sunnypilot v2026.001.007

.gitattributes

@@ -1,23 +0,0 @@
-* text=auto
-
-# to move existing files into LFS:
-# git add --renormalize .
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.svg filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.ttf filter=lfs diff=lfs merge=lfs -text
-*.otf filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-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

.github/CODEOWNERS

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

.github/ISSUE_TEMPLATE/enhancement.md

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

.github/ISSUE_TEMPLATE/pc_bug_report.yml

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

.github/labeler.yaml

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

.github/pull_request_template.md

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

.github/release-drafter.yml

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

.github/workflows/auto_pr_review.yaml

@@ -1,91 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [ opened, reopened, synchronize, edited ]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-      issues: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v6
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'sunnypilot/sunnypilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /sunnypilot:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-  update-pr-labels:
-    name: Update fork's PR Labels
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env:
-      PR_LABEL: 'dev'
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
-    steps:
-      - name: Check if PR has dev label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });

.github/workflows/badges.yaml

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

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

@@ -1,304 +0,0 @@
-name: Build and push all tinygrad models
-
-on:
-  workflow_dispatch:
-    inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
-        type: string
-
-jobs:
-  setup:
-    runs-on: ubuntu-latest
-    outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-      json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
-    steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use (from GitHub docs repo)
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
-          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
-
-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
-          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
-          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
-
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
-    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  retry_get_and_build:
-    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

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

@@ -1,228 +0,0 @@
-name: Build Single Tinygrad Model and Push
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
-        required: false
-        default: true
-        type: boolean
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      model_folder:
-        description: 'Model folder'
-        type: choice
-        default: 'None'
-        options:
-          - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
-          - Custom Merge Models
-          - FOF series models
-          - Other
-      custom_model_folder:
-        description: 'Custom model folder name (if "Other" selected)'
-        required: false
-        type: string
-      generation:
-        description: 'Model generation'
-        required: false
-        type: string
-      version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-env:
-  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
-
-jobs:
-  build_model:
-    uses: ./.github/workflows/sunnypilot-build-model.yaml
-    with:
-      upstream_branch: ${{ inputs.upstream_branch }}
-      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
-      artifact_suffix: ${{ inputs.artifact_suffix }}
-    secrets: inherit
-
-  publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
-    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
-    needs: build_model
-    runs-on: ubuntu-latest
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
-
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          FOLDER="${{ inputs.model_folder }}"
-          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ inputs.custom_model_folder }}"
-          fi
-          ARGS=""
-          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
-            ARGS="$ARGS --model-folder \"$FOLDER\""
-          fi
-          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
-          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/cereal_validation.yaml

@@ -1,78 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  CI: 1
-
-jobs:
-  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$(nproc) cereal
-      - name: Dump sunnypilot schema
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
-      - 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.json "cereal/messaging/tests/cereal_validations/schema.json"
-      - 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
-        uses: actions/checkout@v6
-      - name: Checkout upstream openpilot
-        uses: actions/checkout@v6
-        with:
-          repository: 'commaai/openpilot'
-          path: openpilot
-          submodules: true
-          ref: "refs/heads/master"
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        working-directory: openpilot
-        run: scons -j$(nproc) cereal
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: openpilot/cereal/messaging/tests/cereal_validations
-      - name: 'Validate sunnypilot schema against upstream'
-        run: |
-          export PYTHONPATH=${{ 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.json

.github/workflows/docs.yaml

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

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

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

.github/workflows/lfs-maintenance.yaml

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

.github/workflows/model_review.yaml

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

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

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

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/release-drafter.yml

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

.github/workflows/release.yaml

@@ -1,31 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build___nightly:
-    name: build __nightly
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build __nightly'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - run: ./tools/op.sh setup
-    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

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

.github/workflows/stale.yaml

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

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

@@ -1,229 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    env:
-      REF: ${{ inputs.upstream_branch }}
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
-      # and fallback to sunnypilot if the ref checkout fails.
-      - name: Checkout commaai/openpilot
-        id: checkout_upstream
-        continue-on-error: true
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/openpilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-
-      - name: Fallback to sunnypilot/sunnypilot
-        if: steps.checkout_upstream.outcome == 'failure'
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-      - name: Get commit date
-        id: commit-date
-        run: |
-          cd ${{ github.workspace }}/openpilot
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
-
-  build_model:
-    runs-on: [self-hosted, tici]
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-      REF: ${{ inputs.upstream_branch }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
-
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.pkl' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Write artifact name to file
-        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Upload Build Artifacts
-        id: upload-artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
-
-      - name: Upload artifact name file
-        uses: actions/upload-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

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

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

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

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

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

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

.github/workflows/tests.yaml

@@ -1,248 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-      PYTHONPATH: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - run: ./tools/op.sh setup
-    - name: Build openpilot and run checks
-      timeout-minutes: 30
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
-    - name: Run tests
-      timeout-minutes: 1
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
-
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
-            if git ls-files --stage "$path" | grep -q "^160000"; then
-              echo "$path"
-            fi
-          done | tr '\n' ' ')
-
-          if [ -n "$SUBMODULE_PATHS" ]; then
-            echo "Changed submodule paths: $SUBMODULE_PATHS"
-            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
-            export CHECK_PR_REFS=true
-          fi
-        fi
-        release/check-submodules.sh
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Remove Homebrew from environment
-      run: |
-        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
-        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./tools/op.sh setup
-    - name: Building openpilot
-      run: scons
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Static analysis
-      timeout-minutes: 1
-      run: scripts/lint/lint.sh
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons -j$(nproc)
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        # Pre-compile Python bytecode so each pytest worker doesn't need to
-        $PYTEST --collect-only -m 'not slow' -qq
-        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
-
-  process_replay:
-    name: process replay
-    if: false  # disable process_replay for forks
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons -j$(nproc)
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - name: Print diff report
-      if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload diff report
-      uses: actions/upload-artifact@v6
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
-    - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
-      with:
-        repository: commaai/ci-artifacts
-        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-        path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      working-directory: ${{ github.workspace }}/ci-artifacts
-      run: |
-        git config user.name "GitHub Actions Bot"
-        git config user.email "<>"
-        git fetch origin process-replay || true
-        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
-        echo "${{ github.sha }}" > ref_commit
-        git add .
-        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons -j$(nproc)
-    - name: Driving test
-      timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons -j$(nproc)
-      - name: Create UI Report
-        run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
-      - name: Upload UI Report
-        uses: actions/upload-artifact@v6
-        with:
-          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -1,175 +0,0 @@
-name: "ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-  # variant:video_prefix:master_branch
-  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: ui-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting mici master ui
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_mici
-          ref: openpilot_master_ui_mici_raylib
-
-      - name: Getting big master ui
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_big
-          ref: openpilot_master_ui_big_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        run: |
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video branch <<< "$variant"
-            master_dir="${{ github.workspace }}/master_${name}"
-            cd "$master_dir"
-            git checkout --orphan=new_branch
-            git rm -rf *
-            git branch -D "$branch"
-            git branch -m "$branch"
-            git config user.name "GitHub Actions Bot"
-            git config user.email "<>"
-            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
-            git add .
-            git commit -m "${name} video for commit ${{ env.SHA }}"
-            git push origin "$branch" --force
-          done
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diffs
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-
-          COMMENT=""
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video _ <<< "$variant"
-            diff_name="${name}_diff"
-
-            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
-            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
-
-            diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
-              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
-              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
-              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
-
-            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
-            if [ $diff_exit_code -eq 0 ]; then
-              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
-            else
-              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
-            fi
-          done
-
-          {
-            echo "COMMENT<<EOF"
-            echo "$COMMENT"
-            echo "EOF"
-          } >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_mici
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "ui videos for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff reports to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          for variant in $VARIANTS; do
-            IFS=':' read -r name _ _ <<< "$variant"
-            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
-            git add "${diff_name}_pr_${{ github.event.number }}.html"
-          done
-          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
-            ## UI Preview
-            ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

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

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

.gitmodules

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

.idea/customTargets.xml

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

.idea/tools/External Tools.xml

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

.lfsconfig

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

.lfsconfig-comma

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

.run/Build Debug.run.xml

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

.run/Build Release.run.xml

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

.run/Build_BIG_UI.run.xml

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

.run/Build_SMALL_UI.run.xml

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

CHANGELOG.md

@@ -1,7 +1,28 @@
+sunnypilot Version 2026.001.007 (2026-05-27)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin
+
+sunnypilot Version 2026.001.006 (2026-05-17)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin
+
+sunnypilot Version 2026.001.005 (2026-05-13)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin
+
+sunnypilot Version 2026.001.004 (2026-05-10)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink: switch athena domain by @DevTekVE
+  * sunnylink: fix max time offroad values by @nayan8teen
+
 sunnypilot Version 2026.001.003 (2026-05-08)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
-  * manager: disable DEVELOPMENT_ONLY reset by @jason-wen
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin
 
 sunnypilot Version 2026.001.002 (2026-05-07)
 ========================

Jenkinsfile

@@ -1,260 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s 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 system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

SConstruct

@@ -1,269 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import shlex
-import importlib
-import numpy as np
-
-import SCons.Errors
-from SCons.Defaults import _stripixes
-
-SCons.Warnings.warningAsException(True)
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          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.')
-
-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-elif arch == "aarch64" and os.path.isfile('/TICI'):
-  arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
-
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
-pkgs = [importlib.import_module(name) for name in pkg_names]
-
-
-# ***** enforce a whitelist of system libraries *****
-# this prevents silently relying on a 3rd party package,
-# e.g. apt-installed libusb. all libraries should either
-# be distributed with all Linux distros and macOS, or
-# vendored in commaai/dependencies.
-allowed_system_libs = {
-  "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm", "m", "pthread",
-}
-
-def _resolve_lib(env, name):
-  for d in env.Flatten(env.get('LIBPATH', [])):
-    p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
-      f = File(os.path.join(p, f'lib{name}{ext}'))
-      if f.exists() or f.has_builder():
-        return name
-  if name in allowed_system_libs:
-    return name
-  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
-
-def _libflags(target, source, env, for_signature):
-  libs = []
-  lp = env.subst('$LIBLITERALPREFIX')
-  for lib in env.Flatten(env.get('LIBS', [])):
-    if isinstance(lib, str):
-      if os.sep in lib or lib.startswith('#'):
-        libs.append(File(lib))
-      elif lib.startswith('-') or (lp and lib.startswith(lp)):
-        libs.append(lib)
-      else:
-        libs.append(_resolve_lib(env, lib))
-    else:
-      libs.append(lib)
-  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
-                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
-
-env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + 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",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#",
-    "#msgq",
-    "#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=[
-    "#common",
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/acados/{arch}/lib",
-    [x.LIB_DIR for x in pkgs],
-  ],
-  RPATH=[],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-if arch != "larch64":
-  env['_LIBFLAGS'] = _libflags
-
-# Arch-specific flags and paths
-if arch == "larch64":
-  env["CC"] = "clang"
-  env["CXX"] = "clang++"
-  env.Append(LIBPATH=[
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# Shorter build output: show brief descriptions instead of full commands.
-# Full command lines are still printed on failure by scons.
-if not GetOption('verbose'):
-  for action, short in (
-    ("CC",     "CC"),
-    ("CXX",    "CXX"),
-    ("LINK",   "LINK"),
-    ("SHCC",   "CC"),
-    ("SHCXX",  "CXX"),
-    ("SHLINK", "LINK"),
-    ("AR",     "AR"),
-    ("RANLIB", "RANLIB"),
-    ("AS",     "AS"),
-  ):
-    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
-
-# 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["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-Export('env', 'arch')
-
-# 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)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-# ********** start building stuff **********
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-Export('common')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-
-SConscript(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/loggerd/SConscript',
-])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
-# Build selfdrive
-SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
-])
-
-SConscript(['sunnypilot/SConscript'])
-
-# Build tools
-if arch != "larch64":
-  SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
-  ])
-
-
-env.CompilationDatabase('compile_commands.json')

cereal/SConscript

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

cereal/log.capnp

@@ -2054,16 +2054,14 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    eyesVisibleProb @14 :Float32;
-    eyesClosedProb @15 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
 
     deprecated :group {
-      leftEyeProb @5 :Float32;
-      rightEyeProb @6 :Float32;
-      leftBlinkProb @7 :Float32;
-      rightBlinkProb @8 :Float32;
-      sunglassesProb @9 :Float32;
       notReadyProb @12 :List(Float32);
       occludedProb @10 :Float32;
       readyProb @11 :List(Float32);

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -13,6 +13,7 @@ from __future__ import annotations
 
 import argparse
 import json
+import os
 import sys
 from typing import Any
 
@@ -104,8 +105,15 @@ def collect_schema(root: Any) -> dict[str, dict]:
   return structs
 
 
-def dump_schema(path: str) -> None:
-  from cereal import log
+def load_log(cereal_dir: str) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
+
+
+def dump_schema(cereal_dir: str, path: str) -> None:
+  log = load_log(cereal_dir)
   payload = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -206,8 +214,8 @@ def load_peer(path: str) -> dict:
     return json.load(handle)
 
 
-def run_read(peer_path: str) -> int:
-  from cereal import log
+def run_read(cereal_dir: str, peer_path: str) -> int:
+  log = load_log(cereal_dir)
   peer_dump = load_peer(peer_path)
   local_dump = {
     "root": hex_id(log.Event.schema.node.id),
@@ -235,16 +243,13 @@ def main() -> int:
   mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
   mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
   parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
   args = parser.parse_args()
 
-  try:
-    if args.generate:
-      dump_schema(args.file)
-      return 0
-    return run_read(args.file)
-  except ImportError as exc:
-    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
-    return 2
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file)
+    return 0
+  return run_read(args.cereal_dir, args.file)
 
 
 if __name__ == "__main__":

cereal/services.h

@@ -0,0 +1,100 @@
+/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
+#ifndef __SERVICES_H
+#define __SERVICES_H
+#include <map>
+#include <string>
+struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };
+static std::map<std::string, service> services = {
+  { "gyroscope", {"gyroscope", true, 104.000000, 104, 256000}},
+  { "accelerometer", {"accelerometer", true, 104.000000, 104, 256000}},
+  { "magnetometer", {"magnetometer", true, 25.000000, -1, 256000}},
+  { "lightSensor", {"lightSensor", true, 100.000000, 100, 256000}},
+  { "temperatureSensor", {"temperatureSensor", true, 2.000000, 200, 256000}},
+  { "gpsNMEA", {"gpsNMEA", true, 9.000000, -1, 256000}},
+  { "deviceState", {"deviceState", true, 2.000000, 1, 256000}},
+  { "touch", {"touch", true, 20.000000, 1, 256000}},
+  { "can", {"can", true, 100.000000, 2053, 10485760}},
+  { "controlsState", {"controlsState", true, 100.000000, 10, 2097152}},
+  { "selfdriveState", {"selfdriveState", true, 100.000000, 10, 256000}},
+  { "pandaStates", {"pandaStates", true, 10.000000, 1, 256000}},
+  { "peripheralState", {"peripheralState", true, 2.000000, 1, 256000}},
+  { "radarState", {"radarState", true, 20.000000, 5, 256000}},
+  { "roadEncodeIdx", {"roadEncodeIdx", false, 20.000000, 1, 256000}},
+  { "liveTracks", {"liveTracks", true, 20.000000, -1, 256000}},
+  { "sendcan", {"sendcan", true, 100.000000, 139, 2097152}},
+  { "logMessage", {"logMessage", true, 0.000000, -1, 10485760}},
+  { "errorLogMessage", {"errorLogMessage", true, 0.000000, 1, 10485760}},
+  { "liveCalibration", {"liveCalibration", true, 4.000000, 4, 256000}},
+  { "liveTorqueParameters", {"liveTorqueParameters", true, 4.000000, 1, 256000}},
+  { "liveDelay", {"liveDelay", true, 4.000000, 1, 256000}},
+  { "androidLog", {"androidLog", true, 0.000000, -1, 256000}},
+  { "carState", {"carState", true, 100.000000, 10, 256000}},
+  { "carControl", {"carControl", true, 100.000000, 10, 256000}},
+  { "carOutput", {"carOutput", true, 100.000000, 10, 256000}},
+  { "longitudinalPlan", {"longitudinalPlan", true, 20.000000, 10, 256000}},
+  { "lateralManeuverPlan", {"lateralManeuverPlan", true, 20.000000, -1, 256000}},
+  { "driverAssistance", {"driverAssistance", true, 20.000000, 20, 256000}},
+  { "procLog", {"procLog", true, 0.500000, 15, 10485760}},
+  { "gpsLocationExternal", {"gpsLocationExternal", true, 10.000000, 10, 256000}},
+  { "gpsLocation", {"gpsLocation", true, 1.000000, 1, 256000}},
+  { "ubloxGnss", {"ubloxGnss", true, 10.000000, -1, 256000}},
+  { "qcomGnss", {"qcomGnss", true, 2.000000, -1, 256000}},
+  { "gnssMeasurements", {"gnssMeasurements", true, 10.000000, 10, 256000}},
+  { "clocks", {"clocks", true, 0.100000, 1, 256000}},
+  { "ubloxRaw", {"ubloxRaw", true, 20.000000, -1, 256000}},
+  { "livePose", {"livePose", true, 20.000000, 4, 256000}},
+  { "liveParameters", {"liveParameters", true, 20.000000, 5, 256000}},
+  { "cameraOdometry", {"cameraOdometry", true, 20.000000, 10, 256000}},
+  { "thumbnail", {"thumbnail", true, 0.016667, 1, 256000}},
+  { "onroadEvents", {"onroadEvents", true, 1.000000, 1, 256000}},
+  { "carParams", {"carParams", true, 0.020000, 1, 256000}},
+  { "roadCameraState", {"roadCameraState", true, 20.000000, 20, 256000}},
+  { "driverCameraState", {"driverCameraState", true, 20.000000, 20, 256000}},
+  { "driverEncodeIdx", {"driverEncodeIdx", false, 20.000000, 1, 256000}},
+  { "driverStateV2", {"driverStateV2", true, 20.000000, 10, 256000}},
+  { "driverMonitoringState", {"driverMonitoringState", true, 20.000000, 10, 256000}},
+  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20.000000, 1, 256000}},
+  { "wideRoadCameraState", {"wideRoadCameraState", true, 20.000000, 20, 256000}},
+  { "drivingModelData", {"drivingModelData", true, 20.000000, 10, 256000}},
+  { "modelV2", {"modelV2", true, 20.000000, -1, 10485760}},
+  { "managerState", {"managerState", true, 2.000000, 1, 256000}},
+  { "uploaderState", {"uploaderState", true, 0.000000, 1, 256000}},
+  { "navInstruction", {"navInstruction", true, 1.000000, 10, 256000}},
+  { "navRoute", {"navRoute", true, 0.000000, -1, 256000}},
+  { "navThumbnail", {"navThumbnail", true, 0.000000, -1, 256000}},
+  { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20.000000, -1, 256000}},
+  { "userBookmark", {"userBookmark", true, 0.000000, 1, 256000}},
+  { "soundPressure", {"soundPressure", true, 10.000000, 10, 256000}},
+  { "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
+  { "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
+  { "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
+  { "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
+  { "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
+  { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},
+  { "qRoadEncodeData", {"qRoadEncodeData", false, 20.000000, -1, 10485760}},
+  { "modelManagerSP", {"modelManagerSP", false, 1.000000, 1, 10485760}},
+  { "backupManagerSP", {"backupManagerSP", false, 1.000000, 1, 10485760}},
+  { "selfdriveStateSP", {"selfdriveStateSP", true, 100.000000, 10, 256000}},
+  { "longitudinalPlanSP", {"longitudinalPlanSP", true, 20.000000, 10, 256000}},
+  { "onroadEventsSP", {"onroadEventsSP", true, 1.000000, 1, 256000}},
+  { "carParamsSP", {"carParamsSP", true, 0.020000, 1, 256000}},
+  { "carControlSP", {"carControlSP", true, 100.000000, 10, 256000}},
+  { "carStateSP", {"carStateSP", true, 100.000000, 10, 256000}},
+  { "liveMapDataSP", {"liveMapDataSP", true, 1.000000, 1, 256000}},
+  { "modelDataV2SP", {"modelDataV2SP", true, 20.000000, -1, 10485760}},
+  { "liveLocationKalman", {"liveLocationKalman", true, 20.000000, -1, 256000}},
+  { "uiDebug", {"uiDebug", true, 0.000000, 1, 256000}},
+  { "testJoystick", {"testJoystick", true, 0.000000, -1, 256000}},
+  { "alertDebug", {"alertDebug", true, 20.000000, 5, 256000}},
+  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20.000000, -1, 256000}},
+  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20.000000, -1, 256000}},
+  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20.000000, -1, 256000}},
+  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20.000000, -1, 2097152}},
+  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}},
+  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}},
+  { "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}},
+  { "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1, 256000}},
+  { "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1, 256000}},
+};
+#endif
+

common/SConscript

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

compile_commands.json

@@ -0,0 +1,596 @@
+[
+    {
+        "command": "clang++ -o common/params.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include common/params.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/params.cc",
+        "output": "/data/openpilot/common/params.o"
+    },
+    {
+        "command": "clang++ -o common/swaglog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include common/swaglog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/swaglog.cc",
+        "output": "/data/openpilot/common/swaglog.o"
+    },
+    {
+        "command": "clang++ -o common/util.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include common/util.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/util.cc",
+        "output": "/data/openpilot/common/util.o"
+    },
+    {
+        "command": "clang++ -o common/ratekeeper.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include common/ratekeeper.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/ratekeeper.cc",
+        "output": "/data/openpilot/common/ratekeeper.o"
+    },
+    {
+        "command": "clang++ -o common/params_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include common/params_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/common/params_pyx.cpp",
+        "output": "/data/openpilot/common/params_pyx.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/ipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/event.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/event.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/event.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/event.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/impl_msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_fake.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/impl_fake.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_fake.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_fake.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/ipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/visionipc/visionipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_server.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_client.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionbuf_ion.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/log.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/gen/cpp/log.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/log.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/log.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/car.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/gen/cpp/car.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/car.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/car.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/deprecated.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/gen/cpp/deprecated.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/deprecated.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/deprecated.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/gen/cpp/custom.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/gen/cpp/custom.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/gen/cpp/custom.capnp.c++",
+        "output": "/data/openpilot/cereal/gen/cpp/custom.capnp.o"
+    },
+    {
+        "command": "clang++ -o cereal/messaging/bridge.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/messaging/bridge.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/messaging/bridge.cc",
+        "output": "/data/openpilot/cereal/messaging/bridge.o"
+    },
+    {
+        "command": "clang++ -o cereal/messaging/msgq_to_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/messaging/msgq_to_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/messaging/msgq_to_zmq.cc",
+        "output": "/data/openpilot/cereal/messaging/msgq_to_zmq.o"
+    },
+    {
+        "command": "clang++ -o cereal/messaging/bridge_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/messaging/bridge_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/messaging/bridge_zmq.cc",
+        "output": "/data/openpilot/cereal/messaging/bridge_zmq.o"
+    },
+    {
+        "command": "clang++ -o cereal/messaging/socketmaster.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include cereal/messaging/socketmaster.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/cereal/messaging/socketmaster.cc",
+        "output": "/data/openpilot/cereal/messaging/socketmaster.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/main.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_jungle_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/jungle/main.c",
+        "output": "/data/openpilot/panda/board/jungle/board/obj/panda_jungle_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/body_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/body/main.c",
+        "output": "/data/openpilot/panda/board/body/board/obj/body_h7main.o"
+    },
+    {
+        "command": "clang++ -o rednose/helpers/ekf_load.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include rednose/helpers/ekf_load.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose/helpers/ekf_load.cc",
+        "output": "/data/openpilot/rednose/helpers/ekf_load.os"
+    },
+    {
+        "command": "clang++ -o rednose/helpers/ekf_sym.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include rednose/helpers/ekf_sym.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose/helpers/ekf_sym.cc",
+        "output": "/data/openpilot/rednose/helpers/ekf_sym.os"
+    },
+    {
+        "command": "clang++ -o rednose/helpers/ekf_sym_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include rednose/helpers/ekf_sym_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose/helpers/ekf_sym_pyx.cpp",
+        "output": "/data/openpilot/rednose/helpers/ekf_sym_pyx.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/logger.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/logger.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/logger.cc",
+        "output": "/data/openpilot/system/loggerd/logger.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/zstd_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/zstd_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/zstd_writer.cc",
+        "output": "/data/openpilot/system/loggerd/zstd_writer.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/video_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/video_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/video_writer.cc",
+        "output": "/data/openpilot/system/loggerd/video_writer.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoder/encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/encoder/encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoder/encoder.cc",
+        "output": "/data/openpilot/system/loggerd/encoder/encoder.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoder/v4l_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/encoder/v4l_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoder/v4l_encoder.cc",
+        "output": "/data/openpilot/system/loggerd/encoder/v4l_encoder.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoder/jpeg_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/encoder/jpeg_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoder/jpeg_encoder.cc",
+        "output": "/data/openpilot/system/loggerd/encoder/jpeg_encoder.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/loggerd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/loggerd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/loggerd.cc",
+        "output": "/data/openpilot/system/loggerd/loggerd.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/encoderd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/encoderd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/encoderd.cc",
+        "output": "/data/openpilot/system/loggerd/encoderd.o"
+    },
+    {
+        "command": "clang++ -o system/loggerd/bootlog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/loggerd/bootlog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/loggerd/bootlog.cc",
+        "output": "/data/openpilot/system/loggerd/bootlog.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/camera_qcom2.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/camerad/cameras/camera_qcom2.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/camera_qcom2.cc",
+        "output": "/data/openpilot/system/camerad/cameras/camera_qcom2.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/camera_common.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/camerad/cameras/camera_common.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/camera_common.cc",
+        "output": "/data/openpilot/system/camerad/cameras/camera_common.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/spectra.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/camerad/cameras/spectra.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/spectra.cc",
+        "output": "/data/openpilot/system/camerad/cameras/spectra.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/cameras/cdm.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/camerad/cameras/cdm.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/cameras/cdm.cc",
+        "output": "/data/openpilot/system/camerad/cameras/cdm.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/sensors/ox03c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/camerad/sensors/ox03c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/sensors/ox03c10.cc",
+        "output": "/data/openpilot/system/camerad/sensors/ox03c10.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/sensors/os04c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/camerad/sensors/os04c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/sensors/os04c10.cc",
+        "output": "/data/openpilot/system/camerad/sensors/os04c10.o"
+    },
+    {
+        "command": "clang++ -o system/camerad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include system/camerad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/system/camerad/main.cc",
+        "output": "/data/openpilot/system/camerad/main.o"
+    },
+    {
+        "command": "clang++ -o third_party/json11/json11.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unqualified-std-cast-call -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include third_party/json11/json11.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/third_party/json11/json11.cpp",
+        "output": "/data/openpilot/third_party/json11/json11.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/panda.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/pandad/panda.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/panda.cc",
+        "output": "/data/openpilot/selfdrive/pandad/panda.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/spi.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/pandad/spi.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/spi.cc",
+        "output": "/data/openpilot/selfdrive/pandad/spi.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/pandad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/main.cc",
+        "output": "/data/openpilot/selfdrive/pandad/main.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/pandad.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/pandad/pandad.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/pandad.cc",
+        "output": "/data/openpilot/selfdrive/pandad/pandad.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/pandad/panda_safety.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/pandad/panda_safety.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/pandad/panda_safety.cc",
+        "output": "/data/openpilot/selfdrive/pandad/panda_safety.o"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_ode_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_expl_vde_forw.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o -c -std=gnu11 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os"
+    },
+    {
+        "command": "clang -o selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o -c -std=gnu11 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "output": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o"
+    },
+    {
+        "command": "clang++ -o selfdrive/locationd/models/generated/pose.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/locationd/models/generated/pose.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/locationd/models/generated/pose.cpp",
+        "output": "/data/openpilot/selfdrive/locationd/models/generated/pose.os"
+    },
+    {
+        "command": "clang++ -o selfdrive/locationd/models/generated/car.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include selfdrive/locationd/models/generated/car.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/selfdrive/locationd/models/generated/car.cpp",
+        "output": "/data/openpilot/selfdrive/locationd/models/generated/car.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/common/transformations/orientation.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include sunnypilot/common/transformations/orientation.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/common/transformations/orientation.cc",
+        "output": "/data/openpilot/sunnypilot/common/transformations/orientation.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/common/transformations/coordinates.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include sunnypilot/common/transformations/coordinates.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/common/transformations/coordinates.cc",
+        "output": "/data/openpilot/sunnypilot/common/transformations/coordinates.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/selfdrive/locationd/models/generated/live.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "output": "/data/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.os"
+    },
+    {
+        "command": "clang++ -o sunnypilot/selfdrive/locationd/locationd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include sunnypilot/selfdrive/locationd/locationd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/selfdrive/locationd/locationd.cc",
+        "output": "/data/openpilot/sunnypilot/selfdrive/locationd/locationd.o"
+    },
+    {
+        "command": "clang++ -o sunnypilot/selfdrive/locationd/models/live_kf.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -I. -Imsgq -Ithird_party -Ithird_party/json11 -Ithird_party/linux/include -Ithird_party/acados/include -Ithird_party/acados/include/blasfeo/include -Ithird_party/acados/include/hpipm/include -Ithird_party/catch2/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libjpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/libyuv/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "output": "/data/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.o"
+    }
+]

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msgq_repo/.github/workflows/tests.yml

@@ -0,0 +1,24 @@
+name: tests
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    name: ./test.sh
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ['macos-latest', 'ubuntu-latest']
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v4
+      - run: ./test.sh

msgq_repo/.gitignore

@@ -0,0 +1,19 @@
+/gen/
+*.tmp
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+*.os
+*.so
+*.o
+*.a
+uv.lock
+catch2/
+
+test_runner
+
+libmessaging.*
+libmessaging_shared.*
+.sconsign.dblite
+.mypy_cache/

msgq_repo/README.md

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

msgq_repo/SConscript

@@ -0,0 +1,39 @@
+Import('env', 'envCython', 'arch', 'common')
+
+
+visionipc_dir = Dir('msgq/visionipc')
+
+# Build msgq
+msgq_objects = env.SharedObject([
+  'msgq/ipc.cc',
+  'msgq/event.cc',
+  'msgq/impl_msgq.cc',
+  'msgq/impl_fake.cc',
+  'msgq/msgq.cc',
+])
+msgq = env.Library('msgq', msgq_objects)
+msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, common])
+
+# Build Vision IPC
+vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc']
+if arch == "larch64":
+  vipc_files += ['visionbuf_ion.cc']
+else:
+  vipc_files += ['visionbuf.cc']
+vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
+
+vipc_objects = env.SharedObject(vipc_sources)
+visionipc = env.Library('visionipc', vipc_objects)
+
+
+vipc_libs = envCython["LIBS"] + [visionipc, msgq, common]
+envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.abspath}/visionipc_pyx.pyx',
+                  LIBS=vipc_libs)
+
+if GetOption('extras'):
+  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
+  env.Program(f'{visionipc_dir.abspath}/test_runner',
+             [f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
+              LIBS=['pthread'] + vipc_libs)
+
+Export('visionipc', 'msgq', 'msgq_python')

msgq_repo/SConstruct

@@ -0,0 +1,83 @@
+import os
+import platform
+import subprocess
+import sysconfig
+import numpy as np
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+common = ''
+
+cpppath = [
+  f"#/",
+  '#msgq/',
+  '/usr/lib/include',
+  sysconfig.get_paths()['include'],
+]
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=True,
+          help='the minimum build. no tests, tools, etc.')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+ccflags = []
+ldflags = []
+if GetOption('ubsan'):
+  flags = [
+    "-fsanitize=undefined",
+    "-fno-sanitize-recover=undefined",
+  ]
+  ccflags += flags
+  ldflags += flags
+elif GetOption('asan'):
+  ccflags += ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags += ["-fsanitize=address"]
+
+env = Environment(
+  ENV=os.environ,
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow" if arch == "Darwin" else "-Wshadow=local",
+    "-Wno-vla-cxx-extension",
+    "-Wno-unknown-warning-option",
+  ] + ccflags,
+  LDFLAGS=ldflags,
+  LINKFLAGS=ldflags,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch', 'common')
+
+envCython = env.Clone(LIBS=[])
+envCython["CPPPATH"] += [np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove('-Werror')
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])

msgq_repo/lefthook.yml

@@ -0,0 +1,32 @@
+output:
+  - meta           # Print lefthook version
+  - summary        # Print summary block (successful and failed steps)
+  - empty_summary  # Print summary heading when there are no steps to run
+  - success        # Print successful steps
+  - failure        # Print failed steps printing
+  - execution      # Print any execution logs
+  #- execution_out  # Print execution output
+  #- execution_info # Print `EXECUTE > ...` logging
+  - skips          # Print "skip" (i.e. no files matched)
+
+test:
+  parallel: true
+  commands:
+    # *** static analysis ***
+    ruff:
+      run: ruff check .
+    ty:
+      run: ty check .
+    codespell:
+      run: codespell {files} -L ned,stdio,master --builtin clear,rare,informal,usage,code,names,en-GB_to_en-US -S uv.lock,*_pyx.cpp,catch2*
+      files: git ls-tree -r HEAD --name-only
+    cppcheck:
+      run: cppcheck --error-exitcode=1 --inline-suppr --language=c++ --force --quiet -j4 --check-level=exhaustive $(git ls-files '*.cc' | grep -v -E '(msgq_tests|test_runner)\.cc')
+    cpplint:
+      run: cpplint --exclude=msgq/catch2/ --exclude=msgq/ipc_pyx.cpp --exclude=msgq/visionipc/visionipc_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces msgq/
+
+    # *** tests ***
+    test_runner:
+      run: msgq/test_runner
+    pytest:
+      run: pytest

msgq_repo/msgq/.gitignore

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

msgq_repo/msgq/__init__.py

@@ -0,0 +1,61 @@
+# must be built with scons
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+
+from typing import Optional, List, Union
+
+assert MultiplePublishersError
+assert IpcError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+
+context = Context()
+
+
+def fake_event_handle(endpoint: str, identifier: Optional[Union[str, bytes]] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  ident = identifier if identifier is not None else get_fake_prefix()
+  handle = SocketEventHandle(endpoint, ident, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+def pub_sock(endpoint: str, segment_size: int = 0) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint, segment_size)
+  return sock
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None, segment_size: int = 0) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate, segment_size)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+  """Receive all message currently available on the queue"""
+  ret: List[bytes] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:
+      break
+
+    ret.append(dat)
+
+  return ret

msgq_repo/msgq/conftest.py

@@ -0,0 +1,6 @@
+import pytest
+import msgq
+
+@pytest.fixture(autouse=True)
+def msgq_context():
+  msgq.context = msgq.Context()

msgq_repo/msgq/event.cc

@@ -0,0 +1,238 @@
+#include <cassert>
+#include <cstring>
+#include <cstdlib>
+#include <iostream>
+#include <string>
+#include <exception>
+#include <filesystem>
+#include <vector>
+
+#include <unistd.h>
+#include <poll.h>
+#include <signal.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+
+#include "msgq/event.h"
+
+#ifndef __APPLE__
+#include <sys/eventfd.h>
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {
+  const char* op_prefix = std::getenv("OPENPILOT_PREFIX");
+
+  std::string full_path = "/dev/shm/msgq_";
+  if (op_prefix) {
+    full_path += std::string(op_prefix) + "/";
+  }
+  full_path += CEREAL_EVENTS_PREFIX + "/";
+  if (identifier.size() > 0) {
+    full_path += identifier + "/";
+  }
+  std::filesystem::create_directories(full_path);
+  full_path += endpoint;
+
+  int shm_fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664);
+  if (shm_fd < 0) {
+    throw std::runtime_error("Could not open shared memory file.");
+  }
+
+  int rc = ftruncate(shm_fd, sizeof(EventState));
+  if (rc < 0){
+    close(shm_fd);
+    throw std::runtime_error("Could not truncate shared memory file.");
+  }
+
+  char * mem = (char*)mmap(NULL, sizeof(EventState), PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0);
+  close(shm_fd);
+  if (mem == nullptr) {
+    throw std::runtime_error("Could not map shared memory file.");
+  }
+
+  if (shm_mem != nullptr)
+    *shm_mem = mem;
+  if (shm_path != nullptr)
+    *shm_path = full_path;
+}
+
+SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
+  char *mem;
+  event_state_shm_mmap(endpoint, identifier, &mem, &this->shm_path);
+
+  this->state = (EventState*)mem;
+  if (override) {
+    this->state->fds[0] = eventfd(0, EFD_NONBLOCK);
+    this->state->fds[1] = eventfd(0, EFD_NONBLOCK);
+  }
+}
+
+SocketEventHandle::~SocketEventHandle() {
+  close(this->state->fds[0]);
+  close(this->state->fds[1]);
+  munmap(this->state, sizeof(EventState));
+  unlink(this->shm_path.c_str());
+}
+
+bool SocketEventHandle::is_enabled() {
+  return this->state->enabled;
+}
+
+void SocketEventHandle::set_enabled(bool enabled) {
+  this->state->enabled = enabled;
+}
+
+Event SocketEventHandle::recv_called() {
+  return Event(this->state->fds[0]);
+}
+
+Event SocketEventHandle::recv_ready() {
+  return Event(this->state->fds[1]);
+}
+
+void SocketEventHandle::toggle_fake_events(bool enabled) {
+  if (enabled)
+    setenv("CEREAL_FAKE", "1", true);
+  else
+    unsetenv("CEREAL_FAKE");
+}
+
+void SocketEventHandle::set_fake_prefix(std::string prefix) {
+  if (prefix.size() == 0) {
+    unsetenv("CEREAL_FAKE_PREFIX");
+  } else {
+    setenv("CEREAL_FAKE_PREFIX", prefix.c_str(), true);
+  }
+}
+
+std::string SocketEventHandle::fake_prefix() {
+  const char* prefix = std::getenv("CEREAL_FAKE_PREFIX");
+  if (prefix == nullptr) {
+    return "";
+  } else {
+    return std::string(prefix);
+  }
+}
+
+Event::Event(int fd): event_fd(fd) {}
+
+void Event::set() const {
+  throw_if_invalid();
+
+  uint64_t val = 1;
+  size_t count = write(this->event_fd, &val, sizeof(uint64_t));
+  assert(count == sizeof(uint64_t));
+}
+
+int Event::clear() const {
+  throw_if_invalid();
+
+  uint64_t val = 0;
+  // read the eventfd to clear it
+  ssize_t ret = read(this->event_fd, &val, sizeof(uint64_t));
+  assert(ret == sizeof(uint64_t));
+
+  return val;
+}
+
+void Event::wait(int timeout_sec) const {
+  throw_if_invalid();
+
+  int event_count;
+  struct pollfd fds = { this->event_fd, POLLIN, 0 };
+  struct timespec timeout = { timeout_sec, 0 };;
+
+  sigset_t signals;
+  sigfillset(&signals);
+  sigdelset(&signals, SIGALRM);
+  sigdelset(&signals, SIGINT);
+  sigdelset(&signals, SIGTERM);
+  sigdelset(&signals, SIGQUIT);
+
+  event_count = ppoll(&fds, 1, timeout_sec < 0 ? nullptr : &timeout, &signals);
+
+  if (event_count == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  } else if (event_count < 0) {
+    throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
+  }
+}
+
+bool Event::peek() const {
+  throw_if_invalid();
+
+  int event_count;
+
+  struct pollfd fds = { this->event_fd, POLLIN, 0 };
+
+  // poll with timeout zero to return status immediately
+  event_count = poll(&fds, 1, 0);
+
+  return event_count != 0;
+}
+
+bool Event::is_valid() const {
+  return event_fd != -1;
+}
+
+int Event::fd() const {
+  return event_fd;
+}
+
+int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) {
+  struct pollfd fds[events.size()];
+  for (size_t i = 0; i < events.size(); i++) {
+    fds[i] = { events[i].fd(), POLLIN, 0 };
+  }
+
+  struct timespec timeout = { timeout_sec, 0 };
+
+  sigset_t signals;
+  sigfillset(&signals);
+  sigdelset(&signals, SIGALRM);
+  sigdelset(&signals, SIGINT);
+  sigdelset(&signals, SIGTERM);
+  sigdelset(&signals, SIGQUIT);
+
+  int event_count = ppoll(fds, events.size(), timeout_sec < 0 ? nullptr : &timeout, &signals);
+
+  if (event_count == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  } else if (event_count < 0) {
+    throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
+  }
+
+  for (size_t i = 0; i < events.size(); i++) {
+    if (fds[i].revents & POLLIN) {
+      return i;
+    }
+  }
+
+  throw std::runtime_error("Event poll failed, no events ready");
+}
+#else
+// Stub implementation for Darwin, which does not support eventfd
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {}
+
+SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
+  std::cerr << "SocketEventHandle not supported on macOS" << std::endl;
+  assert(false);
+}
+SocketEventHandle::~SocketEventHandle() {}
+bool SocketEventHandle::is_enabled() { return this->state->enabled; }
+void SocketEventHandle::set_enabled(bool enabled) {}
+Event SocketEventHandle::recv_called() { return Event(); }
+Event SocketEventHandle::recv_ready() { return Event(); }
+void SocketEventHandle::toggle_fake_events(bool enabled) {}
+void SocketEventHandle::set_fake_prefix(std::string prefix) {}
+std::string SocketEventHandle::fake_prefix() { return ""; }
+
+Event::Event(int fd): event_fd(fd) {}
+void Event::set() const {}
+int Event::clear() const { return 0; }
+void Event::wait(int timeout_sec) const {}
+bool Event::peek() const { return false; }
+bool Event::is_valid() const { return false; }
+int Event::fd() const { return this->event_fd; }
+int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) { return -1; }
+#endif

msgq_repo/msgq/event.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path);
+
+enum EventPurpose {
+  RECV_CALLED,
+  RECV_READY
+};
+
+struct EventState {
+  int fds[2];
+  bool enabled;
+};
+
+class Event {
+private:
+  int event_fd = -1;
+
+  inline void throw_if_invalid() const {
+    if (!this->is_valid()) {
+      throw std::runtime_error("Event does not have valid file descriptor.");
+    }
+  }
+public:
+  Event(int fd = -1);
+
+  void set() const;
+  int clear() const;
+  void wait(int timeout_sec = -1) const;
+  bool peek() const;
+  bool is_valid() const;
+  int fd() const;
+
+  static int wait_for_one(const std::vector<Event>& events, int timeout_sec = -1);
+};
+
+class SocketEventHandle {
+private:
+  std::string shm_path;
+  EventState* state;
+public:
+  SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true);
+  ~SocketEventHandle();
+
+  bool is_enabled();
+  void set_enabled(bool enabled);
+  Event recv_called();
+  Event recv_ready();
+
+  static void toggle_fake_events(bool enabled);
+  static void set_fake_prefix(std::string prefix);
+  static std::string fake_prefix();
+};

msgq_repo/msgq/impl_fake.cc

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

msgq_repo/msgq/impl_fake.h

@@ -0,0 +1,67 @@
+#pragma once
+
+#include <cassert>
+#include <iostream>
+#include <string>
+#include <vector>
+#include <filesystem>
+
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "msgq/ipc.h"
+#include "msgq/event.h"
+
+template<typename TSubSocket>
+class FakeSubSocket: public TSubSocket {
+private:
+  Event *recv_called = nullptr;
+  Event *recv_ready = nullptr;
+  EventState *state = nullptr;
+
+public:
+  FakeSubSocket(): TSubSocket() {}
+  ~FakeSubSocket() {
+    delete recv_called;
+    delete recv_ready;
+    if (state != nullptr) {
+      munmap(state, sizeof(EventState));
+    }
+  }
+
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0) override {
+    const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX");
+
+    char* mem;
+    std::string identifier = cereal_prefix != nullptr ?  std::string(cereal_prefix) : "";
+    event_state_shm_mmap(endpoint, identifier, &mem, nullptr);
+
+    this->state = (EventState*)mem;
+    this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]);
+    this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]);
+
+    return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint, segment_size);
+  }
+
+  Message *receive(bool non_blocking=false) override {
+    if (this->state->enabled) {
+      this->recv_called->set();
+      this->recv_ready->wait();
+      this->recv_ready->clear();
+    }
+
+    return TSubSocket::receive(non_blocking);
+  }
+};
+
+class FakePoller: public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+
+public:
+  void registerSocket(SubSocket *socket) override;
+  std::vector<SubSocket*> poll(int timeout) override;
+  ~FakePoller() {}
+};

msgq_repo/msgq/impl_msgq.cc

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

msgq_repo/msgq/impl_msgq.h

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

msgq_repo/msgq/ipc.cc

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

msgq_repo/msgq/ipc.h

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

msgq_repo/msgq/ipc.pxd

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

msgq_repo/msgq/ipc_pyx.pyx

@@ -0,0 +1,251 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libcpp cimport bool
+from libc cimport errno
+from libc.string cimport strerror
+from cython.operator import dereference
+
+
+from .ipc cimport Context as cppContext
+from .ipc cimport SubSocket as cppSubSocket
+from .ipc cimport PubSocket as cppPubSocket
+from .ipc cimport Poller as cppPoller
+from .ipc cimport Message as cppMessage
+from .ipc cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle
+
+
+class IpcError(Exception):
+  def __init__(self, endpoint=None):
+    suffix = f"with {endpoint.decode('utf-8')}" if endpoint else ""
+    message = f"Messaging failure {suffix}: {strerror(errno.errno).decode('utf-8')}"
+    super().__init__(message)
+
+
+class MultiplePublishersError(IpcError):
+  pass
+
+
+def toggle_fake_events(bool enabled):
+  cppSocketEventHandle.toggle_fake_events(enabled)
+
+
+def set_fake_prefix(string prefix):
+  cppSocketEventHandle.set_fake_prefix(prefix)
+
+
+def get_fake_prefix():
+  return cppSocketEventHandle.fake_prefix()
+
+
+def delete_fake_prefix():
+  cppSocketEventHandle.set_fake_prefix(b"")
+
+
+def wait_for_one_event(list events, int timeout=-1):
+  cdef vector[cppEvent] items
+  for event in events:
+    items.push_back(dereference(<cppEvent*><size_t>event.ptr))
+  return cppEvent.wait_for_one(items, timeout)
+
+
+cdef class Event:
+  cdef cppEvent event;
+
+  def __cinit__(self):
+    pass
+
+  cdef setEvent(self, cppEvent event):
+    self.event = event
+
+  def set(self):
+    self.event.set()
+
+  def clear(self):
+    return self.event.clear()
+
+  def wait(self, int timeout=-1):
+    self.event.wait(timeout)
+
+  def peek(self):
+    return self.event.peek()
+
+  @property
+  def fd(self):
+    return self.event.fd()
+
+  @property
+  def ptr(self):
+    return <size_t><void*>&self.event
+
+
+cdef class SocketEventHandle:
+  cdef cppSocketEventHandle * handle;
+
+  def __cinit__(self, string endpoint, string identifier, bool override):
+    self.handle = new cppSocketEventHandle(endpoint, identifier, override)
+
+  def __dealloc__(self):
+    del self.handle
+
+  @property
+  def enabled(self):
+    return self.handle.is_enabled()
+
+  @enabled.setter
+  def enabled(self, bool value):
+    self.handle.set_enabled(value)
+
+  @property
+  def recv_called_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_called())
+
+    return e
+
+  @property
+  def recv_ready_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_ready())
+
+    return e
+
+
+cdef class Context:
+  cdef cppContext * context
+
+  def __cinit__(self):
+    self.context = cppContext.create()
+
+  def term(self):
+    del self.context
+    self.context = NULL
+
+  def __dealloc__(self):
+    pass
+    # Deleting the context will hang if sockets are still active
+    # TODO: Figure out a way to make sure the context is closed last
+    # del self.context
+
+
+cdef class Poller:
+  cdef cppPoller * poller
+  cdef list sub_sockets
+
+  def __cinit__(self):
+    self.sub_sockets = []
+    self.poller = cppPoller.create()
+
+  def __dealloc__(self):
+    del self.poller
+
+  def registerSocket(self, SubSocket socket):
+    self.sub_sockets.append(socket)
+    self.poller.registerSocket(socket.socket)
+
+  def poll(self, timeout):
+    sockets = []
+    cdef int t = timeout
+
+    with nogil:
+      result = self.poller.poll(t)
+
+    for s in result:
+      socket = SubSocket()
+      socket.setPtr(s)
+      sockets.append(socket)
+
+    return sockets
+
+
+cdef class SubSocket:
+  cdef cppSubSocket * socket
+  cdef bool is_owner
+
+  def __cinit__(self):
+    with nogil:
+      self.socket = cppSubSocket.create()
+
+    self.is_owner = True
+    if self.socket == NULL:
+      raise IpcError
+
+  def __dealloc__(self):
+    if self.is_owner:
+      with nogil:
+        del self.socket
+
+  cdef setPtr(self, cppSubSocket * ptr):
+    if self.is_owner:
+      with nogil:
+        del self.socket
+
+    self.is_owner = False
+    self.socket = ptr
+
+  def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False, size_t segment_size=0):
+    cdef int r
+    with nogil:
+      r = self.socket.connect(context.context, endpoint, address, conflate, True, segment_size)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError(endpoint)
+      else:
+        raise IpcError(endpoint)
+
+  def setTimeout(self, int timeout):
+    with nogil:
+      self.socket.setTimeout(timeout)
+
+  def receive(self, bool non_blocking=False):
+    cdef cppMessage *msg
+    with nogil:
+      msg = self.socket.receive(non_blocking)
+
+    if msg == NULL:
+      return None
+    else:
+      sz = msg.getSize()
+      m = msg.getData()[:sz]
+      with nogil:
+        del msg
+
+      return m
+
+
+cdef class PubSocket:
+  cdef cppPubSocket * socket
+
+  def __cinit__(self):
+    self.socket = cppPubSocket.create()
+    if self.socket == NULL:
+      raise IpcError
+
+  def __dealloc__(self):
+    del self.socket
+
+  def connect(self, Context context, string endpoint, size_t segment_size=0):
+    r = self.socket.connect(context.context, endpoint, True, segment_size)
+
+    if r != 0:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError(endpoint)
+      else:
+        raise IpcError(endpoint)
+
+  def send(self, bytes data):
+    length = len(data)
+    r = self.socket.send(<char*>data, length)
+
+    if r != length:
+      if errno.errno == errno.EADDRINUSE:
+        raise MultiplePublishersError
+      else:
+        raise IpcError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()

msgq_repo/msgq/logger/logger.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#ifdef SWAGLOG
+// cppcheck-suppress preprocessorErrorDirective
+#include SWAGLOG
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif

msgq_repo/msgq/msgq.cc

@@ -0,0 +1,506 @@
+#include <iostream>
+#include <cassert>
+#include <cerrno>
+#include <cmath>
+#include <cstring>
+#include <cstdint>
+#include <chrono>
+#include <algorithm>
+#include <cstdlib>
+#include <csignal>
+#include <random>
+#include <string>
+#include <limits>
+
+#include <poll.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/syscall.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <stdio.h>
+
+#include "msgq/msgq.h"
+
+void sigusr2_handler(int signal) {
+  assert(signal == SIGUSR2);
+}
+
+uint64_t msgq_get_uid(void){
+  std::random_device rd("/dev/urandom");
+  std::uniform_int_distribution<uint64_t> distribution(0, std::numeric_limits<uint32_t>::max());
+
+  #ifdef __APPLE__
+    // TODO: this doesn't work
+    uint64_t uid = distribution(rd) << 32 | getpid();
+  #else
+    uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
+  #endif
+
+  return uid;
+}
+
+int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
+  msg->size = size;
+  msg->data = new(std::nothrow) char[size];
+
+  return (msg->data == NULL) ? -1 : 0;
+}
+
+
+int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
+  int r = msgq_msg_init_size(msg, size);
+
+  if (r == 0)
+    memcpy(msg->data, data, size);
+
+  return r;
+}
+
+int msgq_msg_close(msgq_msg_t * msg){
+  if (msg->size > 0)
+    delete[] msg->data;
+
+  msg->size = 0;
+
+  return 0;
+}
+
+void msgq_reset_reader(msgq_queue_t * q){
+  int id = q->reader_id;
+  q->read_valids[id]->store(true);
+  q->read_pointers[id]->store(*q->write_pointer);
+}
+
+void msgq_wait_for_subscriber(msgq_queue_t *q){
+  while (*q->num_readers == 0){
+    // wait for subscriber
+  }
+
+  return;
+}
+
+int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
+  assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
+  std::signal(SIGUSR2, sigusr2_handler);
+
+#ifdef __APPLE__
+  std::string base_path = "/tmp/msgq_";
+#else
+  std::string base_path = "/dev/shm/msgq_";
+#endif
+  const char* prefix = std::getenv("OPENPILOT_PREFIX");
+  if (prefix) {
+    base_path += std::string(prefix) + "/";
+  }
+  std::string full_path = base_path + path;
+
+  auto fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664);
+  if (fd < 0) {
+    std::cout << "Warning, could not open: " << full_path << std::endl;
+    return -1;
+  }
+
+  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
+  if (rc < 0){
+    close(fd);
+    return -1;
+  }
+
+  int mmap_flags = MAP_SHARED;
+#ifdef MAP_POPULATE
+  if (std::getenv("MSGQ_PREALLOC")) {
+    mmap_flags |= MAP_POPULATE;
+  }
+#endif
+
+  char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, mmap_flags, fd, 0);
+  close(fd);
+
+  if (mem == MAP_FAILED){
+    return -1;
+  }
+
+  q->mmap_p = mem;
+
+  msgq_header_t *header = (msgq_header_t *)mem;
+
+  // Setup pointers to header segment
+  q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
+  q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
+  q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
+
+  for (size_t i = 0; i < NUM_READERS; i++){
+    q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
+    q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
+    q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
+  }
+
+  q->data = mem + sizeof(msgq_header_t);
+  q->size = size;
+  q->reader_id = -1;
+
+  q->endpoint = path;
+  q->read_conflate = false;
+
+  return 0;
+}
+
+void msgq_close_queue(msgq_queue_t *q){
+  if (q->mmap_p != NULL){
+    munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
+  }
+}
+
+
+void msgq_init_publisher(msgq_queue_t * q) {
+  //std::cout << "Starting publisher" << std::endl;
+  uint64_t uid = msgq_get_uid();
+
+  *q->write_uid = uid;
+  *q->num_readers = 0;
+
+  for (size_t i = 0; i < NUM_READERS; i++){
+    *q->read_valids[i] = false;
+    *q->read_uids[i] = 0;
+  }
+
+  q->write_uid_local = uid;
+}
+
+static void thread_signal(uint32_t tid) {
+  #ifdef __APPLE__
+    // macOS doesn't have tkill, rely on polling instead
+    (void)tid;
+  #elif !defined(SYS_tkill)
+    // fallback for systems without tkill
+    kill(tid, SIGUSR2);
+  #else
+    syscall(SYS_tkill, tid, SIGUSR2);
+  #endif
+}
+
+void msgq_init_subscriber(msgq_queue_t * q) {
+  assert(q != NULL);
+  assert(q->num_readers != NULL);
+
+  uint64_t uid = msgq_get_uid();
+
+  // Get reader id
+  while (true){
+    uint64_t cur_num_readers = *q->num_readers;
+    uint64_t new_num_readers = cur_num_readers + 1;
+
+    // No more slots available. Reset all subscribers to kick out inactive ones
+    if (new_num_readers > NUM_READERS){
+      //std::cout << "Warning, evicting all subscribers!" << std::endl;
+      *q->num_readers = 0;
+
+      for (size_t i = 0; i < NUM_READERS; i++){
+        *q->read_valids[i] = false;
+
+        uint64_t old_uid = *q->read_uids[i];
+        *q->read_uids[i] = 0;
+
+        // Wake up reader in case they are in a poll
+        thread_signal(old_uid & 0xFFFFFFFF);
+      }
+
+      continue;
+    }
+
+    // Use atomic compare and swap to handle race condition
+    // where two subscribers start at the same time
+    if (std::atomic_compare_exchange_strong(q->num_readers,
+                                            &cur_num_readers,
+                                            new_num_readers)){
+      q->reader_id = cur_num_readers;
+      q->read_uid_local = uid;
+
+      // We start with read_valid = false,
+      // on the first read the read pointer will be synchronized with the write pointer
+      *q->read_valids[cur_num_readers] = false;
+      *q->read_pointers[cur_num_readers] = 0;
+      *q->read_uids[cur_num_readers] = uid;
+      break;
+    }
+  }
+
+  //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
+  msgq_reset_reader(q);
+}
+
+int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
+  // Die if we are no longer the active publisher
+  if (q->write_uid_local != *q->write_uid){
+    std::cout << "Killing old publisher: " << q->endpoint << std::endl;
+    errno = EADDRINUSE;
+    return -1;
+  }
+
+  uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
+
+  // We need to fit at least three messages in the queue,
+  // then we can always safely access the last message
+  assert(3 * total_msg_size <= q->size);
+
+  uint64_t num_readers = *q->num_readers;
+
+  uint32_t write_cycles, write_pointer;
+  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+
+  char *p = q->data + write_pointer; // add base offset
+
+  // Check remaining space
+  // Always leave space for a wraparound tag for the next message, including alignment
+  int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
+  if (remaining_space <= 0){
+    // Write -1 size tag indicating wraparound
+    *(int64_t*)p = -1;
+
+    // Invalidate all readers that are beyond the write pointer
+    // TODO: should we handle the case where a new reader shows up while this is running?
+    for (uint64_t i = 0; i < num_readers; i++){
+      uint64_t read_pointer = *q->read_pointers[i];
+      uint64_t read_cycles = read_pointer >> 32;
+      read_pointer &= 0xFFFFFFFF;
+
+      if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
+        *q->read_valids[i] = false;
+      }
+    }
+
+    // Update global and local copies of write pointer and write_cycles
+    write_pointer = 0;
+    write_cycles = write_cycles + 1;
+    PACK64(*q->write_pointer, write_cycles, write_pointer);
+
+    // Set actual pointer to the beginning of the data segment
+    p = q->data;
+  }
+
+  // Invalidate readers that are in the area that will be written
+  uint64_t start = write_pointer;
+  uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
+
+  for (uint64_t i = 0; i < num_readers; i++){
+    uint32_t read_cycles, read_pointer;
+    UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
+
+    if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
+      *q->read_valids[i] = false;
+    }
+  }
+
+
+  // Write size tag
+  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
+  *size_p = msg->size;
+
+  // Copy data
+  memcpy(p + sizeof(int64_t), msg->data, msg->size);
+  __sync_synchronize();
+
+  // Update write pointer
+  uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
+  PACK64(*q->write_pointer, write_cycles, new_ptr);
+
+  // Notify readers
+  for (uint64_t i = 0; i < num_readers; i++){
+    uint64_t reader_uid = *q->read_uids[i];
+    thread_signal(reader_uid & 0xFFFFFFFF);
+  }
+
+  return msg->size;
+}
+
+
+int msgq_msg_ready(msgq_queue_t * q){
+ start:
+  int id = q->reader_id;
+  assert(id >= 0); // Make sure subscriber is initialized
+
+  if (q->read_uid_local != *q->read_uids[id]){
+    //std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
+    msgq_init_subscriber(q);
+    goto start;
+  }
+
+  // Check valid
+  if (!*q->read_valids[id]){
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+  uint32_t read_cycles, read_pointer;
+  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
+  UNUSED(read_cycles);
+
+  uint32_t write_cycles, write_pointer;
+  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+  UNUSED(write_cycles);
+
+  // Check if new message is available
+  return (read_pointer != write_pointer);
+}
+
+int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
+ start:
+  int id = q->reader_id;
+  assert(id >= 0); // Make sure subscriber is initialized
+
+  if (q->read_uid_local != *q->read_uids[id]){
+    //std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
+    msgq_init_subscriber(q);
+    goto start;
+  }
+
+  // Check valid
+  if (!*q->read_valids[id]){
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+  uint32_t read_cycles, read_pointer;
+  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
+
+  uint32_t write_cycles, write_pointer;
+  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+  UNUSED(write_cycles);
+
+  char * p = q->data + read_pointer;
+
+  // Check if new message is available
+  if (read_pointer == write_pointer) {
+    msg->size = 0;
+    return 0;
+  }
+
+  // Read potential message size
+  std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
+  std::int64_t size = *size_p;
+
+  // Check if the size that was read is valid
+  if (!*q->read_valids[id]){
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+  // If size is -1 the buffer was full, and we need to wrap around
+  if (size == -1){
+    read_cycles++;
+    PACK64(*q->read_pointers[id], read_cycles, 0);
+    goto start;
+  }
+
+  // crashing is better than passing garbage data to the consumer
+  // the size will have weird value if it was overwritten by data accidentally
+  assert((uint64_t)size < q->size);
+  assert(size > 0);
+
+  uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
+
+  // If conflate is true, check if this is the latest message, else start over
+  if (q->read_conflate){
+    if (new_read_pointer != write_pointer){
+      // Update read pointer
+      PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
+      goto start;
+    }
+  }
+
+  // Copy message
+  if (msgq_msg_init_size(msg, size) < 0)
+    return -1;
+
+  __sync_synchronize();
+  memcpy(msg->data, p + sizeof(int64_t), size);
+  __sync_synchronize();
+
+  // Update read pointer
+  PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
+
+  // Check if the actual data that was copied is valid
+  if (!*q->read_valids[id]){
+    msgq_msg_close(msg);
+    msgq_reset_reader(q);
+    goto start;
+  }
+
+
+  return msg->size;
+}
+
+
+
+int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
+  int num = 0;
+
+  // Check if messages ready
+  for (size_t i = 0; i < nitems; i++) {
+    items[i].revents = msgq_msg_ready(items[i].q);
+    if (items[i].revents) num++;
+  }
+
+  int ms = (timeout == -1) ? 100 : timeout;
+
+#ifdef __APPLE__
+  // On macOS, signals can't interrupt nanosleep, so poll more frequently
+  int poll_ms = std::min(ms, 10);
+  int remaining_ms = ms;
+#else
+  int poll_ms = ms;
+#endif
+
+  struct timespec ts;
+  ts.tv_sec = poll_ms / 1000;
+  ts.tv_nsec = (poll_ms % 1000) * 1000 * 1000;
+
+
+  while (num == 0) {
+    int ret;
+
+    ret = nanosleep(&ts, &ts);
+
+    // Check if messages ready
+    for (size_t i = 0; i < nitems; i++) {
+      if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
+        num += 1;
+        items[i].revents = 1;
+      }
+    }
+
+#ifdef __APPLE__
+    // exit if we had a timeout and we've exhausted it
+    if (timeout != -1 && ret == 0){
+      remaining_ms -= poll_ms;
+      if (remaining_ms <= 0){
+        break;
+      }
+      poll_ms = std::min(remaining_ms, 10);
+      ts.tv_sec = poll_ms / 1000;
+      ts.tv_nsec = (poll_ms % 1000) * 1000 * 1000;
+    }
+#else
+    // exit if we had a timeout and the sleep finished
+    if (timeout != -1 && ret == 0){
+      break;
+    }
+#endif
+  }
+
+  return num;
+}
+
+bool msgq_all_readers_updated(msgq_queue_t *q) {
+  uint64_t num_readers = *q->num_readers;
+  for (uint64_t i = 0; i < num_readers; i++) {
+    if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
+      return false;
+    }
+  }
+  return num_readers > 0;
+}

msgq_repo/msgq/msgq.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <atomic>
+
+#define DEFAULT_SEGMENT_SIZE (1 * 1024 * 1024)
+#define NUM_READERS 15
+#define ALIGN(n) ((n + (8 - 1)) & -8)
+
+#define UNUSED(x) (void)x
+#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
+#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF)
+
+struct  msgq_header_t {
+  uint64_t num_readers;
+  uint64_t write_pointer;
+  uint64_t write_uid;
+  uint64_t read_pointers[NUM_READERS];
+  uint64_t read_valids[NUM_READERS];
+  uint64_t read_uids[NUM_READERS];
+};
+
+struct msgq_queue_t {
+  std::atomic<uint64_t> *num_readers;
+  std::atomic<uint64_t> *write_pointer;
+  std::atomic<uint64_t> *write_uid;
+  std::atomic<uint64_t> *read_pointers[NUM_READERS];
+  std::atomic<uint64_t> *read_valids[NUM_READERS];
+  std::atomic<uint64_t> *read_uids[NUM_READERS];
+  char * mmap_p;
+  char * data;
+  size_t size;
+  int reader_id;
+  uint64_t read_uid_local;
+  uint64_t write_uid_local;
+
+  bool read_conflate;
+  std::string endpoint;
+};
+
+struct msgq_msg_t {
+  size_t size;
+  char * data;
+};
+
+struct msgq_pollitem_t {
+  msgq_queue_t *q;
+  int revents;
+};
+
+void msgq_wait_for_subscriber(msgq_queue_t *q);
+void msgq_reset_reader(msgq_queue_t *q);
+
+int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
+int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
+int msgq_msg_close(msgq_msg_t *msg);
+
+int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
+void msgq_close_queue(msgq_queue_t *q);
+void msgq_init_publisher(msgq_queue_t * q);
+void msgq_init_subscriber(msgq_queue_t * q);
+
+int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
+int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
+int msgq_msg_ready(msgq_queue_t * q);
+int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);

msgq_repo/msgq/msgq_tests.cc

@@ -0,0 +1,432 @@
+#include "catch2/catch.hpp"
+#include "msgq/msgq.h"
+
+static void cleanup_test_queue() {
+#ifdef __APPLE__
+  remove("/tmp/msgq_test_queue");
+#else
+  remove("/dev/shm/msgq_test_queue");
+#endif
+}
+
+TEST_CASE("ALIGN")
+{
+  REQUIRE(ALIGN(0) == 0);
+  REQUIRE(ALIGN(1) == 8);
+  REQUIRE(ALIGN(7) == 8);
+  REQUIRE(ALIGN(8) == 8);
+  REQUIRE(ALIGN(99999) == 100000);
+}
+
+TEST_CASE("msgq_msg_init_size")
+{
+  const size_t msg_size = 30;
+  msgq_msg_t msg;
+
+  msgq_msg_init_size(&msg, msg_size);
+  REQUIRE(msg.size == msg_size);
+
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_msg_init_data")
+{
+  const size_t msg_size = 30;
+  char *data = new char[msg_size];
+
+  for (size_t i = 0; i < msg_size; i++)
+  {
+    data[i] = i;
+  }
+
+  msgq_msg_t msg;
+  msgq_msg_init_data(&msg, data, msg_size);
+
+  REQUIRE(msg.size == msg_size);
+  REQUIRE(memcmp(msg.data, data, msg_size) == 0);
+
+  delete[] data;
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_init_subscriber")
+{
+  cleanup_test_queue();
+  msgq_queue_t q;
+  msgq_new_queue(&q, "test_queue", 1024);
+  REQUIRE(*q.num_readers == 0);
+
+  q.reader_id = 1;
+  *q.read_valids[0] = false;
+  *q.read_pointers[0] = ((uint64_t)1 << 32);
+
+  *q.write_pointer = 255;
+
+  msgq_init_subscriber(&q);
+  REQUIRE(q.read_conflate == false);
+  REQUIRE(*q.read_valids[0] == true);
+  REQUIRE((*q.read_pointers[0] >> 32) == 0);
+  REQUIRE((*q.read_pointers[0] & 0xFFFFFFFF) == 255);
+}
+
+TEST_CASE("msgq_msg_send first message")
+{
+  cleanup_test_queue();
+  msgq_queue_t q;
+  msgq_new_queue(&q, "test_queue", 1024);
+  msgq_init_publisher(&q);
+
+  REQUIRE(*q.write_pointer == 0);
+
+  size_t msg_size = 128;
+
+  SECTION("Aligned message size")
+  {
+  }
+  SECTION("Unaligned message size")
+  {
+    msg_size--;
+  }
+  char *data = new char[msg_size];
+
+  for (size_t i = 0; i < msg_size; i++)
+  {
+    data[i] = i;
+  }
+
+  msgq_msg_t msg;
+  msgq_msg_init_data(&msg, data, msg_size);
+
+  msgq_msg_send(&msg, &q);
+  REQUIRE(*(int64_t *)q.data == msg_size); // Check size tag
+  REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
+  REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
+
+  delete[] data;
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_msg_send test wraparound")
+{
+  cleanup_test_queue();
+  msgq_queue_t q;
+  msgq_new_queue(&q, "test_queue", 1024);
+  msgq_init_publisher(&q);
+
+  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
+  REQUIRE((*q.write_pointer >> 32) == 0);
+
+  const size_t msg_size = 120;
+  msgq_msg_t msg;
+  msgq_msg_init_size(&msg, msg_size);
+
+  for (int i = 0; i < 8; i++)
+  {
+    msgq_msg_send(&msg, &q);
+  }
+  // Check 8th message was written at the beginning
+  REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
+
+  // Check cycle count
+  REQUIRE((*q.write_pointer >> 32) == 1);
+
+  // Check wraparound tag
+  char *tag_location = q.data;
+  tag_location += 7 * (msg_size + sizeof(int64_t));
+  REQUIRE(*(int64_t *)tag_location == -1);
+
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_msg_recv test wraparound")
+{
+  cleanup_test_queue();
+  msgq_queue_t q_pub, q_sub;
+  msgq_new_queue(&q_pub, "test_queue", 1024);
+  msgq_new_queue(&q_sub, "test_queue", 1024);
+
+  msgq_init_publisher(&q_pub);
+  msgq_init_subscriber(&q_sub);
+
+  REQUIRE((*q_pub.write_pointer >> 32) == 0);
+  REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
+
+  const size_t msg_size = 120;
+  msgq_msg_t msg1;
+  msgq_msg_init_size(&msg1, msg_size);
+
+  SECTION("Check cycle counter after reset")
+  {
+    for (int i = 0; i < 8; i++)
+    {
+      msgq_msg_send(&msg1, &q_pub);
+    }
+
+    msgq_msg_t msg2;
+    msgq_msg_recv(&msg2, &q_sub);
+    REQUIRE(msg2.size == 0); // Reader had to reset
+    msgq_msg_close(&msg2);
+  }
+  SECTION("Check cycle counter while keeping up with writer")
+  {
+    for (int i = 0; i < 8; i++)
+    {
+      msgq_msg_send(&msg1, &q_pub);
+
+      msgq_msg_t msg2;
+      msgq_msg_recv(&msg2, &q_sub);
+      REQUIRE(msg2.size > 0);
+      msgq_msg_close(&msg2);
+    }
+  }
+
+  REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
+  msgq_msg_close(&msg1);
+}
+
+TEST_CASE("msgq_msg_send test invalidation")
+{
+  cleanup_test_queue();
+  msgq_queue_t q_pub, q_sub;
+  msgq_new_queue(&q_pub, "test_queue", 1024);
+  msgq_new_queue(&q_sub, "test_queue", 1024);
+
+  msgq_init_publisher(&q_pub);
+  msgq_init_subscriber(&q_sub);
+  *q_sub.write_pointer = (uint64_t)1 << 32;
+
+  REQUIRE(*q_sub.read_valids[0] == true);
+
+  SECTION("read pointer in tag")
+  {
+    *q_sub.read_pointers[0] = 0;
+  }
+  SECTION("read pointer in data section")
+  {
+    *q_sub.read_pointers[0] = 64;
+  }
+  SECTION("read pointer in wraparound section")
+  {
+    *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
+    *q_sub.read_pointers[0] = 1020;
+  }
+
+  msgq_msg_t msg;
+  msgq_msg_init_size(&msg, 128);
+  msgq_msg_send(&msg, &q_pub);
+
+  REQUIRE(*q_sub.read_valids[0] == false);
+
+  msgq_msg_close(&msg);
+}
+
+TEST_CASE("msgq_init_subscriber init 2 subscribers")
+{
+  cleanup_test_queue();
+  msgq_queue_t q1, q2;
+  msgq_new_queue(&q1, "test_queue", 1024);
+  msgq_new_queue(&q2, "test_queue", 1024);
+
+  *q1.num_readers = 0;
+
+  REQUIRE(*q1.num_readers == 0);
+  REQUIRE(*q2.num_readers == 0);
+
+  msgq_init_subscriber(&q1);
+  REQUIRE(*q1.num_readers == 1);
+  REQUIRE(*q2.num_readers == 1);
+  REQUIRE(q1.reader_id == 0);
+
+  msgq_init_subscriber(&q2);
+  REQUIRE(*q1.num_readers == 2);
+  REQUIRE(*q2.num_readers == 2);
+  REQUIRE(q2.reader_id == 1);
+}
+
+TEST_CASE("Write 1 msg, read 1 msg", "[integration]")
+{
+  cleanup_test_queue();
+  const size_t msg_size = 128;
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+
+  // Build 128 byte message
+  msgq_msg_t outgoing_msg;
+  msgq_msg_init_size(&outgoing_msg, msg_size);
+
+  for (size_t i = 0; i < msg_size; i++)
+  {
+    outgoing_msg.data[i] = i;
+  }
+
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+
+  msgq_msg_t incoming_msg1;
+  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
+
+  // Verify that there are no more messages
+  msgq_msg_t incoming_msg2;
+  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
+
+  msgq_msg_close(&outgoing_msg);
+  msgq_msg_close(&incoming_msg1);
+  msgq_msg_close(&incoming_msg2);
+}
+
+TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]")
+{
+  cleanup_test_queue();
+  const size_t msg_size = 128;
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+
+  // Build 128 byte message
+  msgq_msg_t outgoing_msg;
+  msgq_msg_init_size(&outgoing_msg, msg_size);
+
+  for (size_t i = 0; i < msg_size; i++)
+  {
+    outgoing_msg.data[i] = i;
+  }
+
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+
+  msgq_msg_t incoming_msg1;
+  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
+
+  msgq_msg_t incoming_msg2;
+  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
+
+  msgq_msg_close(&outgoing_msg);
+  msgq_msg_close(&incoming_msg1);
+  msgq_msg_close(&incoming_msg2);
+}
+
+TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]")
+{
+  cleanup_test_queue();
+  const size_t msg_size = 128;
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+  reader.read_conflate = true;
+
+  // Build 128 byte message
+  msgq_msg_t outgoing_msg;
+  msgq_msg_init_size(&outgoing_msg, msg_size);
+
+  for (size_t i = 0; i < msg_size; i++)
+  {
+    outgoing_msg.data[i] = i;
+  }
+
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+  REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
+
+  msgq_msg_t incoming_msg1;
+  REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
+  REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
+
+  // Verify that there are no more messages
+  msgq_msg_t incoming_msg2;
+  REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
+
+  msgq_msg_close(&outgoing_msg);
+  msgq_msg_close(&incoming_msg1);
+  msgq_msg_close(&incoming_msg2);
+}
+
+TEST_CASE("1 publisher, 1 slow subscriber", "[integration]")
+{
+  cleanup_test_queue();
+  msgq_queue_t writer, reader;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader);
+
+  int n_received = 0;
+  int n_skipped = 0;
+
+  for (uint64_t i = 0; i < 1e5; i++)
+  {
+    msgq_msg_t outgoing_msg;
+    msgq_msg_init_data(&outgoing_msg, (char *)&i, sizeof(uint64_t));
+    msgq_msg_send(&outgoing_msg, &writer);
+    msgq_msg_close(&outgoing_msg);
+
+    if (i % 10 == 0)
+    {
+      msgq_msg_t msg1;
+      msgq_msg_recv(&msg1, &reader);
+
+      if (msg1.size == 0)
+      {
+        n_skipped++;
+      }
+      else
+      {
+        n_received++;
+      }
+      msgq_msg_close(&msg1);
+    }
+  }
+
+  // TODO: verify these numbers by hand
+  REQUIRE(n_received == 8572);
+  REQUIRE(n_skipped == 1428);
+}
+
+TEST_CASE("1 publisher, 2 subscribers", "[integration]")
+{
+  cleanup_test_queue();
+  msgq_queue_t writer, reader1, reader2;
+
+  msgq_new_queue(&writer, "test_queue", 1024);
+  msgq_new_queue(&reader1, "test_queue", 1024);
+  msgq_new_queue(&reader2, "test_queue", 1024);
+
+  msgq_init_publisher(&writer);
+  msgq_init_subscriber(&reader1);
+  msgq_init_subscriber(&reader2);
+
+  for (uint64_t i = 0; i < 1024 * 3; i++)
+  {
+    msgq_msg_t outgoing_msg;
+    msgq_msg_init_data(&outgoing_msg, (char *)&i, sizeof(uint64_t));
+    msgq_msg_send(&outgoing_msg, &writer);
+
+    msgq_msg_t msg1, msg2;
+    msgq_msg_recv(&msg1, &reader1);
+    msgq_msg_recv(&msg2, &reader2);
+
+    REQUIRE(msg1.size == sizeof(uint64_t));
+    REQUIRE(msg2.size == sizeof(uint64_t));
+    REQUIRE(*(uint64_t *)msg1.data == i);
+    REQUIRE(*(uint64_t *)msg2.data == i);
+
+    msgq_msg_close(&outgoing_msg);
+    msgq_msg_close(&msg1);
+    msgq_msg_close(&msg2);
+  }
+}

msgq_repo/msgq/test_runner.cc

@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"

msgq_repo/msgq/tests/test_fake.py

@@ -0,0 +1,186 @@
+import pytest
+import multiprocessing
+import platform
+import msgq
+from parameterized import parameterized_class
+from typing import Optional
+
+WAIT_TIMEOUT = 5
+
+
+@pytest.mark.skipif(condition=platform.system() == "Darwin", reason="Events not supported on macOS")
+class TestEvents:
+
+  def test_mutation(self):
+    handle = msgq.fake_event_handle("carState")
+    event = handle.recv_called_event
+
+    assert not event.peek()
+    event.set()
+    assert event.peek()
+    event.clear()
+    assert not event.peek()
+
+    del event
+
+  def test_wait(self):
+    handle = msgq.fake_event_handle("carState")
+    event = handle.recv_called_event
+
+    event.set()
+    try:
+      event.wait(WAIT_TIMEOUT)
+      assert event.peek()
+    except RuntimeError:
+      pytest.fail("event.wait() timed out")
+
+  def test_wait_multiprocess(self):
+    handle = msgq.fake_event_handle("carState")
+    event = handle.recv_called_event
+
+    def set_event_run():
+      event.set()
+
+    try:
+      p = multiprocessing.Process(target=set_event_run)
+      p.start()
+      event.wait(WAIT_TIMEOUT)
+      assert event.peek()
+    except RuntimeError:
+      pytest.fail("event.wait() timed out")
+
+    p.kill()
+
+  def test_wait_zero_timeout(self):
+    handle = msgq.fake_event_handle("carState")
+    event = handle.recv_called_event
+
+    try:
+      event.wait(0)
+      pytest.fail("event.wait() did not time out")
+    except RuntimeError:
+      assert not event.peek()
+
+
+@pytest.mark.skipif(condition=platform.system() == "Darwin", reason="FakeSockets not supported on macOS")
+@parameterized_class([{"prefix": None}, {"prefix": "test"}])
+class TestFakeSockets:
+  prefix: Optional[str] = None
+
+  def setup_method(self):
+    msgq.toggle_fake_events(True)
+    if self.prefix is not None:
+      msgq.set_fake_prefix(self.prefix)
+    else:
+      msgq.delete_fake_prefix()
+
+  def teardown_method(self):
+    msgq.toggle_fake_events(False)
+    msgq.delete_fake_prefix()
+
+  def test_event_handle_init(self):
+    handle = msgq.fake_event_handle("controlsState", override=True)
+
+    assert not handle.enabled
+    assert handle.recv_called_event.fd >= 0
+    assert handle.recv_ready_event.fd >= 0
+
+  def test_non_managed_socket_state(self):
+    # non managed socket should have zero state
+    _ = msgq.pub_sock("ubloxGnss")
+
+    handle = msgq.fake_event_handle("ubloxGnss", override=False)
+
+    assert not handle.enabled
+    assert handle.recv_called_event.fd == 0
+    assert handle.recv_ready_event.fd == 0
+
+  def test_managed_socket_state(self):
+    # managed socket should not change anything about the state
+    handle = msgq.fake_event_handle("ubloxGnss")
+    handle.enabled = True
+
+    expected_enabled = handle.enabled
+    expected_recv_called_fd = handle.recv_called_event.fd
+    expected_recv_ready_fd = handle.recv_ready_event.fd
+
+    _ = msgq.pub_sock("ubloxGnss")
+
+    assert handle.enabled == expected_enabled
+    assert handle.recv_called_event.fd == expected_recv_called_fd
+    assert handle.recv_ready_event.fd == expected_recv_ready_fd
+
+  def test_sockets_enable_disable(self):
+    carState_handle = msgq.fake_event_handle("ubloxGnss", enable=True)
+    recv_called = carState_handle.recv_called_event
+    recv_ready = carState_handle.recv_ready_event
+
+    pub_sock = msgq.pub_sock("ubloxGnss")
+    sub_sock = msgq.sub_sock("ubloxGnss")
+
+    try:
+      carState_handle.enabled = True
+      recv_ready.set()
+      pub_sock.send(b"test")
+      _ = sub_sock.receive()
+      assert recv_called.peek()
+      recv_called.clear()
+
+      carState_handle.enabled = False
+      recv_ready.set()
+      pub_sock.send(b"test")
+      _ = sub_sock.receive()
+      assert not recv_called.peek()
+    except RuntimeError:
+      pytest.fail("event.wait() timed out")
+
+  def test_synced_pub_sub(self):
+    def daemon_repub_process_run():
+      pub_sock = msgq.pub_sock("ubloxGnss")
+      sub_sock = msgq.sub_sock("carState")
+
+      frame = -1
+      while True:
+        frame += 1
+        msg = sub_sock.receive(non_blocking=True)
+        if msg is None:
+          print("none received")
+          continue
+
+        bts = frame.to_bytes(8, 'little')
+        pub_sock.send(bts)
+
+    carState_handle = msgq.fake_event_handle("carState", enable=True)
+    recv_called = carState_handle.recv_called_event
+    recv_ready = carState_handle.recv_ready_event
+
+    p = multiprocessing.Process(target=daemon_repub_process_run)
+    p.start()
+
+    pub_sock = msgq.pub_sock("carState")
+    sub_sock = msgq.sub_sock("ubloxGnss")
+
+    try:
+      for i in range(10):
+        recv_called.wait(WAIT_TIMEOUT)
+        recv_called.clear()
+
+        if i == 0:
+          sub_sock.receive(non_blocking=True)
+
+        bts = i.to_bytes(8, 'little')
+        pub_sock.send(bts)
+
+        recv_ready.set()
+        recv_called.wait(WAIT_TIMEOUT)
+
+        msg = sub_sock.receive(non_blocking=True)
+        assert msg is not None
+        assert len(msg) == 8
+
+        frame = int.from_bytes(msg, 'little')
+        assert frame == i
+    except RuntimeError:
+      pytest.fail("event.wait() timed out")
+    finally:
+      p.kill()

msgq_repo/msgq/tests/test_messaging.py

@@ -0,0 +1,57 @@
+import random
+import time
+import string
+import msgq
+import pytest
+
+def random_sock():
+  return ''.join(random.choices(string.ascii_uppercase + string.digits, k=10))
+
+def random_bytes(length=1000):
+  return bytes([random.randrange(0xFF) for _ in range(length)])
+
+class TestPubSubSockets:
+
+  def test_pub_sub(self):
+    sock = random_sock()
+    pub_sock = msgq.pub_sock(sock)
+    sub_sock = msgq.sub_sock(sock, conflate=False, timeout=None)
+
+    for _ in range(1000):
+      msg = random_bytes()
+      pub_sock.send(msg)
+      recvd = sub_sock.receive()
+      assert msg == recvd
+
+  def test_conflate(self):
+    sock = random_sock()
+    pub_sock = msgq.pub_sock(sock)
+    for conflate in [True, False]:
+      num_msgs = random.randint(3, 10)
+      sub_sock = msgq.sub_sock(sock, conflate=conflate, timeout=None)
+
+      sent_msgs = []
+      for __ in range(num_msgs):
+        msg = random_bytes()
+        pub_sock.send(msg)
+        sent_msgs.append(msg)
+      time.sleep(0.1)
+      recvd_msgs = msgq.drain_sock_raw(sub_sock)
+      if conflate:
+        assert len(recvd_msgs) == 1
+        assert recvd_msgs[0] == sent_msgs[-1]
+      else:
+        assert len(recvd_msgs) == len(sent_msgs)
+        for rec_msg, sent_msg in zip(recvd_msgs, sent_msgs):
+          assert rec_msg == sent_msg
+
+  @pytest.mark.flaky(retries=3, delay=1)
+  def test_receive_timeout(self):
+    sock = random_sock()
+    timeout = random.randrange(200)
+    sub_sock = msgq.sub_sock(sock, timeout=timeout)
+
+    start_time = time.monotonic()
+    recvd = sub_sock.receive()
+    assert (time.monotonic() - start_time) < (timeout + 0.1)
+    assert recvd is None

msgq_repo/msgq/tests/test_poller.py

@@ -0,0 +1,138 @@
+import pytest
+import time
+import msgq
+import concurrent.futures
+
+SERVICE_NAME = 'myService'
+
+def poller():
+  context = msgq.Context()
+
+  p = msgq.Poller()
+
+  sub = msgq.SubSocket()
+  sub.connect(context, SERVICE_NAME)
+  p.registerSocket(sub)
+
+  socks = p.poll(10000)
+  r = [s.receive(non_blocking=True) for s in socks]
+
+  return r
+
+
+class TestPoller:
+  def test_poll_once(self):
+    context = msgq.Context()
+
+    pub = msgq.PubSocket()
+    pub.connect(context, SERVICE_NAME)
+
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
+
+      time.sleep(0.1)  # Slow joiner syndrome
+
+      # Send message
+      pub.send(b"a")
+
+      # Wait for poll result
+      result = poll.result()
+
+    del pub
+    context.term()
+
+    assert result == [b"a"]
+
+  def test_poll_and_create_many_subscribers(self):
+    context = msgq.Context()
+
+    pub = msgq.PubSocket()
+    pub.connect(context, SERVICE_NAME)
+
+    with concurrent.futures.ThreadPoolExecutor() as e:
+      poll = e.submit(poller)
+
+      time.sleep(0.1)  # Slow joiner syndrome
+      c = msgq.Context()
+      for _ in range(10):
+        msgq.SubSocket().connect(c, SERVICE_NAME)
+
+      time.sleep(0.1)
+
+      # Send message
+      pub.send(b"a")
+
+      # Wait for poll result
+      result = poll.result()
+
+    del pub
+    context.term()
+
+    assert result == [b"a"]
+
+  def test_multiple_publishers_exception(self):
+    context = msgq.Context()
+
+    with pytest.raises(msgq.MultiplePublishersError):
+      pub1 = msgq.PubSocket()
+      pub1.connect(context, SERVICE_NAME)
+
+      pub2 = msgq.PubSocket()
+      pub2.connect(context, SERVICE_NAME)
+
+      pub1.send(b"a")
+
+    del pub1
+    del pub2
+    context.term()
+
+  def test_multiple_messages(self):
+    context = msgq.Context()
+
+    pub = msgq.PubSocket()
+    pub.connect(context, SERVICE_NAME)
+
+    sub = msgq.SubSocket()
+    sub.connect(context, SERVICE_NAME)
+
+    time.sleep(0.1)  # Slow joiner
+
+    for i in range(1, 100):
+      pub.send(b'a'*i)
+
+    msg_seen = False
+    i = 1
+    while True:
+      r = sub.receive(non_blocking=True)
+
+      if r is not None:
+        assert b'a'*i == r
+
+        msg_seen = True
+        i += 1
+
+      if r is None and msg_seen:
+        break
+
+    del pub
+    del sub
+    context.term()
+
+  def test_conflate(self):
+    context = msgq.Context()
+
+    pub = msgq.PubSocket()
+    pub.connect(context, SERVICE_NAME)
+
+    sub = msgq.SubSocket()
+    sub.connect(context, SERVICE_NAME, conflate=True)
+
+    time.sleep(0.1)  # Slow joiner
+    pub.send(b'a')
+    pub.send(b'b')
+
+    assert b'b' == sub.receive()
+
+    del pub
+    del sub
+    context.term()

msgq_repo/msgq/visionipc/.gitignore

@@ -0,0 +1,2 @@
+visionipc_pyx.cpp
+*.so

msgq_repo/msgq/visionipc/__init__.py

@@ -0,0 +1,6 @@
+from msgq.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name
+assert VisionBuf
+assert VisionIpcClient
+assert VisionIpcServer
+assert VisionStreamType
+assert get_endpoint_name

msgq_repo/msgq/visionipc/test_runner.cc

@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"

msgq_repo/msgq/visionipc/tests/test_visionipc.py

@@ -0,0 +1,100 @@
+import random
+from typing import Optional
+import numpy as np
+from msgq.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
+
+
+class TestVisionIpc:
+  server: VisionIpcServer
+  client: Optional[VisionIpcClient]
+
+  def setup_vipc(self, name, *stream_types, num_buffers=1, width=100, height=100, conflate=False):
+    self.server = VisionIpcServer(name)
+    for stream_type in stream_types:
+      self.server.create_buffers(stream_type, num_buffers, width, height)
+    self.server.start_listener()
+
+    if len(stream_types):
+      self.client = VisionIpcClient(name, stream_types[0], conflate)
+      assert self.client.connect(True)
+    else:
+      self.client = None
+
+    return self.server, self.client
+
+  def test_connect(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+    assert self.client is not None
+    assert self.client.is_connected
+    del self.client
+    del self.server
+
+  def test_available_streams(self):
+    for k in range(4):
+      stream_types = set(random.choices([x.value for x in VisionStreamType], k=k))
+      self.setup_vipc("camerad", *stream_types)
+      available_streams = VisionIpcClient.available_streams("camerad", True)
+      assert available_streams == stream_types
+      del self.client
+      del self.server
+
+  def test_buffers(self):
+    width, height, num_buffers = 100, 200, 5
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, num_buffers=num_buffers, width=width, height=height)
+    assert self.client is not None
+    assert self.client.width == width
+    assert self.client.height == height
+    assert self.client.buffer_len is not None and self.client.buffer_len > 0
+    assert self.client.num_buffers == num_buffers
+    del self.client
+    del self.server
+
+  def test_send_single_buffer(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+    assert self.client is not None
+    assert self.client.buffer_len is not None
+    buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
+    buf.view('<i4')[0] = 1234
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1337)
+
+    recv_buf = self.client.recv()
+    assert recv_buf is not None
+    assert recv_buf.data.view('<i4')[0] == 1234
+    assert self.client.frame_id == 1337
+    del self.client
+    del self.server
+
+  def test_no_conflate(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+    assert self.client is not None
+    assert self.client.buffer_len is not None
+    buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
+
+    recv_buf = self.client.recv()
+    assert recv_buf is not None
+    assert self.client.frame_id == 1
+
+    recv_buf = self.client.recv()
+    assert recv_buf is not None
+    assert self.client.frame_id == 2
+    del self.client
+    del self.server
+
+  def test_conflate(self):
+    self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, conflate=True)
+    assert self.client is not None
+    assert self.client.buffer_len is not None
+    buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
+    self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
+
+    recv_buf = self.client.recv()
+    assert recv_buf is not None
+    assert self.client.frame_id == 2
+
+    recv_buf = self.client.recv()
+    assert recv_buf is None
+    del self.client
+    del self.server

msgq_repo/msgq/visionipc/visionbuf.cc

@@ -0,0 +1,79 @@
+#include "msgq/visionipc/visionbuf.h"
+
+#include <atomic>
+#include <stdio.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+
+std::atomic<int> offset = 0;
+
+static void *malloc_with_fd(size_t len, int *fd) {
+  char full_path[0x100];
+
+#ifdef __APPLE__
+  snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
+#else
+  snprintf(full_path, sizeof(full_path)-1, "/dev/shm/msgq_visionbuf_%d_%d", getpid(), offset++);
+#endif
+
+  *fd = open(full_path, O_RDWR | O_CREAT, 0664);
+  assert(*fd >= 0);
+
+  unlink(full_path);
+
+  int ret = ftruncate(*fd, len);
+  assert(ret == 0);
+  void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
+  assert(addr != MAP_FAILED);
+
+  return addr;
+}
+
+void VisionBuf::allocate(size_t length) {
+  this->len = length;
+  this->mmap_len = this->len + sizeof(uint64_t);
+  this->addr = malloc_with_fd(this->mmap_len, &this->fd);
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
+}
+
+void VisionBuf::import(){
+  assert(this->fd >= 0);
+  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
+  assert(this->addr != MAP_FAILED);
+
+  this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
+}
+
+void VisionBuf::init_yuv(size_t init_width, size_t init_height, size_t init_stride, size_t init_uv_offset){
+  this->width = init_width;
+  this->height = init_height;
+  this->stride = init_stride;
+  this->uv_offset = init_uv_offset;
+
+  this->y = (uint8_t *)this->addr;
+  this->uv = this->y + this->uv_offset;
+}
+
+int VisionBuf::sync(int dir) {
+  return 0;
+}
+
+int VisionBuf::free() {
+  int err = munmap(this->addr, this->mmap_len);
+  if (err != 0) return err;
+
+  err = close(this->fd);
+  return err;
+}
+
+uint64_t VisionBuf::get_frame_id() {
+  return *frame_id;
+}
+
+void VisionBuf::set_frame_id(uint64_t id) {
+  *frame_id = id;
+}