Update opendbc_repo

Merge branch 'master' into g90-2023
Update opendbc_repo
2026-07-16 21:42:06 +08:00 · 2026-03-09 01:22:36 -04:00 · 2026-03-09 01:11:40 -04:00 · 2026-03-09 01:11:35 -04:00 · 2025-05-10 18:49:40 -04:00
2024 changed files with 122569 additions and 51904 deletions
@@ -0,0 +1,18 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+
+venv/
+.venv/
@@ -10,5 +10,14 @@
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text

-openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-openpilot/common/hardware/tici/updater 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_weston filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_magic 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
@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+
@@ -8,24 +8,24 @@ chore:

 car:
  - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'

 simulation:
  - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/sim/**'
+    - any-glob-to-all-files: 'tools/sim/**'

 ui:
  - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
+    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'

 tools:
  - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/**'
+    - any-glob-to-all-files: 'tools/**'

 multilanguage:
  - changed-files:
-    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'selfdrive/ui/translations/**'

 autonomy:
  - changed-files:
-    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
@@ -44,8 +44,8 @@ Explain how you tested this bug fix.

 **Checklist**

- [ ] added entry to CAR in openpilot/selfdrive/car/*/values.py and ran `openpilot/selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/car/tests/routes.py)
+- [ ] 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):
@@ -12,7 +12,7 @@ jobs:
      issues: write
    runs-on: ubuntu-latest
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
      with:
        submodules: false

@@ -24,7 +24,7 @@ jobs:

    # Check PR target branch
    - name: check branch
-      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
+      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
      if: github.repository == 'sunnypilot/sunnypilot'
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -34,10 +34,10 @@ jobs:
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -120,7 +120,6 @@ jobs:
    with:
      upstream_branch: ${{ matrix.model.ref }}
      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
    secrets: inherit
@@ -158,7 +157,6 @@ jobs:
    with:
      upstream_branch: ${{ matrix.model.ref }}
      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
      artifact_suffix: -retry
@@ -204,7 +202,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -24,11 +24,6 @@ on:
        required: false
        type: string
        default: ''
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
      bypass_push:
        description: 'Bypass pushing to GitLab for build-all'
        required: false
@@ -44,11 +39,6 @@ on:
        description: 'Custom name for the model (no date, only name)'
        required: false
        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
      recompiled_dir:
        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
        required: true
@@ -92,7 +82,7 @@ jobs:
    with:
      upstream_branch: ${{ inputs.upstream_branch }}
      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: ${{ inputs.is_20hz }}
+      is_20hz: true
      artifact_suffix: ${{ inputs.artifact_suffix }}
    secrets: inherit

@@ -129,7 +119,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -23,62 +23,56 @@ env:
  CI: 1

 jobs:
+  generate_cereal_artifact:
+    name: Generate cereal validation artifacts
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        run: scons -j$(nproc) cereal
+      - name: Generate the log file
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
+      - 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:
-      - name: Checkout sunnypilot cereal
+      - name: Checkout sunnypilot
        uses: actions/checkout@v6
-        with:
-          sparse-checkout: cereal
-
-      - name: Init sunnypilot opendbc submodule
-        run: git submodule update --init --depth 1 opendbc_repo
-
      - name: Checkout upstream openpilot
        uses: actions/checkout@v6
        with:
          repository: 'commaai/openpilot'
-          path: upstream_openpilot
+          path: openpilot
+          submodules: true
          ref: "refs/heads/master"
-
-      - name: Init upstream opendbc submodule
-        working-directory: upstream_openpilot
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Locate upstream capnp paths
-        id: locate-capnp
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        working-directory: openpilot
+        run: scons -j$(nproc) cereal
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: cereal_validations
+          path: openpilot/cereal/messaging/tests/cereal_validations
+      - name: 'Run the validation'
        run: |
-          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
-          if [ -z "$CEREAL_DIR" ]; then
-            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
-            exit 1
-          fi
-          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
-          echo "Found upstream cereal at: $CEREAL_DIR"
-
-          IMPORT_ARGS=""
-          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
-          if [ -n "$CAR_CAPNP" ]; then
-            IMPORT_ARGS="-I $CAR_CAPNP"
-            echo "Found car.capnp at: $CAR_CAPNP"
-          fi
-          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
-
-      - name: Install uv
-        run: pip install uv
-
-      - name: Generate sunnypilot schema
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
-
-      - name: Validate against upstream
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
-            ${{ steps.locate-capnp.outputs.import_args }}
+          export PYTHONPATH=${{ github.workspace }}/openpilot
+          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
@@ -1,57 +0,0 @@
-name: diff report
-
-on:
-  pull_request_target:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  comment:
-    name: comment
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-    - name: Wait for process replay
-      id: wait
-      continue-on-error: true
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-      with:
-        ref: ${{ github.event.pull_request.head.sha }}
-        check-name: process replay
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        allowed-conclusions: success,failure
-        wait-interval: 20
-    - name: Get tests run ID
-      if: steps.wait.outcome == 'success'
-      id: tests-run
-      env:
-        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        run_id=$(gh api \
-          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
-          --jq '.workflow_runs[0].id // empty')
-        if [ -z "$run_id" ]; then
-          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
-          exit 1
-        fi
-        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
-    - name: Download diff
-      if: steps.wait.outcome == 'success'
-      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        repository: ${{ github.repository }}
-        run-id: ${{ steps.tests-run.outputs.run-id }}
-        name: diff_report_${{ github.event.number }}
-        path: .
-    - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
-      with:
-        file-path: diff_report.txt
-        comment-tag: diff_report
-        pr-number: ${{ github.event.number }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -22,19 +22,19 @@ jobs:
    steps:
    - uses: commaai/timeout@v1

-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
      with:
        submodules: true

    # Build
    - name: Build docs
      run: |
-        git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+        # 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@v7
+    - uses: actions/checkout@v6
      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
@@ -45,7 +45,7 @@ jobs:
      run: |
        set -x

-        source tools/release/identity.sh
+        source release/identity.sh

        cd openpilot-docs
        git checkout --orphan tmp
@@ -11,7 +11,7 @@ jobs:
      contents: write
    steps:
      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v9
+        uses: actions/github-script@v8
        with:
          script: |
            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
    steps:
    - name: Check for trigger phrase
      id: check_comment
-      uses: actions/github-script@v9
+      uses: actions/github-script@v8
      with:
        script: |
          const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:

    - name: Checkout repository
      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v7
+      uses: actions/checkout@v6
      with:
        ref: refs/pull/${{ github.event.issue.number }}/head

@@ -86,7 +86,7 @@ jobs:

    - name: Delete trigger comment
      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v9
+      uses: actions/github-script@v8
      with:
        script: |
          await github.rest.issues.deleteComment({
@@ -4,7 +4,7 @@ on:
  pull_request:
    types: [opened, reopened, synchronize]
    paths:
-      - 'openpilot/selfdrive/modeld/models/*.onnx'
+      - 'selfdrive/modeld/models/*.onnx'
  workflow_dispatch:

 jobs:
@@ -16,11 +16,11 @@ jobs:
    if: github.repository == 'commaai/openpilot'
    steps:
      - name: Checkout
-        uses: actions/checkout@v7
+        uses: actions/checkout@v6
        with:
          submodules: true
      - name: Checkout master
-        uses: actions/checkout@v7
+        uses: actions/checkout@v6
        with:
          ref: master
          path: base
@@ -36,7 +36,7 @@ jobs:
          echo "EOF" >> $GITHUB_OUTPUT

      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@0ea0beb66eb9baf113663a64ec522f60e49231c0
+        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
        with:
          header: model-review
          message: ${{ steps.report.outputs.content }}
@@ -15,17 +15,17 @@ jobs:
    steps:
    - name: Wait for green check mark
      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
        ref: master
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
+    - uses: actions/checkout@v4
      with:
        submodules: true
        fetch-depth: 0
    - run: ./tools/op.sh setup
    - name: Push __nightly
-      run: BRANCH=__nightly tools/release/build_stripped.sh
+      run: BRANCH=__nightly release/build_stripped.sh
@@ -3,22 +3,40 @@ name: repo maintenance
 on:
  schedule:
    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  pull_request:
-    types: [closed]
  workflow_dispatch:

 env:
  PYTHONPATH: ${{ github.workspace }}

 jobs:
+  update_translations:
+    runs-on: ubuntu-latest
+    if: github.repository == 'sunnypilot/sunnypilot'
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - run: ./tools/op.sh setup
+      - name: Update translations
+        run: python3 selfdrive/ui/update_translations.py --vanish
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+        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
-    if: >-
-      github.repository == 'sunnypilot/sunnypilot' &&
-      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
+    if: github.repository == 'sunnypilot/sunnypilot'
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
      with:
        submodules: true
    - run: ./tools/op.sh setup
@@ -54,10 +72,11 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        python openpilot/selfdrive/car/docs.py
+        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@5f6978faf089d4d20b00c7766989d076bb2fc7f1
+      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
      with:
        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -79,43 +98,3 @@ jobs:
          ${{ steps.pip_tree.outputs.PIP_TREE }}
          ```
        labels: bot
-
-  cleanup_closed_branches:
-    if: github.repository == 'commaai/openpilot'
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-      pull-requests: read
-    steps:
-      - uses: actions/github-script@v9
-        with:
-          script: |
-            const { owner, repo } = context.repo;
-            const upstream = `${owner}/${repo}`;
-
-            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
-              owner,
-              repo,
-              state: 'closed',
-              per_page: 100,
-            })) {
-              for (const pr of response.data) {
-                if (pr.head.repo?.full_name !== upstream) continue;
-
-                const branch = pr.head.ref;
-                try {
-                  await github.rest.git.deleteRef({
-                    owner,
-                    repo,
-                    ref: `heads/${branch}`,
-                  });
-                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
-                } catch (error) {
-                  if (error.status === 422 || error.status === 403) {
-                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
-                    continue;
-                  }
-                  throw error;
-                }
-              }
-            }
@@ -164,54 +164,18 @@ jobs:
          source /etc/profile
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"

-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          # Generate metadata for all ONNX files
+          # Loop through all .onnx files
          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            base_name=$(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"
+            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
          done

-          # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
-
-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
-            fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi
-
-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
-          fi
-
      - name: Validate Model Outputs
        run: |
          source /etc/profile
@@ -230,8 +194,6 @@ jobs:
          rsync -avm \
            --include='*.dlc' \
            --include='*.pkl' \
-            --include='*.chunk*' \
-            --include='*.chunkmanifest' \
            --include='*.onnx' \
            --exclude='*' \
            --delete-excluded \
@@ -185,7 +185,7 @@ jobs:
          echo "Building sunnypilot's locationd..."
          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
          echo "Building rest of sunnypilot"
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
          touch ${BUILD_DIR}/prebuilt
@@ -215,8 +215,8 @@ jobs:
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
+            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
            --exclude='third_party/*x86*' \
            --exclude='third_party/*Darwin*' \
            --delete-excluded \
@@ -35,27 +35,27 @@ jobs:
      STRIPPED_DIR: /tmp/releasepilot
      PYTHONPATH: /tmp/releasepilot
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
      with:
        submodules: true
    - name: Getting LFS files
-      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
      with:
        timeout_minutes: 2
        max_attempts: 3
        command: git lfs pull
    - name: Build devel
      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
    - run: ./tools/op.sh setup
    - name: Build openpilot and run checks
      timeout-minutes: 30
      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 openpilot/system/manager/build.py
+      run: python3 system/manager/build.py
    - name: Run tests
      timeout-minutes: 1
      working-directory: ${{ env.STRIPPED_DIR }}
-      run: tools/release/check-dirty.sh
+      run: release/check-dirty.sh
    - name: Check submodules
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
@@ -75,13 +75,15 @@ jobs:
            export CHECK_PR_REFS=true
          fi
        fi
-        tools/release/check-submodules.sh
+        release/check-submodules.sh

  build_mac:
    name: build macOS
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
    - name: Remove Homebrew from environment
      run: |
        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -99,7 +101,9 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
    - run: ./tools/op.sh setup
    - name: Static analysis
      timeout-minutes: 1
@@ -114,15 +118,16 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
    - name: Run unit tests
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
-      env:
-        RAYLIB_BACKEND: headless
      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 $PYTEST -m 'not slow'
@@ -137,42 +142,34 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
    - name: Run replay
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
+      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
    - name: Print diff
      id: print-diff
      if: always()
-      run: cat openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Print diff report
-      if: always()
-      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v7
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v6
      if: always()
      continue-on-error: true
      with:
        name: process_replay_diff.txt
-        path: openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Upload diff report
-      uses: actions/upload-artifact@v7
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: openpilot/selfdrive/test/process_replay/diff_report.txt
+        path: selfdrive/test/process_replay/diff.txt
    - name: Checkout ci-artifacts
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v7
+      uses: actions/checkout@v4
      with:
        repository: commaai/ci-artifacts
        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
        path: ${{ github.workspace }}/ci-artifacts
-    - name: Prepare refs
+    - name: Push refs
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
@@ -180,23 +177,17 @@ jobs:
        git config user.email "<>"
        git fetch origin process-replay || true
        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
+        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
        echo "${{ github.sha }}" > ref_commit
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
+        git push origin process-replay
    - name: Run regen
      if: false
      timeout-minutes: 4
      env:
        ONNXCPU: 1
-      run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py
+      run: $PYTEST selfdrive/test/process_replay/test_regen.py

  simulator_driving:
    name: simulator driving
@@ -208,16 +199,17 @@ jobs:
      || fromJSON('["ubuntu-24.04"]') }}
    if: false  # FIXME: Started to timeout recently
    steps:
-    - uses: actions/checkout@v7
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
    - name: Driving test
      timeout-minutes: 2
-      env:
-        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
-        EGL_PLATFORM: surfaceless
-      run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py
+      run: |
+        source selfdrive/test/setup_xvfb.sh
+        pytest -s tools/sim/tests/test_metadrive_bridge.py

  create_ui_report:
    name: Create UI Report
@@ -228,18 +220,19 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-      - uses: actions/checkout@v7
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
      - run: ./tools/op.sh setup
      - name: Build openpilot
-        run: scons
+        run: scons -j$(nproc)
      - name: Create UI Report
-        env:
-          RAYLIB_BACKEND: headless
        run: |
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
+          source selfdrive/test/setup_xvfb.sh
+          python3 selfdrive/ui/tests/diff/replay.py
+          python3 selfdrive/ui/tests/diff/replay.py --big
      - name: Upload UI Report
-        uses: actions/upload-artifact@v7
+        uses: actions/upload-artifact@v6
        with:
          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: openpilot/selfdrive/ui/tests/diff/report
+          path: selfdrive/ui/tests/diff/report
@@ -8,9 +8,9 @@ on:
    branches:
      - 'master'
    paths:
-      - 'openpilot/selfdrive/assets/**'
-      - 'openpilot/selfdrive/ui/**'
-      - 'openpilot/system/ui/**'
+      - 'selfdrive/assets/**'
+      - 'selfdrive/ui/**'
+      - 'system/ui/**'
  workflow_dispatch:

 env:
@@ -34,12 +34,12 @@ jobs:
      pull-requests: write
      actions: read
    steps:
-      - uses: actions/checkout@v7
+      - uses: actions/checkout@v6
        with:
          submodules: true

      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
+        uses: lewagon/wait-on-check-action@v1.3.4
        with:
          ref: ${{ env.SHA }}
          check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +53,7 @@ jobs:
          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT

      - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
+        uses: dawidd6/action-download-artifact@v6
        with:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +62,7 @@ jobs:
          path: ${{ github.workspace }}/pr_ui

      - name: Getting mici master ui
-        uses: actions/checkout@v7
+        uses: actions/checkout@v6
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +70,7 @@ jobs:
          ref: openpilot_master_ui_mici_raylib

      - name: Getting big master ui
-        uses: actions/checkout@v7
+        uses: actions/checkout@v6
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +97,7 @@ jobs:
          done

      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae

      - name: Finding diffs
        if: github.event_name == 'pull_request_target'
@@ -115,13 +115,13 @@ jobs:
            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"

            diff_exit_code=0
-            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
+            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?

-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"

            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
            if [ $diff_exit_code -eq 0 ]; then
@@ -156,7 +156,7 @@ jobs:
          for variant in $VARIANTS; do
            IFS=':' read -r name _ _ <<< "$variant"
            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
            git add "${diff_name}_pr_${{ github.event.number }}.html"
          done
          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
@@ -164,12 +164,12 @@ jobs:

      - name: Comment on PR
        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
+        uses: thollander/actions-comment-pull-request@v2
        with:
          message: |
            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
            ## UI Preview
            ${{ steps.find_diff.outputs.COMMENT }}
-          comment-tag: run_id_ui_preview
-          pr-number: ${{ github.event.number }}
-          github-token: ${{ secrets.GITHUB_TOKEN }}
+          comment_tag: run_id_ui_preview
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -13,20 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-bin/

-# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
-/msgq
-/opendbc
-/rednose
-/teleoprtc
-/tinygrad
+/docs_site/

 *.mp4
 *.dylib
 *.DSYM
 *.d
-*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -46,57 +39,68 @@ bin/
 *.mo
 *_pyx.cpp
 *.stats
-*.pkl
-*.pkl*
 config.json
+clcache
 compile_commands.json
 compare_runtime*.html
-openpilot/selfdrive/modeld/models/tg_input_devices.json

-# build artifacts
-docs_site/
-openpilot/selfdrive/pandad/pandad
-openpilot/cereal/services.h
-openpilot/cereal/gen
-openpilot/cereal/messaging/bridge
-openpilot/selfdrive/ui/translations/tmp
-openpilot/selfdrive/car/tests/cars_dump
-openpilot/system/camerad/camerad
-openpilot/system/camerad/test/ae_gray_test
+selfdrive/pandad/pandad
+cereal/services.h
+cereal/gen
+cereal/messaging/bridge
+selfdrive/ui/translations/tmp
+selfdrive/car/tests/cars_dump
+system/camerad/camerad
+system/camerad/test/ae_gray_test

 .coverage*
 coverage.xml
 htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/models/*.pkl*
+sunnypilot/modeld*/models/*.pkl

 # openpilot log files
 *.bz2
 *.zst
-*.rlog

 build/

 !**/.gitkeep

+poetry.toml
+Pipfile

 ### VisualStudioCode ###
-*.vsix
-.history
-.ionide
 .vscode/*
-.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets

-# agents
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
 .claude/
 .context/
 PLAN.md
 TASK.md
-CLAUDE.md
-SKILL.md

 ### JetBrains ###
 !.idea/customTargets.xml
@@ -6,7 +6,7 @@
  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = https://github.com/commaai/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
  url = https://github.com/commaai/rednose.git
@@ -17,5 +17,5 @@
  path = tinygrad_repo
  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-	path = openpilot/sunnypilot/neural_network_data
+  path = sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
@@ -1 +0,0 @@
-3.12.13
@@ -6,9 +6,9 @@
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
-        "openpilot/selfdrive/controls/controlsd.py",
-        "openpilot/system/timed/timed.py",
-        "openpilot/tools/sim/run_bridge.py"
+        "selfdrive/controls/controlsd.py",
+        "system/timed/timed.py",
+        "tools/sim/run_bridge.py"
      ]
    },
    {
@@ -16,7 +16,7 @@
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
-        "openpilot/selfdrive/ui/ui"
+        "selfdrive/ui/ui"
      ]
    },
    {
@@ -52,9 +52,6 @@
      "type": "lldb",
      "request": "attach",
      "pid": "${command:pickMyProcess}",
-      "sourceMap": {
-        ".": "${workspaceFolder}/opendbc/safety"
-      },
      "initCommands": [
        "script import time; time.sleep(3)"
      ]
@@ -17,5 +17,11 @@
    "**/.git",
    "**/.venv",
    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "third_party/**",
+    "tools/**",
  ]
 }
@@ -1,36 +1,4 @@
-sunnypilot Version 2026.002.000 (2026-06-28)
-========================
-* What's Changed (sunnypilot/sunnypilot)
-  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
-  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
-  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
-  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
-  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
-  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
-  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
-  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
-  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
-  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
-  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
-  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
-* What's Changed (sunnypilot/opendbc)
-  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
-  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
-  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
-  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
-* New Contributors (sunnypilot/sunnypilot)
-  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
-* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
-************************
-* Synced with commaai's openpilot (v0.11.1)
-  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Improved thermal policy for comma four
-* Acura MDX 2022-24 support thanks to mvl-boston!
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-
-sunnypilot Version 2026.001.000 (2026-05-06)
+sunnypilot Version 2026.001.000 (2026-03-xx)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
  * Complete rewrite of the user interface from Qt C++ to Raylib Python
@@ -98,64 +66,6 @@ sunnypilot Version 2026.001.000 (2026-05-06)
  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
-  * [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
-  * [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
-  * Fix display of values when using use_float_scaling by @CHaucke89
-  * models: fix default & index "0" by @nayan8teen
-  * [TIZI/TICI] visuals: Improved speed limit by @angaz
-  * ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
-  * [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
-  * controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
-  * soundd: trigger timeout warning during MADS lateral-only by @zephleggett
-  * pandad: flasher for Rivian long upgrade module by @lukasloetkolben
-  * modeld_v2: tinygrad transformation warp by @Discountchubbs
-  * tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
-  * [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
-  * [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
-  * ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
-  * ui: don't hide steering wheel when blindspot disabled by @royjr
-  * ui: Speed Limit Assist `preActive` improvements  by @sunnyhaibin
-  * ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
-  * [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
-  * sunnypilot modeld: remove thneed modeld by @Discountchubbs
-  * modeld_v2: decouple planplus scaling from accel by @Discountchubbs
-  * sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
-  * [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
-  * [TIZI/TICI] ui: dynamic alert size by @nayan8teen
-  * i18n(fr): Add French translations by @didlawowo
-  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
-  * ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
-  * pandad: gate unsupported pandas before flashing by @sunnyhaibin
-  * Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
-  * [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
-  * ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
-  * ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
-  * [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
-  * pandad: always prioritize internal panda by @sunnyhaibin
-  * sunnylinkd: fetch compressed params schema by @sunnyhaibin
-  * sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
-  * modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
-  * NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
-  * MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
-  * [MICI] ui: models panel enhancements by @nayan8teen
-  * [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
-  * tools: script for video concatenation by @Discountchubbs
-  * tools: profile memory usage by @Discountchubbs
-  * [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
-  * [MICI] ui: always offroad by @nayan8teen
-  * controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
-  * Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
-  * Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
-  * [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
-  * sunnylink: Remove unused API endpoint by @devtekve
-  * DM: wheel touch enforcement in MADS by @sunnyhaibin
-  * torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
-  * MADS: suppress espActive event when long is not engaged by @sunnyhaibin
-  * sunnylink: SDUI by @sunnyhaibin
-  * [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
-  * ui: fix cellular toggles by @AmyJeanes
-  * sunnylink: switch athena domain by @devtekve
-  * Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
 * What's Changed (sunnypilot/opendbc)
  * Honda: DBC for Accord 9th Generation by @mvl-boston
  * FCA: update tire stiffness values for `RAM_HD` by @dparring
@@ -174,25 +84,12 @@ sunnypilot Version 2026.001.000 (2026-05-06)
  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
-  * Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
-  * Rivian: long upgrade messages on bus 1 by @lukasloetkolben
-  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
-  * Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
-  * Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
-  * MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
-  * Platform List: include community supported platforms by @sunnyhaibin
 * New Contributors (sunnypilot/sunnypilot)
  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
-  * @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
-  * @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
-  * @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
-  * @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
-  * @didlawowo made their first contribution in "i18n(fr): Add French translations"
-  * @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
 * New Contributors (sunnypilot/opendbc)
  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
@@ -202,20 +99,6 @@ sunnypilot Version 2026.001.000 (2026-05-06)
  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
-************************
-* Synced with commaai's openpilot (v0.11.1)
-  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
-* Kia K7 2017 support thanks to royjr!
-* Lexus LS 2018 support thanks to Hacheoy!
-* Improved inter-process communication memory efficiency
-* comma four support

 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================
@@ -0,0 +1,38 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV OPENPILOT_PATH=/home/$USER/openpilot
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY --chown=$USER . ${OPENPILOT_PATH}/
+
+ENV UV_BIN="/home/$USER/.local/bin/"
+ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
+ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
+RUN tools/setup_dependencies.sh && \
+    sudo rm -rf /var/lib/apt/lists/*
+
+USER root
+RUN git config --global --add safe.directory '*'
@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+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

@@ -63,8 +63,6 @@ if [ -f /data/openpilot/launch_env.sh ]; then
  source /data/openpilot/launch_env.sh
 fi

-export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
-
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
@@ -95,7 +93,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
          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("openpilot/selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
          }
          steps.each { item ->
            def name = item[0]
@@ -168,8 +166,8 @@ node {
  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

-  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
-                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -181,7 +179,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
      ])
    }

@@ -189,12 +187,12 @@ node {
      parallel (
        'nightly': {
          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
          ])
        },
        'nightly-dev': {
          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
          ])
        },
      )
@@ -204,51 +202,52 @@ node {
    parallel (
      'onroad tests': {
        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("check dirty", "tools/release/check-dirty.sh"),
-          step("onroad tests", "pytest openpilot/selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("check dirty", "release/check-dirty.sh"),
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
        ])
      },
      'HW + Unit Tests': {
        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test power draw", "pytest -s openpilot/selfdrive/test//test_power_draw.py"),
-          step("test encoder", "pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
-          step("test manager", "pytest openpilot/system/manager/test/test_manager.py"),
+          step("build", "cd system/manager && ./build.py"),
+          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
+          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'sensord': {
        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"),
+          step("build", "cd system/manager && ./build.py"),
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
        ])
      },
      'replay': {
        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          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 openpilot/system/manager && ./build.py"),
-          step("test pandad loopback", "pytest openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest openpilot/common/hardware/tici/tests/test_amplifier.py"),
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
        ])
      },

@@ -1,23 +1,8 @@
-Version 0.11.2 (2026-06-15)
+Version 0.10.4 (2026-02-17)
 ========================
-
-
-Version 0.11.1 (2026-05-18)
-========================
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Improved thermal policy for comma four
-* Acura MDX 2022-24 support thanks to mvl-boston!
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-
-Version 0.11.0 (2026-03-17)
-========================
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
 * Kia K7 2017 support thanks to royjr!
 * Lexus LS 2018 support thanks to Hacheoy!
+* Reduce comma four standby power usage by 77% to 52 mW

 Version 0.10.3 (2025-12-17)
 ========================
@@ -1104,7 +1089,7 @@ Version 0.2.1  (2016-12-14)

 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
 * controlsd has been refactored
 * Shipped plant model and testing maneuvers
 * visiond exits more gracefully now
@@ -4,49 +4,32 @@ import sys
 import sysconfig
 import platform
 import shlex
-import importlib
 import numpy as np

 import SCons.Errors
-from SCons.Defaults import _stripixes
-
-TICI = os.path.isfile('/TICI')

 SCons.Warnings.warningAsException(True)

 Decider('MD5-timestamp')

-SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))

+AddOption('--asan', action='store_true', help='turn on ASAN')
+AddOption('--ubsan', action='store_true', help='turn on UBSan')
+AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
          action='store_false',
          dest='extras',
-          default=(not TICI and not release),
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
          help='the minimum build to run openpilot. no tests, tools, etc.')

-submodule_python_paths = [
-  Dir("#").abspath,
-  Dir("#msgq_repo").abspath,
-  Dir("#opendbc_repo").abspath,
-  Dir("#rednose_repo").abspath,
-  Dir("#teleoprtc_repo").abspath,
-  Dir("#tinygrad_repo").abspath,
-]
-for p in reversed(submodule_python_paths):
-  if p not in sys.path:
-    sys.path.insert(0, p)
-
-if external_pythonpath := os.environ.get("PYTHONPATH"):
-  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
-
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
-elif arch == "aarch64" and TICI:
+elif arch == "aarch64" and os.path.isfile('/TICI'):
  arch = "larch64"
 assert arch in [
  "larch64",  # linux tici arm64
@@ -55,76 +38,31 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
-pkgs = [importlib.import_module(name) for name in pkg_names]
-acados = pkgs[pkg_names.index('acados')]
-ffmpeg = pkgs[pkg_names.index('ffmpeg')]
-# Shared package ships .so/.dylib; older device venvs still have static .a only.
-# Keep static link deps (x264/z/va/drm) when the installed package is static so
-# TICI CI works without upgrading the device venv yet.
-# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
-_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
-ffmpeg_shared = any(
-  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
-  for n in _ffmpeg_lib_names
-)
-ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
-if not ffmpeg_shared:
-  ffmpeg_libs += ['x264', 'z']
-  if arch != "Darwin":
-    ffmpeg_libs += ['va', 'va-drm', 'drm']
-acados_include_dirs = [
-  acados.INCLUDE_DIR,
-  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
-  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
-]
-
-
-# ***** enforce a whitelist of system libraries *****
-# this prevents silently relying on a 3rd party package,
-# e.g. apt-installed libusb. all libraries should either
-# be distributed with all Linux distros and macOS, or
-# vendored in commaai/dependencies.
-allowed_system_libs = {
-  "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm", "m", "pthread",
-}
-
-def _resolve_lib(env, name):
-  for d in env.Flatten(env.get('LIBPATH', [])):
-    p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
-      f = File(os.path.join(p, f'lib{name}{ext}'))
-      if f.exists() or f.has_builder():
-        return name
-  if name in allowed_system_libs:
-    return name
-  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
-
-def _libflags(target, source, env, for_signature):
-  libs = []
-  lp = env.subst('$LIBLITERALPREFIX')
-  for lib in env.Flatten(env.get('LIBS', [])):
-    if isinstance(lib, str):
-      if os.sep in lib or lib.startswith('#'):
-        libs.append(File(lib))
-      elif lib.startswith('-') or (lp and lib.startswith(lp)):
-        libs.append(lib)
-      else:
-        libs.append(_resolve_lib(env, lib))
-    else:
-      libs.append(lib)
-  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
-                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
+if arch != "larch64":
+  import bzip2
+  import capnproto
+  import eigen
+  import ffmpeg as ffmpeg_pkg
+  import libjpeg
+  import libyuv
+  import ncurses
+  import python3_dev
+  import zeromq
+  import zstd
+  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, zeromq, zstd]
+  py_include = python3_dev.INCLUDE_DIR
+else:
+  # TODO: remove when AGNOS has our new vendor pkgs
+  pkgs = []
+  py_include = sysconfig.get_paths()['include']

 env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
-    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
-    "ACADOS_SOURCE_DIR": acados.DIR,
-    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
-    "TERA_PATH": acados.TERA_PATH
+    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
  },
  CCFLAGS=[
    "-g",
@@ -142,38 +80,41 @@ env = Environment(
  CFLAGS=["-std=gnu11"],
  CXXFLAGS=["-std=c++1z"],
  CPPPATH=[
-    "#openpilot",
-    "#msgq_repo",            # #include "msgq/..."
-    "#opendbc_repo",         # #include "opendbc/..."
-    "#rednose_repo",         # #include "rednose/..."
-    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
-    "#openpilot/cereal/gen/cpp",
-    acados_include_dirs,
-    [x.INCLUDE_DIR for x in pkgs],
    "#",
+    "#msgq",
+    "#third_party",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    [x.INCLUDE_DIR for x in pkgs],
  ],
  LIBPATH=[
-    "#openpilot/common",
+    "#common",
    "#msgq_repo",
-    "#openpilot/selfdrive/pandad",
-    "#rednose_repo/rednose/helpers",
+    "#third_party",
+    "#selfdrive/pandad",
+    "#rednose/helpers",
+    f"#third_party/acados/{arch}/lib",
    [x.LIB_DIR for x in pkgs],
  ],
-  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
+  RPATH=[],
  CYTHONCFILESUFFIX=".cpp",
  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#rednose_repo",
+  REDNOSE_ROOT="#",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
-  env['_LIBFLAGS'] = _libflags

 # Arch-specific flags and paths
 if arch == "larch64":
  env["CC"] = "clang"
  env["CXX"] = "clang++"
  env.Append(LIBPATH=[
+    "/usr/local/lib",
+    "/system/vendor/lib64",
    "/usr/lib/aarch64-linux-gnu",
  ])
  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
@@ -185,6 +126,19 @@ elif arch == "Darwin":
  ])
  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+else:
+  env.Append(LIBPATH=[
+    "/usr/lib",
+    "/usr/local/lib",
+  ])
+
+# Sanitizers and extra CCFLAGS from CLI
+if GetOption('asan'):
+  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
+  env.Append(LINKFLAGS=["-fsanitize=address"])
+elif GetOption('ubsan'):
+  env.Append(CCFLAGS=["-fsanitize=undefined"])
+  env.Append(LINKFLAGS=["-fsanitize=undefined"])

 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -210,9 +164,19 @@ if not GetOption('verbose'):
  ):
    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"

+# progress output
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
 # ********** Cython build environment **********
 envCython = env.Clone()
-envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
+envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")

@@ -225,28 +189,18 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')

-Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
+Export('env', 'arch')

 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)

-def prune_cache_dir(target=None, source=None, env=None):
-  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
-  cache_size = sum(os.path.getsize(f) for f in cache_files)
-  for f in cache_files:
-    if cache_size < cache_size_limit:
-      break
-    cache_size -= os.path.getsize(f)
-    os.unlink(f)
-
 # ********** start building stuff **********

 # Build common module
-SConscript(['openpilot/common/SConscript'])
+SConscript(['common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -256,8 +210,9 @@ Export('common')
 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(['openpilot/cereal/SConscript'])
+SConscript(['cereal/SConscript'])

 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -268,79 +223,25 @@ Export('messaging')
 SConscript(['panda/SConscript'])

 # Build rednose library
-SConscript(['rednose_repo/rednose/SConscript'])
+SConscript(['rednose/SConscript'])

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

 if arch == "larch64":
-  SConscript(['openpilot/system/camerad/SConscript'])
+  SConscript(['system/camerad/SConscript'])

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

-SConscript(['openpilot/sunnypilot/SConscript'])
+SConscript(['selfdrive/SConscript'])

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


 env.CompilationDatabase('compile_commands.json')
-
-# progress output
-def count_scons_nodes(nodes):
-  seen = set()
-  stack = list(nodes)
-
-  while stack:
-    node = stack.pop().disambiguate()
-    if node in seen:
-      continue
-    seen.add(node)
-    if hasattr(node, 'has_builder') and node.has_builder():
-      build_product_nodes.add(node)
-    executor = node.get_executor()
-    if executor is not None:
-      stack += executor.get_all_prerequisites() + executor.get_all_children()
-
-  return len(seen)
-
-progress_interval = 5
-progress_count = 0
-build_product_nodes = set()
-progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
-
-def progress_function(node):
-  global progress_count
-  if progress_count >= progress_total:
-    return
-  progress_count = min(progress_count + progress_interval, progress_total)
-  progress = round(100. * progress_count / progress_total, 1)
-  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
-  if progress == 100. and sys.stderr.isatty():
-    sys.stderr.write("\n")
-  sys.stderr.flush()
-
-Progress(progress_function, interval=progress_interval)
-AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-def check_build_product_size(target, source, env):
-  limit = 50 * 1024 * 1024  # GitHub max size
-  for t in target:
-    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
-      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
-if not GetOption('extras'):
-  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
@@ -24,17 +24,17 @@ things are not. Read more details [here](https://capnproto.org/language.html).
 ### Custom forks

 Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline openpilot's cereal spec. Rebasing against mainline openpilot
+spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline openpilot's cereal spec. **If you only modify those, you can ensure your
+[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**

 An example of compatible changes:
 ```diff
-diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
+diff --git a/cereal/custom.capnp b/cereal/custom.capnp
 index 3348e859e..3365c7b98 100644
--- a/openpilot/cereal/custom.capnp
-+++ b/openpilot/cereal/custom.capnp
+--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
@@ -48,10 +48,10 @@ index 3348e859e..3365c7b98 100644
 }

 struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
+diff --git a/cereal/log.capnp b/cereal/log.capnp
 index 1209f3fd9..b189f58b6 100644
--- a/openpilot/cereal/log.capnp
-+++ b/openpilot/cereal/log.capnp
+--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2558,14 +2558,14 @@ struct Event {

     # DO change the name of the field
@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import openpilot.cereal.messaging as messaging
+import cereal.messaging as messaging

 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])
@@ -0,0 +1,20 @@
+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', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')
@@ -0,0 +1,11 @@
+import os
+import capnp
+from importlib.resources import as_file, files
+
+capnp.remove_import_hook()
+
+with as_file(files("cereal")) as fspath:
+  CEREAL_PATH = fspath.as_posix()
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -0,0 +1 @@
+../opendbc_repo/opendbc/car/car.capnp
@@ -1,4 +1,4 @@
-using Cxx = import "/include/c++.capnp";
+using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

@0xb526ba661d550a59;
@@ -154,7 +154,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
      vision @2;
      policy @3;
      offPolicy @4;
-      onPolicy @5;
    }
  }

@@ -1,9 +1,9 @@
-using Cxx = import "/include/c++.capnp";
+using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");

@0x80ef1ec4889c2a63;

-# deprecated.capnp: a home for deprecated structs
+# legacy.capnp: a home for deprecated structs

 struct LogRotate @0x9811e1f38f62f2d1 {
  segmentNum @0 :Int32;
@@ -571,207 +571,4 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
  pkt @4 :Data;
 }

-struct LiveTracksDEPRECATED @0xb16f60103159415a {
-  trackId @0 :Int32;
-  dRel @1 :Float32;
-  yRel @2 :Float32;
-  vRel @3 :Float32;
-  aRel @4 :Float32;
-  timeStamp @5 :Float32;
-  status @6 :Float32;
-  currentTime @7 :Float32;
-  stationary @8 :Bool;
-  oncoming @9 :Bool;
-}

-struct LiveMpcData @0x92a5e332a85f32a0 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  psi @2 :List(Float32);
-  curvature @3 :List(Float32);
-  qpIterations @4 :UInt32;
-  calculationTime @5 :UInt64;
-  cost @6 :Float64;
-}
-
-struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
-  xEgo @0 :List(Float32);
-  vEgo @1 :List(Float32);
-  aEgo @2 :List(Float32);
-  xLead @3 :List(Float32);
-  vLead @4 :List(Float32);
-  aLead @5 :List(Float32);
-  aLeadTau @6 :Float32;    # lead accel time constant
-  qpIterations @7 :UInt32;
-  mpcId @8 :UInt32;
-  calculationTime @9 :UInt64;
-  cost @10 :Float64;
-}
-
-struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
-  frameId @0 :UInt32;
-  modelExecutionTime @14 :Float32;
-  dspExecutionTime @16 :Float32;
-  rawPredictions @15 :Data;
-
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
-  leftBlinkProb @8 :Float32;
-  rightBlinkProb @9 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-  sunglassesProb @13 :Float32;
-  poorVision @17 :Float32;
-  partialFace @18 :Float32;
-  distractedPose @19 :Float32;
-  distractedEyes @20 :Float32;
-  eyesOnRoad @21 :Float32;
-  phoneUse @22 :Float32;
-  occludedProb @23 :Float32;
-
-  readyProb @24 :List(Float32);
-  notReadyProb @25 :List(Float32);
-
-  irPwrDEPRECATED @10 :Float32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
-}
-
-struct NavModelData @0xac3de5c437be057a {
-  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData @0xbe09e615b2507e26 {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
-struct AndroidBuildInfo @0xfe2919d5c21f426c {
-  board @0 :Text;
-  bootloader @1 :Text;
-  brand @2 :Text;
-  device @3 :Text;
-  display @4 :Text;
-  fingerprint @5 :Text;
-  hardware @6 :Text;
-  host @7 :Text;
-  id @8 :Text;
-  manufacturer @9 :Text;
-  model @10 :Text;
-  product @11 :Text;
-  radioVersion @12 :Text;
-  serial @13 :Text;
-  supportedAbis @14 :List(Text);
-  tags @15 :Text;
-  time @16 :Int64;
-  type @17 :Text;
-  user @18 :Text;
-
-  versionCodename @19 :Text;
-  versionRelease @20 :Text;
-  versionSdk @21 :Int32;
-  versionSecurityPatch @22 :Text;
-}
-
-struct AndroidSensor @0x9b513b93a887dbcd {
-  id @0 :Int32;
-  name @1 :Text;
-  vendor @2 :Text;
-  version @3 :Int32;
-  handle @4 :Int32;
-  type @5 :Int32;
-  maxRange @6 :Float32;
-  resolution @7 :Float32;
-  power @8 :Float32;
-  minDelay @9 :Int32;
-  fifoReservedEventCount @10 :UInt32;
-  fifoMaxEventCount @11 :UInt32;
-  stringType @12 :Text;
-  maxDelay @13 :Int32;
-}
-
-struct IosBuildInfo @0xd97e3b28239f5580 {
-  appVersion @0 :Text;
-  appBuild @1 :UInt32;
-  osVersion @2 :Text;
-  deviceModel @3 :Text;
-}
-
-enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
-  unknown @0;
-  neo @1;
-  chffrAndroid @2;
-  front @3;
-}
-
-struct AndroidCaptureResult @0xbcc3efbac41d2048 {
-  sensitivity @0 :Int32;
-  frameDuration @1 :Int64;
-  exposureTime @2 :Int64;
-  rollingShutterSkew @3 :UInt64;
-  colorCorrectionTransform @4 :List(Int32);
-  colorCorrectionGains @5 :List(Float32);
-  displayRotation @6 :Int8;
-}
-
-enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
-  none @0;
-  client @1;
-  cdp @2;
-  dcp @3;
-}
-
-struct LateralINDIState @0x939463348632375e {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  steeringRateDeg @2 :Float32;
-  steeringAccelDeg @3 :Float32;
-  rateSetPoint @4 :Float32;
-  accelSetPoint @5 :Float32;
-  accelError @6 :Float32;
-  delayedOutput @7 :Float32;
-  delta @8 :Float32;
-  output @9 :Float32;
-  saturated @10 :Bool;
-  steeringAngleDesiredDeg @11 :Float32;
-  steeringRateDesiredDeg @12 :Float32;
-}
-
-struct LateralLQRState @0x9024e2d790c82ade {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  i @2 :Float32;
-  output @3 :Float32;
-  lqrOutput @4 :Float32;
-  saturated @5 :Bool;
-  steeringAngleDesiredDeg @6 :Float32;
-}
-
-struct LateralPlannerSolution @0x84caeca5a6b4acfe {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  yaw @2 :List(Float32);
-  yawRate @3 :List(Float32);
-  xStd @4 :List(Float32);
-  yStd @5 :List(Float32);
-  yawStd @6 :List(Float32);
-  yawRateStd @7 :List(Float32);
-}
-
-struct GpsTrajectory @0x8cfeb072f5301000 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-}
@@ -9,8 +9,8 @@ import time

 from typing import Optional, List, Union, Dict

-from openpilot.cereal import log
-from openpilot.cereal.services import SERVICE_LIST
+from cereal import log
+from cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage

 NO_TRAVERSAL_LIMIT = 2**64-1
@@ -259,11 +259,11 @@ class PubMaster:
    self.sock[s].send(dat)

  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    try:
-      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
-      return True
-    except TimeoutError:
-      return False
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False

  def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()
+    return self.sock[s].all_readers_updated()  # type: ignore
@@ -1,7 +1,7 @@
 #include <cassert>

-#include "openpilot/cereal/messaging/msgq_to_zmq.h"
-#include "openpilot/cereal/services.h"
+#include "cereal/messaging/msgq_to_zmq.h"
+#include "cereal/services.h"
 #include "common/util.h"

 ExitHandler do_exit;
@@ -1,4 +1,4 @@
-#include "openpilot/cereal/messaging/bridge_zmq.h"
+#include "cereal/messaging/bridge_zmq.h"

 #include <cassert>
 #include <cstring>
@@ -8,7 +8,7 @@

 #include <capnp/serialize.h>

-#include "openpilot/cereal/gen/cpp/log.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"

@@ -1,8 +1,8 @@
-#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "cereal/messaging/msgq_to_zmq.h"

 #include <cassert>

-#include "openpilot/cereal/services.h"
+#include "cereal/services.h"
 #include "common/util.h"

 extern ExitHandler do_exit;
@@ -8,7 +8,7 @@
 #include <vector>

 #include "msgq/impl_msgq.h"
-#include "openpilot/cereal/messaging/bridge_zmq.h"
+#include "cereal/messaging/bridge_zmq.h"

 class MsgqToZmq {
 public:
@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>

-#include "openpilot/cereal/services.h"
-#include "openpilot/cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/messaging/messaging.h"

 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

@@ -8,10 +8,9 @@ import time
 from openpilot.common.parameterized import parameterized
 import pytest

-from openpilot.cereal import log
-from opendbc.car.structs import car
-import openpilot.cereal.messaging as messaging
-from openpilot.cereal.services import SERVICE_LIST
+from cereal import log, car
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST

 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]

@@ -31,7 +30,7 @@ def zmq_sleep(t=1):

 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
  msg = messaging.new_message("carState")
  cs = msg.carState
  for f in fields:
@@ -2,11 +2,11 @@ import random
 import time
 from typing import Sized, cast

-import openpilot.cereal.messaging as messaging
-from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+import cereal.messaging as messaging
+from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                  random_bytes, random_carstate, assert_carstate, \
                                                  zmq_sleep
-from openpilot.cereal.services import SERVICE_LIST
+from cereal.services import SERVICE_LIST


 class TestSubMaster:
@@ -1,10 +1,10 @@
-import subprocess
+import os
 import tempfile
-
+from typing import Dict
 from openpilot.common.parameterized import parameterized

-import openpilot.cereal.services as services
-from openpilot.cereal.services import SERVICE_LIST
+import cereal.services as services
+from cereal.services import SERVICE_LIST


 class TestServices:
@@ -17,5 +17,5 @@ class TestServices:

  def test_generated_header(self):
    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = subprocess.run(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11", shell=True).returncode
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
      assert ret == 0, "generated services header is not valid C"
@@ -0,0 +1,222 @@
+#!/usr/bin/env python3
+import argparse
+import sys
+from typing import Any, List, Tuple
+
+DEBUG = False
+
+
+def print_debug(string: str) -> None:
+  if DEBUG:
+    print(string)
+
+
+def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
+  """
+  Create a new instance of a schema type, handling different field types.
+
+  Args:
+      struct: The Cap'n Proto schema structure
+      prop: A tuple containing the field name and field metadata
+
+  Returns:
+      A new initialized schema instance
+  """
+  struct_instance = struct.new_message()
+  field_name, field_metadata = prop
+
+  try:
+    field_type = field_metadata.proto.slot.type.which()
+
+    # Initialize different types of fields
+    if field_type in ('list', 'text', 'data'):
+      struct_instance.init(field_name, 1)
+      print_debug(f"Initialized list/text/data field: {field_name}")
+    elif field_type in ('struct', 'object'):
+      struct_instance.init(field_name)
+      print_debug(f"Initialized struct/object field: {field_name}")
+
+    return struct_instance
+
+  except Exception as e:
+    print(f"Error creating instance for {field_name}: {e}")
+    return None
+
+
+def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
+  """
+  Retrieve all fields from a given schema structure.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of field names and their metadata
+  """
+  try:
+    # Get all fields from the schema
+    schema_fields = list(schema_struct.schema.fields.items())
+
+    print_debug("Discovered schema fields:")
+    for field_name, field_metadata in schema_fields:
+      print_debug(f"- {field_name}")
+
+    return schema_fields
+
+  except Exception as e:
+    print(f"Error retrieving schema fields: {e}")
+    return []
+
+
+def generate_schema_instances(schema_struct: Any) -> List[Any]:
+  """
+  Generate instances for all fields in a given schema.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of schema instances
+  """
+  schema_fields = get_schema_fields(schema_struct)
+  instances = []
+
+  for field_prop in schema_fields:
+    try:
+      instance = create_schema_instance(schema_struct, field_prop)
+      if instance is not None:
+        instances.append(instance)
+    except Exception as e:
+      print(f"Skipping field due to error: {e}")
+
+  print(f"Generated {len(instances)} schema instances")
+  return instances
+
+
+def persist_instances(instances: List[Any], filename: str) -> None:
+  """
+  Write schema instances to a binary file.
+
+  Args:
+      instances: List of schema instances
+      filename: Output file path
+  """
+  try:
+    with open(filename, 'wb') as f:
+      for instance in instances:
+        f.write(instance.to_bytes())
+
+    print(f"Successfully wrote {len(instances)} instances to {filename}")
+
+  except Exception as e:
+    print(f"Error persisting instances: {e}")
+    sys.exit(1)
+
+
+def read_instances(filename: str, schema_type: Any) -> List[Any]:
+  """
+  Read schema instances from a binary file.
+
+  Args:
+      filename: Input file path
+      schema_type: The schema type to use for reading
+
+  Returns:
+      A list of read schema instances
+  """
+  try:
+    with open(filename, 'rb') as f:
+      data = f.read()
+
+    instances = list(schema_type.read_multiple_bytes(data))
+
+    print(f"Read {len(instances)} instances from {filename}")
+    return instances
+
+  except Exception as e:
+    print(f"Error reading instances: {e}")
+    sys.exit(1)
+
+
+def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
+  """
+  Compare original and read-back instances to detect potential breaking changes.
+
+  Args:
+      original_instances: List of originally generated instances
+      read_instances: List of instances read back from file
+
+  Returns:
+      Boolean indicating whether schemas appear compatible
+  """
+  if len(original_instances) != len(read_instances):
+    print("❌ Schema Compatibility Warning: Instance count mismatch")
+    return False
+
+  compatible = True
+  for struct in read_instances:
+    try:
+      getattr(struct, struct.which())  # Attempting to access the field to validate readability
+    except Exception as e:
+      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
+      compatible = False
+
+  return compatible
+
+
+def main():
+  """
+  CLI entry point for schema compatibility testing.
+  """
+  # Setup argument parser
+  parser = argparse.ArgumentParser(
+    description='Cap\'n Proto Schema Compatibility Testing Tool',
+    epilog='Test schema compatibility by generating and reading back instances.'
+  )
+
+  # Add mutually exclusive group for generation or reading mode
+  mode_group = parser.add_mutually_exclusive_group(required=True)
+  mode_group.add_argument('-g', '--generate', action='store_true',
+                          help='Generate schema instances')
+  mode_group.add_argument('-r', '--read', action='store_true',
+                          help='Read and validate schema instances')
+
+  # Common arguments
+  parser.add_argument('-f', '--file',
+                      default='schema_instances.bin',
+                      help='Output/input binary file (default: schema_instances.bin)')
+
+  # Parse arguments
+  args = parser.parse_args()
+
+  # Import the schema dynamically 
+  try:
+    from cereal import log
+    schema_type = log.Event
+  except ImportError:
+    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
+    sys.exit(1)
+
+  # Execute based on mode
+  if args.generate:
+    print("🔧 Generating Schema Instances")
+    instances = generate_schema_instances(schema_type)
+    persist_instances(instances, args.file)
+    print("✅ Instance generation complete")
+
+  elif args.read:
+    print("🔍 Reading and Validating Schema Instances")
+    generated_instances = generate_schema_instances(schema_type)
+    read_back_instances = read_instances(args.file, schema_type)
+
+    # Compare schemas
+    if compare_schemas(generated_instances, read_back_instances):
+      print("✅ Schema Compatibility: No breaking changes detected")
+      sys.exit(0)
+    else:
+      print("❌ Potential Schema Breaking Changes Detected")
+      sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()
@@ -24,7 +24,10 @@ _services: dict[str, tuple] = {
  # note: the "EncodeIdx" packets will still be in the log
  "gyroscope": (True, 104., 104),
  "accelerometer": (True, 104., 104),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
  "temperatureSensor": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
  "touch": (True, 20., 1),
  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -36,23 +39,23 @@ _services: dict[str, tuple] = {
  "roadEncodeIdx": (False, 20., 1),
  "liveTracks": (True, 20.),
  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0., None, QueueSize.BIG),
-  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
+  "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
  "liveCalibration": (True, 4., 4),
  "liveTorqueParameters": (True, 4., 1),
  "liveDelay": (True, 4., 1),
-  "operatingSystemLog": (True, 0.),
+  "androidLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
  "longitudinalPlan": (True, 20., 10),
-  "lateralManeuverPlan": (True, 20.),
  "driverAssistance": (True, 20., 20),
  "procLog": (True, 0.5, 15, QueueSize.BIG),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
  "livePose": (True, 20., 4),
@@ -71,6 +74,10 @@ _services: dict[str, tuple] = {
  "drivingModelData": (True, 20., 10),
  "modelV2": (True, 20., None, QueueSize.BIG),
  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
  "qRoadEncodeIdx": (False, 20.),
  "userBookmark": (True, 0., 1),
  "soundPressure": (True, 10., 10),
@@ -106,6 +113,8 @@ _services: dict[str, tuple] = {
  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                idx, (name, vals) in enumerate(_services.items())}
@@ -0,0 +1 @@
+*.cpp
@@ -1,11 +1,10 @@
-Import('env', 'envCython')
+Import('env', 'envCython', 'arch')

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

 _common = env.Library('common', common_libs, LIBS="json11")
@@ -13,7 +12,7 @@ Export('_common')

 if GetOption('extras'):
  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
+              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
              LIBS=[_common, 'json11', 'zmq', 'pthread'])

 # Cython bindings
@@ -3,8 +3,8 @@ import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
-from openpilot.common.hardware.hw import Paths
-from openpilot.common.version import get_version
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version

 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
@@ -1,4 +1,4 @@
 import os


-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../.."))
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
@@ -0,0 +1,37 @@
+import math
+import os
+from pathlib import Path
+
+CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
+
+def get_chunk_name(name, idx, num_chunks):
+  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
+
+def get_manifest_path(name):
+  return f"{name}.chunkmanifest"
+
+def get_chunk_paths(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+
+def chunk_file(path, targets):
+  manifest_path, *chunk_paths = targets
+  with open(path, 'rb') as f:
+    data = f.read()
+  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  for i, chunk_path in enumerate(chunk_paths):
+    with open(chunk_path, 'wb') as f:
+      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
+  Path(manifest_path).write_text(str(len(chunk_paths)))
+  os.remove(path)
+
+
+def read_file_chunked(path):
+  manifest_path = get_manifest_path(path)
+  if os.path.isfile(manifest_path):
+    num_chunks = int(Path(manifest_path).read_text().strip())
+    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
+  if os.path.isfile(path):
+    return Path(path).read_bytes()
+  raise FileNotFoundError(path)
@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-3:
+    if abs(self.velocity.x) < 1e-5:
      self.velocity.x = 0.0
    self.x += self.velocity.x
    return self.x
@@ -1,13 +1,13 @@
 """
 Utilities for generating mock messages for testing.
-example in openpilot/common/tests/test_mock.py
+example in common/tests/test_mock.py
 """


 import functools
 import threading
-from openpilot.cereal.messaging import PubMaster
-from openpilot.cereal.services import SERVICE_LIST
+from cereal.messaging import PubMaster
+from cereal.services import SERVICE_LIST
 from openpilot.common.mock.generators import generate_livePose
 from openpilot.common.realtime import Ratekeeper

@@ -1,4 +1,4 @@
-from openpilot.cereal import messaging
+from cereal import messaging


 def generate_livePose():
@@ -0,0 +1 @@
+#define DEFAULT_MODEL "CD210 (Default)"
@@ -1,13 +1,8 @@
-import re
 import sys
 import pytest
 import inspect


-def _to_safe_name(s):
-  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
-
-
 class parameterized:
  @staticmethod
  def expand(cases):
@@ -39,9 +34,7 @@ def parameterized_class(attrs, input_list=None):
  def decorator(cls):
    globs = sys._getframe(1).f_globals
    for i, params in enumerate(params_list):
-      # append sanitized string param values so pytest -k can filter by them
-      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
-      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
+      name = f"{cls.__name__}_{i}"
      new_cls = type(name, (cls,), dict(params))
      new_cls.__module__ = cls.__module__
      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
@@ -12,7 +12,7 @@
 #include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "common/hardware/hw.h"
+#include "system/hardware/hw.h"

 namespace {

@@ -14,6 +14,6 @@ if __name__ == "__main__":
  if len(sys.argv) == 3:
    val = sys.argv[2]
    print(f"SET: {key} = {val}")
-    params.put(key, val, block=True)
+    params.put(key, val)
  elif len(sys.argv) == 2:
    print(f"GET: {key} = {params.get(key)}")
@@ -3,7 +3,7 @@
 #include <string>
 #include <unordered_map>

-#include "openpilot/cereal/gen/cpp/log.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"

 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
@@ -58,11 +58,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
    {"IsEngaged", {PERSISTENT, BOOL}},
    {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
    {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
    {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsOnroad", {PERSISTENT, BOOL}},
    {"IsRhdDetected", {PERSISTENT, BOOL}},
    {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
    {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
    {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
@@ -79,11 +80,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
    {"LiveParameters", {PERSISTENT, JSON}},
    {"LiveParametersV2", {PERSISTENT, BYTES}},
-    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
-    {"LivestreamRequestKeyframe", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
    {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
-    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
@@ -93,6 +91,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
+    {"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
@@ -103,6 +102,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
    {"PrimeType", {PERSISTENT, INT}},
    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -130,8 +131,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
    {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"Version", {PERSISTENT, STRING}},

    // --- sunnypilot params --- //
@@ -204,7 +203,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    // sunnylink params
    {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
    {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
-    {"ParamsVersion", {PERSISTENT, INT}},
    {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
    {"SunnylinkDongleId", {PERSISTENT, STRING}},
@@ -273,7 +271,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
@@ -142,28 +142,33 @@ cdef class Params:
    cdef ParamKeyType t = self.p.getKeyType(k)
    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))

-  def put(self, key, dat, bool block = False):
+  def put(self, key, dat):
    """
-    Warning: block=True blocks until the param is written to disk!
+    Warning: This function blocks until the param is written to disk!
    In very rare cases this can take over a second, and your code will hang.
-    Use block=False in time sensitive code, but in general try to avoid
-    writing params as much as possible.
+    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
+    in general try to avoid writing params as much as possible.
    """
    cdef string k = self.check_key(key)
    cdef string dat_bytes = self._put_cast(key, dat)
    with nogil:
-      if block:
-        self.p.put(k, dat_bytes)
-      else:
-        self.p.putNonBlocking(k, dat_bytes)
+      self.p.put(k, dat_bytes)

-  def put_bool(self, key, bool val, bool block = False):
+  def put_bool(self, key, bool val):
    cdef string k = self.check_key(key)
    with nogil:
-      if block:
-        self.p.putBool(k, val)
-      else:
-        self.p.putBoolNonBlocking(k, val)
+      self.p.putBool(k, val)
+
+  def put_nonblocking(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = self._put_cast(key, dat)
+    with nogil:
+      self.p.putNonBlocking(k, dat_bytes)
+
+  def put_bool_nonblocking(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBoolNonBlocking(k, val)

  def remove(self, key):
    cdef string k = self.check_key(key)
@@ -5,7 +5,7 @@

 #include "common/params.h"
 #include "common/util.h"
-#include "common/hardware/hw.h"
+#include "system/hardware/hw.h"

 class OpenpilotPrefix {
 public:
@@ -5,9 +5,9 @@ import uuid


 from openpilot.common.params import Params
-from openpilot.common.hardware import PC
-from openpilot.common.hardware.hw import Paths
-from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT

 class OpenpilotPrefix:
  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
@@ -7,7 +7,7 @@ import time
 from setproctitle import getproctitle

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


 # time step for each process
@@ -28,11 +28,6 @@ class Priority:
  CTRL_HIGH = 53


-def drop_realtime() -> None:
-  if sys.platform == 'linux' and not PC:
-    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
-
-
 def set_core_affinity(cores: list[int]) -> None:
  if sys.platform == 'linux' and not PC:
    os.sched_setaffinity(0, cores)
@@ -8,7 +8,7 @@ class Spinner:
    try:
      self.spinner_proc = subprocess.Popen(["./spinner.py"],
                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "openpilot/system", "ui"),
+                                           cwd=os.path.join(BASEDIR, "system", "ui"),
                                           close_fds=True)
    except OSError:
      self.spinner_proc = None
@@ -11,9 +11,9 @@

 #include <zmq.h>
 #include <stdarg.h>
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "common/version.h"
-#include "common/hardware/hw.h"
+#include "system/hardware/hw.h"

 #include "sunnypilot/common/version.h"

@@ -8,7 +8,7 @@ from logging.handlers import BaseRotatingHandler
 import zmq

 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from openpilot.common.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths


 def get_file_handler():
@@ -0,0 +1,27 @@
+#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");
+  }
+}
@@ -12,17 +12,17 @@ class TestParams:
    self.params = Params()

  def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee", block=True)
+    self.params.put("DongleId", "cb38263377b873ee")
    assert self.params.get("DongleId") == "cb38263377b873ee"

  def test_params_non_ascii(self):
    st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st, block=True)
+    self.params.put("CarParams", st)
    assert self.params.get("CarParams") == st

  def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test", block=True)
-    self.params.put("DongleId", "cb38263377b873ee", block=True)
+    self.params.put("CarParams", b"test")
+    self.params.put("DongleId", "cb38263377b873ee")
    assert self.params.get("CarParams") == b"test"

    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
@@ -36,15 +36,15 @@ class TestParams:
    assert not os.path.isfile(undefined_param)

  def test_params_two_things(self):
-    self.params.put("DongleId", "bob", block=True)
-    self.params.put("AthenadPid", 123, block=True)
+    self.params.put("DongleId", "bob")
+    self.params.put("AthenadPid", 123)
    assert self.params.get("DongleId") == "bob"
    assert self.params.get("AthenadPid") == 123

  def test_params_get_block(self):
    def _delayed_writer():
      time.sleep(0.1)
-      self.params.put("CarParams", b"test", block=True)
+      self.params.put("CarParams", b"test")
    threading.Thread(target=_delayed_writer).start()
    assert self.params.get("CarParams") is None
    assert self.params.get("CarParams", block=True) == b"test"
@@ -57,10 +57,10 @@ class TestParams:
      self.params.get_bool("swag")

    with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc", block=True)
+      self.params.put("swag", "abc")

    with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True, block=True)
+      self.params.put_bool("swag", True)

  def test_remove_not_there(self):
    assert self.params.get("CarParams") is None
@@ -71,23 +71,23 @@ class TestParams:
    self.params.remove("IsMetric")
    assert not self.params.get_bool("IsMetric")

-    self.params.put_bool("IsMetric", True, block=True)
+    self.params.put_bool("IsMetric", True)
    assert self.params.get_bool("IsMetric")

-    self.params.put_bool("IsMetric", False, block=True)
+    self.params.put_bool("IsMetric", False)
    assert not self.params.get_bool("IsMetric")

-    self.params.put("IsMetric", True, block=True)
+    self.params.put("IsMetric", True)
    assert self.params.get_bool("IsMetric")

-    self.params.put("IsMetric", False, block=True)
+    self.params.put("IsMetric", False)
    assert not self.params.get_bool("IsMetric")

  def test_put_non_blocking_with_get_block(self):
    q = Params()
    def _delayed_writer():
      time.sleep(0.1)
-      Params().put("CarParams", b"test")
+      Params().put_nonblocking("CarParams", b"test")
    threading.Thread(target=_delayed_writer).start()
    assert q.get("CarParams") is None
    assert q.get("CarParams", True) == b"test"
@@ -96,7 +96,7 @@ class TestParams:
    q = Params()
    def _delayed_writer():
      time.sleep(0.1)
-      Params().put_bool("CarParams", True)
+      Params().put_bool_nonblocking("CarParams", True)
    threading.Thread(target=_delayed_writer).start()
    assert q.get("CarParams") is None
    assert q.get("CarParams", True) == b"1"
@@ -123,19 +123,19 @@ class TestParams:

  def test_params_get_type(self):
    # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}

    # int
-    self.params.put("BootCount", 1441, block=True)
+    self.params.put("BootCount", 1441)
    assert self.params.get("BootCount") == 1441

    # bool
-    self.params.put("AdbEnabled", True, block=True)
+    self.params.put("AdbEnabled", True)
    assert self.params.get("AdbEnabled")
    assert isinstance(self.params.get("AdbEnabled"), bool)

    # time
    now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now, block=True)
+    self.params.put("InstallDate", now)
    assert self.params.get("InstallDate") == now
@@ -6,8 +6,8 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "common/hardware/hw.h"
-#include "json11/json11.hpp"
+#include "system/hardware/hw.h"
+#include "third_party/json11/json11.hpp"

 #include "sunnypilot/common/version.h"

@@ -10,7 +10,7 @@ class TextWindow:
    try:
      self.text_proc = subprocess.Popen(["./text.py", text],
                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "openpilot/system", "ui"),
+                                        cwd=os.path.join(BASEDIR, "system", "ui"),
                                        close_fds=True)
    except OSError:
      self.text_proc = None
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
royjr	85d872d3ed	Update opendbc_repo	2026-03-09 01:22:36 -04:00
royjr	bcae6d8f94	Merge branch 'master' into g90-2023	2026-03-09 01:11:40 -04:00
royjr	4d78d50793	Update opendbc_repo	2026-03-09 01:11:35 -04:00
Jason Wen	52b1c63085	HKG: Car Port for Genesis G90 2023	2025-05-10 18:49:40 -04:00