = 'ondemand' if powersave_enabled else 'performance'
-      sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
-      if not powersave_enabled:
-        # cap max core freq to 1689 Mhz
-        sudo_write('1689600', f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_max_freq')
-
-    # *** IRQ config ***
-
-    # GPU, modeld core
-    affine_irq(7, "kgsl-3d0")
-
-    # camerad core
-    camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
-    for n in camera_irqs:
-      affine_irq(6, n)
-
-  def get_gpu_usage_percent(self):
-    try:
-      with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
-        used, total = f.read().strip().split()
-      return 100.0 * int(used) / int(total)
-    except Exception:
-      return 0
-
-  def initialize_hardware(self):
-    if self.amplifier is not None:
-      self.amplifier.initialize_configuration()
-
-    # Allow hardwared to write engagement status to kmsg
-    os.system("sudo chmod a+w /dev/kmsg")
-
-    # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
-    gpio_init(GPIO.SOM_ST_IO, True)
-    gpio_set(GPIO.SOM_ST_IO, 1)
-
-    # *** IRQ config ***
-
-    # mask off big cluster from default affinity
-    sudo_write("f", "/proc/irq/default_smp_affinity")
-
-    # move these off the default core
-    affine_irq(1, "msm_vidc")  # encoders
-    affine_irq(1, "i2c_geni")  # sensors
-
-    # *** GPU config ***
-    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
-    affine_irq(5, "fts_ts")    # touch
-    affine_irq(5, "msm_drm")   # display
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
-    sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
-    sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
-    sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
-
-    # setup governors
-    sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
-    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
-    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
-
-    # *** VIDC (encoder) config ***
-    sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
-    sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
-
-    # pandad core
-    affine_irq(3, "spi_geni")         # SPI
-    try:
-      pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
-      subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
-      subprocess.call(["sudo", "taskset", "-pc", "3", pid])
-    except subprocess.CalledProcessError as e:
-      print(str(e))
-
-  def get_modem_data_usage(self):
-    ms = self.get_modem_state()
-    return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
-
-  def reset_internal_panda(self):
-    gpio_init(GPIO.STM_RST_N, True)
-    gpio_init(GPIO.STM_BOOT0, True)
-
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 0)
-    time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
-
-  def recover_internal_panda(self):
-    gpio_init(GPIO.STM_RST_N, True)
-    gpio_init(GPIO.STM_BOOT0, True)
-
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
-    time.sleep(0.01)
-    gpio_set(GPIO.STM_BOOT0, 0)
-
-  def booted(self):
-    # this normally boots within 8s, but on rare occasions takes 30+s
-    encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
-    if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
-      return False
-    return True
-
-if __name__ == "__main__":
-  t = Tici()
-  t.initialize_hardware()
-  t.set_power_save(False)
-  print(t.get_sim_info())

common/hardware/tici/updater

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
-size 24709205

common/mock/__init__.py

@@ -1,50 +0,0 @@
-"""
-Utilities for generating mock messages for testing.
-example in common/tests/test_mock.py
-"""
-
-
-import functools
-import threading
-from cereal.messaging import PubMaster
-from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_livePose
-from openpilot.common.realtime import Ratekeeper
-
-
-MOCK_GENERATOR = {
-  "livePose": generate_livePose
-}
-
-
-def generate_messages_loop(services: list[str], done: threading.Event):
-  pm = PubMaster(services)
-  rk = Ratekeeper(100)
-  i = 0
-  while not done.is_set():
-    for s in services:
-      should_send = i % (100/SERVICE_LIST[s].frequency) == 0
-      if should_send:
-        message = MOCK_GENERATOR[s]()
-        pm.send(s, message)
-    i += 1
-    rk.keep_time()
-
-
-def mock_messages(services: list[str] | str):
-  if isinstance(services, str):
-    services = [services]
-
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      done = threading.Event()
-      t = threading.Thread(target=generate_messages_loop, args=(services, done))
-      t.start()
-      try:
-        return func(*args, **kwargs)
-      finally:
-        done.set()
-        t.join()
-    return wrapper
-  return decorator

common/tests/test_params.cc

@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}

common/utils.py

@@ -1,272 +0,0 @@
-import io
-import os
-import tempfile
-import contextlib
-import subprocess
-import time
-import functools
-from subprocess import Popen, PIPE, TimeoutExpired
-import zstandard as zstd
-
-LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
-
-class Timer:
-  """Simple lap timer for profiling sequential operations."""
-
-  def __init__(self):
-    self._start = self._lap = time.monotonic()
-    self._sections = {}
-
-  def lap(self, name):
-    now = time.monotonic()
-    self._sections[name] = now - self._lap
-    self._lap = now
-
-  @property
-  def total(self):
-    return time.monotonic() - self._start
-
-  def fmt(self, duration):
-    parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
-    total = self.total
-    realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
-    return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
-  except Exception:
-    return ""
-
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count
-
-
-class CallbackReader:
-  """Wraps a file, but overrides the read method to also
-  call a callback function with the number of bytes read so far."""
-
-  def __init__(self, f, callback, *args):
-    self.f = f
-    self.callback = callback
-    self.cb_args = args
-    self.total_read = 0
-
-  def __getattr__(self, attr):
-    return getattr(self.f, attr)
-
-  def read(self, *args, **kwargs):
-    chunk = self.f.read(*args, **kwargs)
-    self.total_read += len(chunk)
-    self.callback(*self.cb_args, self.total_read)
-    return chunk
-
-
-@contextlib.contextmanager
-def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                 overwrite: bool = False):
-  """Write to a file atomically using a temporary file in the same directory as the destination file."""
-  dir_name = os.path.dirname(path)
-
-  if not overwrite and os.path.exists(path):
-    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
-
-  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
-    yield tmp_file
-    tmp_file_name = tmp_file.name
-  os.replace(tmp_file_name, path)
-
-
-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size
-
-
-# remove all keys that end in DEPRECATED, plus any "deprecated" group
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED') or k == 'deprecated':
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d
-
-
-def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
-  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
-  try:
-    return run_cmd(cmd, cwd=cwd, env=env)
-  except subprocess.CalledProcessError:
-    return default
-
-
-@contextlib.contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
-
-
-def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
-  rows = [list(row) for row in tabular_data]
-
-  def fmt(val):
-    if isinstance(val, str):
-      return val
-    if isinstance(val, (bool, int)):
-      return str(val)
-    try:
-      return format(val, floatfmt)
-    except (TypeError, ValueError):
-      return str(val)
-
-  formatted = [[fmt(c) for c in row] for row in rows]
-  hdrs = [str(h) for h in headers] if headers else None
-
-  ncols = max((len(r) for r in formatted), default=0)
-  if hdrs:
-    ncols = max(ncols, len(hdrs))
-  if ncols == 0:
-    return ""
-
-  for r in formatted:
-    r.extend([""] * (ncols - len(r)))
-  if hdrs:
-    hdrs.extend([""] * (ncols - len(hdrs)))
-
-  widths = [0] * ncols
-  if hdrs:
-    for i in range(ncols):
-      widths[i] = len(hdrs[i])
-  for row in formatted:
-    for i in range(ncols):
-      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
-
-  def _align(s, w):
-    if stralign == "center":
-      return s.center(w)
-    return s.ljust(w)
-
-  if tablefmt == "html":
-    parts = ["<table>"]
-    if hdrs:
-      parts.append("<thead>")
-      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
-      parts.append("</thead>")
-    parts.append("<tbody>")
-    for row in formatted:
-      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
-    parts.append("</tbody>")
-    parts.append("</table>")
-    return "\n".join(parts)
-
-  if tablefmt == "simple_grid":
-    def _sep(left, mid, right):
-      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
-
-    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
-
-    def _fmt_row(cells):
-      split = [c.split('\n') for c in cells]
-      nlines = max(len(s) for s in split)
-      for s in split:
-        s.extend([""] * (nlines - len(s)))
-      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
-
-    lines = [top]
-    if hdrs:
-      lines.extend(_fmt_row(hdrs))
-      lines.append(mid_sep)
-    for ri, row in enumerate(formatted):
-      lines.extend(_fmt_row(row))
-      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
-    return "\n".join(lines)
-
-  # simple
-  gap = "  "
-  lines = []
-  if hdrs:
-    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
-    lines.append(gap.join("-" * w for w in widths))
-  for row in formatted:
-    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
-  return "\n".join(lines)
-
-
-def retry(attempts=3, delay=1.0, ignore_failure=False):
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      for _ in range(attempts):
-        try:
-          return func(*args, **kwargs)
-        except Exception:
-          print(f"{func.__name__} failed, trying again")
-          time.sleep(delay)
-
-      if ignore_failure:
-        print(f"{func.__name__} failed after retry")
-      else:
-        raise Exception(f"{func.__name__} failed after retry")
-    return wrapper
-  return decorator

compile_commands.json

@@ -0,0 +1,518 @@
+[
+    {
+        "command": "clang++ -o openpilot/common/params.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/params.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/params.cc",
+        "output": "/data/openpilot/openpilot/common/params.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/swaglog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/swaglog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/swaglog.cc",
+        "output": "/data/openpilot/openpilot/common/swaglog.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/util.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/util.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/util.cc",
+        "output": "/data/openpilot/openpilot/common/util.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/ratekeeper.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/ratekeeper.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/ratekeeper.cc",
+        "output": "/data/openpilot/openpilot/common/ratekeeper.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/yuv.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/yuv.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/yuv.cc",
+        "output": "/data/openpilot/openpilot/common/yuv.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/params_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include openpilot/common/params_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/params_pyx.cpp",
+        "output": "/data/openpilot/openpilot/common/params_pyx.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/ipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/event.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/event.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/event.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/event.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/impl_msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_fake.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/impl_fake.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_fake.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_fake.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/ipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_server.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_client.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionbuf_ion.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/log.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/log.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/log.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/log.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/deprecated.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/deprecated.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/deprecated.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/deprecated.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/custom.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/custom.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/custom.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/custom.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/car.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/car.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/car.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/car.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/bridge.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/bridge.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/bridge.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/bridge.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/msgq_to_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/msgq_to_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/msgq_to_zmq.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/msgq_to_zmq.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/bridge_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/bridge_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/bridge_zmq.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/bridge_zmq.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/socketmaster.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/socketmaster.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/socketmaster.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/socketmaster.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/main.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_jungle_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/jungle/main.c",
+        "output": "/data/openpilot/panda/board/jungle/board/obj/panda_jungle_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/body_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/body/main.c",
+        "output": "/data/openpilot/panda/board/body/board/obj/body_h7main.o"
+    },
+    {
+        "command": "clang++ -o rednose_repo/rednose/helpers/ekf_load.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install rednose_repo/rednose/helpers/ekf_load.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose_repo/rednose/helpers/ekf_load.cc",
+        "output": "/data/openpilot/rednose_repo/rednose/helpers/ekf_load.os"
+    },
+    {
+        "command": "clang++ -o rednose_repo/rednose/helpers/ekf_sym.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install rednose_repo/rednose/helpers/ekf_sym.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym.cc",
+        "output": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym.os"
+    },
+    {
+        "command": "clang++ -o rednose_repo/rednose/helpers/ekf_sym_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install rednose_repo/rednose/helpers/ekf_sym_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp",
+        "output": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym_pyx.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/logger.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/logger.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/logger.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/logger.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/zstd_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/zstd_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/zstd_writer.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/zstd_writer.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/video_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/video_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/video_writer.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/video_writer.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoder/encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoder/encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoder/encoder.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoder/encoder.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoder/jpeg_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoder/jpeg_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoder/jpeg_encoder.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoder/jpeg_encoder.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoder/v4l_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoder/v4l_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoder/v4l_encoder.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoder/v4l_encoder.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/loggerd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/loggerd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/loggerd.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/loggerd.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoderd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoderd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoderd.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoderd.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/bootlog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/bootlog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/bootlog.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/bootlog.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/camera_qcom2.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/camera_qcom2.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/camera_qcom2.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/camera_qcom2.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/camera_common.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/camera_common.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/camera_common.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/camera_common.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/spectra.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/spectra.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/spectra.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/spectra.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/cdm.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/cdm.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/cdm.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/cdm.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/sensors/ox03c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/sensors/ox03c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/sensors/ox03c10.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/sensors/ox03c10.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/sensors/os04c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/sensors/os04c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/sensors/os04c10.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/sensors/os04c10.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/main.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/main.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/panda.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/panda.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/panda.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/panda.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/spi.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/spi.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/spi.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/spi.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/main.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/main.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/pandad.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/pandad.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/pandad.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/pandad.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/panda_safety.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/panda_safety.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/panda_safety.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/panda_safety.o"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o -c -std=gnu11 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/locationd/models/generated/pose.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install openpilot/selfdrive/locationd/models/generated/pose.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/pose.cpp",
+        "output": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/pose.os"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/locationd/models/generated/car.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install openpilot/selfdrive/locationd/models/generated/car.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/car.cpp",
+        "output": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/car.os"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/common/transformations/orientation.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/common/transformations/orientation.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/common/transformations/orientation.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/common/transformations/orientation.o"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/common/transformations/coordinates.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/common/transformations/coordinates.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/common/transformations/coordinates.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/common/transformations/coordinates.o"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/selfdrive/locationd/models/generated/live.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install openpilot/sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "output": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.os"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/selfdrive/locationd/locationd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/selfdrive/locationd/locationd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/locationd.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/locationd.o"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/selfdrive/locationd/models/live_kf.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.o"
+    }
+]

conftest.py

@@ -9,11 +9,14 @@ from openpilot.common.hardware import TICI, HARDWARE
 
 # these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
+  "openpilot/selfdrive/test/process_replay/test_processes.py",
+  "openpilot/selfdrive/test/process_replay/test_regen.py",
+
+  "openpilot/tools/sim/",
+
   # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
   # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
-  "sunnypilot/modeld_v2/tests/test_warp.py",
+  "openpilot/sunnypilot/modeld_v2/tests/test_warp.py",
 ]
 
 

docs/CONTRIBUTING.md

@@ -68,6 +68,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/SAFETY.md

@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http
 
 ### Forks of openpilot
 
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
    * your fork cannot use the openpilot trademark
    * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes

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+    <path fill-rule="evenodd" clip-rule="evenodd" d="M19.582 5.2447C19.352 4.3611 18.6743 3.66531 17.8138 3.42916C16.2542 3 10 3 10 3C10 3 3.7458 3 2.18614 3.42916C1.32557 3.66531 0.647841 4.3611 0.417841 5.2447C0 6.84612 0 10.1875 0 10.1875C0 10.1875 0 13.5288 0.417841 15.1303C0.647841 16.0139 1.32557 16.7097 2.18614 16.946C3.7458 17.375 10 17.375 10 17.375C10 17.375 16.2542 17.375 17.8138 16.946C18.6743 16.7097 19.352 16.0139 19.582 15.1303C20 13.5288 20 10.1875 20 10.1875C20 10.1875 20 6.84612 19.582 5.2447ZM8.12509 13.6255V7.37549L13.1251 10.5006L8.12509 13.6255Z" fill="#FF0000"/>
+  </g>
+  <path d="M 425.503 122.113 L 428.63 127.117 L 422.376 127.117 L 425.503 122.113 Z" style="stroke: rgb(0, 0, 0); stroke-width: 0px; fill: rgb(255, 255, 255);" transform="matrix(0, 1, -1, 0, 636.212463, -239.192383)" bx:shape="triangle 422.376 122.113 6.254 5.004 0.5 0 1@278e08c4"/>
+</svg>

docs/concepts/logs.md

@@ -2,13 +2,13 @@
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
 ## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
 ## {f,e,d}camera.hevc
 
@@ -20,7 +20,7 @@ Each camera stream is H.265 encoded and written to its respective file.
 
 ## qlog.zst & qcamera.ts
 
-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
 
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 

docs/how-to/car-port.md

@@ -30,7 +30,7 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 
 For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
 
-* `selfdrive/car/car_specific.py`: Brand-specific event logic
+* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic
 
 # How do I port car?
 

docs/how-to/replay-a-drive.md

@@ -5,7 +5,7 @@ Replaying is a critical tool for openpilot development and debugging.
 ## Replaying a route
 *Hardware required: none*
 
-Just run `tools/replay/replay --demo`.
+Just run `openpilot/tools/replay/replay --demo`.
 
 ## Replaying CAN data
 *Hardware required: jungle and comma four*

docs/how-to/turn-the-speed-blue.md

@@ -28,10 +28,10 @@ scons
 We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
 ```bash
 # in terminal 1
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo
 
 # in terminal 2
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -45,10 +45,10 @@ Now let’s update the speed display color in the UI.
 
 Search for the function responsible for rendering the current speed:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
 ```python
 def _draw_current_speed(self, rect: rl.Rectangle) -> None:
@@ -72,7 +72,7 @@ Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is
 
 After making changes, re-run the UI to see your new UI:
 ```bash
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 

launch_chffrplus.sh

@@ -19,12 +19,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/common/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/common/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
@@ -70,6 +70,14 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
@@ -79,7 +87,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd system/manager
+  cd openpilot/system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi

launch_openpilot.sh

@@ -4,7 +4,7 @@ IFS=$'\n\t'
 
 # On any failure, run the fallback launcher
 trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh"
 
 MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
 export MODEL

msgq_repo/.gitignore

@@ -0,0 +1,20 @@
+/gen/
+*.tmp
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+*.os
+*.so
+*.o
+*.a
+uv.lock
+catch2/
+msgq.egg-info/
+
+test_runner
+
+libmessaging.*
+libmessaging_shared.*
+.sconsign.dblite
+.mypy_cache/

msgq_repo/README.md

@@ -0,0 +1,54 @@
+# MSGQ: A lock free single producer multi consumer message queue
+
+## What is this library?
+MSGQ is a generic high performance IPC pub sub system with a single publisher and multiple subscribers. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance. This library also provides a spoofed implementation that can be used for deterministic testing, and visionipc, an IPC system specifically for large contiguous buffers (like images/video).
+
+## Storage
+The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
+
+1. A counter to the number of readers that are active
+2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
+3. A cycle counter for the writer. This counter is incremented when the writer wraps around
+4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
+5. N counters,  counting the number of cycles for all the readers
+6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
+
+The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
+
+The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
+
+
+## Writing
+Writing involves the following steps:
+
+1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
+2. Write the message
+3. Increase the write pointer by the size of the message
+
+In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
+
+There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
+
+## Reset reader
+When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
+
+1. Set valid flag
+2. Set read cycle counter to that of the writer
+3. Set read pointer to write pointer
+
+## Reading
+Reading involves the following steps:
+
+1. Read the size field at the current read pointer
+2. Read the validity flag
+3. Copy the data out of the buffer
+4. Increase the read pointer by the size of the message
+5. Check the validity flag again
+
+Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
+
+If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
+
+If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
+
+If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.

msgq_repo/lefthook.yml

@@ -0,0 +1,32 @@
+output:
+  - meta           # Print lefthook version
+  - summary        # Print summary block (successful and failed steps)
+  - empty_summary  # Print summary heading when there are no steps to run
+  - success        # Print successful steps
+  - failure        # Print failed steps printing
+  - execution      # Print any execution logs
+  #- execution_out  # Print execution output
+  #- execution_info # Print `EXECUTE > ...` logging
+  - skips          # Print "skip" (i.e. no files matched)
+
+test:
+  parallel: true
+  commands:
+    # *** static analysis ***
+    ruff:
+      run: ruff check .
+    ty:
+      run: ty check .
+    codespell:
+      run: codespell {files} -L ned,stdio,master --builtin clear,rare,informal,usage,code,names,en-GB_to_en-US -S uv.lock,*_pyx.cpp,catch2*
+      files: git ls-tree -r HEAD --name-only
+    cppcheck:
+      run: cppcheck --error-exitcode=1 --inline-suppr --language=c++ --force --quiet -j4 --check-level=exhaustive $(git ls-files '*.cc' | grep -v -E '(msgq_tests|test_runner)\.cc')
+    cpplint:
+      run: cpplint --exclude=msgq/catch2/ --exclude=msgq/ipc_pyx.cpp --exclude=msgq/visionipc/visionipc_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces msgq/
+
+    # *** tests ***
+    test_runner:
+      run: msgq/test_runner
+    unittest:
+      run: python -m unittest discover -t . -s msgq

msgq_repo/msgq.egg-info/PKG-INFO

@@ -0,0 +1,78 @@
+Metadata-Version: 2.4
+Name: msgq
+Version: 0.0.1
+Summary: Lock-free IPC pub/sub message queue
+Author: comma.ai
+License: MIT
+Classifier: Natural Language :: English
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: System :: Hardware
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+Provides-Extra: dev
+Requires-Dist: setuptools; extra == "dev"
+Requires-Dist: Cython; extra == "dev"
+Requires-Dist: scons; extra == "dev"
+Requires-Dist: catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2 ; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: parameterized; extra == "dev"
+Requires-Dist: cppcheck; extra == "dev"
+Requires-Dist: cpplint; extra == "dev"
+Requires-Dist: codespell; extra == "dev"
+Requires-Dist: ty; extra == "dev"
+Requires-Dist: lefthook; extra == "dev"
+
+# MSGQ: A lock free single producer multi consumer message queue
+
+## What is this library?
+MSGQ is a generic high performance IPC pub sub system with a single publisher and multiple subscribers. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance. This library also provides a spoofed implementation that can be used for deterministic testing, and visionipc, an IPC system specifically for large contiguous buffers (like images/video).
+
+## Storage
+The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
+
+1. A counter to the number of readers that are active
+2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
+3. A cycle counter for the writer. This counter is incremented when the writer wraps around
+4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
+5. N counters,  counting the number of cycles for all the readers
+6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
+
+The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
+
+The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
+
+
+## Writing
+Writing involves the following steps:
+
+1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
+2. Write the message
+3. Increase the write pointer by the size of the message
+
+In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
+
+There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
+
+## Reset reader
+When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
+
+1. Set valid flag
+2. Set read cycle counter to that of the writer
+3. Set read pointer to write pointer
+
+## Reading
+Reading involves the following steps:
+
+1. Read the size field at the current read pointer
+2. Read the validity flag
+3. Copy the data out of the buffer
+4. Increase the read pointer by the size of the message
+5. Check the validity flag again
+
+Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
+
+If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
+
+If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
+
+If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.

msgq_repo/msgq.egg-info/SOURCES.txt

@@ -0,0 +1,15 @@
+README.md
+pyproject.toml
+msgq/__init__.py
+msgq.egg-info/PKG-INFO
+msgq.egg-info/SOURCES.txt
+msgq.egg-info/dependency_links.txt
+msgq.egg-info/requires.txt
+msgq.egg-info/top_level.txt
+msgq/tests/__init__.py
+msgq/tests/test_fake.py
+msgq/tests/test_messaging.py
+msgq/tests/test_poller.py
+msgq/visionipc/__init__.py
+msgq/visionipc/tests/__init__.py
+msgq/visionipc/tests/test_visionipc.py

msgq_repo/msgq.egg-info/requires.txt

@@ -0,0 +1,13 @@
+
+[dev]
+setuptools
+Cython
+scons
+catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2
+ruff
+parameterized
+cppcheck
+cpplint
+codespell
+ty
+lefthook

msgq_repo/msgq.egg-info/top_level.txt

@@ -0,0 +1 @@
+msgq

msgq_repo/msgq/.gitignore

@@ -0,0 +1 @@
+ipc_pyx.cpp

msgq_repo/msgq/__init__.py

@@ -0,0 +1,74 @@
+# 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 typing import Optional, List, Union
+
+__all__ = [
+  "Context",
+  "Poller",
+  "SubSocket",
+  "PubSocket",
+  "SocketEventHandle",
+  "MultiplePublishersError",
+  "IpcError",
+  "toggle_fake_events",
+  "set_fake_prefix",
+  "get_fake_prefix",
+  "delete_fake_prefix",
+  "wait_for_one_event",
+  "NO_TRAVERSAL_LIMIT",
+  "context",
+  "fake_event_handle",
+  "pub_sock",
+  "sub_sock",
+  "drain_sock_raw",
+]
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+
+context = Context()
+
+
+def fake_event_handle(endpoint: str, identifier: Optional[Union[str, bytes]] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  ident = identifier if identifier is not None else get_fake_prefix()
+  handle = SocketEventHandle(endpoint, ident, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+def pub_sock(endpoint: str, segment_size: int = 0) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint, segment_size)
+  return sock
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None, segment_size: int = 0) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate, segment_size)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+  """Receive all message currently available on the queue"""
+  ret: List[bytes] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:
+      break
+
+    ret.append(dat)
+
+  return ret

msgq_repo/msgq/event.cc

@@ -0,0 +1,244 @@
+#include <cerrno>
+#include <chrono>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <string>
+#include <vector>
+
+#include <fcntl.h>
+#include <poll.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "msgq/event.h"
+
+namespace {
+
+size_t event_fifo_counter = 0;
+
+[[noreturn]] void throw_errno(const std::string& msg) {
+  throw std::runtime_error(msg + ", errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
+}
+
+int open_event_fifo(const char* path) {
+  if (path[0] == '\0') return -1;
+  int fd = open(path, O_RDWR | O_NONBLOCK);
+  if (fd < 0 && errno != ENOENT) throw_errno("Could not open event fifo");
+  return fd;
+}
+
+// poll() that retries on EINTR with a monotonic deadline so signal storms
+// don't extend the effective timeout.
+int poll_events(pollfd *fds, nfds_t nfds, int timeout_sec) {
+  auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(timeout_sec);
+  while (true) {
+    int timeout_ms = -1;
+    if (timeout_sec >= 0) {
+      auto remaining = std::chrono::duration_cast<std::chrono::milliseconds>(
+          deadline - std::chrono::steady_clock::now()).count();
+      timeout_ms = remaining > 0 ? static_cast<int>(remaining) : 0;
+    }
+    int ret = poll(fds, nfds, timeout_ms);
+    if (ret >= 0) return ret;
+    if (errno != EINTR) throw_errno("Event poll failed");
+  }
+}
+
+// macOS limits shm_open names to ~31 chars, so hash the (prefix, identifier, endpoint)
+// tuple into a fixed-length name.
+std::string event_shm_name(const std::string& endpoint, const std::string& identifier) {
+  const char* op_prefix = std::getenv("OPENPILOT_PREFIX");
+  std::string key = std::string(op_prefix ? op_prefix : "") + '\x1f' + identifier + '\x1f' + endpoint;
+
+  uint64_t h = 14695981039346656037ULL;
+  for (char c : key) {
+    h ^= static_cast<uint8_t>(c);
+    h *= 1099511628211ULL;
+  }
+
+  char buf[32];
+  std::snprintf(buf, sizeof(buf), "/msgq_%016llx", static_cast<unsigned long long>(h));
+  return buf;
+}
+
+}  // namespace
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_name_out) {
+  std::string name = event_shm_name(endpoint, identifier);
+
+  int shm_fd = shm_open(name.c_str(), O_RDWR | O_CREAT, 0664);
+  if (shm_fd < 0) throw_errno("Could not open shared memory");
+
+  // macOS rejects ftruncate on an already-sized shm object, so only size it once.
+  struct stat st;
+  if (fstat(shm_fd, &st) < 0) {
+    close(shm_fd);
+    throw_errno("Could not stat shared memory");
+  }
+  if (st.st_size < static_cast<off_t>(sizeof(EventState))) {
+    if (ftruncate(shm_fd, sizeof(EventState)) < 0) {
+      close(shm_fd);
+      throw_errno("Could not truncate shared memory");
+    }
+  }
+
+  char *mem = reinterpret_cast<char*>(mmap(NULL, sizeof(EventState), PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0));
+  close(shm_fd);
+  if (mem == MAP_FAILED) throw_errno("Could not map shared memory");
+
+  if (shm_mem != nullptr) *shm_mem = mem;
+  if (shm_name_out != nullptr) *shm_name_out = name;
+}
+
+SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
+  char *mem;
+  event_state_shm_mmap(endpoint, identifier, &mem, &this->shm_name);
+
+  this->state = (EventState*)mem;
+  this->owns_fifos = override;
+
+  if (override) {
+    std::string base = "/tmp/msgq_event_" + std::to_string(getpid()) + "_" + std::to_string(event_fifo_counter++);
+    for (size_t i = 0; i < 2; i++) {
+      std::string p = base + "." + std::to_string(i);
+      if (p.size() >= EVENT_PATH_MAX) {
+        throw std::runtime_error("Event path too long: " + p);
+      }
+      unlink(p.c_str());
+      if (mkfifo(p.c_str(), 0664) < 0) throw_errno("Could not create event fifo");
+      std::memcpy(this->state->paths[i], p.c_str(), p.size() + 1);
+    }
+    this->state->enabled = false;
+  }
+
+  for (size_t i = 0; i < 2; i++) {
+    this->fds[i] = open_event_fifo(this->state->paths[i]);
+  }
+}
+
+SocketEventHandle::~SocketEventHandle() {
+  if (this->state == nullptr) return;
+  for (int fd : this->fds) {
+    if (fd >= 0) close(fd);
+  }
+  if (this->owns_fifos) {
+    unlink(this->state->paths[RECV_CALLED]);
+    unlink(this->state->paths[RECV_READY]);
+    shm_unlink(this->shm_name.c_str());
+  }
+  munmap(this->state, sizeof(EventState));
+}
+
+bool SocketEventHandle::is_enabled() {
+  return this->state->enabled;
+}
+
+void SocketEventHandle::set_enabled(bool enabled) {
+  this->state->enabled = enabled;
+}
+
+Event SocketEventHandle::recv_called() {
+  return Event(this->fds[RECV_CALLED]);
+}
+
+Event SocketEventHandle::recv_ready() {
+  return Event(this->fds[RECV_READY]);
+}
+
+void SocketEventHandle::toggle_fake_events(bool enabled) {
+  if (enabled)
+    setenv("CEREAL_FAKE", "1", true);
+  else
+    unsetenv("CEREAL_FAKE");
+}
+
+void SocketEventHandle::set_fake_prefix(std::string prefix) {
+  if (prefix.size() == 0) {
+    unsetenv("CEREAL_FAKE_PREFIX");
+  } else {
+    setenv("CEREAL_FAKE_PREFIX", prefix.c_str(), true);
+  }
+}
+
+std::string SocketEventHandle::fake_prefix() {
+  const char* prefix = std::getenv("CEREAL_FAKE_PREFIX");
+  return prefix == nullptr ? "" : std::string(prefix);
+}
+
+Event::Event(int fd): event_fd(fd) {}
+
+void Event::set() const {
+  throw_if_invalid();
+
+  char val = 1;
+  while (true) {
+    ssize_t count = write(this->event_fd, &val, sizeof(val));
+    if (count == sizeof(val)) return;
+    if (errno == EINTR) continue;
+    if (errno == EAGAIN || errno == EWOULDBLOCK) return;
+    throw_errno("Event write failed");
+  }
+}
+
+int Event::clear() const {
+  throw_if_invalid();
+
+  int total = 0;
+  char buf[64];
+  while (true) {
+    ssize_t count = read(this->event_fd, buf, sizeof(buf));
+    if (count > 0) {
+      total += static_cast<int>(count);
+      continue;
+    }
+    if (count == 0 || errno == EAGAIN || errno == EWOULDBLOCK) return total;
+    if (errno == EINTR) continue;
+    throw_errno("Event read failed");
+  }
+}
+
+void Event::wait(int timeout_sec) const {
+  throw_if_invalid();
+
+  pollfd fds = {this->event_fd, POLLIN, 0};
+  if (poll_events(&fds, 1, timeout_sec) == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  }
+}
+
+bool Event::peek() const {
+  throw_if_invalid();
+
+  pollfd fds = {this->event_fd, POLLIN, 0};
+  return poll_events(&fds, 1, 0) > 0;
+}
+
+bool Event::is_valid() const {
+  return event_fd >= 0;
+}
+
+int Event::fd() const {
+  return event_fd;
+}
+
+int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) {
+  pollfd fds[events.size()];
+  for (size_t i = 0; i < events.size(); i++) {
+    fds[i] = {events[i].fd(), POLLIN, 0};
+  }
+
+  if (poll_events(fds, events.size(), timeout_sec) == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  }
+
+  for (size_t i = 0; i < events.size(); i++) {
+    if (fds[i].revents & POLLIN) {
+      return static_cast<int>(i);
+    }
+  }
+
+  throw std::runtime_error("Event poll failed, no events ready");
+}

msgq_repo/msgq/event.h

@@ -0,0 +1,64 @@
+#pragma once
+
+#include <cstddef>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
+
+constexpr size_t EVENT_PATH_MAX = 128;
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_name);
+
+enum EventPurpose {
+  RECV_CALLED,
+  RECV_READY
+};
+
+struct EventState {
+  char paths[2][EVENT_PATH_MAX];
+  bool enabled;
+};
+
+class Event {
+private:
+  int event_fd = -1;
+
+  inline void throw_if_invalid() const {
+    if (!this->is_valid()) {
+      throw std::runtime_error("Event does not have valid file descriptor.");
+    }
+  }
+public:
+  Event(int fd = -1);
+
+  void set() const;
+  int clear() const;
+  void wait(int timeout_sec = -1) const;
+  bool peek() const;
+  bool is_valid() const;
+  int fd() const;
+
+  static int wait_for_one(const std::vector<Event>& events, int timeout_sec = -1);
+};
+
+class SocketEventHandle {
+private:
+  std::string shm_name;
+  EventState* state = nullptr;
+  bool owns_fifos = false;
+  int fds[2] = {-1, -1};
+public:
+  SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true);
+  ~SocketEventHandle();
+
+  bool is_enabled();
+  void set_enabled(bool enabled);
+  Event recv_called();
+  Event recv_ready();
+
+  static void toggle_fake_events(bool enabled);
+  static void set_fake_prefix(std::string prefix);
+  static std::string fake_prefix();
+};

msgq_repo/msgq/impl_fake.cc

@@ -0,0 +1,10 @@
+#include <vector>
+#include "msgq/impl_fake.h"
+
+void FakePoller::registerSocket(SubSocket *socket) {
+  this->sockets.push_back(socket);
+}
+
+std::vector<SubSocket*> FakePoller::poll(int timeout) {
+  return this->sockets;
+}

msgq_repo/msgq/impl_fake.h

@@ -0,0 +1,75 @@
+#pragma once
+
+#include <cassert>
+#include <iostream>
+#include <string>
+#include <vector>
+#include <filesystem>
+
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "msgq/ipc.h"
+#include "msgq/event.h"
+
+template<typename TSubSocket>
+class FakeSubSocket: public TSubSocket {
+private:
+  EventState *state = nullptr;
+  int fds[2] = {-1, -1};
+
+  void ensure_fifos_open() {
+    for (size_t i = 0; i < 2; i++) {
+      if (fds[i] < 0 && state->paths[i][0] != '\0') {
+        fds[i] = open(state->paths[i], O_RDWR | O_NONBLOCK);
+      }
+    }
+  }
+
+public:
+  FakeSubSocket(): TSubSocket() {}
+  ~FakeSubSocket() {
+    for (int fd : fds) {
+      if (fd >= 0) close(fd);
+    }
+    if (state != nullptr) {
+      munmap(state, sizeof(EventState));
+    }
+  }
+
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0) override {
+    const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX");
+
+    char* mem;
+    std::string identifier = cereal_prefix != nullptr ?  std::string(cereal_prefix) : "";
+    event_state_shm_mmap(endpoint, identifier, &mem, nullptr);
+
+    this->state = (EventState*)mem;
+    ensure_fifos_open();
+
+    return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint, segment_size);
+  }
+
+  Message *receive(bool non_blocking=false) override {
+    if (this->state->enabled) {
+      ensure_fifos_open();
+      Event(fds[EventPurpose::RECV_CALLED]).set();
+      Event(fds[EventPurpose::RECV_READY]).wait();
+      Event(fds[EventPurpose::RECV_READY]).clear();
+    }
+
+    return TSubSocket::receive(non_blocking);
+  }
+};
+
+class FakePoller: public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+
+public:
+  void registerSocket(SubSocket *socket) override;
+  std::vector<SubSocket*> poll(int timeout) override;
+  ~FakePoller() {}
+};

msgq_repo/msgq/impl_msgq.cc

@@ -0,0 +1,169 @@
+#include <cassert>
+#include <cstring>
+#include <iostream>
+#include <cstdlib>
+#include <cerrno>
+#include <string>
+#include <vector>
+
+#include "msgq/impl_msgq.h"
+
+void Message::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void Message::init(char * d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void Message::takeOwnership(char * d, size_t sz) {
+  size = sz;
+  data = d;
+}
+
+void Message::close() {
+  if (size > 0){
+    delete[] data;
+  }
+  size = 0;
+}
+
+Message::~Message() {
+  this->close();
+}
+
+int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint, size_t segment_size){
+  assert(context);
+  assert(address == "127.0.0.1");
+
+  q = new msgq_queue_t;
+  size_t size = segment_size > 0 ? segment_size : DEFAULT_SEGMENT_SIZE;
+  int r = msgq_new_queue(q, endpoint.c_str(), size);
+  if (r != 0){
+    return r;
+  }
+
+  msgq_init_subscriber(q);
+
+  if (conflate){
+    q->read_conflate = true;
+  }
+
+  timeout = -1;
+
+  return 0;
+}
+
+
+Message * MSGQSubSocket::receive(bool non_blocking){
+  msgq_msg_t msg;
+
+  Message *r = NULL;
+
+  int rc = msgq_msg_recv(&msg, q);
+
+  // Hack to implement blocking read with a poller. Don't use this
+  while (!non_blocking && rc == 0){
+    msgq_pollitem_t items[1];
+    items[0].q = q;
+
+    int t = (timeout != -1) ? timeout : 100;
+
+    int n = msgq_poll(items, 1, t);
+    rc = msgq_msg_recv(&msg, q);
+
+    // The poll indicated a message was ready, but the receive failed. Try again
+    if (n == 1 && rc == 0){
+      continue;
+    }
+
+    if (timeout != -1){
+      break;
+    }
+  }
+
+  if (rc > 0){
+    r = new Message;
+    r->takeOwnership(msg.data, msg.size);
+  }
+
+  return r;
+}
+
+void MSGQSubSocket::setTimeout(int t){
+  timeout = t;
+}
+
+MSGQSubSocket::~MSGQSubSocket(){
+  if (q != NULL){
+    msgq_close_queue(q);
+    delete q;
+  }
+}
+
+int PubSocket::connect(Context *context, std::string endpoint, bool check_endpoint, size_t segment_size){
+  assert(context);
+
+  q = new msgq_queue_t;
+  size_t size = segment_size > 0 ? segment_size : DEFAULT_SEGMENT_SIZE;
+  int r = msgq_new_queue(q, endpoint.c_str(), size);
+  if (r != 0){
+    return r;
+  }
+
+  msgq_init_publisher(q);
+
+  return 0;
+}
+
+int PubSocket::sendMessage(Message *message){
+  msgq_msg_t msg;
+  msg.data = message->getData();
+  msg.size = message->getSize();
+
+  return msgq_msg_send(&msg, q);
+}
+
+int PubSocket::send(char *data, size_t size){
+  msgq_msg_t msg;
+  msg.data = data;
+  msg.size = size;
+
+  return msgq_msg_send(&msg, q);
+}
+
+bool PubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
+PubSocket::~PubSocket(){
+  if (q != NULL){
+    msgq_close_queue(q);
+    delete q;
+  }
+}
+
+
+void MSGQPoller::registerSocket(SubSocket * socket){
+  assert(num_polls + 1 < MAX_POLLERS);
+  polls[num_polls].q = static_cast<MSGQSubSocket*>(socket)->getQueue();
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<SubSocket*> MSGQPoller::poll(int timeout){
+  std::vector<SubSocket*> r;
+
+  msgq_poll(polls, num_polls, timeout);
+  for (size_t i = 0; i < num_polls; i++){
+    if (polls[i].revents){
+      r.push_back(sockets[i]);
+    }
+  }
+
+  return r;
+}

msgq_repo/msgq/impl_msgq.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "msgq/ipc.h"
+#include "msgq/msgq.h"
+
+#define MAX_POLLERS 128
+
+class MSGQSubSocket : public SubSocket {
+private:
+  msgq_queue_t * q = NULL;
+  int timeout;
+public:
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
+  void setTimeout(int timeout);
+  msgq_queue_t * getQueue() {return q;}
+  Message *receive(bool non_blocking=false);
+  ~MSGQSubSocket();
+};
+
+class MSGQPoller : public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+  msgq_pollitem_t polls[MAX_POLLERS];
+  size_t num_polls = 0;
+
+public:
+  void registerSocket(SubSocket *socket);
+  std::vector<SubSocket*> poll(int timeout);
+  ~MSGQPoller(){}
+};

msgq_repo/msgq/ipc.cc

@@ -0,0 +1,71 @@
+#include <cassert>
+#include <iostream>
+#include <string>
+
+#include "msgq/ipc.h"
+#include "msgq/impl_msgq.h"
+#include "msgq/impl_fake.h"
+
+bool messaging_use_fake(){
+  char* fake_enabled = std::getenv("CEREAL_FAKE");
+  return fake_enabled != NULL;
+}
+
+Context * Context::create(){
+  return new Context();
+}
+
+SubSocket * SubSocket::create(){
+  if (messaging_use_fake()) {
+    return new FakeSubSocket<MSGQSubSocket>();
+  }
+  return new MSGQSubSocket();
+}
+
+SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint, size_t segment_size){
+  SubSocket *s = SubSocket::create();
+  int r = s->connect(context, endpoint, address, conflate, check_endpoint, segment_size);
+
+  if (r == 0) {
+    return s;
+  } else {
+    std::cerr << "Error, failed to connect SubSocket to " << endpoint << ": " << strerror(errno) << std::endl;
+
+    delete s;
+    return nullptr;
+  }
+}
+
+PubSocket * PubSocket::create(){
+  return new PubSocket();
+}
+
+PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint, size_t segment_size){
+  PubSocket *s = PubSocket::create();
+  int r = s->connect(context, endpoint, check_endpoint, segment_size);
+
+  if (r == 0) {
+    return s;
+  } else {
+    std::cerr << "Error, failed to bind PubSocket to " << endpoint << ": " << strerror(errno) << std::endl;
+
+    delete s;
+    return nullptr;
+  }
+}
+
+Poller * Poller::create(){
+  if (messaging_use_fake()) {
+    return new FakePoller();
+  }
+  return new MSGQPoller();
+}
+
+Poller * Poller::create(std::vector<SubSocket*> sockets){
+  Poller * p = Poller::create();
+
+  for (auto s : sockets){
+    p->registerSocket(s);
+  }
+  return p;
+}

msgq_repo/msgq/ipc.h

@@ -0,0 +1,69 @@
+#pragma once
+
+#include <cstddef>
+#include <map>
+#include <string>
+#include <vector>
+#include <utility>
+#include <time.h>
+
+
+
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+class Context {
+public:
+  static Context * create();
+  ~Context(){}
+};
+
+class Message {
+private:
+  char * data = nullptr;
+  size_t size = 0;
+public:
+  void init(size_t size);
+  void init(char * data, size_t size);
+  void takeOwnership(char * data, size_t size);
+  void close();
+  size_t getSize(){return size;}
+  char * getData(){return data;}
+  ~Message();
+};
+
+
+class SubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0) = 0;
+  virtual void setTimeout(int timeout) = 0;
+  virtual Message *receive(bool non_blocking=false) = 0;
+  static SubSocket * create();
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
+  virtual ~SubSocket(){}
+};
+
+class PubSocket {
+private:
+  struct msgq_queue_t * q = nullptr;
+public:
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  bool all_readers_updated();
+  static PubSocket * create();
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
+  ~PubSocket();
+};
+
+class Poller {
+public:
+  virtual void registerSocket(SubSocket *socket) = 0;
+  virtual std::vector<SubSocket*> poll(int timeout) = 0;
+  static Poller * create();
+  static Poller * create(std::vector<SubSocket*> sockets);
+  virtual ~Poller(){}
+};

msgq_repo/msgq/ipc.pxd

@@ -0,0 +1,68 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp cimport bool
+
+
+cdef extern from "msgq/impl_fake.h":
+  cdef cppclass Event:
+    @staticmethod
+    int wait_for_one(vector[Event], int) except +
+
+    Event()
+    Event(int)
+    void set()
+    int clear()
+    void wait(int) except +
+    bool peek()
+    int fd()
+
+  cdef cppclass SocketEventHandle:
+    @staticmethod
+    void toggle_fake_events(bool)
+    @staticmethod
+    void set_fake_prefix(string)
+    @staticmethod
+    string fake_prefix()
+
+    SocketEventHandle(string, string, bool)
+    bool is_enabled()
+    void set_enabled(bool)
+    Event recv_called()
+    Event recv_ready()
+
+
+cdef extern from "msgq/ipc.h":
+  cdef cppclass Context:
+    @staticmethod
+    Context * create()
+
+  cdef cppclass Message:
+    void init(size_t)
+    void init(char *, size_t)
+    void close()
+    size_t getSize()
+    char *getData()
+
+  cdef cppclass SubSocket:
+    @staticmethod
+    SubSocket * create() nogil
+    int connect(Context *, string, string, bool, bool, size_t) nogil
+    Message * receive(bool) nogil
+    void setTimeout(int) nogil
+
+  cdef cppclass PubSocket:
+    @staticmethod
+    PubSocket * create()
+    int connect(Context *, string, bool, size_t)
+    int sendMessage(Message *)
+    int send(char *, size_t)
+    bool all_readers_updated()
+
+  cdef cppclass Poller:
+    @staticmethod
+    Poller * create()
+    void registerSocket(SubSocket *)
+    vector[SubSocket*] poll(int) nogil

msgq_repo/msgq/ipc_pyx.pyx

@@ -0,0 +1,256 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import time
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp cimport bool
+from libc cimport errno
+from libc.string cimport strerror
+from cython.operator import dereference
+
+
+from .ipc cimport Context as cppContext
+from .ipc cimport SubSocket as cppSubSocket
+from .ipc cimport PubSocket as cppPubSocket
+from .ipc cimport Poller as cppPoller
+from .ipc cimport Message as cppMessage
+from .ipc cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle
+
+
+class IpcError(Exception):
+  def __init__(self, endpoint=None):
+    suffix = f"with {endpoint.decode('utf-8')}" if endpoint else ""
+    message = f"Messaging failure {suffix}: {strerror(errno.errno).decode('utf-8')}"
+    super().__init__(message)
+
+
+class MultiplePublishersError(IpcError):
+  pass
+
+
+def toggle_fake_events(bool enabled):
+  cppSocketEventHandle.toggle_fake_events(enabled)
+
+
+def set_fake_prefix(string prefix):
+  cppSocketEventHandle.set_fake_prefix(prefix)
+
+
+def get_fake_prefix():
+  return cppSocketEventHandle.fake_prefix()
+
+
+def delete_fake_prefix():
+  cppSocketEventHandle.set_fake_prefix(b"")
+
+
+def wait_for_one_event(list events, int timeout=-1):
+  cdef vector[cppEvent] items
+  for event in events:
+    items.push_back(dereference(<cppEvent*><size_t>event.ptr))
+  return cppEvent.wait_for_one(items, timeout)
+
+
+cdef class Event:
+  cdef cppEvent event;
+
+  cdef setEvent(self, cppEvent event):
+    self.event = event
+
+  def set(self):
+    self.event.set()
+
+  def clear(self):
+    return self.event.clear()
+
+  def wait(self, int timeout=-1):
+    self.event.wait(timeout)
+
+  def peek(self):
+    return self.event.peek()
+
+  @property
+  def fd(self):
+    return self.event.fd()
+
+  @property
+  def ptr(self):
+    return <size_t><void*>&self.event
+
+
+cdef class SocketEventHandle:
+  cdef cppSocketEventHandle * handle;
+
+  def __cinit__(self, string endpoint, string identifier, bool override):
+    self.handle = new cppSocketEventHandle(endpoint, identifier, override)
+
+  def __dealloc__(self):
+    del self.handle
+
+  @property
+  def enabled(self):
+    return self.handle.is_enabled()
+
+  @enabled.setter
+  def enabled(self, bool value):
+    self.handle.set_enabled(value)
+
+  @property
+  def recv_called_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_called())
+
+    return e
+
+  @property
+  def recv_ready_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_ready())
+
+    return e
+
+
+cdef class Context:
+  cdef cppContext * context
+
+  def __cinit__(self):
+    self.context = cppContext.create()
+
+  def term(self):
+    del self.context
+    self.context = NULL
+
+  def __dealloc__(self):
+    pass
+    # Deleting the context will hang if sockets are still active
+    # TODO: Figure out a way to make sure the context is closed last
+    # del self.context
+
+
+cdef class Poller:
+  cdef cppPoller * poller
+  cdef list sub_sockets
+
+  def __cinit__(self):
+    self.sub_sockets = []
+    self.poller = cppPoller.create()
+
+  def __dealloc__(self):
+    del self.poller
+
+  def registerSocket(self, SubSocket socket):
+    self.sub_sockets.append(socket)
+    self.poller.registerSocket(socket.socket)
+
+  def poll(self, timeout):
+    sockets = []
+    cdef int t = timeout
+
+    with nogil:
+      result = self.poller.poll(t)
+
+    for s in result:
+      socket = SubSocket()
+      socket.setPtr(s)
+      sockets.append(socket)
+
+    return sockets
+
+
+cdef class SubSocket:
+  cdef cppSubSocket * socket
+  cdef bool is_owner
+
+  def __cinit__(self):
+    with nogil:
+      self.socket = cppSubSocket.create()
+
+    self.is_owner = True
+    if self.socket == NULL:
+      raise IpcError
+
+  def __dealloc__(self):
+    if self.is_owner:
+      with nogil:
+        del self.socket
+
+  cdef setPtr(self, cppSubSocket * ptr):
+    if self.is_owner:
+      with nogil:
+        del self.socket
+
+    self.is_owner = False
+    self.socket = ptr
+
+  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False, size_t segment_size=0):
+    cdef int r
+    with nogil:
+      r = self.socket.connect(context.context, endpoint, address, conflate, True, segment_size)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError(endpoint)
+      else:
+        raise IpcError(endpoint)
+
+  def setTimeout(self, int timeout):
+    with nogil:
+      self.socket.setTimeout(timeout)
+
+  def receive(self, bool non_blocking=False):
+    cdef cppMessage *msg
+    with nogil:
+      msg = self.socket.receive(non_blocking)
+
+    if msg == NULL:
+      return None
+    else:
+      sz = msg.getSize()
+      m = msg.getData()[:sz]
+      with nogil:
+        del msg
+
+      return m
+
+
+cdef class PubSocket:
+  cdef cppPubSocket * socket
+
+  def __cinit__(self):
+    self.socket = cppPubSocket.create()
+    if self.socket == NULL:
+      raise IpcError
+
+  def __dealloc__(self):
+    del self.socket
+
+  def connect(self, Context context, string endpoint, size_t segment_size=0):
+    r = self.socket.connect(context.context, endpoint, True, segment_size)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError(endpoint)
+      else:
+        raise IpcError(endpoint)
+
+  def send(self, bytes data):
+    length = len(data)
+    r = self.socket.send(<char*>data, length)
+
+    if r != length:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise IpcError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()
+
+  def wait_for_readers(self, double timeout=1.0, double interval=0.001):
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+      if self.all_readers_updated():
+        return
+      time.sleep(interval)
+    raise TimeoutError("subscriber did not connect")