sunnypilot v0.10.1

version: sunnypilot v0.10.1 (staging) date: 2025-09-08T03:38:38 master commit: 698e0ca00f
sunnypilot v0.10.1 release
2026-06-19 16:52:06 +08:00 · 2025-09-08 03:38:38 +00:00 · 2025-09-08 03:38:27 +00:00
2477 changed files with 1415699 additions and 47171 deletions
@@ -1,21 +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
-*.wav filter=lfs diff=lfs merge=lfs -text
-
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
@@ -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
@@ -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
-
@@ -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
@@ -1,8 +0,0 @@
---
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
---
-
@@ -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
-
@@ -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/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/**}"
@@ -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. 
-
-
-->
-
@@ -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
@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
@@ -1,91 +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@v4
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v5.0.0
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == '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-c3'
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
-    steps:
-      - name: Check if PR has dev-c3 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-c3', 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-c3 == '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.`
-            });
@@ -1,37 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: sunnypilot-base
-  DOCKER_REGISTRY: ghcr.io/sunnypilot
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Push badges
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc) && 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
@@ -1,303 +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-docs, gh-pages)
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          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: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(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 }}
-      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+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | 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 }}
-      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:
-      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: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${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-docs
-          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
@@ -1,228 +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: ''
-      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
-      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: true
-      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: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${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-docs
-          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 $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages
@@ -1,76 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-ci-run-${{ 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:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Generate the log file
-        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
-  validate_cereal_with_upstream:
-    name: Validate cereal with Upstream
-    runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          submodules: true
-          ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
-        run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always()
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -1,65 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: commaai/timeout@v1
-
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-
-    # Build
-    - name: Build docs
-      run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
-
-    # Push to docs.comma.ai
-    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == '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
@@ -1,59 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  # TODO: gc old branches in a separate job in this workflow
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v7
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v7
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });
@@ -1,72 +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
@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Checkout master
-        uses: actions/checkout@v4
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}
@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh prebuilt
-
-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: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"
@@ -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 }}
@@ -1,42 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build___nightly:
-    name: build __nightly
-    env:
-      ImageOS: ubuntu24
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
-    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build __nightly'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
-    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
@@ -1,73 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: uv lock
-      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git config submodule.tinygrad.update none
-        git submodule update --remote
-        git add .
-    - name: update car docs
-      run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
-        python selfdrive/car/docs.py
-        git add docs/CARS.md
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
-        labels: bot
@@ -1,309 +0,0 @@
-name: selfdrive
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: |
-        if [ "${{ 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:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
-  build_mac:
-    name: build macOS
-    if: false  # temp disable since homebrew install is getting stuck
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  process_replay:
-    name: process replay
-    if: false  # disable process_replay for forks
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_ui_report:
-    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
-    name: Create UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: FrameReader is broken on CI runners
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: caching frames
-        id: frames-cache
-        uses: actions/cache@v4
-        with:
-          path: .ci_cache/comma_download_cache
-          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
-        run: >
-            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                            source selfdrive/test/setup_xvfb.sh &&
-                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
-                            chmod -R 777 /tmp/comma_download_cache"
-      - name: Upload Test Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT
@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}
@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == '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@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
@@ -1,219 +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: ${{ github.workspace }}/selfdrive/modeld/models
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
-
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.thneed' \
-            --include='*.pkl' \
-            --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
@@ -1,357 +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_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master' }} # vars are set on repo settings.
-  
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
-
-on:
-  push:
-    branches: [ master, master-dev-c3-new ]
-    tags: [ 'release/*' ]
-  pull_request_target:
-    types: [ labeled ]
-  workflow_dispatch:
-    inputs:
-      wait_for_tests:
-        description: 'Wait for selfdrive_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 common/version.h | grep COMMA_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: selfdrive_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 }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
-            scons-${{ 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 $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          scons -j$(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} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='*.cc' \
-            --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --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: [ build, publish ]
-    runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
-
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
-        run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
-
-  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}`);
@@ -1,223 +0,0 @@
-name: Build dev-c3-new
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev-c3"
-  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-c3-new'
-        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 == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-      )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - 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 == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-          )
-        with:
-          workflow: selfdrive_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=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F label="is:pr is:open label:${PR_LABEL} 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 = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # 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
-
-          # If we get here, there are diffs, so push
-          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" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ 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=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ 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: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,173 +0,0 @@
-name: "ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/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 }}"
-
-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:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui
-          ref: openpilot_master_ui
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui
-        run: |
-          git checkout --orphan=new_master_ui
-          git rm -rf *
-          git branch -D openpilot_master_ui
-          git branch -m openpilot_master_ui
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -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: 'selfdrive_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 }}
@@ -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/tinygrad/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git
@@ -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>
@@ -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$" />
-    </exec>
-  </tool>
-</toolSet>
@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
-	locksverify = false
@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false
@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$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>
@@ -1,283 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-export LOGPRINT=debug
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', '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 release3-staging", "tici-needs-can", [], [
-        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tici-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-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 (
-      // tici tests
-      'onroad tests': {
-        deviceStage("onroad", "tici-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("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad AR0231': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}
@@ -22,34 +22,24 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links

 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
  1. On the comma three, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`

-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
-
-
-> [!IMPORTANT]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.

 |      Branch      |                 Installation URL              |
 |:----------------:|:---------------------------------------------:|
@@ -59,8 +49,31 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `release-c3-new` |            **Not yet available**.             |

 > [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+
+> [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.

+
+<details>
+
+<summary>Older legacy branches</summary>
+
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+</details>
+
+
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

@@ -1,385 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import numpy as np
-
-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-# pending upstream fix - https://github.com/SCons/scons/issues/4461
-#SetOption('warn', 'all')
-
-TICI = os.path.isfile('/TICI')
-AGNOS = TICI
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--kaitai',
-          action='store_true',
-          help='Regenerate kaitai struct parsers')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-AddOption('--coverage',
-          action='store_true',
-          help='build with test coverage options')
-
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
-AddOption('--ccflags',
-          action='store',
-          type='string',
-          default='',
-          help='pass arbitrary flags over the command line')
-
-AddOption('--external-sconscript',
-          action='store',
-          metavar='FILE',
-          dest='external_sconscript',
-          help='add an external SConscript to the build')
-
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
-
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-AddOption('--stock-ui',
-          action='store_true',
-          dest='stock_ui',
-          default=False,
-          help='Build stock openpilot UI instead of sunnypilot UI')
-
-## Architecture name breakdown (arch)
-## - larch64: linux tici aarch64
-## - aarch64: linux pc aarch64
-## - x86_64:  linux pc x64
-## - Darwin:  mac x64 or arm64
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
-  arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
-
-lenv = {
-  "PATH": os.environ['PATH'],
-  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-}
-
-rpath = []
-
-if arch == "larch64":
-  cpppath = [
-    "#third_party/opencl/include",
-  ]
-
-  libpath = [
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    f"#third_party/acados/{arch}/lib",
-  ]
-
-  libpath += [
-    "#third_party/snpe/larch64",
-    "#third_party/libyuv/larch64/lib",
-    "/usr/lib/aarch64-linux-gnu"
-  ]
-  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  rpath += ["/usr/local/lib"]
-else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-  rpath += []
-
-  # MacOS
-  if arch == "Darwin":
-    libpath = [
-      f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/acados/{arch}/lib",
-      f"{brew_prefix}/lib",
-      f"{brew_prefix}/opt/openssl@3.0/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-
-    cflags += ["-DGL_SILENCE_DEPRECATION"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += [
-      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl@3.0/include",
-    ]
-  # Linux
-  else:
-    libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-    if arch == "x86_64":
-      libpath += [
-        f"#third_party/snpe/{arch}"
-      ]
-      rpath += [
-        Dir(f"#third_party/snpe/{arch}").abspath,
-      ]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
-
-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
-
-ccflags_option = GetOption('ccflags')
-if ccflags_option:
-  ccflags += ccflags_option.split(' ')
-
-env = Environment(
-  ENV=lenv,
-  CCFLAGS=[
-    "-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",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
-    "#",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/snpe/include",
-    "#third_party",
-    "#msgq",
-  ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#common",
-    "#rednose/helpers",
-  ],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-
-if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
-
-env.CompilationDatabase('compile_commands.json')
-
-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-# Cython build environment
-py_include = sysconfig.get_paths()['include']
-envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
-
-qt_libs = []
-if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
-qt_env['LIBS'] = qt_libs
-
-if GetOption("clazy"):
-  checks = [
-    "level0",
-    "level1",
-    "no-range-loop",
-    "no-non-pod-global-static",
-  ]
-  qt_env['CXX'] = 'clazy'
-  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-
-Export('env', 'qt_env', 'arch', 'real_arch')
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
-common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
-
-SConscript(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
-])
-if arch != "Darwin":
-  SConscript([
-    'system/logcatd/SConscript',
-    'system/proclogd/SConscript',
-  ])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
-SConscript(['selfdrive/SConscript'])
-
-SConscript(['sunnypilot/SConscript'])
-
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
-
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])
@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')
@@ -172,6 +172,8 @@ struct OnroadEventSP @0xda96579883444c35 {
    experimentalModeSwitched @14;
    wrongCarModeAlertOnly @15;
    pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
  }
 }

@@ -258,9 +260,16 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
  roadName @5 :Text;
 }

-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
 }

+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
+
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }

@@ -2631,7 +2631,7 @@ struct Event {
    backupManagerSP @113 :Custom.BackupManagerSP;
    carStateSP @114 :Custom.CarStateSP;
    liveMapDataSP @115 :Custom.LiveMapDataSP;
-    customReserved9 @116 :Custom.CustomReserved9;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
    customReserved10 @136 :Custom.CustomReserved10;
    customReserved11 @137 :Custom.CustomReserved11;
    customReserved12 @138 :Custom.CustomReserved12;
@@ -1,71 +0,0 @@
-#include <cassert>
-
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
-#include "common/util.h"
-
-ExitHandler do_exit;
-
-static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
-  std::vector<std::string> service_list;
-  for (const auto& it : services) {
-    std::string name = it.second.name;
-    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (zmq_to_msgq && !in_whitelist) {
-      continue;
-    }
-    service_list.push_back(name);
-  }
-  return service_list;
-}
-
-void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  MsgqToZmq bridge;
-  bridge.run(endpoints, ip);
-}
-
-void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
-
-  for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
-    sub_sock->connect(sub_context.get(), endpoint, ip, false);
-
-    poller->registerSocket(sub_sock);
-    sub2pub[sub_sock] = pub_sock;
-  }
-
-  while (!do_exit) {
-    for (auto sub_sock : poller->poll(100)) {
-      std::unique_ptr<Message> msg(sub_sock->receive(true));
-      if (msg) {
-        sub2pub[sub_sock]->sendMessage(msg.get());
-      }
-    }
-  }
-
-  // Clean up allocated sockets
-  for (auto &[sub_sock, pub_sock] : sub2pub) {
-    delete sub_sock;
-    delete pub_sock;
-  }
-}
-
-int main(int argc, char **argv) {
-  bool is_zmq_to_msgq = argc > 2;
-  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
-  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
-
-  if (is_zmq_to_msgq) {
-    zmq_to_msgq(endpoints, ip);
-  } else {
-    msgq_to_zmq(endpoints, ip);
-  }
-  return 0;
-}
@@ -1,144 +0,0 @@
-#include "cereal/messaging/msgq_to_zmq.h"
-
-#include <cassert>
-
-#include "common/util.h"
-
-extern ExitHandler do_exit;
-
-// Max messages to process per socket per poll
-constexpr int MAX_MESSAGES_PER_SOCKET = 50;
-
-static std::string recv_zmq_msg(void *sock) {
-  zmq_msg_t msg;
-  zmq_msg_init(&msg);
-  std::string ret;
-  if (zmq_msg_recv(&msg, sock, 0) > 0) {
-    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-  zmq_msg_close(&msg);
-  return ret;
-}
-
-void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<MSGQContext>();
-
-  // Create ZMQPubSockets for each endpoint
-  for (const auto &endpoint : endpoints) {
-    auto &socket_pair = socket_pairs.emplace_back();
-    socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
-    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
-    if (ret != 0) {
-      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
-      return;
-    }
-  }
-
-  // Start ZMQ monitoring thread to monitor socket events
-  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
-
-  // Main loop for processing messages
-  while (!do_exit) {
-    {
-      std::unique_lock lk(mutex);
-      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
-      if (do_exit) break;
-
-      for (auto sub_sock : msgq_poller->poll(100)) {
-        // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
-        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
-          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
-          if (!msg) break;
-
-          while (pub_sock->sendMessage(msg.get()) == -1) {
-            if (errno != EINTR) break;
-          }
-        }
-      }
-    }
-    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
-  }
-
-  thread.join();
-}
-
-void MsgqToZmq::zmqMonitorThread() {
-  std::vector<zmq_pollitem_t> pollitems;
-
-  // Set up ZMQ monitor for each pub socket
-  for (int i = 0; i < socket_pairs.size(); ++i) {
-    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
-
-    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
-    zmq_connect(monitor_socket, addr.c_str());
-    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
-  }
-
-  while (!do_exit) {
-    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
-    if (ret < 0) {
-      if (errno == EINTR) {
-        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
-        // to reduce CPU usage during retry attempts.
-        util::sleep_for(200);
-      }
-      continue;
-    }
-
-    for (int i = 0; i < pollitems.size(); ++i) {
-      if (pollitems[i].revents & ZMQ_POLLIN) {
-        // First frame in message contains event number and value
-        std::string frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        uint16_t event_type = *(uint16_t *)(frame.data());
-
-        // Second frame in message contains event address
-        frame = recv_zmq_msg(pollitems[i].socket);
-        if (frame.empty()) continue;
-
-        std::unique_lock lk(mutex);
-        auto &pair = socket_pairs[i];
-        if (event_type & ZMQ_EVENT_ACCEPTED) {
-          printf("socket [%s] connected\n", pair.endpoint.c_str());
-          if (++pair.connected_clients == 1) {
-            // Create new MSGQ subscriber socket and map to ZMQ publisher
-            pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
-            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
-            registerSockets();
-          }
-        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
-          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
-          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
-            // Remove MSGQ subscriber socket from mapping and reset it
-            sub2pub.erase(pair.sub_sock.get());
-            pair.sub_sock.reset(nullptr);
-            registerSockets();
-          }
-        }
-        cv.notify_one();
-      }
-    }
-  }
-
-  // Clean up monitor sockets
-  for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
-    zmq_close(pollitems[i].socket);
-  }
-  cv.notify_one();
-}
-
-void MsgqToZmq::registerSockets() {
-  msgq_poller = std::make_unique<MSGQPoller>();
-  for (const auto &socket_pair : socket_pairs) {
-    if (socket_pair.sub_sock) {
-      msgq_poller->registerSocket(socket_pair.sub_sock.get());
-    }
-  }
-}
@@ -1,203 +0,0 @@
-#include <assert.h>
-#include <stdlib.h>
-#include <string>
-#include <mutex>
-
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
-
-const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
-
-static inline bool inList(const std::vector<const char *> &list, const char *value) {
-  for (auto &v : list) {
-    if (strcmp(value, v) == 0) return true;
-  }
-  return false;
-}
-
-class MessageContext {
-public:
-  MessageContext() : ctx_(nullptr) {}
-  ~MessageContext() { delete ctx_; }
-  inline Context *context() {
-    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
-    return ctx_;
-  }
-private:
-  Context *ctx_;
-  std::once_flag init_flag;
-};
-
-MessageContext message_context;
-
-struct SubMaster::SubMessage {
-  std::string name;
-  SubSocket *socket = nullptr;
-  int freq = 0;
-  bool updated = false, alive = false, valid = false, ignore_alive;
-  uint64_t rcv_time = 0, rcv_frame = 0;
-  void *allocated_msg_reader = nullptr;
-  bool is_polled = false;
-  capnp::FlatArrayMessageReader *msg_reader = nullptr;
-  AlignedBuffer aligned_buf;
-  cereal::Event::Reader event;
-};
-
-SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
-                     const char *address, const std::vector<const char *> &ignore_alive) {
-  poller_ = Poller::create();
-  for (auto name : service_list) {
-    assert(services.count(std::string(name)) > 0);
-
-    service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
-    assert(socket != 0);
-    bool is_polled = inList(poll, name) || poll.empty();
-    if (is_polled) poller_->registerSocket(socket);
-    SubMessage *m = new SubMessage{
-      .name = name,
-      .socket = socket,
-      .freq = serv.frequency,
-      .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .is_polled = is_polled};
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
-    messages_[socket] = m;
-    services_[name] = m;
-  }
-}
-
-void SubMaster::update(int timeout) {
-  for (auto &kv : messages_) kv.second->updated = false;
-
-  auto sockets = poller_->poll(timeout);
-
-  // add non-polled sockets for non-blocking receive
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    SubSocket *s = kv.first;
-    if (!m->is_polled) sockets.push_back(s);
-  }
-
-  uint64_t current_time = nanos_since_boot();
-
-  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
-
-  for (auto s : sockets) {
-    Message *msg = s->receive(true);
-    if (msg == nullptr) continue;
-
-    SubMessage *m = messages_.at(s);
-
-    m->msg_reader->~FlatArrayMessageReader();
-    capnp::ReaderOptions options;
-    options.traversalLimitInWords = kj::maxValue; // Don't limit
-    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
-    delete msg;
-    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
-  }
-
-  update_msgs(current_time, messages);
-}
-
-void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
-  if (++frame == UINT64_MAX) frame = 1;
-
-  for (auto &kv : messages) {
-    auto m_find = services_.find(kv.first);
-    if (m_find == services_.end()){
-      continue;
-    }
-    SubMessage *m = m_find->second;
-    m->event = kv.second;
-    m->updated = true;
-    m->rcv_time = current_time;
-    m->rcv_frame = frame;
-    m->valid = m->event.getValid();
-    if (SIMULATION) m->alive = true;
-  }
-
-  if (!SIMULATION) {
-    for (auto &kv : messages_) {
-      SubMessage *m = kv.second;
-      m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
-    }
-  }
-}
-
-bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
-  int found = 0;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
-      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
-    }
-  }
-  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
-}
-
-void SubMaster::drain() {
-  while (true) {
-    auto polls = poller_->poll(0);
-    if (polls.size() == 0)
-      break;
-
-    for (auto sock : polls) {
-      Message *msg = sock->receive(true);
-      delete msg;
-    }
-  }
-}
-
-bool SubMaster::updated(const char *name) const {
-  return services_.at(name)->updated;
-}
-
-bool SubMaster::alive(const char *name) const {
-  return services_.at(name)->alive;
-}
-
-bool SubMaster::valid(const char *name) const {
-  return services_.at(name)->valid;
-}
-
-uint64_t SubMaster::rcv_frame(const char *name) const {
-  return services_.at(name)->rcv_frame;
-}
-
-uint64_t SubMaster::rcv_time(const char *name) const {
-  return services_.at(name)->rcv_time;
-}
-
-cereal::Event::Reader &SubMaster::operator[](const char *name) const {
-  return services_.at(name)->event;
-}
-
-SubMaster::~SubMaster() {
-  delete poller_;
-  for (auto &kv : messages_) {
-    SubMessage *m = kv.second;
-    m->msg_reader->~FlatArrayMessageReader();
-    free(m->allocated_msg_reader);
-    delete m->socket;
-    delete m;
-  }
-}
-
-PubMaster::PubMaster(const std::vector<const char *> &service_list) {
-  for (auto name : service_list) {
-    assert(services.count(name) > 0);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
-    assert(socket);
-    sockets_[name] = socket;
-  }
-}
-
-int PubMaster::send(const char *name, MessageBuilder &msg) {
-  auto bytes = msg.toBytes();
-  return send(name, bytes.begin(), bytes.size());
-}
-
-PubMaster::~PubMaster() {
-  for (auto s : sockets_) delete s.second;
-}
@@ -0,0 +1,101 @@
+/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
+#ifndef __SERVICES_H
+#define __SERVICES_H
+#include <map>
+#include <string>
+struct service { std::string name; bool should_log; int frequency; int decimation; };
+static std::map<std::string, service> services = {
+  { "gyroscope", {"gyroscope", true, 104, 104}},
+  { "gyroscope2", {"gyroscope2", true, 100, 100}},
+  { "accelerometer", {"accelerometer", true, 104, 104}},
+  { "accelerometer2", {"accelerometer2", true, 100, 100}},
+  { "magnetometer", {"magnetometer", true, 25, -1}},
+  { "lightSensor", {"lightSensor", true, 100, 100}},
+  { "temperatureSensor", {"temperatureSensor", true, 2, 200}},
+  { "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
+  { "gpsNMEA", {"gpsNMEA", true, 9, -1}},
+  { "deviceState", {"deviceState", true, 2, 1}},
+  { "touch", {"touch", true, 20, 1}},
+  { "can", {"can", true, 100, 2053}},
+  { "controlsState", {"controlsState", true, 100, 10}},
+  { "selfdriveState", {"selfdriveState", true, 100, 10}},
+  { "pandaStates", {"pandaStates", true, 10, 1}},
+  { "peripheralState", {"peripheralState", true, 2, 1}},
+  { "radarState", {"radarState", true, 20, 5}},
+  { "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
+  { "liveTracks", {"liveTracks", true, 20, -1}},
+  { "sendcan", {"sendcan", true, 100, 139}},
+  { "logMessage", {"logMessage", true, 0, -1}},
+  { "errorLogMessage", {"errorLogMessage", true, 0, 1}},
+  { "liveCalibration", {"liveCalibration", true, 4, 4}},
+  { "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
+  { "liveDelay", {"liveDelay", true, 4, 1}},
+  { "androidLog", {"androidLog", true, 0, -1}},
+  { "carState", {"carState", true, 100, 10}},
+  { "carControl", {"carControl", true, 100, 10}},
+  { "carOutput", {"carOutput", true, 100, 10}},
+  { "longitudinalPlan", {"longitudinalPlan", true, 20, 10}},
+  { "driverAssistance", {"driverAssistance", true, 20, 20}},
+  { "procLog", {"procLog", true, 0, 15}},
+  { "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
+  { "gpsLocation", {"gpsLocation", true, 1, 1}},
+  { "ubloxGnss", {"ubloxGnss", true, 10, -1}},
+  { "qcomGnss", {"qcomGnss", true, 2, -1}},
+  { "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
+  { "clocks", {"clocks", true, 0, 1}},
+  { "ubloxRaw", {"ubloxRaw", true, 20, -1}},
+  { "livePose", {"livePose", true, 20, 4}},
+  { "liveParameters", {"liveParameters", true, 20, 5}},
+  { "cameraOdometry", {"cameraOdometry", true, 20, 10}},
+  { "thumbnail", {"thumbnail", true, 0, 1}},
+  { "onroadEvents", {"onroadEvents", true, 1, 1}},
+  { "carParams", {"carParams", true, 0, 1}},
+  { "roadCameraState", {"roadCameraState", true, 20, 20}},
+  { "driverCameraState", {"driverCameraState", true, 20, 20}},
+  { "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
+  { "driverStateV2", {"driverStateV2", true, 20, 10}},
+  { "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
+  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
+  { "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
+  { "drivingModelData", {"drivingModelData", true, 20, 10}},
+  { "modelV2", {"modelV2", true, 20, -1}},
+  { "managerState", {"managerState", true, 2, 1}},
+  { "uploaderState", {"uploaderState", true, 0, 1}},
+  { "navInstruction", {"navInstruction", true, 1, 10}},
+  { "navRoute", {"navRoute", true, 0, -1}},
+  { "navThumbnail", {"navThumbnail", true, 0, -1}},
+  { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
+  { "userBookmark", {"userBookmark", true, 0, 1}},
+  { "soundPressure", {"soundPressure", true, 10, 10}},
+  { "rawAudioData", {"rawAudioData", false, 20, -1}},
+  { "bookmarkButton", {"bookmarkButton", true, 0, 1}},
+  { "audioFeedback", {"audioFeedback", true, 0, 1}},
+  { "modelManagerSP", {"modelManagerSP", false, 1, 1}},
+  { "backupManagerSP", {"backupManagerSP", false, 1, 1}},
+  { "selfdriveStateSP", {"selfdriveStateSP", true, 100, 10}},
+  { "longitudinalPlanSP", {"longitudinalPlanSP", true, 20, 10}},
+  { "onroadEventsSP", {"onroadEventsSP", true, 1, 1}},
+  { "carParamsSP", {"carParamsSP", true, 0, 1}},
+  { "carControlSP", {"carControlSP", true, 100, 10}},
+  { "carStateSP", {"carStateSP", true, 100, 10}},
+  { "liveMapDataSP", {"liveMapDataSP", true, 1, 1}},
+  { "modelDataV2SP", {"modelDataV2SP", true, 20, -1}},
+  { "uiDebug", {"uiDebug", true, 0, 1}},
+  { "testJoystick", {"testJoystick", true, 0, -1}},
+  { "alertDebug", {"alertDebug", true, 20, 5}},
+  { "roadEncodeData", {"roadEncodeData", false, 20, -1}},
+  { "driverEncodeData", {"driverEncodeData", false, 20, -1}},
+  { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
+  { "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
+  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
+  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
+  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
+  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
+  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
+  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
+  { "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
+  { "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
+  { "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
+};
+#endif
+
@@ -88,6 +88,7 @@ _services: dict[str, tuple] = {
  "carControlSP": (True, 100., 10),
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20.),

  # debug
  "uiDebug": (True, 0., 1),
@@ -1,35 +0,0 @@
-Import('env', 'envCython', 'arch')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'watchdog.cc',
-  'ratekeeper.cc'
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
-  'clutil.cc',
-]
-
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
-
-Export('common_python')
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
@@ -1,244 +0,0 @@
-#include "common/params.h"
-
-#include <dirent.h>
-#include <sys/file.h>
-
-#include <algorithm>
-#include <cassert>
-#include <csignal>
-#include <unordered_map>
-
-#include "common/params_keys.h"
-#include "common/queue.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-namespace {
-
-volatile sig_atomic_t params_do_exit = 0;
-void params_sig_handler(int signal) {
-  params_do_exit = 1;
-}
-
-int fsync_dir(const std::string &path) {
-  int result = -1;
-  int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
-  if (fd >= 0) {
-    result = HANDLE_EINTR(fsync(fd));
-    HANDLE_EINTR(close(fd));
-  }
-  return result;
-}
-
-bool create_params_path(const std::string &param_path, const std::string &key_path) {
-  // Make sure params path exists
-  if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) {
-    return false;
-  }
-
-  // See if the symlink exists, otherwise create it
-  if (!util::file_exists(key_path)) {
-    // 1) Create temp folder
-    // 2) Symlink it to temp link
-    // 3) Move symlink to <params>/d
-
-    std::string tmp_path = param_path + "/.tmp_XXXXXX";
-    // this should be OK since mkdtemp just replaces characters in place
-    char *tmp_dir = mkdtemp((char *)tmp_path.c_str());
-    if (tmp_dir == NULL) {
-      return false;
-    }
-
-    std::string link_path = std::string(tmp_dir) + ".link";
-    if (symlink(tmp_dir, link_path.c_str()) != 0) {
-      return false;
-    }
-
-    // don't return false if it has been created by other
-    if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) {
-      return false;
-    }
-  }
-
-  return true;
-}
-
-std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
-  std::string params_path = path.empty() ? Path::params() : path;
-  if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format(
-        "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
-        errno, params_path.c_str(), prefix.c_str()));
-  }
-  return params_path;
-}
-
-class FileLock {
-public:
-  FileLock(const std::string &fn) {
-    fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775));
-    if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) {
-      LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno);
-    }
-  }
-  ~FileLock() { close(fd_); }
-
-private:
-  int fd_ = -1;
-};
-
-} // namespace
-
-
-Params::Params(const std::string &path) {
-  params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
-  params_path = ensure_params_path(params_prefix, path);
-}
-
-Params::~Params() {
-  if (future.valid()) {
-    future.wait();
-  }
-  assert(queue.empty());
-}
-
-std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
-  std::vector<std::string> ret;
-  for (auto &p : keys) {
-    if (flag == ALL || (p.second.flags & flag)) {
-      ret.push_back(p.first);
-    }
-  }
-  return ret;
-}
-
-bool Params::checkKey(const std::string &key) {
-  return keys.find(key) != keys.end();
-}
-
-ParamKeyFlag Params::getKeyFlag(const std::string &key) {
-  return static_cast<ParamKeyFlag>(keys[key].flags);
-}
-
-ParamKeyType Params::getKeyType(const std::string &key) {
-  return keys[key].type;
-}
-
-std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
-  return keys[key].default_value;
-}
-
-int Params::put(const char* key, const char* value, size_t value_size) {
-  // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
-  // 1) Create temp file
-  // 2) Write data to temp file
-  // 3) fsync() the temp file
-  // 4) rename the temp file to the real name
-  // 5) fsync() the containing directory
-  std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
-  int tmp_fd = mkstemp((char*)tmp_path.c_str());
-  if (tmp_fd < 0) return -1;
-
-  int result = -1;
-  do {
-    // Write value to temp.
-    ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size));
-    if (bytes_written < 0 || (size_t)bytes_written != value_size) {
-      result = -20;
-      break;
-    }
-
-    // fsync to force persist the changes.
-    if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
-
-    FileLock file_lock(params_path + "/.lock");
-
-    // Move temp into place.
-    if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break;
-
-    // fsync parent directory
-    result = fsync_dir(getParamPath());
-  } while (false);
-
-  close(tmp_fd);
-  if (result != 0) {
-    ::unlink(tmp_path.c_str());
-  }
-  return result;
-}
-
-int Params::remove(const std::string &key) {
-  FileLock file_lock(params_path + "/.lock");
-  int result = unlink(getParamPath(key).c_str());
-  if (result != 0) {
-    return result;
-  }
-  return fsync_dir(getParamPath());
-}
-
-std::string Params::get(const std::string &key, bool block) {
-  if (!block) {
-    return util::read_file(getParamPath(key));
-  } else {
-    // blocking read until successful
-    params_do_exit = 0;
-    void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
-    void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
-
-    std::string value;
-    while (!params_do_exit) {
-      if (value = util::read_file(getParamPath(key)); !value.empty()) {
-        break;
-      }
-      util::sleep_for(100);  // 0.1 s
-    }
-
-    std::signal(SIGINT, prev_handler_sigint);
-    std::signal(SIGTERM, prev_handler_sigterm);
-    return value;
-  }
-}
-
-std::map<std::string, std::string> Params::readAll() {
-  FileLock file_lock(params_path + "/.lock");
-  return util::read_files_in_dir(getParamPath());
-}
-
-void Params::clearAll(ParamKeyFlag key_flag) {
-  FileLock file_lock(params_path + "/.lock");
-
-  // 1) delete params of key_flag
-  // 2) delete files that are not defined in the keys.
-  if (DIR *d = opendir(getParamPath().c_str())) {
-    struct dirent *de = NULL;
-    while ((de = readdir(d))) {
-      if (de->d_type != DT_DIR) {
-        auto it = keys.find(de->d_name);
-        if (it == keys.end() || (it->second.flags & key_flag)) {
-          unlink(getParamPath(de->d_name).c_str());
-        }
-      }
-    }
-    closedir(d);
-  }
-
-  fsync_dir(getParamPath());
-}
-
-void Params::putNonBlocking(const std::string &key, const std::string &val) {
-   queue.push(std::make_pair(key, val));
-  // start thread on demand
-  if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
-    future = std::async(std::launch::async, &Params::asyncWriteThread, this);
-  }
-}
-
-void Params::asyncWriteThread() {
-  // TODO: write the latest one if a key has multiple values in the queue.
-  std::pair<std::string, std::string> p;
-  while (queue.try_pop(p, 0)) {
-    // Params::put is Thread-Safe
-    put(p.first, p.second);
-  }
-}
@@ -146,6 +146,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
@@ -153,8 +154,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},

    // MADS params
@@ -167,6 +170,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

@@ -192,10 +196,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

-    // model panel params
+    // sunnypilot model params
    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},

    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
@@ -1,40 +0,0 @@
-#include "common/ratekeeper.h"
-
-#include <algorithm>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
-  interval = 1 / rate;
-  last_monitor_time = seconds_since_boot();
-  next_frame_time = last_monitor_time + interval;
-}
-
-bool RateKeeper::keepTime() {
-  bool lagged = monitorTime();
-  if (remaining_ > 0) {
-    util::sleep_for(remaining_ * 1000);
-  }
-  return lagged;
-}
-
-bool RateKeeper::monitorTime() {
-  ++frame_;
-  last_monitor_time = seconds_since_boot();
-  remaining_ = next_frame_time - last_monitor_time;
-
-  bool lagged = remaining_ < 0;
-  if (lagged) {
-    if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
-      LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
-    }
-    next_frame_time = last_monitor_time + interval;
-  } else {
-    next_frame_time += interval;
-  }
-  return lagged;
-}
@@ -1,155 +0,0 @@
-#ifndef _GNU_SOURCE
-#define _GNU_SOURCE
-#endif
-
-#include "common/swaglog.h"
-
-#include <cassert>
-#include <limits>
-#include <mutex>
-#include <string>
-
-#include <zmq.h>
-#include <stdarg.h>
-#include "third_party/json11/json11.hpp"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-
-class SwaglogState {
-public:
-  SwaglogState() {
-    zctx = zmq_ctx_new();
-    sock = zmq_socket(zctx, ZMQ_PUSH);
-
-    // Timeout on shutdown for messages to be received by the logging process
-    int timeout = 100;
-    zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
-    zmq_connect(sock, Path::swaglog_ipc().c_str());
-
-    // workaround for https://github.com/dropbox/json11/issues/38
-    setlocale(LC_NUMERIC, "C");
-
-    print_level = CLOUDLOG_WARNING;
-    if (const char* print_lvl = getenv("LOGPRINT")) {
-      if (strcmp(print_lvl, "debug") == 0) {
-        print_level = CLOUDLOG_DEBUG;
-      } else if (strcmp(print_lvl, "info") == 0) {
-        print_level = CLOUDLOG_INFO;
-      } else if (strcmp(print_lvl, "warning") == 0) {
-        print_level = CLOUDLOG_WARNING;
-      }
-    }
-
-    ctx_j = json11::Json::object{};
-    if (char* dongle_id = getenv("DONGLE_ID")) {
-      ctx_j["dongle_id"] = dongle_id;
-    }
-    if (char* git_origin = getenv("GIT_ORIGIN")) {
-      ctx_j["origin"] = git_origin;
-    }
-    if (char* git_branch = getenv("GIT_BRANCH")) {
-      ctx_j["branch"] = git_branch;
-    }
-    if (char* git_commit = getenv("GIT_COMMIT")) {
-      ctx_j["commit"] = git_commit;
-    }
-    if (char* daemon_name = getenv("MANAGER_DAEMON")) {
-      ctx_j["daemon"] = daemon_name;
-    }
-    ctx_j["version"] = COMMA_VERSION;
-    ctx_j["dirty"] = !getenv("CLEAN");
-    ctx_j["device"] = Hardware::get_name();
-  }
-
-  ~SwaglogState() {
-    zmq_close(sock);
-    zmq_ctx_destroy(zctx);
-  }
-
-  void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) {
-    std::lock_guard lk(lock);
-    if (levelnum >= print_level) {
-      printf("%s: %s\n", filename, msg);
-    }
-    zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
-  }
-
-  std::mutex lock;
-  void* zctx = nullptr;
-  void* sock = nullptr;
-  int print_level;
-  json11::Json::object ctx_j;
-};
-
-bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS");
-uint32_t NO_FRAME_ID = std::numeric_limits<uint32_t>::max();
-
-static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
-                            char* msg_buf, const json11::Json::object &msg_j={}) {
-  static SwaglogState s;
-
-  json11::Json::object log_j = json11::Json::object {
-    {"ctx", s.ctx_j},
-    {"levelnum", levelnum},
-    {"filename", filename},
-    {"lineno", lineno},
-    {"funcname", func},
-    {"created", seconds_since_epoch()}
-  };
-  if (msg_j.empty()) {
-    log_j["msg"] = msg_buf;
-  } else {
-    log_j["msg"] = msg_j;
-  }
-
-  std::string log_s;
-  log_s += (char)levelnum;
-  ((json11::Json)log_j).dump(log_s);
-  s.log(levelnum, filename, lineno, func, msg_buf, log_s);
-
-  free(msg_buf);
-}
-
-void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
-                const char* fmt, ...) {
-  va_list args;
-  va_start(args, fmt);
-  char* msg_buf = nullptr;
-  int ret = vasprintf(&msg_buf, fmt, args);
-  va_end(args);
-  if (ret <= 0 || !msg_buf) return;
-  cloudlog_common(levelnum, filename, lineno, func, msg_buf);
-}
-
-void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func,
-                       uint32_t frame_id, const char* fmt, va_list args) {
-  if (!LOG_TIMESTAMPS) return;
-  char* msg_buf = nullptr;
-  int ret = vasprintf(&msg_buf, fmt, args);
-  if (ret <= 0 || !msg_buf) return;
-  json11::Json::object tspt_j = json11::Json::object{
-    {"event", msg_buf},
-    {"time", std::to_string(nanos_since_boot())}
-  };
-  if (frame_id < NO_FRAME_ID) {
-    tspt_j["frame_id"] = std::to_string(frame_id);
-  }
-  tspt_j = json11::Json::object{{"timestamp", tspt_j}};
-  cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j);
-}
-
-
-void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 const char* fmt, ...) {
-  va_list args;
-  va_start(args, fmt);
-  cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args);
-  va_end(args);
-}
-void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 uint32_t frame_id, const char* fmt, ...) {
-  va_list args;
-  va_start(args, fmt);
-  cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
-  va_end(args);
-}
@@ -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");
-  }
-}
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
@@ -1,88 +0,0 @@
-#include <zmq.h>
-
-#include <iostream>
-
-#include "catch2/catch.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
-
-std::string daemon_name = "testy";
-std::string dongle_id = "test_dongle_id";
-int LINE_NO = 0;
-
-void log_thread(int thread_id, int msg_cnt) {
-  for (int i = 0; i < msg_cnt; ++i) {
-    LOGD("%d", thread_id);
-    LINE_NO = __LINE__ - 1;
-    usleep(1);
-  }
-}
-
-void recv_log(int thread_cnt, int thread_msg_cnt) {
-  void *zctx = zmq_ctx_new();
-  void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, Path::swaglog_ipc().c_str());
-  std::vector<int> thread_msgs(thread_cnt);
-  int total_count = 0;
-
-  for (auto start = std::chrono::steady_clock::now(), now = start;
-       now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
-       now = std::chrono::steady_clock::now()) {
-    char buf[4096] = {};
-    if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
-      if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
-      break;
-    }
-
-    REQUIRE(buf[0] == CLOUDLOG_DEBUG);
-    std::string err;
-    auto msg = json11::Json::parse(buf + 1, err);
-    REQUIRE(!msg.is_null());
-
-    REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
-    REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
-    REQUIRE(msg["funcname"].string_value() == "log_thread");
-    REQUIRE(msg["lineno"].int_value() == LINE_NO);
-
-    auto ctx = msg["ctx"];
-
-    REQUIRE(ctx["daemon"].string_value() == daemon_name);
-    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
-    REQUIRE(ctx["dirty"].bool_value() == true);
-
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
-
-    std::string device = Hardware::get_name();
-    REQUIRE(ctx["device"].string_value() == device);
-
-    int thread_id = atoi(msg["msg"].string_value().c_str());
-    REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
-    thread_msgs[thread_id]++;
-    total_count++;
-  }
-  for (int i = 0; i < thread_cnt; ++i) {
-    INFO("thread :" << i);
-    REQUIRE(thread_msgs[i] == thread_msg_cnt);
-  }
-  zmq_close(sock);
-  zmq_ctx_destroy(zctx);
-}
-
-TEST_CASE("swaglog") {
-  setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
-  setenv("DONGLE_ID", dongle_id.c_str(), 1);
-  setenv("dirty", "1", 1);
-  const int thread_cnt = 5;
-  const int thread_msg_cnt = 100;
-
-  std::vector<std::thread> log_threads;
-  for (int i = 0; i < thread_cnt; ++i) {
-    log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
-  }
-  for (auto &t : log_threads) t.join();
-
-  recv_log(thread_cnt, thread_msg_cnt);
-}
@@ -1,147 +0,0 @@
-
-#include <dirent.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-
-#include <algorithm>
-#include <climits>
-#include <fstream>
-#include <random>
-#include <string>
-
-#include "catch2/catch.hpp"
-#include "common/util.h"
-
-std::string random_bytes(int size) {
-  std::random_device rd;
-  std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
-  std::string bytes(size + 1, '\0');
-  std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
-  return bytes;
-}
-
-TEST_CASE("util::read_file") {
-  SECTION("read /proc/version") {
-    std::string ret = util::read_file("/proc/version");
-    REQUIRE(ret.find("Linux version") != std::string::npos);
-  }
-  SECTION("read from sysfs") {
-    std::string ret = util::read_file("/sys/power/wakeup_count");
-    REQUIRE(!ret.empty());
-  }
-  SECTION("read file") {
-    char filename[] = "/tmp/test_read_XXXXXX";
-    int fd = mkstemp(filename);
-
-    REQUIRE(util::read_file(filename).empty());
-
-    std::string content = random_bytes(64 * 1024);
-    write(fd, content.c_str(), content.size());
-    std::string ret = util::read_file(filename);
-    bool equal = (ret == content);
-    REQUIRE(equal);
-    close(fd);
-  }
-  SECTION("read directory") {
-    REQUIRE(util::read_file(".").empty());
-  }
-  SECTION("read non-existent file") {
-    std::string ret = util::read_file("does_not_exist");
-    REQUIRE(ret.empty());
-  }
-  SECTION("read non-permission") {
-    REQUIRE(util::read_file("/proc/kmsg").empty());
-  }
-}
-
-TEST_CASE("util::file_exists") {
-  char filename[] = "/tmp/test_file_exists_XXXXXX";
-  int fd = mkstemp(filename);
-  REQUIRE(fd != -1);
-  close(fd);
-
-  SECTION("existent file") {
-    REQUIRE(util::file_exists(filename));
-    REQUIRE(util::file_exists("/tmp"));
-  }
-  SECTION("nonexistent file") {
-    std::string fn = filename;
-    REQUIRE(!util::file_exists(fn + "/nonexistent"));
-  }
-  SECTION("file has no access permissions") {
-    std::string fn = "/proc/kmsg";
-    std::ifstream f(fn);
-    REQUIRE(f.good() == false);
-    REQUIRE(util::file_exists(fn));
-  }
-  ::remove(filename);
-}
-
-TEST_CASE("util::read_files_in_dir") {
-  char tmp_path[] = "/tmp/test_XXXXXX";
-  const std::string test_path = mkdtemp(tmp_path);
-  const std::string files[] = {".test1", "'test2'", "test3"};
-  for (auto fn : files) {
-    std::ofstream{test_path + "/" + fn} << fn;
-  }
-  mkdir((test_path + "/dir").c_str(), 0777);
-
-  std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
-  REQUIRE(result.find("dir") == result.end());
-  REQUIRE(result.size() == std::size(files));
-  for (auto& [k, v] : result) {
-    REQUIRE(k == v);
-  }
-}
-
-
-TEST_CASE("util::safe_fwrite") {
-  char filename[] = "/tmp/XXXXXX";
-  int fd = mkstemp(filename);
-  close(fd);
-  std::string dat = random_bytes(1024 * 1024);
-
-  FILE *f = util::safe_fopen(filename, "wb");
-  REQUIRE(f != nullptr);
-  size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
-  REQUIRE(size == dat.size());
-  int ret = util::safe_fflush(f);
-  REQUIRE(ret == 0);
-  ret = fclose(f);
-  REQUIRE(ret == 0);
-  bool equal = (dat == util::read_file(filename));
-  REQUIRE(equal);
-}
-
-TEST_CASE("util::create_directories") {
-  system("rm /tmp/test_create_directories -rf");
-  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
-
-  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
-    struct stat st = {};
-    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
-  };
-
-  SECTION("create_directories") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(check_dir_permissions(dir, 0755));
-  }
-  SECTION("dir already exists") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(util::create_directories(dir, 0755));
-  }
-  SECTION("a file exists with the same name") {
-    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
-    REQUIRE(f != -1);
-    close(f);
-    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
-    REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
-  }
-  SECTION("end with slashes") {
-    REQUIRE(util::create_directories(dir + "/", 0755));
-  }
-  SECTION("empty") {
-    REQUIRE(util::create_directories("", 0755) == false);
-  }
-}
@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')
@@ -1,100 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include "common/transformations/coordinates.hpp"
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-double a = 6378137; // lgtm [cpp/short-global-name]
-double b = 6356752.3142; // lgtm [cpp/short-global-name]
-double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
-double e1sq = 6.73949674228 * 0.001;
-
-
-static Geodetic to_degrees(Geodetic geodetic){
-  geodetic.lat = RAD2DEG(geodetic.lat);
-  geodetic.lon = RAD2DEG(geodetic.lon);
-  return geodetic;
-}
-
-static Geodetic to_radians(Geodetic geodetic){
-  geodetic.lat = DEG2RAD(geodetic.lat);
-  geodetic.lon = DEG2RAD(geodetic.lon);
-  return geodetic;
-}
-
-
-ECEF geodetic2ecef(const Geodetic &geodetic) {
-  auto g = to_radians(geodetic);
-  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
-  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
-  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
-  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
-  return {x, y, z};
-}
-
-Geodetic ecef2geodetic(const ECEF &e) {
-  // Convert from ECEF to geodetic using Ferrari's methods
-  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  double x = e.x;
-  double y = e.y;
-  double z = e.z;
-
-  double r = sqrt(x * x + y * y);
-  double Esq = a * a - b * b;
-  double F = 54 * b * b * z * z;
-  double G = r * r + (1 - esq) * z * z - esq * Esq;
-  double C = (esq * esq * F * r * r) / (pow(G, 3));
-  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
-  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
-  double Q = sqrt(1 + 2 * esq * esq * P);
-  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
-  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
-  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
-  double Z_0 = b * b * z / (a * V);
-  double h = U * (1 - b * b / (a * V));
-
-  double lat = atan((z + e1sq * Z_0) / r);
-  double lon = atan2(y, x);
-
-  return to_degrees({lat, lon, h});
-}
-
-LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
-  init_ecef <<  e.x, e.y, e.z;
-
-  auto g = to_radians(geodetic);
-
-  ned2ecef_matrix <<
-    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
-    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
-    cos(g.lat), 0, -sin(g.lat);
-  ecef2ned_matrix = ned2ecef_matrix.transpose();
-}
-
-NED LocalCoord::ecef2ned(const ECEF &e) {
-  Eigen::Vector3d ecef;
-  ecef << e.x, e.y, e.z;
-
-  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
-  return {ned[0], ned[1], ned[2]};
-}
-
-ECEF LocalCoord::ned2ecef(const NED &n) {
-  Eigen::Vector3d ned;
-  ned << n.n, n.e, n.d;
-
-  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
-  return {ecef[0], ecef[1], ecef[2]};
-}
-
-NED LocalCoord::geodetic2ned(const Geodetic &g) {
-  ECEF e = ::geodetic2ecef(g);
-  return ecef2ned(e);
-}
-
-Geodetic LocalCoord::ned2geodetic(const NED &n) {
-  ECEF e = ned2ecef(n);
-  return ::ecef2geodetic(e);
-}
@@ -1,144 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-#include "common/transformations/orientation.hpp"
-#include "common/transformations/coordinates.hpp"
-
-Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
-  if (quat.w() > 0){
-    return quat;
-  } else {
-    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
-  }
-}
-
-Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
-  Eigen::Quaterniond q;
-
-  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
-    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
-    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
-  return ensure_unique(q);
-}
-
-
-Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
-  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
-  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
-  // return {euler(2), euler(1), euler(0)};
-  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
-  double theta = asin(asin_arg_clipped);
-  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
-  return {gamma, theta, psi};
-}
-
-Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
-  return quat.toRotationMatrix();
-}
-
-Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
-  return ensure_unique(Eigen::Quaterniond(rot));
-}
-
-Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
-  return quat2rot(euler2quat(euler));
-}
-
-Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
-  return quat2euler(rot2quat(rot));
-}
-
-Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
-  return euler2rot({roll, pitch, yaw});
-}
-
-Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
-  Eigen::Quaterniond q;
-  q = Eigen::AngleAxisd(angle, axis);
-  return q.toRotationMatrix();
-}
-
-
-Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-  Eigen::Vector3d zero = ecef_init.to_vector();
-
-  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
-
-
-  x0 = Eigen::Vector3d(1, 0, 0);
-  y0 = Eigen::Vector3d(0, 1, 0);
-  z0 = Eigen::Vector3d(0, 0, 1);
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-
-Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-
-  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
-  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
-  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
-
-  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
-
-  Eigen::Vector3d zero = ecef_init.to_vector();
-  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-
@@ -1,317 +0,0 @@
-#include "common/util.h"
-#include "common/swaglog.h"
-
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-#include <sys/resource.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <dirent.h>
-#include <fstream>
-#include <iomanip>
-#include <random>
-#include <sstream>
-#include <limits>
-
-#ifdef __linux__
-#include <sys/prctl.h>
-#include <sys/syscall.h>
-#ifndef __USE_GNU
-#define __USE_GNU
-#endif
-#include <sched.h>
-#endif  // __linux__
-
-namespace util {
-
-void set_thread_name(const char* name) {
-#ifdef __linux__
-  // pthread_setname_np is dumb (fails instead of truncates)
-  prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
-#endif
-}
-
-int set_realtime_priority(int level) {
-#ifdef __linux__
-  long tid = syscall(SYS_gettid);
-
-  // should match python using chrt
-  struct sched_param sa;
-  memset(&sa, 0, sizeof(sa));
-  sa.sched_priority = level;
-  return sched_setscheduler(tid, SCHED_FIFO, &sa);
-#else
-  return -1;
-#endif
-}
-
-int set_core_affinity(std::vector<int> cores) {
-#ifdef __linux__
-  long tid = syscall(SYS_gettid);
-  cpu_set_t cpu;
-
-  CPU_ZERO(&cpu);
-  for (const int n : cores) {
-    CPU_SET(n, &cpu);
-  }
-  return sched_setaffinity(tid, sizeof(cpu), &cpu);
-#else
-  return -1;
-#endif
-}
-
-int set_file_descriptor_limit(uint64_t limit_val) {
-  struct rlimit limit;
-  int status;
-
-  if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0)
-    return status;
-
-  limit.rlim_cur = limit_val;
-  if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0)
-    return status;
-
-  return 0;
-}
-
-std::string read_file(const std::string& fn) {
-  std::ifstream f(fn, std::ios::binary | std::ios::in);
-  if (f.is_open()) {
-    f.seekg(0, std::ios::end);
-    std::streamsize size = f.tellg();
-    // seekg and tellg on a directory doesn't return pos_type(-1) but max(streamsize)
-    if (f.good() && size > 0 && size < std::numeric_limits<std::streamsize>::max()) {
-      std::string result(size, '\0');
-      f.seekg(0, std::ios::beg);
-      f.read(result.data(), size);
-      // return either good() or has reached end-of-file (e.g. /sys/power/wakeup_count)
-      if (f.good() || f.eof()) {
-        result.resize(f.gcount());
-        return result;
-      }
-    }
-    // fallback for files created on read, e.g. procfs
-    std::stringstream buffer;
-    buffer << f.rdbuf();
-    return buffer.str();
-  }
-  return std::string();
-}
-
-std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
-  std::map<std::string, std::string> ret;
-  DIR *d = opendir(path.c_str());
-  if (!d) return ret;
-
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type != DT_DIR) {
-      ret[de->d_name] = util::read_file(path + "/" + de->d_name);
-    }
-  }
-
-  closedir(d);
-  return ret;
-}
-
-int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
-  int fd = HANDLE_EINTR(open(path, flags, mode));
-  if (fd == -1) {
-    return -1;
-  }
-  ssize_t n = HANDLE_EINTR(write(fd, data, size));
-  close(fd);
-  return (n >= 0 && (size_t)n == size) ? 0 : -1;
-}
-
-FILE* safe_fopen(const char* filename, const char* mode) {
-  FILE* fp = NULL;
-  do {
-    fp = fopen(filename, mode);
-  } while ((nullptr == fp) && (errno == EINTR));
-  return fp;
-}
-
-size_t safe_fwrite(const void* ptr, size_t size, size_t count, FILE* stream) {
-  size_t written = 0;
-  do {
-    size_t ret = ::fwrite((void*)((char *)ptr + written * size), size, count - written, stream);
-    if (ret == 0 && errno != EINTR) break;
-    written += ret;
-  } while (written != count);
-  return written;
-}
-
-int safe_fflush(FILE *stream) {
-  int ret = EOF;
-  do {
-    ret = fflush(stream);
-  } while ((EOF == ret) && (errno == EINTR));
-  return ret;
-}
-
-int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
-  int ret;
-  do {
-    ret = ioctl(fd, request, argp);
-  } while ((ret == -1) && (errno == EINTR));
-
-  if (ret == -1 && exception_msg) {
-    LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
-    throw std::runtime_error(exception_msg);
-  }
-  return ret;
-}
-
-std::string readlink(const std::string &path) {
-  char buff[4096];
-  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
-  if (len != -1) {
-    buff[len] = '\0';
-    return std::string(buff);
-  }
-  return "";
-}
-
-bool file_exists(const std::string& fn) {
-  struct stat st = {};
-  return stat(fn.c_str(), &st) != -1;
-}
-
-static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& dir) -> bool {
-    struct stat st = {};
-    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
-  };
-  // remove trailing /'s
-  while (dir.size() > 1 && dir.back() == '/') {
-    dir.pop_back();
-  }
-  // try to mkdir this directory
-  if (mkdir(dir.c_str(), mode) == 0) return true;
-  if (errno == EEXIST) return verify_dir(dir);
-  if (errno != ENOENT) return false;
-
-  // mkdir failed because the parent dir doesn't exist, so try to create it
-  size_t slash = dir.rfind('/');
-  if ((slash == std::string::npos || slash < 1) ||
-      !createDirectory(dir.substr(0, slash), mode)) {
-    return false;
-  }
-
-  // try again
-  if (mkdir(dir.c_str(), mode) == 0) return true;
-  return errno == EEXIST && verify_dir(dir);
-}
-
-bool create_directories(const std::string& dir, mode_t mode) {
-  if (dir.empty()) return false;
-  return createDirectory(dir, mode);
-}
-
-std::string getenv(const char* key, std::string default_val) {
-  const char* val = ::getenv(key);
-  return val ? val : default_val;
-}
-
-int getenv(const char* key, int default_val) {
-  const char* val = ::getenv(key);
-  return val ? atoi(val) : default_val;
-}
-
-float getenv(const char* key, float default_val) {
-  const char* val = ::getenv(key);
-  return val ? atof(val) : default_val;
-}
-
-std::string hexdump(const uint8_t* in, const size_t size) {
-  std::stringstream ss;
-  ss << std::hex << std::setfill('0');
-  for (size_t i = 0; i < size; i++) {
-    ss << std::setw(2) << static_cast<unsigned int>(in[i]);
-  }
-  return ss.str();
-}
-
-int random_int(int min, int max) {
-  std::random_device dev;
-  std::mt19937 rng(dev());
-  std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
-  return dist(rng);
-}
-
-std::string random_string(std::string::size_type length) {
-  const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
-  std::mt19937 rg{std::random_device{}()};
-  std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
-  std::string s;
-  s.reserve(length);
-  while (length--) {
-    s += chrs[pick(rg)];
-  }
-  return s;
-}
-
-bool starts_with(const std::string &s1, const std::string &s2) {
-  return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
-}
-
-bool ends_with(const std::string& s, const std::string& suffix) {
-  return s.size() >= suffix.size() &&
-         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
-}
-
-std::string strip(const std::string &str) {
-  auto should_trim = [](unsigned char ch) {
-    return std::isspace(ch) || ch == '\0';
-  };
-
-  size_t start = 0;
-  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
-    start++;
-  }
-
-  if (start == str.size()) {
-    return "";
-  }
-
-  size_t end = str.size() - 1;
-  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
-    end--;
-  }
-
-  return str.substr(start, end - start + 1);
-}
-
-std::string check_output(const std::string& command) {
-  char buffer[128];
-  std::string result;
-  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
-
-  if (!pipe) {
-    return "";
-  }
-
-  while (fgets(buffer, std::size(buffer), pipe.get()) != nullptr) {
-    result += std::string(buffer);
-  }
-
-  return result;
-}
-
-bool system_time_valid() {
-  // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
-  time_t min_date = mktime(&min_tm);
-
-  struct stat st;
-  if (stat("/lib/systemd/systemd", &st) == 0) {
-    min_date = std::max(min_date, st.st_mtime + 86400);  // Add 1 day (86400 seconds)
-  }
-
-  return time(nullptr) > min_date;
-}
-
-}  // namespace util
@@ -1,12 +0,0 @@
-#include <string>
-
-#include "common/watchdog.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
-
-bool watchdog_kick(uint64_t ts) {
-  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-  return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
-}
@@ -1,3 +1,56 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3142658fa2782d266028dcab491e02ab329a2cadcf9efb1846a5f9631d64cac1
-size 1947
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
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+   viewBox="0 0 19.999983 19"
+   version="1.1"
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+   sodipodi:docname="icon-star-empty.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
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+     id="defs1429" />
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+     pagecolor="#ffffff"
+     bordercolor="#666666"
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+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="631"
+     id="namedview1427"
+     showgrid="false"
+     inkscape:zoom="9.8333333"
+     inkscape:cx="-8.3559301"
+     inkscape:cy="8.9999925"
+     inkscape:window-x="0"
+     inkscape:window-y="1267"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg1425" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path1423"
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+</svg>
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-oid sha256:5fdcc85f3d8c9d0c2fb76b98ddd9f118c0e4a12c859a4281a04a0870d5de12c8
-size 1950
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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+   xmlns:cc="http://creativecommons.org/ns#"
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+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19"
+   viewBox="0 0 19.999983 19"
+   version="1.1"
+   id="svg817"
+   sodipodi:docname="icon-star-full.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
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+    </rdf:RDF>
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+  <defs
+     id="defs821" />
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+     pagecolor="#ffffff"
+     bordercolor="#666666"
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+     inkscape:pageshadow="2"
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+     showgrid="false"
+     inkscape:zoom="20.005229"
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-size 2508
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+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19.000008"
+   viewBox="0 0 19.999983 19.000008"
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+   id="svg831"
+   sodipodi:docname="icon-star-half.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
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+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs835" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
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+     gridtolerance="10"
+     guidetolerance="10"
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-oid sha256:6cb64f9da10b818c56763a7c48347f6043da20a2a77fb14f6d60d9457c575b6b
-size 1278
+<?xml version="1.0" encoding="utf-8"?>
+<svg viewBox="500.972 178.81 20 14.375" width="20" height="14.375" xmlns="http://www.w3.org/2000/svg" xmlns:bx="https://boxy-svg.com">
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+      <rect width="20" height="20" fill="white"/>
+    </clipPath>
+  </defs>
+  <g clip-path="url(#clip0_1674_1768)" transform="matrix(1, 0, 0, 1, 500.971771, 175.81041)">
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+  </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>
@@ -0,0 +1 @@
+.sconsign.dblite
@@ -0,0 +1,18 @@
+/gen/
+*.tmp
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+*.os
+*.so
+*.o
+*.a
+
+test_runner
+
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+.mypy_cache/
@@ -0,0 +1,48 @@
+files: ^msgq/
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+    -   id: check-ast
+    -   id: check-yaml
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v1.9.0
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.3.5
+    hooks:
+    -   id: ruff
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(msgq/msgq_tests.cc|msgq/test_runner.cc)'
+        args:
+        - --error-exitcode=1
+        - --inline-suppr
+        - --language=c++
+        - --force
+        - --quiet
+        - -j4
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        args:
+        - --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
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+    -   id: codespell
+        args:
+        - -L ned
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
@@ -0,0 +1,52 @@
+FROM ubuntu:24.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    autoconf \
+    build-essential \
+    ca-certificates \
+    capnproto \
+    clang \
+    cppcheck \
+    curl \
+    git \
+    libbz2-dev \
+    libcapnp-dev \
+    libclang-rt-dev \
+    libffi-dev \
+    liblzma-dev \
+    libncurses5-dev \
+    libncursesw5-dev \
+    libreadline-dev \
+    libsqlite3-dev \
+    libssl-dev \
+    libtool \
+    libzmq3-dev \
+    llvm \
+    make \
+    cmake \
+    ocl-icd-opencl-dev \
+    opencl-headers  \
+    python3-dev \
+    python3-pip \
+    tk-dev \
+    wget \
+    xz-utils \
+    zlib1g-dev \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --break-system-packages --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy pytest
+
+WORKDIR /project/msgq
+RUN cd /tmp/ && \
+    git clone -b v2.x --depth 1 https://github.com/catchorg/Catch2.git && \
+    cd Catch2 && \
+    mv single_include/* /project/msgq/ && \
+    cd .. \
+    rm -rf Catch2
+
+ENV PYTHONPATH=/project/msgq
+
+COPY . .
+RUN ls && rm -rf .git && \
+    scons -c && scons -j$(nproc)
@@ -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. MSGQ is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance. While MSGQ is the core of this library, this library also allows replacing the MSGQ backend with ZMQ or a spoofed implementation that can be used for deterministic testing. This library also contains 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.
@@ -0,0 +1,8 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
@@ -0,0 +1 @@
+ipc_pyx.cpp
@@ -0,0 +1,61 @@
+# 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
+
+assert MultiplePublishersError
+assert IpcError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+
+context = Context()
+
+
+def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  identifier = identifier or get_fake_prefix()
+  handle = SocketEventHandle(endpoint, identifier, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+def pub_sock(endpoint: str) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint)
+  return sock
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
+
+  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
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path);
+
+enum EventPurpose {
+  RECV_CALLED,
+  RECV_READY
+};
+
+struct EventState {
+  int fds[2];
+  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_path;
+  EventState* state;
+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();
+};
@@ -0,0 +1,67 @@
+#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:
+  Event *recv_called = nullptr;
+  Event *recv_ready = nullptr;
+  EventState *state = nullptr;
+
+public:
+  FakeSubSocket(): TSubSocket() {}
+  ~FakeSubSocket() {
+    delete recv_called;
+    delete recv_ready;
+    if (state != nullptr) {
+      munmap(state, sizeof(EventState));
+    }
+  }
+
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) 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;
+    this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]);
+    this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]);
+
+    return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint);
+  }
+
+  Message *receive(bool non_blocking=false) override {
+    if (this->state->enabled) {
+      this->recv_called->set();
+      this->recv_ready->wait();
+      this->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() {}
+};
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "msgq/ipc.h"
+#include "msgq/msgq.h"
+
+#define MAX_POLLERS 128
+
+class MSGQContext : public Context {
+private:
+  void * context = NULL;
+public:
+  MSGQContext();
+  void * getRawContext() {return context;}
+  ~MSGQContext();
+};
+
+class MSGQMessage : public Message {
+private:
+  char * data;
+  size_t size;
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  void takeOwnership(char *data, size_t size);
+  size_t getSize(){return size;}
+  char * getData(){return data;}
+  void close();
+  ~MSGQMessage();
+};
+
+class MSGQSubSocket : public SubSocket {
+private:
+  msgq_queue_t * q = NULL;
+  int timeout;
+public:
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
+  void setTimeout(int timeout);
+  void * getRawSocket() {return (void*)q;}
+  Message *receive(bool non_blocking=false);
+  ~MSGQSubSocket();
+};
+
+class MSGQPubSocket : public PubSocket {
+private:
+  msgq_queue_t * q = NULL;
+public:
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  bool all_readers_updated();
+  ~MSGQPubSocket();
+};
+
+class MSGQPoller : public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+  msgq_pollitem_t polls[MAX_POLLERS];
+  size_t num_polls = 0;
+
+public:
+  void registerSocket(SubSocket *socket);
+  std::vector<SubSocket*> poll(int timeout);
+  ~MSGQPoller(){}
+};
@@ -0,0 +1,68 @@
+#pragma once
+
+#include <zmq.h>
+#include <string>
+#include <vector>
+
+#include "msgq/ipc.h"
+
+#define MAX_POLLERS 128
+
+class ZMQContext : public Context {
+private:
+  void * context = NULL;
+public:
+  ZMQContext();
+  void * getRawContext() {return context;}
+  ~ZMQContext();
+};
+
+class ZMQMessage : public Message {
+private:
+  char * data;
+  size_t size;
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  size_t getSize(){return size;}
+  char * getData(){return data;}
+  void close();
+  ~ZMQMessage();
+};
+
+class ZMQSubSocket : public SubSocket {
+private:
+  void * sock;
+  std::string full_endpoint;
+public:
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
+  void setTimeout(int timeout);
+  void * getRawSocket() {return sock;}
+  Message *receive(bool non_blocking=false);
+  ~ZMQSubSocket();
+};
+
+class ZMQPubSocket : public PubSocket {
+private:
+  void * sock;
+  std::string full_endpoint;
+  int pid = -1;
+public:
+  int connect(Context *context, std::string endpoint, bool check_endpoint=true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  bool all_readers_updated();
+  ~ZMQPubSocket();
+};
+
+class ZMQPoller : public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+  zmq_pollitem_t polls[MAX_POLLERS];
+  size_t num_polls = 0;
+
+public:
+  void registerSocket(SubSocket *socket);
+  std::vector<SubSocket*> poll(int timeout);
+  ~ZMQPoller(){}
+};
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
github-actions[bot]	a7fda63287	sunnypilot v0.10.1 version: sunnypilot v0.10.1 (staging) date: 2025-09-08T03:38:38 master commit: `698e0ca00f`	2025-09-08 03:38:38 +00:00
github-actions[bot]	f059cb2df5	sunnypilot v0.10.1 release	2025-09-08 03:38:27 +00:00