.clang-tidy

@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...

.dir-locals.el

@@ -0,0 +1,3 @@
+((c++-mode (flycheck-gcc-language-standard . "c++11")
+           (flycheck-clang-language-standard . "c++11")
+           ))

.dockerignore

@@ -0,0 +1,38 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+chffr/lib/vidindex/vidindex
+selfdrive/test/simulator2
+**/cache_data
+xx/chffr/lib/vidindex/vidindex
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk

.editorconfig

@@ -0,0 +1,11 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[{*.py, *.pyx, *.pxd}]
+charset = utf-8
+indent_style = space
+indent_size = 2

.gitattributes

@@ -0,0 +1,2 @@
+*.dlc filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,58 @@
+name: Bug report
+description: For issues with running openpilot on your comma device
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: dropdown
+    id: hw
+    attributes:
+      label: What hardware does this issue affect?
+      multiple: true
+      options:
+        - comma three
+        - comma two
+        - EON Gold
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -0,0 +1,65 @@
+name: Car bug report
+description: For issues with a particular car make or model
+labels: ["car bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: dropdown
+    id: hw
+    attributes:
+      label: What hardware does this issue affect?
+      multiple: true
+      options:
+        - comma three
+        - comma two
+        - EON Gold
+    validations:
+      required: true
+
+  - type: input
+    id: car
+    attributes:
+      label: Which car does this affect?
+      placeholder: Toyota Prius 2017
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,11 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Discussions
+    url: https://github.com/commaai/openpilot/discussions
+    about: For questions and discussion about openpilot
+  - name: Community Wiki
+    url: https://github.com/commaai/openpilot/wiki
+    about: Check out our community wiki
+  - name: Community Discord
+    url: https://discord.comma.ai
+    about: Check out our community discord

.github/ISSUE_TEMPLATE/enhancement.md

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

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+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 20.04
+    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/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specifc bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**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]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added to README
+- [ ] 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):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -0,0 +1,11 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+Discord username: []
+
+Route: []

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -0,0 +1,32 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+
+-->

.github/pull_request_template.md

@@ -0,0 +1,38 @@
+<!-- Please copy and paste the relevant template -->
+
+<!--- ***** Template: Car bug fix *****
+
+**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+
+**Verification** [](Explain how you tested this bug fix.)
+
+**Route**
+Route: [a route with the bug fix]
+
+-->
+
+<!--- ***** Template: Bug fix *****
+
+**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+
+**Verification** [](Explain how you tested this bug fix.)
+
+-->
+
+<!--- ***** Template: Car port *****
+
+**Checklist**
+- [ ] added entry to CarInfo 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:
+
+-->
+
+<!--- ***** Template: Refactor *****
+
+**Description** [](A description of the refactor, including the goals it accomplishes.)
+
+**Verification** [](Explain how you tested the refactor for regressions.)
+
+-->

.github/workflows/prebuilt.yaml

@@ -0,0 +1,42 @@
+name: prebuilt
+on:
+  schedule:
+    - cron: '0 * * * *'
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+jobs:
+  build_prebuilt:
+    name: build prebuilt
+    runs-on: ubuntu-20.04
+    timeout-minutes: 60
+    if: github.repository == 'commaai/openpilot'
+    env:
+      IMAGE_NAME: openpilot-prebuilt
+    steps:
+    - name: Wait for green check mark
+      uses: lewagon/wait-on-check-action@v0.2
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build prebuilt'
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: |
+        eval "$BUILD"
+        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
+    - name: Push to container registry
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest

.github/workflows/selfdrive_tests.yaml

@@ -0,0 +1,431 @@
+name: selfdrive
+on:
+  push:
+    branches-ignore:
+      - 'testing-closet*'
+  pull_request:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  UNIT_TEST: coverage run --append -m unittest discover
+
+jobs:
+  # TODO: once actions/cache supports read only mode, use the cache for all jobs
+  build_release:
+    name: build release
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    env:
+      STRIPPED_DIR: tmppilot
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Check submodules
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: release/check-submodules.sh
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Strip non-release files
+      run: |
+        mkdir $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_tici) $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_pc) $STRIPPED_DIR
+        cp Dockerfile.openpilot_base $STRIPPED_DIR
+
+        # need this to build on x86
+        cp -pR --parents third_party/libyuv third_party/snpe selfdrive/modeld/runners $STRIPPED_DIR
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Build openpilot and run checks
+      run: |
+          cd $STRIPPED_DIR
+          ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
+                          python -m unittest discover selfdrive/car"
+    - name: Cleanup scons cache
+      run: |
+          cd $STRIPPED_DIR
+          ${{ env.RUN }} "scons -j$(nproc) && \
+                          rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+
+  #build_mac:
+  #  name: build macos
+  #  runs-on: macos-latest
+  #  timeout-minutes: 60
+  #  steps:
+  #  - uses: actions/checkout@v2
+  #    with:
+  #      submodules: true
+  #  - name: Determine pre-existing Homebrew packages
+  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
+  #    run: |
+  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
+  #      echo 'EOF' >> $GITHUB_ENV
+  #  - name: Cache dependencies
+  #    id: dependency-cache
+  #    uses: actions/cache@v2
+  #    with:
+  #      path: |
+  #        ~/.pyenv
+  #        ~/.local/share/virtualenvs/
+  #        /usr/local/Cellar
+  #        ~/github_brew_cache_entries.txt
+  #        /tmp/scons_cache
+  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
+  #      restore-keys: macos-
+  #  - name: Brew link restored dependencies
+  #    run: |
+  #      if [ -f ~/github_brew_cache_entries.txt ]; then
+  #        while read pkg; do
+  #          brew link --force "$pkg" # `--force` for keg-only packages
+  #        done < ~/github_brew_cache_entries.txt
+  #      else
+  #        echo "Cache entries not found"
+  #      fi
+  #  - name: Install dependencies
+  #    run: ./tools/mac_setup.sh
+  #  - name: Build openpilot
+  #    run: |
+  #      source tools/openpilot_env.sh
+  #      pipenv run selfdrive/manager/build.py
+  #
+  #      # cleanup scons cache
+  #      rm -rf /tmp/scons_cache/
+  #      pipenv run scons -j$(nproc) --cache-populate
+  #  - name: Remove pre-existing Homebrew packages for caching
+  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
+  #    run: |
+  #      cd /usr/local/Cellar
+  #      new_cellar=$(ls -1)
+  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
+  #          rm -rf "$pkg"
+  #        fi
+  #      done
+  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+
+  build_webcam:
+    name: build webcam
+    runs-on: ubuntu-20.04
+    timeout-minutes: 90
+    env:
+      IMAGE_NAME: openpilotwebcamci
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: |
+        eval "$BUILD"
+        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile .
+    - name: Build openpilot
+      run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)"
+    - name: Push to container registry
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+
+  docker_push:
+    name: docker push
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Push to container registry
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
+
+  static_analysis:
+    name: static analysis
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: pre-commit
+      run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
+
+  valgrind:
+    name: valgrind
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run valgrind
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
+    - name: Print logs
+      if: always()
+      run: cat selfdrive/test/valgrind_logs.txt
+
+  unit_tests:
+    name: unit tests
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - name: Get current date
+      id: date
+      run: echo "::set-output name=time::$(date +'%s')"
+    - name: Output timestamp
+      run: echo $TIMESTAMP
+      env:
+        TIMESTAMP: ${{ steps.date.outputs.time }}
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
+        restore-keys: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run unit tests
+      run: |
+        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
+                        scons -j$(nproc) --test && \
+                        $UNIT_TEST common && \
+                        $UNIT_TEST opendbc/can && \
+                        $UNIT_TEST selfdrive/boardd && \
+                        $UNIT_TEST selfdrive/controls && \
+                        $UNIT_TEST selfdrive/monitoring && \
+                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST selfdrive/car && \
+                        $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST selfdrive/athena && \
+                        $UNIT_TEST selfdrive/thermald && \
+                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST tools/lib/tests && \
+                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
+                        ./selfdrive/common/tests/test_util && \
+                        ./selfdrive/common/tests/test_swaglog && \
+                        ./selfdrive/loggerd/tests/test_logger &&\
+                        ./selfdrive/proclogd/tests/test_proclog && \
+                        ./selfdrive/ui/replay/tests/test_replay && \
+                        ./selfdrive/camerad/test/ae_gray_test && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+
+  process_replay:
+    name: process replay
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run replay
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+    - name: Print diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v2
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+
+  #model_replay:
+  #  name: model replay
+  #  runs-on: ubuntu-20.04
+  #  timeout-minutes: 50
+  #  steps:
+  #  - uses: actions/checkout@v2
+  #    with:
+  #      submodules: true
+  #  - name: Build Docker image
+  #    run: eval "$BUILD"
+  #  - name: Run replay
+  #    run: |
+  #      ${{ env.RUN }} "scons -j$(nproc) && \
+  #                      selfdrive/test/process_replay/model_replay.py"
+
+  test_longitudinal:
+    name: longitudinal
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test longitudinal
+      run: |
+        ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
+                        scons -j$(nproc) && \
+                        cd selfdrive/test/longitudinal_maneuvers && \
+                        coverage run ./test_longitudinal.py && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+    - uses: actions/upload-artifact@v2
+      if: always()
+      continue-on-error: true
+      with:
+        name: longitudinal
+        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
+
+  test_cars:
+    name: cars
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    strategy:
+      fail-fast: false
+      matrix:
+        job: [0, 1, 2, 3]
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test car models
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) --test && \
+                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/car/tests/test_models.py && \
+                        coverage xml && \
+                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        NUM_JOBS: 4
+        JOB_ID: ${{ matrix.job }}
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
+
+  docs:
+    name: build docs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build docker container
+      run: |
+        docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+        docker pull $DOCKER_REGISTRY/openpilot-docs:latest || true
+        DOCKER_BUILDKIT=1 docker build --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
+    - name: Push docker container
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/openpilot-docs:latest

.github/workflows/tools_tests.yaml

@@ -0,0 +1,71 @@
+name: tools
+on:
+  push:
+  pull_request:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \
+       GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+
+jobs:
+  plotjuggler:
+    name: plotjuggler
+    runs-on: ubuntu-20.04
+    timeout-minutes: 30
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Unit test
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
+                        apt-get update && \
+                        apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \
+                        cd /tmp/openpilot/tools/plotjuggler && \
+                        ./test_plotjuggler.py"
+
+  simulator:
+    name: simulator
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    env:
+      IMAGE_NAME: openpilot-sim
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+
+    # HACK: cache LFS objects since they count against our quota
+    # https://github.com/actions/checkout/issues/165#issuecomment-657673315
+    - name: Create LFS file list
+      run: git lfs ls-files -l | cut -d' ' -f1 | sort > .lfs-assets-id
+    - name: Restore LFS cache
+      uses: actions/cache@v2
+      id: lfs-cache
+      with:
+        path: .git/lfs
+        key: ${{ runner.os }}-lfs-${{ hashFiles('.lfs-assets-id') }}
+    - name: Git LFS Pull
+      run: git lfs pull
+
+    - name: Build Docker image
+      run: |
+        eval "$BUILD"
+        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
+    - name: Push to container registry
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest

.gitignore

@@ -1,11 +1,19 @@
+venv/
+.env
+.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
 .idea
+.overlay_init
+.overlay_consistent
 .sconsign.dblite
+.vscode*
 model2.png
 a.out
+.hypothesis
 
+*.dylib
 *.DSYM
 *.d
 *.pyc
@@ -13,7 +21,11 @@ a.out
 .*.swp
 .*.swo
 .*.un~
+*.tmp
 *.o
+*.o-*
+*.os
+*.os-*
 *.so
 *.a
 *.clb
@@ -22,13 +34,52 @@ a.out
 *.vcd
 config.json
 clcache
+compile_commands.json
 
+persist
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
-selfdrive/ui/ui
-selfdrive/test/tests/plant/out
+selfdrive/ui/_ui
+selfdrive/test/longitudinal_maneuvers/out
+selfdrive/visiond/visiond
+selfdrive/loggerd/loggerd
+selfdrive/loggerd/bootlog
+selfdrive/sensord/_gpsd
+selfdrive/sensord/_sensord
+selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
+selfdrive/modeld/_modeld
+selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one
+openpilot
+notebooks
+xx
+yy
+hyperthneed
+panda_jungle
+provisioning
+
+.coverage*
+coverage.xml
+htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/thneed/compile
+models/*.thneed
+
+*.bz2
+
+build/
+
+!**/.gitkeep

.gitmodules

@@ -0,0 +1,15 @@
+[submodule "panda"]
+	path = panda
+	url = ../../commaai/panda.git
+[submodule "opendbc"]
+	path = opendbc
+	url = ../../commaai/opendbc.git
+[submodule "laika_repo"]
+	path = laika_repo
+	url = ../../commaai/laika.git
+[submodule "cereal"]
+	path = cereal
+	url = ../../commaai/cereal.git
+[submodule "rednose_repo"]
+	path = rednose_repo
+	url = ../../commaai/rednose.git

.lfsconfig

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

.pre-commit-config.yaml

@@ -0,0 +1,58 @@
+repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+    -   id: check-ast
+        exclude: '^(pyextra)/'
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-added-large-files
+        args: ['--maxkb=100']
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v0.931
+    hooks:
+    -   id: mypy
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
+        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+                                  'types-pycurl']
+-   repo: https://github.com/PyCQA/flake8
+    rev: 4.0.1
+    hooks:
+    -   id: flake8
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/'
+        additional_dependencies: ['flake8-no-implicit-concat']
+        args:
+        - --indent-size=2
+        - --enable-extensions=NIC
+        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
+        - --statistics
+        - -j4
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8

.pylintrc

@@ -0,0 +1,476 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.* carla.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+[STRING]
+
+# This flag controls whether the implicit-str-concat should generate a warning
+# on implicit string concatenation in sequences defined over several lines.
+check-str-concat-over-line-jumps=yes
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception

.python-version

@@ -0,0 +1 @@
+3.8.10

.travis.yml

@@ -1,12 +0,0 @@
-sudo: required
-
-services:
-  - docker
-
-install:
-  - docker build -t tmppilot -f Dockerfile.openpilot .
-
-script:
-  - docker run --rm
-      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'

CONTRIBUTING.md

@@ -1,18 +0,0 @@
-# How to contribute
-
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
-
-Most open source development activity is coordinated through our [slack](https://slack.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
-
-## Getting Started
-
- * Join our slack [slack.comma.ai](https://slack.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
-
-## Car Ports (openpilot)
-
-We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
-

Dockerfile.openpilot

@@ -1,21 +1,32 @@
-FROM ubuntu:16.04
+FROM ghcr.io/commaai/openpilot-base:latest
+
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
-RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
+ENV OPENPILOT_PATH /home/batman/openpilot/
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 
-COPY requirements_openpilot.txt /tmp/
-RUN pip install -r /tmp/requirements_openpilot.txt
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
 
-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+COPY Pipfile Pipfile.lock $OPENPILOT_PATH
+RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
+    pipenv install --system --deploy --dev --clear && \
+    pip uninstall -y pipenv
 
-COPY ./common /tmp/openpilot/common
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./selfdrive /tmp/openpilot/selfdrive
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./pyextra /tmp/openpilot/pyextra
+COPY SConstruct ${OPENPILOT_PATH}
 
-RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
+COPY ./pyextra ${OPENPILOT_PATH}/pyextra
+COPY ./third_party ${OPENPILOT_PATH}/third_party
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
+COPY ./laika ${OPENPILOT_PATH}/laika
+COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
+COPY ./rednose ${OPENPILOT_PATH}/rednose
+COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
+COPY ./common ${OPENPILOT_PATH}/common
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
+COPY ./cereal ${OPENPILOT_PATH}/cereal
+COPY ./panda ${OPENPILOT_PATH}/panda
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+
+RUN scons -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,32 @@
+FROM ubuntu:20.04
+
+ENV PYTHONUNBUFFERED 1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+ENV PIPENV_SYSTEM=1
+ENV PYENV_VERSION=3.8.10
+ENV PYENV_ROOT="/root/.pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
+COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
+COPY tools/ubuntu_setup.sh /tmp/tools/
+RUN cd /tmp && \
+    tools/ubuntu_setup.sh && \
+    rm -rf /var/lib/apt/lists/* && \
+    rm -rf /tmp/* && \
+    rm -rf /root/.cache && \
+    pip uninstall -y pipenv && \
+
+    # remove unused architectures from gcc for panda
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    rm -rf arm/ && \
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp

Jenkinsfile

@@ -0,0 +1,243 @@
+def phone(String ip, String step_label, String cmd) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+
+set -e
+
+export CI=1
+export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+if [ -f /EON ]; then
+  echo \$\$ > /dev/cpuset/app/tasks || true
+  echo \$PPID > /dev/cpuset/app/tasks || true
+  mkdir -p /dev/shm
+  chmod 777 /dev/shm
+fi
+
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+
+END"""
+
+    sh script: ssh_cmd, label: step_label
+  }
+}
+
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 60, unit: 'MINUTES') {
+      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
+      }
+    }
+  }
+}
+
+pipeline {
+  agent none
+  environment {
+    TEST_DIR = "/data/openpilot"
+    SOURCE_DIR = "/data/openpilot_source/"
+  }
+  options {
+      timeout(time: 4, unit: 'HOURS')
+  }
+
+  stages {
+    stage('build releases') {
+      when {
+        branch 'devel-staging'
+      }
+
+      parallel {
+        stage('release2') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("eon-build", [
+              ["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
+
+        stage('release3') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici", [
+              ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+            ])
+          }
+        }
+      }
+    }
+
+    stage('openpilot tests') {
+      when {
+        not {
+          anyOf {
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
+          }
+        }
+      }
+
+      stages {
+        stage('On-device Tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          stages {
+            stage('parallel tests') {
+              parallel {
+                stage('C2: build') {
+                  steps {
+                    phone_steps("eon-build", [
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: replay') {
+                  steps {
+                    phone_steps("eon2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: HW + Unit Tests') {
+                  steps {
+                    phone_steps("eon", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
+                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
+                    ])
+                  }
+                }
+
+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('C3: build') {
+                  environment {
+                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+                  }
+                  steps {
+                    phone_steps("tici", [
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: HW + Unit Tests') {
+                  steps {
+                    phone_steps("tici2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                    ])
+                  }
+                }
+
+                stage('C2: camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('C3: replay') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+                    ])
+                  }
+                }
+
+              }
+            }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
+          }
+
+          post {
+            always {
+              cleanWs()
+            }
+          }
+
+        }
+
+      }
+    }
+  }
+}
+

Makefile

@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
-	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-

Pipfile

@@ -0,0 +1,83 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+control = "*"
+coverage = "*"
+dictdiffer = "*"
+fastcluster = "*"
+hexdump = "*"
+hypothesis = "*"
+inputs = "*"
+lru-dict = "*"
+markdown-it-py = "*"
+matplotlib = "*"
+mypy = "*"
+myst-parser = "*"
+numpy = "*"
+opencv-python-headless = "*"
+parameterized = "*"
+paramiko = "*"
+pprofile = "*"
+pre-commit = "*"
+pycurl = "*"
+pygame = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-xdist = "*"
+reverse_geocoder = "*"
+scipy = "*"
+sphinx = "*"
+sphinx-sitemap = "*"
+sphinx-rtd-theme = "*"
+breathe = "*"
+subprocess32 = "*"
+tenacity = "*"
+
+[packages]
+atomicwrites = "*"
+casadi = {version = "*", markers="platform_system != 'Darwin'"}
+cffi = "*"
+crcmod = "*"
+cryptography = "*"
+Cython = "*"
+flake8 = "*"
+Flask = "*"
+future-fstrings = "*"  # for acados
+gunicorn = "*"
+hexdump = "*"
+Jinja2 = "*"
+json-rpc = "*"
+libusb1 = "*"
+nose = "*"
+numpy = "*"
+onnx = "*"
+onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
+pillow = "*"
+psutil = "*"
+pycapnp = "==1.1.0"
+pycryptodome = "*"
+PyJWT = "*"
+pylint = "*"
+pyopencl = "*"
+pyserial = "*"
+python-dateutil = "*"
+PyYAML = "*"
+pyzmq = "*"
+requests = "*"
+scons = "*"
+sentry-sdk = "*"
+setproctitle = "*"
+six = "*"
+smbus2 = "*"
+sympy = "!=1.6.1"
+timezonefinder = "*"
+tqdm = "*"
+urllib3 = "*"
+utm = "*"
+websocket_client = "*"
+
+[requires]
+python_version = "3.8"

README.md

@@ -1,210 +1,124 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
-
-Welcome to openpilot
-======
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
-
-The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+![](https://i.imgur.com/b0ZyIx5.jpg)
 
 Table of Contents
 =======================
 
-* [Community](#community)
-* [Hardware](#hardware)
-* [Supported Cars](#supported-cars)
-* [Community Maintained Cars](#community-maintained-cars)
-* [In Progress Cars](#in-progress-cars)
-* [How can I add support for my car?](#how-can-i-add-support-for-my-car-)
-* [Directory structure](#directory-structure)
-* [User Data / chffr Account / Crash Reporting](#user-data-chffr-account-crash-reporting)
-* [Testing on PC](#testing-on-pc)
-* [Contributing](#contributing)
+* [What is openpilot?](#what-is-openpilot)
+* [Running in a car](#running-in-a-car)
+* [Running on PC](#running-on-pc)
+* [Community and Contributing](#community-and-contributing)
+* [User Data and comma Account](#user-data-and-comma-account)
+* [Safety and Testing](#safety-and-testing)
+* [Directory Structure](#directory-structure)
 * [Licensing](#licensing)
 
 ---
 
-Community
+What is openpilot?
 ------
 
-openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
-
-We have a [Twitter you should follow](https://twitter.com/comma_ai).
-
-Also, we have a several thousand people community on [slack](https://slack.comma.ai).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
+    <td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
+    <td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
   </tr>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
+    <td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
+    <td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
+    <td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
+    <td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
   </tr>
 </table>
 
-Hardware
+
+Running in a car
 ------
 
-At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
+To use openpilot in a car, you need four things
+* This software. It's free and available right here.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
 
-Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
+We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
 
-Supported Cars
+Running on PC
 ------
 
-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
-| Honda                | Civic Hatchback 2017-18  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | CR-V 2017-18             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
-| Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Ridgeline 2017-18        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Lexus                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius Prime 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
 
-<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
-<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).  
-<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
-<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais.  
-<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/).  
+With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-Community Maintained Cars
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
+
+
+Community and Contributing
 ------
 
-| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- | ------------------|
-| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
-| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
 
-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
-[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
-<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
+Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
 
-Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
+You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
-In Progress Cars
-------
-- All TSS-P Toyota with Steering Assist.
-  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
-  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
-  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
-- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
-  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
-  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
-- All Hyundai with SmartSense.
-- All Kia with SCC and LKAS.
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
 
-How can I add support for my car?
+And [follow us on Twitter](https://twitter.com/comma_ai).
+
+User Data and comma Account
 ------
 
-If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
-- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
-- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
+openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
-Directory structure
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+
+Safety and Testing
+----
+
+* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
+
+Directory Structure
 ------
     .
-    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec used for all logs on EON
+    ├── cereal              # The messaging spec and libs used for all logs
     ├── common              # Library like functionality we've developed here
-    ├── installer/updater   # Manages auto-updates of openpilot
+    ├── docs                # Documentation
     ├── opendbc             # Files showing how to interpret data from cars
-    ├── panda               # Code used to communicate on CAN and LIN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
+    ├── panda               # Code used to communicate on CAN
+    ├── third_party         # External libraries
+    ├── pyextra             # Extra python packages
     └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
+        ├── assets          # Fonts, images, and sounds for UI
+        ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
-        ├── can             # Helpers for parsing CAN messages
+        ├── camerad         # Driver to capture images from the camera sensors
         ├── car             # Car specific code to read states and control actuators
         ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Perception, planning and controls
+        ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Soon to be home of precise location
+        ├── locationd       # Precise localization and vehicle parameter estimation
         ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
+        ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU / GPS interface code
-        ├── test            # Car simulator running code through virtual maneuvers
-        ├── ui              # The UI
-        └── visiond         # Embedded vision pipeline
-
-To understand how the services interact, see `selfdrive/service_list.yaml`
-
-User Data / chffr Account / Crash Reporting
-------
-
-By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
-
-It's open source software, so you are free to disable it if you wish.
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The user facing camera is only logged if you explicitly opt-in in settings.
-It does not log the microphone.
-
-By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-Testing on PC
-------
-
-There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
-
-```bash
-# Requires working docker
-./run_docker_tests.sh
-```
-
-The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
-
-More extensive testing infrastructure and simulation environments are coming soon.
-
-
-Contributing
-------
-
-We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
-
-Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
+        ├── sensord         # IMU interface code
+        ├── test            # Unit tests, system tests, and a car simulator
+        └── ui              # The UI
 
 Licensing
 ------
@@ -220,3 +134,9 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 ---
 
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
+[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
+[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

README_chffrplus.md

@@ -1,36 +0,0 @@
-Welcome to chffrplus
-======
-
-[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
-
-This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
-
-It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
-
-
-Hardware
-------
-
-Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
-
-Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
-
-
-User Data / chffr Account / Crash Reporting
-------
-
-By default chffrplus creates an account and includes a client for chffr, our dashcam app.
-
-It's open source software, so you are free to disable it if you wish. 
-
-It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-It does not log the user facing camera or the microphone.
-
-By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
-
-
-Licensing
-------
-
-chffrplus is released under the MIT license.
-

RELEASES.md

@@ -1,3 +1,480 @@
+Version 0.8.14 (2022-0X-XX)
+========================
+ * bigmodel!
+ * Toyota Alphard Hybrid 2021 support
+ * Toyota Avalon Hybrid 2022 support
+
+Version 0.8.13 (2022-02-18)
+========================
+ * Improved driver monitoring
+   * Retuned driver pose learner for relaxed driving positions
+   * Added reliance on driving model to be more scene adaptive
+   * Matched strictness between comma two and comma three
+ * Improved performance in turns by compensating for the road bank angle
+ * Improved camera focus on the comma two
+ * AGNOS 4
+   * ADB support
+   * improved cell auto configuration
+ * NEOS 19
+   * package updates
+   * stability improvements
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-5 2022 support thanks to Jafaral!
+ * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
+ * Volkswagen Caravelle 2020 support thanks to jyoung8607!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
+ * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
+ * Audi Q3 2020-21 support thanks to jyoung8607!
+ * Lexus RC 2020 support thanks to ErichMoraga!
+
+Version 0.8.11 (2021-11-29)
+========================
+ * Support for CAN FD on the red panda
+ * Support for an external panda on the comma three
+ * Navigation: Show more detailed instructions when approaching maneuver
+ * Fixed occasional steering faults on GM cars thanks to jyoung8607!
+ * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
+ * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
+ * Mazda CX-9 2021 support thanks to Jacar!
+ * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
+
+Version 0.8.10 (2021-11-01)
+========================
+ * New driving model
+   * Trained on one million minutes!!!
+   * Fixed lead training making lead predictions significantly more accurate
+   * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
+ * New driver monitoring model
+   * Trained on latest data from both comma two and comma three
+   * Increased model field of view by 40% on comma three
+   * Improved model stability on masked users
+   * Improved pose prediction with reworked ground-truth stack
+ * Lateral and longitudinal planning MPCs now in ACADOS
+ * Combined longitudinal MPCs
+   * All longitudinal planning now happens in a single MPC system
+   * Fixed instability in MPC problem to prevent sporadic CPU usage
+ * AGNOS 2: minor stability improvements and builder repo open sourced
+ * tools: new and improved replay thanks to deanlee!
+ * Moved community-supported cars outside of the Community Features toggle
+ * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
+ * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
+ * Audi S3 2015 support thanks to jyoung8607!
+ * Honda Freed 2020 support thanks to belm0!
+ * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
+ * Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
+ * Kia K5 2021 support thanks to sunnyhaibin!
+ * Škoda Kamiq 2021 support thanks to jyoung8607!
+ * Škoda Karoq 2019 support thanks to jyoung8607!
+ * Volkswagen Arteon 2021 support thanks to jyoung8607!
+ * Volkswagen California 2021 support thanks to jyoung8607!
+ * Volkswagen Taos 2022 support thanks to jyoung8607!
+
+Version 0.8.9 (2021-09-14)
+========================
+ * Improved fan control on comma three
+ * AGNOS 1.5: improved stability
+ * Honda e 2020 support
+
+Version 0.8.8 (2021-08-27)
+========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes
+ * New driver monitoring model: improved performance on comma three
+ * NEOS 18 for comma two: update packages
+ * AGNOS 1.3 for comma three: fix display init at high temperatures
+ * Improved auto-exposure on comma three
+ * Improved longitudinal control on Honda Nidec cars
+ * Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
+ * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
+ * Kia Niro Hybrid 2021 support thanks to tetious!
+
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
+Version 0.8.6 (2021-07-21)
+========================
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
+ * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
+ * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
+ * Kia Niro Hybrid 2019 support thanks to jyoung8607!
+ * Škoda Octavia RS 2016 support thanks to jyoung8607!
+ * Toyota Alphard 2020 support thanks to belm0!
+ * Volkswagen Golf SportWagen 2015 support thanks to jona96!
+ * Volkswagen Touran 2017 support thanks to jyoung8607!
+
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
+Version 0.8.2 (2021-02-26)
+========================
+ * Use model points directly in MPC (no more polyfits), making lateral planning more accurate
+ * Use model heading prediction for smoother lateral control
+ * Smarter actuator delay compensation
+ * Improve qcamera resolution for improved video in explorer and connect
+ * Adjust maximum engagement speed to better fit the model's training distribution
+ * New driver monitoring model trained with 3x more diverse data
+ * Improved face detection with masks
+ * More predictable DM alerts when visibility is bad
+ * Rewritten video streaming between openpilot processes
+ * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
+ * Audi A3 2015 and 2017 support thanks to keeleysam!
+ * Nissan Altima 2020 support thanks to avolmensky!
+ * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
+ * Toyota Camry Hybrid 2021 support thanks to alancyau!
+
+Version 0.8.1 (2020-12-21)
+========================
+ * Original EON is deprecated, upgrade to comma two
+ * Better model performance in heavy rain
+ * Better lane positioning in turns
+ * Fixed bug where model would cut turns on empty roads at night
+ * Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
+ * Toyota Camry 2021 with TSS2.5 support
+ * Hyundai Ioniq Electric 2020 support thanks to baldwalker!
+
+Version 0.8.0 (2020-11-30)
+========================
+ * New driving model: fully 3D and improved cut-in detection
+ * UI draws 2 road edges, 4 lanelines and paths in 3D
+ * Major fixes to cut-in detection for openpilot longitudinal
+ * Grey panda is no longer supported, upgrade to comma two or black panda
+ * Lexus NX 2018 support thanks to matt12eagles!
+ * Kia Niro EV 2020 support thanks to nickn17!
+ * Toyota Prius 2021 support thanks to rav4kumar!
+ * Improved lane positioning with uncertain lanelines, wide lanes and exits
+ * Improved lateral control for Prius and Subaru
+
+Version 0.7.10 (2020-10-29)
+========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
+ * NEOS update: update to Python 3.8.2 and lower CPU frequency
+ * Improved thermals due to reduced CPU frequency
+ * Update SNPE to 1.41.0
+ * Reduced offroad power consumption
+ * Various system stability improvements
+ * Acura RDX 2020 support thanks to csouers!
+
+Version 0.7.9 (2020-10-09)
+========================
+ * Improved car battery power management
+ * Improved updater robustness
+ * Improved realtime performance
+ * Reduced UI and modeld lags
+ * Increased torque on 2020 Hyundai Sonata and Palisade
+
+Version 0.7.8 (2020-08-19)
+========================
+ * New driver monitoring model: improved face detection and better compatibility with sunglasses
+ * Download NEOS operating system updates in the background
+ * Improved updater reliability and responsiveness
+ * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
+
+Version 0.7.7 (2020-07-20)
+========================
+ * White panda is no longer supported, upgrade to comma two or black panda
+ * Improved vehicle model estimation using high precision localizer
+ * Improved thermal management on comma two
+ * Improved autofocus for road-facing camera
+ * Improved noise performance for driver-facing camera
+ * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
+ * Fix GM ignition detection
+ * Code cleanup and smaller release sizes
+ * Hyundai Sonata 2020 promoted to officially supported car
+ * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
+ * Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
+
+Version 0.7.6.1 (2020-06-16)
+========================
+ * Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+ * White panda is deprecated, upgrade to comma two or black panda
+ * 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+ * 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+ * Huge CPU savings in modeld by using thneed!
+ * Lots of code cleanup and refactors
+
+Version 0.7.5 (2020-05-13)
+========================
+ * Right-Hand Drive support for both driving and driver monitoring!
+ * New driving model: improved at sharp turns and lead speed estimation
+ * New driver monitoring model: overall improvement on comma two
+ * Driver camera preview in settings to improve mounting position
+ * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+ * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
+Version 0.7.1 (2020-01-20)
+========================
+ * comma two support!
+ * Lane Change Assist above 45 mph!
+ * Replace zmq with custom messaging library, msgq!
+ * Supercombo model: calibration and driving models are combined for better lead estimate
+ * More robust updater thanks to jyoung8607! Requires NEOS update
+ * Improve low speed ACC tuning
+
+Version 0.7 (2019-12-13)
+========================
+ * Move to SCons build system!
+ * Add Lane Departure Warning (LDW) for all supported vehicles!
+ * NEOS update: increase wifi speed thanks to jyoung8607!
+ * Adaptive driver monitoring based on scene
+ * New driving model trained end-to-end: improve lane lines and lead detection
+ * Smarter torque limit alerts for all cars
+ * Improve GM longitudinal control: proper computations for 15Hz radar
+ * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
+ * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Forward stock FCW for Honda Nidec
+ * Volkswagen port now standard: comma Harness intercepts stock camera
+
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: improve path prediction
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
+Version 0.6.4 (2019-09-08)
+========================
+ * Forward stock AEB for Honda Nidec
+ * Improve lane centering on banked roads
+ * Always-on forward collision warning
+ * Always-on driver monitoring, except for right hand drive countries
+ * Driver monitoring learns the user's normal driving position
+ * Honda Fit support thanks to energee!
+ * Lexus IS support
+
+Version 0.6.3 (2019-08-12)
+========================
+ * Alert sounds from EON: requires NEOS update
+ * Improve driver monitoring: eye tracking and improved awareness logic
+ * Improve path prediction with new driving model
+ * Improve lane positioning with wide lanes and exits
+ * Improve lateral control on RAV4
+ * Slow down for turns using model
+ * Open sourced regression test to verify outputs against reference logs
+ * Open sourced regression test to sanity check all car models
+
+Version 0.6.2 (2019-07-29)
+========================
+ * New driving model!
+ * Improve lane tracking with double lines
+ * Strongly improve stationary vehicle detection
+ * Strongly reduce cases of braking due to false leads
+ * Better lead tracking around turns
+ * Improve cut-in prediction by using neural network
+ * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
+ * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
+ * Fix delayed transition to offroad when car is turned off
+
+Version 0.6.1 (2019-07-21)
+========================
+ * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
+ * Panda code Misra-c2012 compliance, tested against cppcheck coverage
+ * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
+ * Toyota Sienna support thanks to wocsor!
+
+Version 0.6 (2019-07-01)
+========================
+ * New model, with double the pixels and ten times the temporal context!
+ * Car should not take exits when in the right lane
+ * openpilot uses only ~65% of the CPU (down from 75%)
+ * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
+ * loggerd and sensord are open source, every line of openpilot is now open
+ * Panda safety code is MISRA compliant and ships with a signed version on release2
+ * New NEOS is 500MB smaller and has a reproducible usr/pipenv
+ * Lexus ES Hybrid support thanks to wocsor!
+ * Improve tuning for supported Toyota with TSS 2.0
+ * Various other stability improvements
+
+Version 0.5.13 (2019-05-31)
+==========================
+ * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
+ * Reduce EON power consumption by 40%, down to 1100mW, when car is off
+ * Reduce CPU utilization by 20% and improve stability
+ * Temporarily remove mapd functionalities to improve stability
+ * Add openpilot record-only mode for unsupported cars
+ * Synchronize controlsd to boardd to reduce latency
+ * Remove panda support for Subaru giraffe
+
+Version 0.5.12 (2019-05-16)
+==========================
+ * Improve lateral control for the Prius and Prius Prime
+ * Compress logs before writing to disk
+ * Remove old driving data when storage reaches 90% full
+ * Fix small offset in following distance
+ * Various small CPU optimizations
+ * Improve offroad power consumption: require NEOS Update
+ * Add default speed limits for Estonia thanks to martinl!
+ * Subaru Crosstrek support thanks to martinl!
+ * Toyota Avalon support thanks to njbrown09!
+ * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
+ * Toyota Corolla with TSS 2.0 support thanks to wocsor!
+
+Version 0.5.11 (2019-04-17)
+========================
+ * Add support for Subaru
+ * Reduce panda power consumption by 60% when car is off
+ * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
+ * Fix bug in controls with new angle-offset learner in MPC
+ * Reduce cpu consumption of ubloxd by rewriting it in C++
+ * Improve driver monitoring model and face detection
+ * Improve performance of visiond and ui
+ * Honda Passport 2019 support
+ * Lexus RX Hybrid 2019 support thanks to schomems!
+ * Improve road selection heuristic in mapd
+ * Add Lane Departure Warning to dashboard for Toyota thanks to arne182
+
+Version 0.5.10 (2019-03-19)
+========================
+ * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
+ * Improve longitudinal control at low speed when lead vehicle harshly decelerates
+ * Fix panda bug going unexpectedly in DCP mode when EON is connected
+ * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
+ * New Driver Monitoring Model
+ * Support QR codes for login using comma connect
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
+ * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
+
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
+
+Version 0.5.8 (2019-01-17)
+========================
+ * Open sourced visiond
+ * Auto-slowdown for upcoming turns
+ * Chrysler/Jeep/Fiat support thanks to adhintz!
+ * Honda Civic 2019 support thanks to csouers!
+ * Improve use of car display in Toyota thanks to arne182!
+ * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
+ * EON stops charging when 12V battery drops below 11.8V
+
 Version 0.5.7 (2018-12-06)
 ========================
  * Speed limit from OpenStreetMap added to UI
@@ -228,96 +705,96 @@ Version 0.3.4 (2017-07-28)
 
 Version 0.3.3  (2017-06-28)
 ===========================
-  * Improved model trained on more data
-  * Alpha CR-V support thanks to energee and johnnwvs!
-  * Using the opendbc project for DBC files
-  * Minor performance improvements
-  * UI update thanks to pjlao307
-  * Power off button
-  * 6% more torque on the Civic
+ * Improved model trained on more data
+ * Alpha CR-V support thanks to energee and johnnwvs!
+ * Using the opendbc project for DBC files
+ * Minor performance improvements
+ * UI update thanks to pjlao307
+ * Power off button
+ * 6% more torque on the Civic
 
 Version 0.3.2  (2017-05-22)
 ===========================
-  * Minor stability bugfixes
-  * Added metrics and rear view mirror disable to settings
-  * Update model with more crowdsourced data
+ * Minor stability bugfixes
+ * Added metrics and rear view mirror disable to settings
+ * Update model with more crowdsourced data
 
 Version 0.3.1  (2017-05-17)
 ===========================
-  * visiond stability bugfix
-  * Add logging for angle and flashing
+ * visiond stability bugfix
+ * Add logging for angle and flashing
 
 Version 0.3.0  (2017-05-12)
 ===========================
-  * Add CarParams struct to improve the abstraction layer
-  * Refactor visiond IPC to support multiple clients
-  * Add raw GPS and beginning support for navigation
-  * Improve model in visiond using crowdsourced data
-  * Add improved system logging to diagnose instability
-  * Rewrite baseui in React Native
-  * Moved calibration to the cloud
+ * Add CarParams struct to improve the abstraction layer
+ * Refactor visiond IPC to support multiple clients
+ * Add raw GPS and beginning support for navigation
+ * Improve model in visiond using crowdsourced data
+ * Add improved system logging to diagnose instability
+ * Rewrite baseui in React Native
+ * Moved calibration to the cloud
 
 Version 0.2.9  (2017-03-01)
 ===========================
-  * Retain compatibility with NEOS v1
+ * Retain compatibility with NEOS v1
 
 Version 0.2.8  (2017-02-27)
 ===========================
-  * Fix bug where frames were being dropped in minute 71
+ * Fix bug where frames were being dropped in minute 71
 
 Version 0.2.7  (2017-02-08)
 ===========================
-  * Better performance and pictures at night
-  * Fix ptr alignment issue in boardd
-  * Fix brake error light, fix crash if too cold
+ * Better performance and pictures at night
+ * Fix ptr alignment issue in boardd
+ * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
 ===========================
-  * Fix bug in visiond model execution
+ * Fix bug in visiond model execution
 
 Version 0.2.5  (2017-01-30)
 ===========================
-  * Fix race condition in manager
+ * Fix race condition in manager
 
 Version 0.2.4  (2017-01-27)
 ===========================
-  * OnePlus 3T support
-  * Enable installation as NEOS app
-  * Various minor bugfixes
+ * OnePlus 3T support
+ * Enable installation as NEOS app
+ * Various minor bugfixes
 
 Version 0.2.3  (2017-01-11)
 ===========================
-  * Reduce space usage by 80%
-  * Add better logging
-  * Add Travis CI
+ * Reduce space usage by 80%
+ * Add better logging
+ * Add Travis CI
 
 Version 0.2.2  (2017-01-10)
 ===========================
-  * Board triggers started signal on CAN messages
-  * Improved autoexposure
-  * Handle out of space, improve upload status
+ * Board triggers started signal on CAN messages
+ * Improved autoexposure
+ * Handle out of space, improve upload status
 
 Version 0.2.1  (2016-12-14)
 ===========================
-  * Performance improvements, removal of more numpy
-  * Fix boardd process priority
-  * Make counter timer reset on use of steering wheel
+ * Performance improvements, removal of more numpy
+ * Fix boardd process priority
+ * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)
 =========================
-  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
-  * controlsd has been refactored
-  * Shipped plant model and testing maneuvers
-  * visiond exits more gracefully now
-  * Hardware encoder in visiond should always init
-  * ui now turns off the screen after 30 seconds
-  * Switch to openpilot release branch for future releases
-  * Added preliminary Docker container to run tests on PC
+ * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * controlsd has been refactored
+ * Shipped plant model and testing maneuvers
+ * visiond exits more gracefully now
+ * Hardware encoder in visiond should always init
+ * ui now turns off the screen after 30 seconds
+ * Switch to openpilot release branch for future releases
+ * Added preliminary Docker container to run tests on PC
 
 Version 0.1  (2016-11-29)
 =========================
-  * Initial release of openpilot
-  * Adaptive cruise control is working
-  * Lane keep assist is working
-  * Support for Acura ILX 2016 with AcuraWatch Plus
-  * Support for Honda Civic 2016 Touring Edition
+ * Initial release of openpilot
+ * Adaptive cruise control is working
+ * Lane keep assist is working
+ * Support for Acura ILX 2016 with AcuraWatch Plus
+ * Support for Honda Civic 2016 Touring Edition

SAFETY.md

@@ -1,109 +0,0 @@
-openpilot Safety
-======
-
-openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
-Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
-pay attention at all times. We repeat, **driver alertness is necessary, but not 
-sufficient, for openpilot to be used safely**.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We have designed openpilot with two other safety considerations.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle, 
-   by stepping on either pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
-
-Following are details of the car specific safety implementations:
-
-Honda/Acura
-------
-
-  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
-    the stock system.
-
-  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
-    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
-    interceptor, the gas is clipped to 60%.
-
-  - The brake is controlled by the 0x1FA CAN message. This message allows full
-    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
-    This is approximately 0.3g of braking.
-
-  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
-    controller in the car limits the torque to a very small amount, so regardless of the 
-    message, the controller cannot jerk the wheel.
-
-  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
-    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
-    white led on the panda signifies if the panda is allowing control messages.
-
-  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
-    replay of the same message.
-
-Toyota/Lexus
-------
-
-  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
-    the stock system.
-
-  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
-    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
-    control limits. Without the stock DSU connected, the acceleration command is controlled by the
-    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
-    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
-    Module (ECM) while the cruise control system is disengaged.
-
-  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
-    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
-    units above the actual EPS generated motor torque to ensure limited differences between
-    commanded and actual torques.
-
-  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
-    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
-    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
-    the brake pedal pressed signal.
-
-  - The cruise control system state is contained in the 0x1D2 message. No control messages are
-    allowed if the cruise control system is not active. This is enforced by openpilot and the
-    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
-
-GM/Chevrolet
-------
-
-  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
-    the stock system.
-
-  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
-    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
-    while 3072 correspond to approximately 0.18g of acceleration from stop.
-
-  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
-    and openpilot to 350. This is approximately 0.3g of braking.
-
-  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
-    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
-    driver's will.
-
-  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
-    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
-    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
-    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
-    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
-
-  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
-    replay of the same message.
-
-**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.

SConstruct

@@ -0,0 +1,443 @@
+import os
+import shutil
+import subprocess
+import sys
+import sysconfig
+import platform
+import numpy as np
+
+TICI = os.path.isfile('/TICI')
+Decider('MD5-timestamp')
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--extras',
+          action='store_true',
+          help='build misc extras, like setup and installer files')
+
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--no-thneed',
+          action='store_true',
+          dest='no_thneed',
+          help='avoid using thneed')
+
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+if arch == "aarch64" and TICI:
+  arch = "larch64"
+
+USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+}
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
+if arch == "aarch64" or arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
+
+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
+  cpppath = [
+    "#third_party/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/local/lib",
+    "/usr/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  if arch == "larch64":
+    libpath += [
+      "#third_party/snpe/larch64",
+      "#third_party/libyuv/larch64/lib",
+      "/usr/lib/aarch64-linux-gnu"
+    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath += ["/usr/local/lib"]
+  else:
+    rpath = []
+    libpath += [
+      "#third_party/snpe/aarch64",
+      "#third_party/libyuv/lib",
+      "/system/vendor/lib64"
+    ]
+    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+
+  # MacOS
+  if arch == "Darwin":
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
+    libpath = [
+      f"#third_party/libyuv/{yuv_dir}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/Library",
+      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/Cellar",
+      f"#third_party/acados/{arch}/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl/include",
+    ]
+  # Linux 86_64
+  else:
+    libpath = [
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
+      "#cereal",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+  rpath += [
+    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    Dir("#cereal").abspath,
+    Dir("#selfdrive/common").abspath
+  ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+# Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
+
+env = Environment(
+  ENV=lenv,
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
+    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
+    "#",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/bzip2",
+    "#third_party/libyuv/include",
+    "#third_party/openmax/include",
+    "#third_party/json11",
+    "#third_party/curl/include",
+    "#third_party/libgralloc/include",
+    "#third_party/android_frameworks_native/include",
+    "#third_party/android_hardware_libhardware/include",
+    "#third_party/android_system_core/include",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
+    "#third_party/qrcode",
+    "#third_party",
+    "#cereal",
+    "#opendbc/can",
+  ],
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
+    "#cereal",
+    "#third_party",
+    "#opendbc/can",
+    "#selfdrive/boardd",
+    "#selfdrive/common",
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "cython", "compilation_db"],
+)
+
+if arch == "Darwin":
+  env['RPATHPREFIX'] = "-rpath "
+
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
+
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
+
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
+SHARED = False
+
+def abspath(x):
+  if arch == 'aarch64':
+    pth = os.path.join("/data/pythonpath", x[0].path)
+    env.Depends(pth, x)
+    return File(pth)
+  else:
+    # rpath works elsewhere
+    return x[0].path.rsplit("/", 1)[1][:-3]
+
+# Cython build enviroment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(py_include)]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
+
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
+  else:
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/qt",
+  ]
+  qt_dirs += [f"/usr/include/qt/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
+
+SConscript(['selfdrive/common/SConscript'])
+Import('_common', '_gpucommon', '_gpu_libs')
+
+if SHARED:
+  common, gpucommon = abspath(common), abspath(gpucommon)
+else:
+  common = [_common, 'json11']
+  gpucommon = [_gpucommon] + _gpu_libs
+
+Export('common', 'gpucommon')
+
+# cereal and messaging are shared with the system
+SConscript(['cereal/SConscript'])
+if SHARED:
+  cereal = abspath([File('cereal/libcereal_shared.so')])
+  messaging = abspath([File('cereal/libmessaging_shared.so')])
+else:
+  cereal = [File('#cereal/libcereal.a')]
+  messaging = [File('#cereal/libmessaging.a')]
+  visionipc = [File('#cereal/libvisionipc.a')]
+
+Export('cereal', 'messaging', 'visionipc')
+
+# Build rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch not in ["aarch64", "larch64"]:
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
+SConscript(['rednose/SConscript'])
+
+# Build openpilot
+
+SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
+SConscript(['opendbc/can/SConscript'])
+
+SConscript(['third_party/SConscript'])
+
+SConscript(['common/SConscript'])
+SConscript(['common/kalman/SConscript'])
+SConscript(['common/transformations/SConscript'])
+
+SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+
+SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
+
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
+
+SConscript(['selfdrive/loggerd/SConscript'])
+
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
+
+if arch != "Darwin":
+  SConscript(['selfdrive/logcatd/SConscript'])
+
+if GetOption('test'):
+  SConscript('panda/tests/safety/SConscript')
+
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

cereal

@@ -0,0 +1 @@
+Subproject commit a818779f1a55c6bf53fa0692e31111585662b722

cereal/.gitignore

@@ -1,3 +0,0 @@
-gen
-node_modules
-package-lock.json

cereal/Makefile

@@ -1,62 +0,0 @@
-PWD := $(shell pwd)
-
-SRCS := log.capnp car.capnp
-
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
-JS := gen/js/car.capnp.js gen/js/log.capnp.js
-
-UNAME_M ?= $(shell uname -m)
-# only generate C++ for docker tests
-ifneq ($(OPTEST),1)
-	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
-
-	ifeq ($(UNAME_M),x86_64)
-		ifneq (, $(shell which capnpc-java))
-			GENS += gen/java/Car.java gen/java/Log.java
-    else
-      $(warning capnpc-java not found, skipping java build)
-		endif
-	endif
-
-endif
-
-ifeq ($(UNAME_M),aarch64)
-	CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
-else
-	CAPNPC=capnpc
-endif
-
-.PHONY: all
-all: $(GENS)
-js: $(JS)
-
-.PHONY: clean
-clean:
-	rm -rf gen
-	rm -rf node_modules
-	rm -rf package-lock.json
-
-gen/c/%.capnp.c: %.capnp
-	@echo "[ CAPNPC C ] $@"
-	mkdir -p gen/c/
-	$(CAPNPC) '$<' -o c:gen/c/
-
-gen/js/%.capnp.js: %.capnp
-	@echo "[ CAPNPC JavaScript ] $@"
-	mkdir -p gen/js/
-	sh ./generate_javascript.sh
-
-gen/cpp/%.capnp.c++: %.capnp
-	@echo "[ CAPNPC C++ ] $@"
-	mkdir -p gen/cpp/
-	$(CAPNPC) '$<' -o c++:gen/cpp/
-
-gen/java/Car.java gen/java/Log.java: $(SRCS)
-	@echo "[ CAPNPC java ] $@"
-	mkdir -p gen/java/
-	$(CAPNPC) $^ -o java:gen/java
-
-# c-capnproto needs some empty headers
-gen/c/include/c++.capnp.h gen/c/include/java.capnp.h:
-	mkdir -p gen/c/include
-	touch '$@'

cereal/__init__.py

@@ -1,8 +0,0 @@
-import os
-import capnp
-
-CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
-capnp.remove_import_hook()
-
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))

cereal/car.capnp

@@ -1,364 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Car");
-
-@0x8e2af1e708af8b8d;
-
-# ******* events causing controls state machine transition *******
-
-struct CarEvent @0x9b1657f34caf3ad3 {
-  name @0 :EventName;
-  enable @1 :Bool;
-  noEntry @2 :Bool;
-  warning @3 :Bool;
-  userDisable @4 :Bool;
-  softDisable @5 :Bool;
-  immediateDisable @6 :Bool;
-  preEnable @7 :Bool;
-  permanent @8 :Bool;
-
-  enum EventName @0xbaa8c5d505f727de {
-    # TODO: copy from error list
-    commIssue @0;
-    steerUnavailable @1;
-    brakeUnavailable @2;
-    gasUnavailable @3;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTempUnavailable @9;
-    reverseGear @10;
-    buttonCancel @11;
-    buttonEnable @12;
-    pedalPressed @13;
-    cruiseDisabled @14;
-    radarCommIssue @15;
-    dataNeeded @16;
-    speedTooLow @17;
-    outOfSpace @18;
-    overheat @19;
-    calibrationIncomplete @20;
-    calibrationInvalid @21;
-    controlsMismatch @22;
-    pcmEnable @23;
-    pcmDisable @24;
-    noTarget @25;
-    radarFault @26;
-    modelCommIssue @27;
-    brakeHold @28;
-    parkBrake @29;
-    manualRestart @30;
-    lowSpeedLockout @31;
-    plannerError @32;
-    ipasOverride @33;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
-    resumeRequired @36;
-    preDriverDistracted @37;
-    promptDriverDistracted @38;
-    driverDistracted @39;
-    geofence @40;
-    driverMonitorOn @41;
-    driverMonitorOff @42;
-    preDriverUnresponsive @43;
-    promptDriverUnresponsive @44;
-    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    calibrationProgress @47;
-    lowBattery @48;
-    invalidGiraffeHonda @49;
-  }
-}
-
-# ******* main car state @ 100hz *******
-# all speeds in m/s
-
-struct CarState {
-  errorsDEPRECATED @0 :List(CarEvent.EventName);
-  events @13 :List(CarEvent);
-
-  # car speed
-  vEgo @1 :Float32;         # best estimate of speed
-  aEgo @16 :Float32;        # best estimate of acceleration
-  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
-  yawRate @22 :Float32;     # best estimate of yaw rate
-  standstill @18 :Bool;
-  wheelSpeeds @2 :WheelSpeeds;
-
-  # gas pedal, 0.0-1.0
-  gas @3 :Float32;        # this is user + computer
-  gasPressed @4 :Bool;    # this is user pedal only
-
-  # brake pedal, 0.0-1.0
-  brake @5 :Float32;      # this is user pedal only
-  brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;
-
-  # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-
-  # cruise state
-  cruiseState @10 :CruiseState;
-
-  # gear
-  gearShifter @14 :GearShifter;
-
-  # button presses
-  buttonEvents @11 :List(ButtonEvent);
-  leftBlinker @20 :Bool;
-  rightBlinker @21 :Bool;
-  genericToggle @23 :Bool;
-
-  # lock info
-  doorOpen @24 :Bool;
-  seatbeltUnlatched @25 :Bool;
-
-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
-
-  struct WheelSpeeds {
-    # optional wheel speeds
-    fl @0 :Float32;
-    fr @1 :Float32;
-    rl @2 :Float32;
-    rr @3 :Float32;
-  }
-
-  struct CruiseState {
-    enabled @0 :Bool;
-    speed @1 :Float32;
-    available @2 :Bool;
-    speedOffset @3 :Float32;
-    standstill @4 :Bool;
-  }
-
-  enum GearShifter {
-    unknown @0;
-    park @1;
-    drive @2;
-    neutral @3;
-    reverse @4;
-    sport @5;
-    low @6;
-    brake @7;
-  }
-
-
-  # send on change
-  struct ButtonEvent {
-    pressed @0 :Bool;
-    type @1 :Type;
-
-    enum Type {
-      unknown @0;
-      leftBlinker @1;
-      rightBlinker @2;
-      accelCruise @3;
-      decelCruise @4;
-      cancel @5;
-      altButton1 @6;
-      altButton2 @7;
-      altButton3 @8;
-    }
-  }
-}
-
-# ******* radar state @ 20hz *******
-
-struct RadarState {
-  errors @0 :List(Error);
-  points @1 :List(RadarPoint);
-
-  # which packets this state came from
-  canMonoTimes @2 :List(UInt64);
-
-  enum Error {
-    commIssue @0;
-    fault @1;
-    wrongConfig @2;
-  }
-
-  # similar to LiveTracks
-  # is one timestamp valid for all? I think so
-  struct RadarPoint {
-    trackId @0 :UInt64;  # no trackId reuse
-
-    # these 3 are the minimum required
-    dRel @1 :Float32; # m from the front bumper of the car
-    yRel @2 :Float32; # m
-    vRel @3 :Float32; # m/s
-
-    # these are optional and valid if they are not NaN
-    aRel @4 :Float32; # m/s^2
-    yvRel @5 :Float32; # m/s
-
-    # some radars flag measurements VS estimates
-    measured @6 :Bool;
-  }
-}
-
-# ******* car controls @ 100hz *******
-
-struct CarControl {
-  # must be true for any actuator commands to work
-  enabled @0 :Bool;
-  active @7 :Bool;
-
-  gasDEPRECATED @1 :Float32;
-  brakeDEPRECATED @2 :Float32;
-  steeringTorqueDEPRECATED @3 :Float32;
-
-  actuators @6 :Actuators;
-
-  cruiseControl @4 :CruiseControl;
-  hudControl @5 :HUDControl;
-
-  struct Actuators {
-    # range from 0.0 - 1.0
-    gas @0: Float32;
-    brake @1: Float32;
-    # range from -1.0 - 1.0
-    steer @2: Float32;
-    steerAngle @3: Float32;
-  }
-
-  struct CruiseControl {
-    cancel @0: Bool;
-    override @1: Bool;
-    speedOverride @2: Float32;
-    accelOverride @3: Float32;
-  }
-
-  struct HUDControl {
-    speedVisible @0: Bool;
-    setSpeed @1: Float32;
-    lanesVisible @2: Bool;
-    leadVisible @3: Bool;
-    visualAlert @4: VisualAlert;
-    audibleAlert @5: AudibleAlert;
-
-    enum VisualAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      fcw @1;
-      steerRequired @2;
-      brakePressed @3;
-      wrongGear @4;
-      seatbeltUnbuckled @5;
-      speedTooHigh @6;
-    }
-
-    enum AudibleAlert {
-      # these are the choices from the Honda
-      # map as good as you can for your car
-      none @0;
-      chimeEngage @1;
-      chimeDisengage @2;
-      chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
-      chimePrompt @7;
-    }
-  }
-}
-
-# ****** car param ******
-
-struct CarParams {
-  carName @0 :Text;
-  radarNameDEPRECATED @1 :Text;
-  carFingerprint @2 :Text;
-
-  enableSteerDEPRECATED @3 :Bool;
-  enableGasInterceptor @4 :Bool;
-  enableBrakeDEPRECATED @5 :Bool;
-  enableCruise @6 :Bool;
-  enableCamera @26 :Bool;
-  enableDsu @27 :Bool; # driving support unit
-  enableApgs @28 :Bool; # advanced parking guidance system
-
-  minEnableSpeed @17 :Float32;
-  minSteerSpeed @49 :Float32;
-  safetyModel @18 :Int16;
-  safetyParam @41 :Int16;
-
-  steerMaxBP @19 :List(Float32);
-  steerMaxV @20 :List(Float32);
-  gasMaxBP @21 :List(Float32);
-  gasMaxV @22 :List(Float32);
-  brakeMaxBP @23 :List(Float32);
-  brakeMaxV @24 :List(Float32);
-
-  longPidDeadzoneBP @32 :List(Float32);
-  longPidDeadzoneV @33 :List(Float32);
-
-  enum SafetyModels {
-    # does NOT match board setting
-    noOutput @0;
-    honda @1;
-    toyota @2;
-    elm327 @3;
-    gm @4;
-    hondaBosch @5;
-    ford @6;
-    cadillac @7;
-    hyundai @8;
-    chrysler @9;
-    tesla @10;
-  }
-
-  # things about the car in the manual
-  mass @7 :Float32;             # [kg] running weight
-  wheelbase @8 :Float32;        # [m] distance from rear to front axle
-  centerToFront @9 :Float32;   # [m] GC distance to front axle
-  steerRatio @10 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @11 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
-
-  # things we can derive
-  rotationalInertia @12 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFront @13 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  # Kp and Ki for the lateral control
-  steerKpBP @42 :List(Float32);
-  steerKpV @43 :List(Float32);
-  steerKiBP @44 :List(Float32);
-  steerKiV @45 :List(Float32);
-  steerKpDEPRECATED @15 :Float32;
-  steerKiDEPRECATED @16 :Float32;
-  steerKf @25 :Float32;
-
-  # Kp and Ki for the longitudinal control
-  longitudinalKpBP @36 :List(Float32);
-  longitudinalKpV @37 :List(Float32);
-  longitudinalKiBP @38 :List(Float32);
-  longitudinalKiV @39 :List(Float32);
-
-  steerLimitAlert @29 :Bool;
-
-  vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
-  directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @35 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
-  steerControlType @46 :SteerControlType;
-  radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
-
-  steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
-  openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?
-
-  enum SteerControlType {
-    torque @0;
-    angle @1;
-  }
-}

cereal/include/c++.capnp

@@ -1,26 +0,0 @@
-# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xbdf87d7bb8304e81;
-$namespace("capnp::annotations");
-
-annotation namespace(file): Text;
-annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;

cereal/include/java.capnp

@@ -1,28 +0,0 @@
-# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
-# Licensed under the MIT License:
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-@0xc5f1af96651f70ea;
-
-annotation package @0x9ee4c8f803b3b596 (file) : Text;
-# Name of the package, such as "org.example.foo", in which the generated code will reside.
-
-annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
-# Name of the outer class that will wrap the generated code.

codecov.yml

@@ -0,0 +1,8 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+

common/.gitignore

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

common/SConscript

@@ -0,0 +1,4 @@
+Import('envCython', 'common')
+
+envCython.Program('clock.so', 'clock.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])

common/api/__init__.py

@@ -1,15 +1,46 @@
+import jwt
+import os
 import requests
+from datetime import datetime, timedelta
+from common.basedir import PERSIST
+from selfdrive.version import get_version
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+class Api():
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open(PERSIST+'/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=1)
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
 
-from selfdrive.version import version
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  backend = "https://api.commadotai.com/"
-
   headers = {}
   if access_token is not None:
-    headers['Authorization'] = "JWT "+access_token
+    headers['Authorization'] = "JWT " + access_token
 
-  headers['User-Agent'] = "openpilot-" + version
-
-  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
+  headers['User-Agent'] = "openpilot-" + get_version()
 
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/basedir.py

@@ -1,4 +1,11 @@
 import os
+from pathlib import Path
+
+from selfdrive.hardware import PC
+
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
-
+if PC:
+  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
+else:
+  PERSIST = "/persist"

common/clock.pyx

@@ -0,0 +1,24 @@
+# distutils: language = c++
+# cython: language_level = 3
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
+
+IF UNAME_SYSNAME == "Darwin":
+  # Darwin doesn't have a CLOCK_BOOTTIME
+  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+  from posix.time cimport CLOCK_BOOTTIME
+
+cdef double readclock(clockid_t clock_id):
+  cdef timespec ts
+  cdef double current
+
+  clock_gettime(clock_id, &ts)
+  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+  return current
+
+def monotonic_time():
+  return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return readclock(CLOCK_BOOTTIME)
+

common/conversions.py

@@ -0,0 +1,19 @@
+import numpy as np
+
+class Conversions:
+  # Speed
+  MPH_TO_KPH = 1.609344
+  KPH_TO_MPH = 1. / MPH_TO_KPH
+  MS_TO_KPH = 3.6
+  KPH_TO_MS = 1. / MS_TO_KPH
+  MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
+  MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  MS_TO_KNOTS = 1.9438
+  KNOTS_TO_MS = 1. / MS_TO_KNOTS
+
+  # Angle
+  DEG_TO_RAD = np.pi / 180.
+  RAD_TO_DEG = 1. / DEG_TO_RAD
+
+  # Mass
+  LB_TO_KG = 0.453592

common/dbc.py

@@ -1,286 +0,0 @@
-import re
-import os
-import struct
-import sys
-import numbers
-from collections import namedtuple, defaultdict
-
-def int_or_float(s):
-  # return number, trying to maintain int format
-  try:
-    return int(s)
-  except ValueError:
-    return float(s)
-
-DBCSignal = namedtuple(
-  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
-                "factor", "offset", "tmin", "tmax", "units"])
-
-
-class dbc(object):
-  def __init__(self, fn):
-    self.name, _ = os.path.splitext(os.path.basename(fn))
-    with open(fn) as f:
-      self.txt = f.read().split("\n")
-    self._warned_addresses = set()
-
-    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
-    bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
-    sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
-
-    # A dictionary which maps message ids to tuples ((name, size), signals).
-    #   name is the ASCII name of the message.
-    #   size is the size of the message in bytes.
-    #   signals is a list signals contained in the message.
-    # signals is a list of DBCSignal in order of increasing start_bit.
-    self.msgs = {}
-
-    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
-    self.def_vals = defaultdict(list)
-
-    # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
-
-    for l in self.txt:
-      l = l.strip()
-
-      if l.startswith("BO_ "):
-        # new group
-        dat = bo_regexp.match(l)
-
-        if dat is None:
-          print "bad BO", l
-        name = dat.group(2)
-        size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
-        if ids in self.msgs:
-          sys.exit("Duplicate address detected %d %s" % (ids, self.name))
-
-        self.msgs[ids] = ((name, size), [])
-
-      if l.startswith("SG_ "):
-        # new signal
-        dat = sg_regexp.match(l)
-        go = 0
-        if dat is None:
-          dat = sgm_regexp.match(l)
-          go = 1
-        if dat is None:
-          print "bad SG", l
-
-        sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
-
-        self.msgs[ids][1].append(
-          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
-                    is_signed, factor, offset, tmin, tmax, units))
-
-      if l.startswith("VAL_ "):
-        # new signal value/definition
-        dat = val_regexp.match(l)
-
-        if dat is None:
-          print "bad VAL", l
-        ids = int(dat.group(1), 0) # could be hex
-        sgname = dat.group(2)
-        defvals = dat.group(3)
-
-        defvals = defvals.replace("?","\?") #escape sequence in C++
-        defvals = defvals.split('"')[:-1]
-
-        defs = defvals[1::2]
-        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
-        for i,d in enumerate(defs):
-          d = defs[i].strip().upper()
-          defs[i] = d.replace(" ","_")
-
-        defvals[1::2] = defs
-        defvals = '"'+"".join(str(i) for i in defvals)+'"'
-
-        self.def_vals[ids].append((sgname, defvals))
-
-    for msg in self.msgs.viewvalues():
-      msg[1].sort(key=lambda x: x.start_bit)
-
-    self.msg_name_to_address = {}
-    for address, m in self.msgs.items():
-      name = m[0][0]
-      self.msg_name_to_address[name] = address
-
-  def lookup_msg_id(self, msg_id):
-    if not isinstance(msg_id, numbers.Number):
-      msg_id = self.msg_name_to_address[msg_id]
-    return msg_id
-
-  def reverse_bytes(self, x):
-    return ((x & 0xff00000000000000) >> 56) | \
-           ((x & 0x00ff000000000000) >> 40) | \
-           ((x & 0x0000ff0000000000) >> 24) | \
-           ((x & 0x000000ff00000000) >> 8) | \
-           ((x & 0x00000000ff000000) << 8) | \
-           ((x & 0x0000000000ff0000) << 24) | \
-           ((x & 0x000000000000ff00) << 40) | \
-           ((x & 0x00000000000000ff) << 56)
-
-  def encode(self, msg_id, dd):
-    """Encode a CAN message using the dbc.
-
-       Inputs:
-        msg_id: The message ID.
-        dd: A dictionary mapping signal name to signal data.
-    """
-    msg_id = self.lookup_msg_id(msg_id)
-
-    msg_def = self.msgs[msg_id]
-    size = msg_def[0][1]
-
-    result = 0
-    for s in msg_def[1]:
-      ival = dd.get(s.name)
-      if ival is not None:
-
-        b2 = s.size
-        if s.is_little_endian:
-          b1 = s.start_bit
-        else:
-          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
-        bo = 64 - (b1 + s.size)
-
-        ival = (ival / s.factor) - s.offset
-        ival = int(round(ival))
-
-        if s.is_signed and ival < 0:
-          ival = (1 << b2) + ival
-
-        shift = b1 if s.is_little_endian else bo
-        mask = ((1 << b2) - 1) << shift
-        dat = (ival & ((1 << b2) - 1)) << shift
-
-        if s.is_little_endian:
-          mask = self.reverse_bytes(mask)
-          dat = self.reverse_bytes(dat)
-
-        result &= ~mask
-        result |= dat
-
-    result = struct.pack('>Q', result)
-    return result[:size]
-
-  def decode(self, x, arr=None, debug=False):
-    """Decode a CAN message using the dbc.
-
-       Inputs:
-        x: A collection with elements (address, time, data), where address is
-           the CAN address, time is the bus time, and data is the CAN data as a
-           hex string.
-        arr: Optional list of signals which should be decoded and returned.
-        debug: True to print debugging statements.
-
-       Returns:
-        A tuple (name, data), where name is the name of the CAN message and data
-        is the decoded result. If arr is None, data is a dict of properties.
-        Otherwise data is a list of the same length as arr.
-
-        Returns (None, None) if the message could not be decoded.
-    """
-
-    if arr is None:
-      out = {}
-    else:
-      out = [None]*len(arr)
-
-    msg = self.msgs.get(x[0])
-    if msg is None:
-      if x[0] not in self._warned_addresses:
-        #print("WARNING: Unknown message address {}".format(x[0]))
-        self._warned_addresses.add(x[0])
-      return None, None
-
-    name = msg[0][0]
-    if debug:
-      print name
-
-    st = x[2].ljust(8, '\x00')
-    le, be = None, None
-
-    for s in msg[1]:
-      if arr is not None and s[0] not in arr:
-        continue
-
-      start_bit = s[1]
-      signal_size = s[2]
-      little_endian = s[3]
-      signed = s[4]
-      factor = s[5]
-      offset = s[6]
-
-      b2 = signal_size
-      if little_endian:
-        b1 = start_bit
-      else:
-        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
-      bo = 64 - (b1 + signal_size)
-
-      if little_endian:
-        if le is None:
-          le = struct.unpack("<Q", st)[0]
-        shift_amount = b1
-        tmp = le
-      else:
-        if be is None:
-          be = struct.unpack(">Q", st)[0]
-        shift_amount = bo
-        tmp = be
-
-      if shift_amount < 0:
-        continue
-
-      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
-      if signed and (tmp >> (b2 - 1)):
-        tmp -= (1 << b2)
-
-      tmp = tmp * factor + offset
-
-      # if debug:
-      #   print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])
-
-      if arr is None:
-        out[s[0]] = tmp
-      else:
-        out[arr.index(s[0])] = tmp
-    return name, out
-
-  def get_signals(self, msg):
-    msg = self.lookup_msg_id(msg)
-    return [sgs.name for sgs in self.msgs[msg][1]]
-
-
-if __name__ == "__main__":
-   from opendbc import DBC_PATH
-   import numpy as np
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
-   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x25, 0, encoded))
-   assert decoded == msg
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
-   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
-   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
-
-   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x2b0, 0, encoded))
-
-   assert decoded == msg

common/dict_helpers.py

@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d

common/ffi_wrapper.py

@@ -2,12 +2,20 @@ import os
 import sys
 import fcntl
 import hashlib
+import platform
 from cffi import FFI
 
-TMPDIR = "/tmp/ccache"
+def suffix():
+  if platform.system() == "Darwin":
+    return ".dylib"
+  else:
+    return ".so"
 
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
   try:
     os.mkdir(tmpdir)
   except OSError:
@@ -20,7 +28,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
     try:
       mod = __import__(cache)
     except Exception:
-      print "cache miss", cache
+      print(f"cache miss {cache}")
       compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
       mod = __import__(cache)
   finally:
@@ -28,14 +36,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
 
   return mod.ffi, mod.lib
 
-def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
   ffibuilder = FFI()
   ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
   os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 
+
 def wrap_compiled(name, directory):
   sys.path.append(directory)
   mod = __import__(name)

common/file_helpers.py

@@ -0,0 +1,113 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+
+def mkdirs_exists_ok(path):
+  if path.startswith('http://') or path.startswith('https://'):
+    raise ValueError('URL path')
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+
+def get_tmpdir_on_same_filesystem(path):
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1 and parts[1] == "scratch":
+    return "/scratch/tmp"
+  elif len(parts) > 2 and parts[2] == "runner":
+    return f"/{parts[1]}/runner/tmp"
+  return "/tmp"
+
+
+class NamedTemporaryDir():
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    return writer.get_fileobject(dir=temp_dir)
+  return _get_fileobject
+
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  monkeypatch_os_link()
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

common/filter_simple.py

@@ -1,10 +1,18 @@
-class FirstOrderFilter():
+class FirstOrderFilter:
   # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+  def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+    self.initialized = initialized
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
 
   def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
-
-
+    if self.initialized:
+      self.x = (1. - self.alpha) * self.x + self.alpha * x
+    else:
+      self.initialized = True
+      self.x = x
+    return self.x

common/fingerprints.py

@@ -1,64 +0,0 @@
-import os
-from common.basedir import BASEDIR
-
-def get_fingerprint_list():
-  # read all the folders in selfdrive/car and return a dict where:
-  # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique 
-  #   CAN fingerprint of each car model and all its variants
-  fingerprints = {}
-  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
-    try:
-      car_name = car_folder.split('/')[-1]
-      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS'])
-      if hasattr(values, 'FINGERPRINTS'):
-        car_fingerprints = values.FINGERPRINTS
-      else:
-        continue
-      for f, v in car_fingerprints.items():
-        fingerprints[f] = v
-    except (ImportError, IOError):
-      pass
-  return fingerprints
-
-
-_FINGERPRINTS = get_fingerprint_list()
-
-_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
-
-def is_valid_for_fingerprint(msg, car_fingerprint):
-  adr = msg.address
-  bus = msg.src
-  # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
-         bus != 0 or adr >= 0x800
-
-
-def eliminate_incompatible_cars(msg, candidate_cars):
-  """Removes cars that could not have sent msg.
-
-     Inputs:
-      msg: A cereal/log CanData message from the car.
-      candidate_cars: A list of cars to consider.
-
-     Returns:
-      A list containing the subset of candidate_cars that could have sent msg.
-  """
-  compatible_cars = []
-
-  for car_name in candidate_cars:
-    car_fingerprints = _FINGERPRINTS[car_name]
-
-    for fingerprint in car_fingerprints:
-      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
-
-      if is_valid_for_fingerprint(msg, fingerprint):
-        compatible_cars.append(car_name)
-        break
-
-  return compatible_cars
-
-
-def all_known_cars():
-  """Returns a list of all known car strings."""
-  return _FINGERPRINTS.keys()

common/gpio.py

@@ -0,0 +1,14 @@
+def gpio_init(pin, output):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
+      f.write(b"out" if output else b"in")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} direction: {e}")
+
+
+def gpio_set(pin, high):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
+      f.write(b"1" if high else b"0")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")

common/kalman/.gitignore

@@ -0,0 +1 @@
+simple_kalman_impl.c

common/kalman/SConscript

@@ -0,0 +1,3 @@
+Import('envCython')
+
+envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')

common/kalman/ekf.py

@@ -1,253 +0,0 @@
-# pylint: skip-file
-from __future__ import print_function
-import abc
-import numpy as np
-# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
-# A subclass must implement:
-#   1) calc_transfer_fun(); see bottom of file for more info.
-#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
-
-# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
-
-# Sensor classes are optionally used to pass measurement information into the EKF, to keep
-#   sensor parameters and processing methods for a each sensor together.
-# Sensor classes have a read() method which takes raw sensor data and returns
-#   a SensorReading object, which can be passed to the EKF update() method.
-
-# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
-# ekf.predict(dt) should be called between update cycles with the time since it was last called.
-# Ideally, predict(dt) should be called at a relatively constant rate.
-# update() should be called once per sensor, and can be called multiple times between predict steps.
-# Access and set the state of the filter directly with ekf.state and ekf.covar.
-
-
-class SensorReading:
-  # Given a perfect model and no noise, data = obs_model * state
-  def __init__(self, data, covar, obs_model):
-    self.data = data
-    self.obs_model = obs_model
-    self.covar = covar
-
-  def __repr__(self):
-    return "SensorReading(data={}, covar={}, obs_model={})".format(
-      repr(self.data), repr(self.covar), repr(self.obs_model))
-
-
-# A generic sensor class that does no pre-processing of data
-class SimpleSensor:
-  # obs_model can be
-  #   a full observation model matrix, or
-  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
-  # covar can be
-  #   a full covariance matrix
-  #   a float or tuple of individual covars for each component of the sensor reading
-  # dims is the number of states in the EKF
-  def __init__(self, obs_model, covar, dims):
-    # Allow for integer covar/obs_model
-    if not hasattr(obs_model, "__len__"):
-      obs_model = (obs_model, )
-    if not hasattr(covar, "__len__"):
-      covar = (covar, )
-
-    # Full observation model passed
-    if dims in np.array(obs_model).shape:
-      self.obs_model = np.asmatrix(obs_model)
-      self.covar = np.asmatrix(covar)
-    # Indices of unit observations passed
-    else:
-      self.obs_model = np.matlib.zeros((len(obs_model), dims))
-      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
-      if np.asarray(covar).ndim == 2:
-        self.covar = np.asmatrix(covar)
-      elif len(covar) == len(obs_model):
-        self.covar = np.matlib.diag(covar)
-      else:
-        self.covar = np.matlib.identity(len(obs_model)) * covar
-
-  def read(self, data, covar=None):
-    if covar:
-      self.covar = covar
-    return SensorReading(data, self.covar, self.obs_model)
-
-
-class EKF:
-  __metaclass__ = abc.ABCMeta
-
-  def __init__(self, debug=False):
-    self.DEBUG = debug
-
-
-  def __str__(self):
-    return "EKF(state={}, covar={})".format(self.state, self.covar)
-
-  # Measurement update
-  # Reading should be a SensorReading object with data, covar, and obs_model attributes
-  def update(self, reading):
-    # Potential improvements:
-    # deal with negative covars
-    # add noise to really low covars to ensure stability
-    # use mahalanobis distance to reject outliers
-    # wrap angles after state updates and innovation
-
-    # y = z - H*x
-    innovation = reading.data - reading.obs_model * self.state
-
-    if self.DEBUG:
-      print("reading:\n",reading.data)
-      print("innovation:\n",innovation)
-
-    # S = H*P*H' + R
-    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
-
-    # K = P*H'*S^-1
-    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
-      innovation_covar)
-
-    if self.DEBUG:
-      print("gain:\n", kalman_gain)
-      print("innovation_covar:\n", innovation_covar)
-      print("innovation: ", innovation)
-      print("test: ", self.covar * reading.obs_model.T * (
-        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I)
-
-    # x = x + K*y
-    self.state += kalman_gain*innovation
-
-    # print "covar", np.diag(self.covar)
-    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
-
-    # Standard form: P = (I - K*H)*P
-    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
-
-    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
-    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
-    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
-
-    if self.DEBUG:
-      print("After update")
-      print("state\n", self.state)
-      print("covar:\n",self.covar)
-
-  def update_scalar(self, reading):
-    # like update but knowing that measurement is a scalar
-    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
-
-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
-    # self.state += np.matmul(kalman_gain, innovation)
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
-    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
-
-    # written without np.matmul
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB_T = "ij,kj->ik"
-    AB = "ij,jk->ik"
-    innovation = reading.data - es(AB, reading.obs_model, self.state)
-    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
-                          reading.obs_model) + reading.covar
-    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
-
-    self.state += es(AB, kalman_gain, innovation)
-    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
-    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
-                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
-
-  # Prediction update
-  def predict(self, dt):
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB = "ij,jk->ik"
-
-    # State update
-    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
-
-    # self.state = np.matmul(transfer_fun, self.state)
-    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
-
-    # x = f(x, u), written in the form x = A(x, u)*x
-    self.state = es(AB, transfer_fun, self.state)
-
-    # P = J*P*J' + Q
-    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
-                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
-
-    #! Clip covariance to avoid explosions
-    self.covar = np.clip(self.covar,-1e10,1e10)
-
-  @abc.abstractmethod
-  def calc_transfer_fun(self, dt):
-    """Return a tuple with the transfer function and transfer function jacobian
-    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
-
-    The transfer function matrix A should satisfy the state-update equation
-      x_(k+1) = A * x_k
-
-    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
-
-    Current implementations calculate A and J as functions of state. Control input
-      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calculation of A and J
-    """
-
-
-class FastEKF1D(EKF):
-  """Fast version of EKF for 1D problems with scalar readings."""
-
-  def __init__(self, dt, var_init, Q):
-    super(FastEKF1D, self).__init__(False)
-    self.state = [0, 0]
-    self.covar = [var_init, var_init, 0]
-
-    # Process Noise
-    self.dtQ0 = dt * Q[0]
-    self.dtQ1 = dt * Q[1]
-
-  def update(self, reading):
-    raise NotImplementedError
-
-  def update_scalar(self, reading):
-    # TODO(mgraczyk): Delete this for speed.
-    # assert np.all(reading.obs_model == [1, 0])
-
-    rcov = reading.covar[0, 0]
-
-    x = self.state
-    S = self.covar
-
-    innovation = reading.data - x[0]
-    innovation_covar = S[0] + rcov
-
-    k0 = S[0] / innovation_covar
-    k1 = S[2] / innovation_covar
-
-    x[0] += k0 * innovation
-    x[1] += k1 * innovation
-
-    mk = 1 - k0
-    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
-    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
-    S[0] = mk * mk * S[0] + rcov * k0 * k0
-
-  def predict(self, dt):
-    # State update
-    x = self.state
-
-    x[0] += dt * x[1]
-
-    # P = J*P*J' + Q
-    S = self.covar
-    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
-    S[2] += dt * S[1]
-    S[1] += self.dtQ1
-
-    # Clip covariance to avoid explosions
-    S = max(-1e10, min(S, 1e10))
-
-  def calc_transfer_fun(self, dt):
-    tf = np.identity(2)
-    tf[0, 1] = dt
-    tfj = tf
-    return tf, tfj

common/kalman/simple_kalman.py

@@ -1,23 +1,3 @@
-import numpy as np
-
-
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x = x0
-    self.A = A
-    self.C = C
-    self.K = K
-
-    self.A_K = self.A - np.dot(self.K, self.C)
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    return self.x
+# pylint: skip-file
+from common.kalman.simple_kalman_impl import KF1D as KF1D
+assert KF1D

common/kalman/simple_kalman_impl.pxd

@@ -0,0 +1,18 @@
+# cython: language_level = 3
+
+cdef class KF1D:
+  cdef public:
+    double x0_0
+    double x1_0
+    double K0_0
+    double K1_0
+    double A0_0
+    double A0_1
+    double A1_0
+    double A1_1
+    double C0_0
+    double C0_1
+    double A_K_0
+    double A_K_1
+    double A_K_2
+    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -0,0 +1,37 @@
+# distutils: language = c++
+# cython: language_level=3
+
+cdef class KF1D:
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+  def update(self, meas):
+    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  @x.setter
+  def x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x = x0
+    self.A = A
+    self.C = np.atleast_2d(C)
+    self.K = K
+
+    self.A_K = self.A - np.dot(self.K, self.C)
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    return self.x

common/kalman/tests/test_simple_kalman.py

@@ -0,0 +1,87 @@
+import unittest
+import random
+import timeit
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+
+class TestSimpleKalman(unittest.TestCase):
+  def setUp(self):
+    dt = 0.01
+    x0_0 = 0.0
+    x1_0 = 0.0
+    A0_0 = 1.0
+    A0_1 = dt
+    A1_0 = 0.0
+    A1_1 = 1.0
+    C0_0 = 1.0
+    C0_1 = 0.0
+    K0_0 = 0.12287673
+    K1_0 = 0.29666309
+
+    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.array([C0_0, C0_1]),
+                           K=np.array([[K0_0], [K1_0]]))
+
+    self.kf = KF1D(x0=[[x0_0], [x1_0]],
+                   A=[[A0_0, A0_1], [A1_0, A1_1]],
+                   C=[C0_0, C0_1],
+                   K=[[K0_0], [K1_0]])
+
+  def test_getter_setter(self):
+    self.kf.x = [[1.0], [1.0]]
+    self.assertEqual(self.kf.x, [[1.0], [1.0]])
+
+  def update_returns_state(self):
+    x = self.kf.update(100)
+    self.assertEqual(x, self.kf.x)
+
+  def test_old_equal_new(self):
+    for _ in range(1000):
+      v_wheel = random.uniform(0, 200)
+
+      x_old = self.kf_old.update(v_wheel)
+      x = self.kf.update(v_wheel)
+
+      # Compare the output x, verify that the error is less than 1e-4
+      np.testing.assert_almost_equal(x_old[0], x[0])
+      np.testing.assert_almost_equal(x_old[1], x[1])
+
+  def test_new_is_faster(self):
+    setup = """
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+dt = 0.01
+x0_0 = 0.0
+x1_0 = 0.0
+A0_0 = 1.0
+A0_1 = dt
+A1_0 = 0.0
+A1_1 = 1.0
+C0_0 = 1.0
+C0_1 = 0.0
+K0_0 = 0.12287673
+K1_0 = 0.29666309
+
+kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
+                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.array([C0_0, C0_1]),
+                  K=np.array([[K0_0], [K1_0]]))
+
+kf = KF1D(x0=[[x0_0], [x1_0]],
+          A=[[A0_0, A0_1], [A1_0, A1_1]],
+          C=[C0_0, C0_1],
+          K=[[K0_0], [K1_0]])
+    """
+    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
+    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
+    self.assertTrue(kf_speed < kf_old_speed / 4)
+
+if __name__ == "__main__":
+  unittest.main()

common/lazy_property.py

@@ -0,0 +1,12 @@
+class lazy_property():
+  """Defines a property whose value will be computed only once and as needed.
+
+     This can only be used on instance methods.
+  """
+  def __init__(self, func):
+    self._func = func
+
+  def __get__(self, obj_self, cls):
+    value = self._func(obj_self)
+    setattr(obj_self, self._func.__name__, value)
+    return value

common/logging_extra.py

@@ -1,9 +1,12 @@
+import io
 import os
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
+import traceback
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -60,14 +63,57 @@ class SwagFormatter(logging.Formatter):
     return record_dict
 
   def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
 
+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
 class SwagErrorFilter(logging.Filter):
   def filter(self, record):
     return record.levelno < logging.ERROR
 
-_tmpfunc = lambda: 0
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+def _tmpfunc():
+  return 0
+
+def _srcfile():
+  return os.path.normcase(_tmpfunc.__code__.co_filename)
 
 class SwagLogger(logging.Logger):
   def __init__(self):
@@ -78,28 +124,6 @@ class SwagLogger(logging.Logger):
     self.log_local = local()
     self.log_local.ctx = {}
 
-  def findCaller(self, stack_info=None):
-    """
-      Find the stack frame of the caller so that we can note the source
-      file name, line number and function name.
-      """
-    # f = currentframe()
-    f = sys._getframe(3)
-    #On some versions of IronPython, currentframe() returns None if
-    #IronPython isn't run with -X:Frames.
-    if f is not None:
-      f = f.f_back
-    rv = "(unknown file)", 0, "(unknown function)"
-    while hasattr(f, "f_code"):
-      co = f.f_code
-      filename = os.path.normcase(co.co_filename)
-      if filename in (logging._srcfile, _srcfile):
-        f = f.f_back
-        continue
-      rv = (co.co_filename, f.f_lineno, co.co_name)
-      break
-    return rv
-
   def local_ctx(self):
     try:
       return self.log_local.ctx
@@ -132,14 +156,51 @@ class SwagLogger(logging.Logger):
     if args:
       evt['args'] = args
     evt.update(kwargs)
-    ctx = self.get_ctx()
-    if ctx:
-      evt['ctx'] = self.get_ctx()
     if 'error' in kwargs:
       self.error(evt)
+    elif 'debug' in kwargs:
+      self.debug(evt)
     else:
       self.info(evt)
 
+  def findCaller(self, stack_info=False, stacklevel=1):
+    """
+    Find the stack frame of the caller so that we can note the source
+    file name, line number and function name.
+    """
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+      f = f.f_back
+    orig_f = f
+    while f and stacklevel > 1:
+      f = f.f_back
+      stacklevel -= 1
+    if not f:
+      f = orig_f
+    rv = "(unknown file)", 0, "(unknown function)", None
+    while hasattr(f, "f_code"):
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+
+      # TODO: is this pylint exception correct?
+      if filename == _srcfile:  # pylint: disable=comparison-with-callable
+        f = f.f_back
+        continue
+      sinfo = None
+      if stack_info:
+        sio = io.StringIO()
+        sio.write('Stack (most recent call last):\n')
+        traceback.print_stack(f, file=sio)
+        sinfo = sio.getvalue()
+        if sinfo[-1] == '\n':
+          sinfo = sinfo[:-1]
+        sio.close()
+      rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+      break
+    return rv
+
 if __name__ == "__main__":
   log = SwagLogger()
 

common/markdown.py

@@ -0,0 +1,48 @@
+from typing import List
+
+HTML_REPLACEMENTS = [
+  (r'&', r'&'),
+  (r'"', r'"'),
+]
+
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: List[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str

common/numpy_fast.py

@@ -1,18 +1,19 @@
-def int_rnd(x):
-  return int(round(x))
-
 def clip(x, lo, hi):
   return max(lo, min(hi, x))
 
 def interp(x, xp, fp):
   N = len(xp)
+
   def get_interp(xv):
     hi = 0
     while hi < N and xv > xp[hi]:
       hi += 1
     low = hi - 1
     return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else 
+      fp[0] if hi == 0 else
       (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-  return [get_interp(v) for v in x] if hasattr(
-    x, '__iter__') else get_interp(x)
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)

common/numpy_helpers.py

@@ -0,0 +1,22 @@
+import numpy as np
+
+
+def deep_interp_np(x, xp, fp, axis=None):
+  if axis is not None:
+    fp = fp.swapaxes(0,axis)
+  x = np.atleast_1d(x)
+  xp = np.array(xp)
+  if len(xp) < 2:
+    return np.repeat(fp, len(x), axis=0)
+  if min(np.diff(xp)) < 0:
+    raise RuntimeError('Bad x array for interpolation')
+  j = np.searchsorted(xp, x) - 1
+  j = np.clip(j, 0, len(xp)-2)
+  d = np.divide(x - xp[j], xp[j + 1] - xp[j], out=np.ones_like(x, dtype=np.float64), where=xp[j + 1] - xp[j] != 0)
+  vals_interp = (fp[j].T*(1 - d)).T + (fp[j + 1].T*d).T
+  if axis is not None:
+    vals_interp = vals_interp.swapaxes(0,axis)
+  if len(vals_interp) == 1:
+    return vals_interp[0]
+  else:
+    return vals_interp

common/params.py

@@ -1,361 +1,19 @@
-#!/usr/bin/env python
-"""ROS has a parameter server, we have files.
-
-The parameter store is a persistent key value store, implemented as a directory with a writer lock.
-On Android, we store params under params_dir = /data/params. The writer lock is a file
-"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
-"<params_dir>/d".
-
-Each key, value pair is stored as a file with named <key> with contents <value>, located in
-  <params_dir>/d/<key>
-
-Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
-Readers who want a consistent snapshot of multiple keys should take the lock.
-
-Writers should take the lock before modifying anything. Writers should also leave the DB in a
-consistent state after a crash. The implementation below does this by copying all params to a temp
-directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
-before deleting the old <params_dir>/<d> directory.
-
-Writers that only modify a single key can simply take the lock, then swap the corresponding value
-file in place without messing with <params_dir>/d.
-"""
-import time
-import os
-import errno
-import sys
-import shutil
-import fcntl
-import tempfile
-from enum import Enum
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-class TxType(Enum):
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_CAR_START = 3
-
-class UnknownKeyName(Exception):
-  pass
-
-keys = {
-# written: manager
-# read:    loggerd, uploaderd, offroad
-  "DongleId": TxType.PERSISTENT,
-  "AccessToken": TxType.PERSISTENT,
-  "Version": TxType.PERSISTENT,
-  "TrainingVersion": TxType.PERSISTENT,
-  "GitCommit": TxType.PERSISTENT,
-  "GitBranch": TxType.PERSISTENT,
-  "GitRemote": TxType.PERSISTENT,
-# written: baseui
-# read:    ui, controls
-  "IsMetric": TxType.PERSISTENT,
-  "IsFcwEnabled": TxType.PERSISTENT,
-  "HasAcceptedTerms": TxType.PERSISTENT,
-  "CompletedTrainingVersion": TxType.PERSISTENT,
-  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
-  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
-  "IsGeofenceEnabled": TxType.PERSISTENT,
-  "SpeedLimitOffset": TxType.PERSISTENT,
-# written: visiond
-# read:    visiond, controlsd
-  "CalibrationParams": TxType.PERSISTENT,
-# written: controlsd
-# read:    radard
-  "CarParams": TxType.CLEAR_ON_CAR_START,
-
-  "Passive": TxType.PERSISTENT,
-  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
-  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
-  "IsUpdateAvailable": TxType.PERSISTENT,
-  "LongitudinalControl": TxType.PERSISTENT,
-  "LimitSetSpeed": TxType.PERSISTENT,
-
-  "RecordFront": TxType.PERSISTENT,
-}
-
-def fsync_dir(path):
-  fd = os.open(path, os.O_RDONLY)
-  try:
-    os.fsync(fd)
-  finally:
-    os.close(fd)
-
-
-class FileLock(object):
-  def __init__(self, path, create):
-    self._path = path
-    self._create = create
-    self._fd = None
-
-  def acquire(self):
-    self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
-    fcntl.flock(self._fd, fcntl.LOCK_EX)
-
-  def release(self):
-    if self._fd is not None:
-      os.close(self._fd)
-      self._fd = None
-
-
-class DBAccessor(object):
-  def __init__(self, path):
-    self._path = path
-    self._vals = None
-
-  def keys(self):
-    self._check_entered()
-    return self._vals.keys()
-
-  def get(self, key):
-    self._check_entered()
-    try:
-      return self._vals[key]
-    except KeyError:
-      return None
-
-  def _get_lock(self, create):
-    lock = FileLock(os.path.join(self._path, ".lock"), create)
-    lock.acquire()
-    return lock
-
-  def _read_values_locked(self):
-    """Callers should hold a lock while calling this method."""
-    vals = {}
-    try:
-      data_path = self._data_path()
-      keys = os.listdir(data_path)
-      for key in keys:
-        with open(os.path.join(data_path, key), "rb") as f:
-          vals[key] = f.read()
-    except (OSError, IOError) as e:
-      # Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
-      # inconsistent state. Either way, return empty.
-      if e.errno == errno.ENOENT:
-        return {}
-
-    return vals
-
-  def _data_path(self):
-    return os.path.join(self._path, "d")
-
-  def _check_entered(self):
-    if self._vals is None:
-      raise Exception("Must call __enter__ before using DB")
-
-
-class DBReader(DBAccessor):
-  def __enter__(self):
-    try:
-      lock = self._get_lock(False)
-    except OSError as e:
-      # Do not create lock if it does not exist.
-      if e.errno == errno.ENOENT:
-        self._vals = {}
-        return self
-
-    try:
-      # Read everything.
-      self._vals = self._read_values_locked()
-      return self
-    finally:
-      lock.release()
-
-  def __exit__(self, type, value, traceback): pass
-
-
-class DBWriter(DBAccessor):
-  def __init__(self, path):
-    super(DBWriter, self).__init__(path)
-    self._lock = None
-    self._prev_umask = None
-
-  def put(self, key, value):
-    self._vals[key] = value
-
-  def delete(self, key):
-    self._vals.pop(key, None)
-
-  def __enter__(self):
-    mkdirs_exists_ok(self._path)
-
-    # Make sure we can write and that permissions are correct.
-    self._prev_umask = os.umask(0)
-
-    try:
-      os.chmod(self._path, 0o777)
-      self._lock = self._get_lock(True)
-      self._vals = self._read_values_locked()
-    except:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-      raise
-
-    return self
-
-  def __exit__(self, type, value, traceback):
-    self._check_entered()
-
-    try:
-      # data_path refers to the externally used path to the params. It is a symlink.
-      # old_data_path is the path currently pointed to by data_path.
-      # tempdir_path is a path where the new params will go, which the new data path will point to.
-      # new_data_path is a temporary symlink that will atomically overwrite data_path.
-      #
-      # The current situation is:
-      #   data_path -> old_data_path
-      # We're going to write params data to tempdir_path
-      #   tempdir_path -> params data
-      # Then point new_data_path to tempdir_path
-      #   new_data_path -> tempdir_path
-      # Then atomically overwrite data_path with new_data_path
-      #   data_path -> tempdir_path
-      old_data_path = None
-      new_data_path = None
-      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
-
-      try:
-        # Write back all keys.
-        os.chmod(tempdir_path, 0o777)
-        for k, v in self._vals.items():
-          with open(os.path.join(tempdir_path, k), "wb") as f:
-            f.write(v)
-            f.flush()
-            os.fsync(f.fileno())
-        fsync_dir(tempdir_path)
-
-        data_path = self._data_path()
-        try:
-          old_data_path = os.path.join(self._path, os.readlink(data_path))
-        except (OSError, IOError):
-          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
-          #                 copies to be left behind, but we still want to overwrite.
-          pass
-
-        new_data_path = "{}.link".format(tempdir_path)
-        os.symlink(os.path.basename(tempdir_path), new_data_path)
-        os.rename(new_data_path, data_path)
-        fsync_dir(self._path)
-      finally:
-        # If the rename worked, we can delete the old data. Otherwise delete the new one.
-        success = new_data_path is not None and os.path.exists(data_path) and (
-          os.readlink(data_path) == os.path.basename(tempdir_path))
-
-        if success:
-          if old_data_path is not None:
-            shutil.rmtree(old_data_path)
-        else:
-          shutil.rmtree(tempdir_path)
-
-        # Regardless of what happened above, there should be no link at new_data_path.
-        if new_data_path is not None and os.path.islink(new_data_path):
-          os.remove(new_data_path)
-    finally:
-      os.umask(self._prev_umask)
-      self._prev_umask = None
-
-      # Always release the lock.
-      self._lock.release()
-      self._lock = None
-
-
-def read_db(params_path, key):
-  path = "%s/d/%s" % (params_path, key)
-  try:
-    with open(path, "rb") as f:
-      return f.read()
-  except IOError:
-    return None
-
-def write_db(params_path, key, value):
-  prev_umask = os.umask(0)
-  lock = FileLock(params_path+"/.lock", True)
-  lock.acquire()
-
-  try:
-    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
-    with open(tmp_path, "wb") as f:
-      f.write(value)
-      f.flush()
-      os.fsync(f.fileno())
-
-    path = "%s/d/%s" % (params_path, key)
-    os.rename(tmp_path, path)
-    fsync_dir(os.path.dirname(path))
-  finally:
-    os.umask(prev_umask)
-    lock.release()
-
-class Params(object):
-  def __init__(self, db='/data/params'):
-    self.db = db
-
-    # create the database if it doesn't exist...
-    if not os.path.exists(self.db+"/d"):
-      with self.transaction(write=True):
-        pass
-
-  def transaction(self, write=False):
-    if write:
-      return DBWriter(self.db)
-    else:
-      return DBReader(self.db)
-
-  def _clear_keys_with_type(self, tx_type):
-    with self.transaction(write=True) as txn:
-      for key in keys:
-        if keys[key] == tx_type:
-          txn.delete(key)
-
-  def manager_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
-
-  def car_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
-
-  def delete(self, key):
-    with self.transaction(write=True) as txn:
-      txn.delete(key)
-
-  def get(self, key, block=False):
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    while 1:
-      ret = read_db(self.db, key)
-      if not block or ret is not None:
-        break
-      # is polling really the best we can do?
-      time.sleep(0.05)
-    return ret
-
-  def put(self, key, dat):
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    write_db(self.db, key, dat)
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+assert Params
+assert ParamKeyType
+assert UnknownKeyName
+assert put_nonblocking
 
 if __name__ == "__main__":
-  params = Params()
-  if len(sys.argv) > 2:
-    params.put(sys.argv[1], sys.argv[2])
-  else:
-    for k in keys:
-      pp = params.get(k)
-      if pp is None:
-        print("%s is None" % k)
-      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
-        print("%s = %s" % (k, pp))
-      else:
-        print("%s = %s" % (k, pp.encode("hex")))
+  import sys
 
-  # Test multiprocess:
-  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done
+  params = Params()
+  key = sys.argv[1]
+  assert params.check_key(key), f"unknown param: {key}"
+
+  if len(sys.argv) == 3:
+    val = sys.argv[2]
+    print(f"SET: {key} = {val}")
+    params.put(key, val)
+  elif len(sys.argv) == 2:
+    print(f"GET: {key} = {params.get(key)}")

common/params_pyx.pyx

@@ -0,0 +1,105 @@
+# distutils: language = c++
+# cython: language_level = 3
+from libcpp cimport bool
+from libcpp.string cimport string
+import threading
+
+cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
+  cdef cppclass c_Params "Params":
+    c_Params(string) nogil
+    string get(string, bool) nogil
+    bool getBool(string) nogil
+    int remove(string) nogil
+    int put(string, string) nogil
+    int putBool(string, bool) nogil
+    bool checkKey(string) nogil
+    void clearAll(ParamKeyType)
+
+
+def ensure_bytes(v):
+  return v.encode() if isinstance(v, str) else v;
+
+class UnknownKeyName(Exception):
+  pass
+
+cdef class Params:
+  cdef c_Params* p
+
+  def __cinit__(self, d=""):
+    cdef string path = <string>d.encode()
+    with nogil:
+      self.p = new c_Params(path)
+
+  def __dealloc__(self):
+    del self.p
+
+  def clear_all(self, tx_type=ParamKeyType.ALL):
+    self.p.clearAll(tx_type)
+
+  def check_key(self, key):
+    key = ensure_bytes(key)
+    if not self.p.checkKey(key):
+      raise UnknownKeyName(key)
+    return key
+
+  def get(self, key, bool block=False, encoding=None):
+    cdef string k = self.check_key(key)
+    cdef string val
+    with nogil:
+      val = self.p.get(k, block)
+
+    if val == b"":
+      if block:
+        # If we got no value while running in blocked mode
+        # it means we got an interrupt while waiting
+        raise KeyboardInterrupt
+      else:
+        return None
+
+    return val if encoding is None else val.decode(encoding)
+
+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    cdef bool r
+    with nogil:
+      r = self.p.getBool(k)
+    return r
+
+  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = ensure_bytes(dat)
+    with nogil:
+      self.p.put(k, dat_bytes)
+
+  def put_bool(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBool(k, val)
+
+  def delete(self, key):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.remove(k)
+
+def put_nonblocking(key, val, d=""):
+  def f(key, val):
+    params = Params(d)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t

common/profiler.py

@@ -1,6 +1,6 @@
 import time
 
-class Profiler(object):
+class Profiler():
   def __init__(self, enabled=False):
     self.enabled = enabled
     self.cp = {}
@@ -36,11 +36,10 @@ class Profiler(object):
     if not self.enabled:
       return
     self.iter += 1
-    print("******* Profiling *******")
+    print("******* Profiling %d *******" % self.iter)
     for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
       if n in self.cp_ignored:
-        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
       else:
-        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
-    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
-
+        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
+    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")

common/realtime.py

@@ -1,108 +1,86 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import gc
 import os
 import time
-import platform
-import threading
-import subprocess
 import multiprocessing
+from typing import Optional
 
-from cffi import FFI
-ffi = FFI()
-ffi.cdef("""
-
-typedef int clockid_t;
-struct timespec {
-    long tv_sec;   /* Seconds.  */
-    long tv_nsec;  /* Nanoseconds.  */
-};
-int clock_gettime (clockid_t clk_id, struct timespec *tp);
-
-long syscall(long number, ...);
-
-"""
-)
-libc = ffi.dlopen(None)
+from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from selfdrive.hardware import PC, TICI
 
 
-# see <linux/time.h>
-CLOCK_MONOTONIC_RAW = 4
-CLOCK_BOOTTIME = 7
+# time step for each process
+DT_CTRL = 0.01  # controlsd
+DT_MDL = 0.05  # model
+DT_TRML = 0.5  # thermald and manager
 
-if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
-  c_clock_gettime = libc.clock_gettime
-
-  tlocal = threading.local()
-  def clock_gettime(clk_id):
-    if not hasattr(tlocal, 'ts'):
-      tlocal.ts = ffi.new('struct timespec *')
-
-    ts = tlocal.ts
-
-    r = c_clock_gettime(clk_id, ts)
-    if r != 0:
-      raise OSError("clock_gettime")
-    return ts.tv_sec + ts.tv_nsec * 1e-9
+# driver monitoring
+if TICI:
+  DT_DMON = 0.05
 else:
-  # hack. only for OS X < 10.12
-  def clock_gettime(clk_id):
-    return time.time()
-
-def monotonic_time():
-  return clock_gettime(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return clock_gettime(CLOCK_BOOTTIME)
+  DT_DMON = 0.1
 
 
-def set_realtime_priority(level):
-  if os.getuid() != 0:
-    print("not setting priority, not root")
-    return
-  if platform.machine() == "x86_64":
-    NR_gettid = 186
-  elif platform.machine() == "aarch64":
-    NR_gettid = 178
-  else:
-    raise NotImplementedError
+class Priority:
+  # CORE 2
+  # - modeld = 55
+  # - camerad = 54
+  CTRL_LOW = 51 # plannerd & radard
 
-  tid = libc.syscall(NR_gettid)
-  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
+  # CORE 3
+  # - boardd = 55
+  CTRL_HIGH = 53
 
 
-class Ratekeeper(object):
-  def __init__(self, rate, print_delay_threshold=0.):
+def set_realtime_priority(level: int) -> None:
+  if not PC:
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
+
+
+def set_core_affinity(core: int) -> None:
+  if not PC:
+    os.sched_setaffinity(0, [core,])   # type: ignore[attr-defined]
+
+
+def config_realtime_process(core: int, priority: int) -> None:
+  gc.disable()
+  set_realtime_priority(priority)
+  set_core_affinity(core)
+
+
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
     self._process_name = multiprocessing.current_process().name
 
   @property
-  def frame(self):
+  def frame(self) -> int:
     return self._frame
 
   @property
-  def remaining(self):
+  def remaining(self) -> float:
     return self._remaining
 
   # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
     lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
     return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
-    if remaining < -self._print_delay_threshold:
-      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining
     return lagged
-

common/spinner.py

@@ -0,0 +1,52 @@
+import os
+import subprocess
+from common.basedir import BASEDIR
+
+
+class Spinner():
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
+
+  def __enter__(self):
+    return self
+
+  def update(self, spinner_text: str):
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def close(self):
+    if self.spinner_proc is not None:
+      try:
+        self.spinner_proc.stdin.close()
+      except BrokenPipeError:
+        pass
+      self.spinner_proc.terminate()
+      self.spinner_proc = None
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+  print("gone")
+  time.sleep(5.0)

common/stat_live.py

@@ -0,0 +1,73 @@
+import numpy as np
+
+class RunningStat():
+  # tracks realtime mean and standard deviation without storing any data
+  def __init__(self, priors=None, max_trackable=-1):
+    self.max_trackable = max_trackable
+    if priors is not None:
+      # initialize from history
+      self.M = priors[0]
+      self.S = priors[1]
+      self.n = priors[2]
+      self.M_last = self.M
+      self.S_last = self.S
+
+    else:
+      self.reset()
+
+  def reset(self):
+    self.M = 0.
+    self.S = 0.
+    self.M_last = 0.
+    self.S_last = 0.
+    self.n = 0
+
+  def push_data(self, new_data):
+    # short term memory hack
+    if self.max_trackable < 0 or self.n < self.max_trackable:
+      self.n += 1
+    if self.n == 0:
+      self.M_last = new_data
+      self.M = self.M_last
+      self.S_last = 0.
+    else:
+      self.M = self.M_last + (new_data - self.M_last) / self.n
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
+      self.M_last = self.M
+      self.S_last = self.S
+
+  def mean(self):
+    return self.M
+
+  def variance(self):
+    if self.n >= 2:
+      return self.S / (self.n - 1.)
+    else:
+      return 0
+
+  def std(self):
+    return np.sqrt(self.variance())
+
+  def params_to_save(self):
+    return [self.M, self.S, self.n]
+
+class RunningStatFilter():
+  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
+    self.raw_stat = RunningStat(raw_priors, -1)
+    self.filtered_stat = RunningStat(filtered_priors, max_trackable)
+
+  def reset(self):
+    self.raw_stat.reset()
+    self.filtered_stat.reset()
+
+  def push_and_update(self, new_data):
+    _std_last = self.raw_stat.std()
+    self.raw_stat.push_data(new_data)
+    _delta_std = self.raw_stat.std() - _std_last
+    if _delta_std <= 0:
+      self.filtered_stat.push_data(new_data)
+    else:
+      pass
+      # self.filtered_stat.push_data(self.filtered_stat.mean())
+
+# class SequentialBayesian():

common/string_helpers.py

@@ -0,0 +1,6 @@
+def replace_right(s, old, new, occurrence):
+  # replace_right('1232425', '2', ' ', 1) -> '12324 5'
+  # replace_right('1232425', '2', ' ', 2) -> '123 4 5'
+
+  split = s.rsplit(old, occurrence)
+  return new.join(split)

common/testing.py

@@ -1,9 +0,0 @@
-import os
-from nose.tools import nottest
-
-def phone_only(x):
-  if os.path.isfile("/init.qcom.rc"):
-    return x
-  else:
-    return nottest(x)
-

common/tests/test_file_helpers.py

@@ -0,0 +1,27 @@
+import os
+import unittest
+from uuid import uuid4
+
+from common.file_helpers import atomic_write_on_fs_tmp
+from common.file_helpers import atomic_write_in_dir
+
+
+class TestFileHelpers(unittest.TestCase):
+  def run_atomic_write_func(self, atomic_write_func):
+    path = f"/tmp/tmp{uuid4()}"
+    with atomic_write_func(path) as f:
+      f.write("test")
+
+    with open(path) as f:
+      self.assertEqual(f.read(), "test")
+    os.remove(path)
+
+  def test_atomic_write_on_fs_tmp(self):
+    self.run_atomic_write_func(atomic_write_on_fs_tmp)
+
+  def test_atomic_write_in_dir(self):
+    self.run_atomic_write_func(atomic_write_in_dir)
+
+
+if __name__ == "__main__":
+  unittest.main()

common/tests/test_markdown.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+from markdown_it import MarkdownIt
+import os
+import unittest
+
+from common.basedir import BASEDIR
+from common.markdown import parse_markdown
+
+
+class TestMarkdown(unittest.TestCase):
+  # validate that our simple markdown parser produces the same output as `markdown_it` from pip
+  def test_current_release_notes(self):
+    self.maxDiff = None
+
+    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+      for r in f.read().split("\n\n"):
+
+        # No hyperlink support is ok
+        if '[' in r:
+          continue
+
+        self.assertEqual(MarkdownIt().render(r), parse_markdown(r))
+
+
+if __name__ == "__main__":
+  unittest.main()

common/tests/test_numpy_fast.py

@@ -0,0 +1,26 @@
+import numpy as np
+import unittest
+
+from common.numpy_fast import interp
+
+
+class InterpTest(unittest.TestCase):
+  def test_correctness_controls(self):
+    _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
+    _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
+    v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
+                 39.999999, 40, 41]
+
+    expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+    actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+
+    np.testing.assert_equal(actual, expected)
+
+    for v_ego in v_ego_arr:
+      expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+      actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+      np.testing.assert_equal(actual, expected)
+
+
+if __name__ == "__main__":
+  unittest.main()

common/tests/test_params.py

@@ -0,0 +1,94 @@
+import threading
+import time
+import tempfile
+import shutil
+import unittest
+
+from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking
+
+class TestParams(unittest.TestCase):
+  def setUp(self):
+    self.tmpdir = tempfile.mkdtemp()
+    print("using", self.tmpdir)
+    self.params = Params(self.tmpdir)
+
+  def tearDown(self):
+    shutil.rmtree(self.tmpdir)
+
+  def test_params_put_and_get(self):
+    self.params.put("DongleId", "cb38263377b873ee")
+    assert self.params.get("DongleId") == b"cb38263377b873ee"
+
+  def test_params_non_ascii(self):
+    st = b"\xe1\x90\xff"
+    self.params.put("CarParams", st)
+    assert self.params.get("CarParams") == st
+
+  def test_params_get_cleared_manager_start(self):
+    self.params.put("CarParams", "test")
+    self.params.put("DongleId", "cb38263377b873ee")
+    assert self.params.get("CarParams") == b"test"
+    self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
+    assert self.params.get("CarParams") is None
+    assert self.params.get("DongleId") is not None
+
+  def test_params_two_things(self):
+    self.params.put("DongleId", "bob")
+    self.params.put("AthenadPid", "123")
+    assert self.params.get("DongleId") == b"bob"
+    assert self.params.get("AthenadPid") == b"123"
+
+  def test_params_get_block(self):
+    def _delayed_writer():
+      time.sleep(0.1)
+      self.params.put("CarParams", "test")
+    threading.Thread(target=_delayed_writer).start()
+    assert self.params.get("CarParams") is None
+    assert self.params.get("CarParams", True) == b"test"
+
+  def test_params_unknown_key_fails(self):
+    with self.assertRaises(UnknownKeyName):
+      self.params.get("swag")
+
+    with self.assertRaises(UnknownKeyName):
+      self.params.get_bool("swag")
+
+    with self.assertRaises(UnknownKeyName):
+      self.params.put("swag", "abc")
+
+    with self.assertRaises(UnknownKeyName):
+      self.params.put_bool("swag", True)
+
+  def test_delete_not_there(self):
+    assert self.params.get("CarParams") is None
+    self.params.delete("CarParams")
+    assert self.params.get("CarParams") is None
+
+  def test_get_bool(self):
+    self.params.delete("IsMetric")
+    self.assertFalse(self.params.get_bool("IsMetric"))
+
+    self.params.put_bool("IsMetric", True)
+    self.assertTrue(self.params.get_bool("IsMetric"))
+
+    self.params.put_bool("IsMetric", False)
+    self.assertFalse(self.params.get_bool("IsMetric"))
+
+    self.params.put("IsMetric", "1")
+    self.assertTrue(self.params.get_bool("IsMetric"))
+
+    self.params.put("IsMetric", "0")
+    self.assertFalse(self.params.get_bool("IsMetric"))
+
+  def test_put_non_blocking_with_get_block(self):
+    q = Params(self.tmpdir)
+    def _delayed_writer():
+      time.sleep(0.1)
+      put_nonblocking("CarParams", "test", self.tmpdir)
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"test"
+
+
+if __name__ == "__main__":
+  unittest.main()

common/tests/test_xattr.py

@@ -0,0 +1,47 @@
+import os
+import tempfile
+import shutil
+import unittest
+
+from common.xattr import getxattr, setxattr, listxattr, removexattr
+
+class TestParams(unittest.TestCase):
+  USER_TEST='user.test'
+  def setUp(self):
+    self.tmpdir = tempfile.mkdtemp()
+    self.tmpfn = os.path.join(self.tmpdir, 'test.txt')
+    open(self.tmpfn, 'w').close()
+    #print("using", self.tmpfn)
+
+  def tearDown(self):
+    shutil.rmtree(self.tmpdir)
+
+  def test_getxattr_none(self):
+    a = getxattr(self.tmpfn, TestParams.USER_TEST)
+    assert a is None
+
+  def test_listxattr_none(self):
+    l = listxattr(self.tmpfn)
+    assert l == []
+
+  def test_setxattr(self):
+    setxattr(self.tmpfn, TestParams.USER_TEST, b'123')
+    a = getxattr(self.tmpfn, TestParams.USER_TEST)
+    assert a == b'123'
+
+  def test_listxattr(self):
+    setxattr(self.tmpfn, 'user.test1', b'123')
+    setxattr(self.tmpfn, 'user.test2', b'123')
+    l = listxattr(self.tmpfn)
+    assert l == ['user.test1', 'user.test2']
+
+  def test_removexattr(self):
+    setxattr(self.tmpfn, TestParams.USER_TEST, b'123')
+    a = getxattr(self.tmpfn, TestParams.USER_TEST)
+    assert a == b'123'
+    removexattr(self.tmpfn, TestParams.USER_TEST)
+    a = getxattr(self.tmpfn, TestParams.USER_TEST)
+    assert a is None
+
+if __name__ == "__main__":
+  unittest.main()

common/text_window.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from common.basedir import BASEDIR
+
+
+class TextWindow:
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    if self.text_proc is not None:
+      while True:
+        if self.get_status() == 1:
+          return
+        time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")

common/timeout.py

@@ -0,0 +1,27 @@
+import signal
+
+class TimeoutException(Exception):
+  pass
+
+class Timeout:
+  """
+  Timeout context manager.
+  For example this code will raise a TimeoutException:
+  with Timeout(seconds=5, error_msg="Sleep was too long"):
+    time.sleep(10)
+  """
+  def __init__(self, seconds, error_msg=None):
+    if error_msg is None:
+      error_msg = f'Timed out after {seconds} seconds'
+    self.seconds = seconds
+    self.error_msg = error_msg
+
+  def handle_timeout(self, signume, frame):
+    raise TimeoutException(self.error_msg)
+
+  def __enter__(self):
+    signal.signal(signal.SIGALRM, self.handle_timeout)
+    signal.alarm(self.seconds)
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    signal.alarm(0)

common/transformations/.gitignore

@@ -0,0 +1,2 @@
+transformations
+transformations.cpp

common/transformations/README.md

@@ -0,0 +1,70 @@
+
+Reference Frames
+------
+Many reference frames are used throughout. This
+folder contains all helper functions needed to
+transform between them. Generally this is done
+by generating a rotation matrix and multiplying.
+
+
+| Name | [x, y, z] | Units | Notes |
+| :-------------: |:-------------:| :-----:| :----: |
+| Geodetic | [Latitude, Longitude, Altitude] | geodetic coordinates | Sometimes used as [lon, lat, alt], avoid this frame. |
+| ECEF | [x, y, z] | meters | We use **ITRF14 (IGS14)**, NOT NAD83. <br> This is the global Mesh3D frame. |
+| NED | [North, East, Down] | meters | Relative to earth's surface, useful for vizualizing. |
+| Device | [Forward, Right, Down] | meters | This is the Mesh3D local frame. <br> Relative to camera, **not imu.** <br> ![img](http://upload.wikimedia.org/wikipedia/commons/thumb/2/2f/RPY_angles_of_airplanes.png/440px-RPY_angles_of_airplanes.png)|
+| Calibrated | [Forward, Right, Down] | meters | This is the frame the model outputs are in. <br> More details below. <br>|
+| Car | [Forward, Right, Down] | meters | This is useful for estimating position of points on the road. <br> More details below. <br>|
+| View | [Right, Down, Forward] | meters | Like device frame, but according to camera conventions. |
+| Camera | [u, v, focal] | pixels | Like view frame, but 2d on the camera image.|
+| Normalized Camera | [u / focal, v / focal, 1] | / | |
+| Model | [u, v, focal] | pixels | The sampled rectangle of the full camera frame the model uses. |
+| Normalized Model | [u / focal, v / focal, 1] | / | |
+
+
+
+
+Orientation Conventations
+------
+Quaternions, rotation matrices and euler angles are three
+equivalent representations of orientation and all three are
+used throughout the code base.
+
+For euler angles the preferred convention is [roll, pitch, yaw]
+which corresponds to rotations around the [x, y, z] axes. All
+euler angles should always be in radians or radians/s unless
+for plotting or display purposes. For quaternions the hamilton
+notations is preferred which is [q<sub>w</sub>, q<sub>x</sub>, q<sub>y</sub>, q<sub>z</sub>]. All quaternions
+should always be normalized with a strictly positive q<sub>w</sub>. **These
+quaternions are a unique representation of orientation whereas euler angles
+or rotation matrices are not.**
+
+To rotate from one frame into another with euler angles the
+convention is to rotate around roll, then pitch and then yaw,
+while rotating around the rotated axes, not the original axes.
+
+
+Car frame
+------
+Device frame is aligned with the road-facing camera used by openpilot. However, when controlling the vehicle it is helpful to think in a reference frame aligned with the vehicle. These two reference frames can be different.
+
+The orientation of car frame is defined to be aligned with the car's direction of travel and the road plane when the vehicle is driving on a flat road and not turning. The origin of car frame is defined to be directly below device frame (in car frame), such that it is on the road plane. The position and orientation of this frame is not necessarily always aligned with the direction of travel or the road plane due to suspension movements and other effects.
+
+
+Calibrated frame
+------
+It is helpful for openpilot's driving model to take in images that look similar when mounted differently in different cars. To achieve this we "calibrate" the images by transforming it into calibrated frame. Calibrated frame is defined to be aligned with car frame in pitch and yaw, and aligned with device frame in roll. It also has the same origin as device frame.
+
+
+Example
+------
+To transform global Mesh3D positions and orientations (positions_ecef, quats_ecef) into the local frame described by the
+first position and orientation from Mesh3D one would do:
+```
+ecef_from_local = rot_from_quat(quats_ecef[0])
+local_from_ecef = ecef_from_local.T
+positions_local = np.einsum('ij,kj->ki', local_from_ecef, postions_ecef - positions_ecef[0])
+rotations_global = rot_from_quat(quats_ecef)
+rotations_local = np.einsum('ij,kjl->kil', local_from_ecef, rotations_global)
+eulers_local = euler_from_rot(rotations_local)
+```

common/transformations/SConscript

@@ -0,0 +1,6 @@
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')
+
+envCython.Program('transformations.so', 'transformations.pyx')

common/transformations/camera.py

@@ -1,18 +1,60 @@
 import numpy as np
-import common.transformations.orientation as orient
 
-FULL_FRAME_SIZE = (1164, 874)
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-eon_focal_length = FOCAL = 910.0
+import common.transformations.orientation as orient
+from selfdrive.hardware import TICI
+
+## -- hardcoded hardware params --
+eon_f_focal_length = 910.0
+eon_d_focal_length = 650.0
+tici_f_focal_length = 2648.0
+tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
+
+eon_f_frame_size = (1164, 874)
+eon_d_frame_size = (816, 612)
+tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
 
 # aka 'K' aka camera_frame_from_view_frame
-eon_intrinsics = np.array([
-  [FOCAL,   0.,   W/2.],
-  [  0.,  FOCAL,  H/2.],
-  [  0.,    0.,     1.]])
+eon_fcam_intrinsics = np.array([
+  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
+  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+eon_intrinsics = eon_fcam_intrinsics # xx
+
+eon_dcam_intrinsics = np.array([
+  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
+  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
+  [0.0,  0.0,                                          1.0]])
+
+tici_fcam_intrinsics = np.array([
+  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
+  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
+
+tici_dcam_intrinsics = np.array([
+  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
+  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
+  [0.0,  0.0,                                            1.0]])
+
+tici_ecam_intrinsics = tici_dcam_intrinsics
 
 # aka 'K_inv' aka view_frame_from_camera_frame
-eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
+eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
+eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+
+tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
+tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+
+
+if not TICI:
+  FULL_FRAME_SIZE = eon_f_frame_size
+  FOCAL = eon_f_focal_length
+  fcam_intrinsics = eon_fcam_intrinsics
+else:
+  FULL_FRAME_SIZE = tici_f_frame_size
+  FOCAL = tici_f_focal_length
+  fcam_intrinsics = tici_fcam_intrinsics
+
+W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
 
 
 # device/mesh : x->forward, y-> right, z->down
@@ -28,26 +70,26 @@ view_frame_from_device_frame = device_frame_from_view_frame.T
 def get_calib_from_vp(vp):
   vp_norm = normalize(vp)
   yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  # TODO should be, this but written
-  # to be compatible with meshcalib and
-  # get_view_frame_from_road_fram
-  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
+
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-  # TODO
-  # calibration pitch is currently defined
-  # opposite to pitch in device frame
-  pitch = -pitch
   device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
   view_from_road = view_frame_from_device_frame.dot(device_from_road)
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+# aka 'extrinsic_matrix'
+def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
+  device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
+  view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
+  return np.hstack((view_from_calib, [[0], [height], [0]]))
+
+
 def vp_from_ke(m):
   """
   Computes the vanishing point from the product of the intrinsic and extrinsic
@@ -55,37 +97,50 @@ def vp_from_ke(m):
 
   The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
   """
-  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
+  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
+
+
+def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
+  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
+  ke = np.dot(intrinsics, e)
+  return vp_from_ke(ke)
+
 
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
-def normalize(img_pts):
+
+def normalize(img_pts, intrinsics=fcam_intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
+  intrinsics_inv = np.linalg.inv(intrinsics)
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
+  img_pts_normalized = img_pts.dot(intrinsics_inv.T)
   img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
-  return img_pts_normalized[:,:2].reshape(input_shape)
+  return img_pts_normalized[:, :2].reshape(input_shape)
 
-def denormalize(img_pts):
+
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
-  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
-  return img_pts_denormalized[:,:2].reshape(input_shape)
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
+  img_pts_denormalized = img_pts.dot(intrinsics.T)
+  if np.isfinite(width):
+    img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  if np.isfinite(height):
+    img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  return img_pts_denormalized[:, :2].reshape(input_shape)
+
 
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   # device from ecef frame
@@ -99,6 +154,7 @@ def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
   return pt_device.reshape(input_shape)
 
+
 def img_from_device(pt_device):
   # img coordinates from pts in device frame
   # first transforms to view frame, then to img coords
@@ -108,8 +164,16 @@ def img_from_device(pt_device):
   pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
 
   # This function should never return negative depths
-  pt_view[pt_view[:,2] < 0] = np.nan
+  pt_view[pt_view[:, 2] < 0] = np.nan
 
-  pt_img = pt_view/pt_view[:,2:3]
-  return pt_img.reshape(input_shape)[:,:2]
+  pt_img = pt_view/pt_view[:, 2:3]
+  return pt_img.reshape(input_shape)[:, :2]
 
+
+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  calib_frame_from_ground = np.dot(intrinsics,
+                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
+  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
+  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
+  return camera_frame_from_calib_frame

common/transformations/coordinates.cc

@@ -0,0 +1,102 @@
+#define _USE_MATH_DEFINES
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+#include "coordinates.hpp"
+
+
+
+double a = 6378137; // lgtm [cpp/short-global-name]
+double b = 6356752.3142; // lgtm [cpp/short-global-name]
+double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
+double e1sq = 6.73949674228 * 0.001;
+
+
+static Geodetic to_degrees(Geodetic geodetic){
+  geodetic.lat = RAD2DEG(geodetic.lat);
+  geodetic.lon = RAD2DEG(geodetic.lon);
+  return geodetic;
+}
+
+static Geodetic to_radians(Geodetic geodetic){
+  geodetic.lat = DEG2RAD(geodetic.lat);
+  geodetic.lon = DEG2RAD(geodetic.lon);
+  return geodetic;
+}
+
+
+ECEF geodetic2ecef(Geodetic g){
+  g = to_radians(g);
+  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
+  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
+  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
+  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
+  return {x, y, z};
+}
+
+Geodetic ecef2geodetic(ECEF e){
+  // Convert from ECEF to geodetic using Ferrari's methods
+  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  double x = e.x;
+  double y = e.y;
+  double z = e.z;
+
+  double r = sqrt(x * x + y * y);
+  double Esq = a * a - b * b;
+  double F = 54 * b * b * z * z;
+  double G = r * r + (1 - esq) * z * z - esq * Esq;
+  double C = (esq * esq * F * r * r) / (pow(G, 3));
+  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
+  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
+  double Q = sqrt(1 + 2 * esq * esq * P);
+  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
+  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
+  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
+  double Z_0 = b * b * z / (a * V);
+  double h = U * (1 - b * b / (a * V));
+
+  double lat = atan((z + e1sq * Z_0) / r);
+  double lon = atan2(y, x);
+
+  return to_degrees({lat, lon, h});
+}
+
+LocalCoord::LocalCoord(Geodetic g, ECEF e){
+  init_ecef <<  e.x, e.y, e.z;
+
+  g = to_radians(g);
+
+  ned2ecef_matrix <<
+    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
+    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
+    cos(g.lat), 0, -sin(g.lat);
+  ecef2ned_matrix = ned2ecef_matrix.transpose();
+}
+
+NED LocalCoord::ecef2ned(ECEF e) {
+  Eigen::Vector3d ecef;
+  ecef << e.x, e.y, e.z;
+
+  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
+  return {ned[0], ned[1], ned[2]};
+}
+
+ECEF LocalCoord::ned2ecef(NED n) {
+  Eigen::Vector3d ned;
+  ned << n.n, n.e, n.d;
+
+  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
+  return {ecef[0], ecef[1], ecef[2]};
+}
+
+NED LocalCoord::geodetic2ned(Geodetic g) {
+  ECEF e = ::geodetic2ecef(g);
+  return ecef2ned(e);
+}
+
+Geodetic LocalCoord::ned2geodetic(NED n){
+  ECEF e = ned2ecef(n);
+  return ::ecef2geodetic(e);
+}

common/transformations/coordinates.hpp

@@ -0,0 +1,41 @@
+#pragma once
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
+struct ECEF {
+  double x, y, z;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(x, y, z);
+  }
+};
+
+struct NED {
+  double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
+};
+
+struct Geodetic {
+  double lat, lon, alt;
+  bool radians=false;
+};
+
+ECEF geodetic2ecef(Geodetic g);
+Geodetic ecef2geodetic(ECEF e);
+
+class LocalCoord {
+public:
+  Eigen::Matrix3d ned2ecef_matrix;
+  Eigen::Matrix3d ecef2ned_matrix;
+  Eigen::Vector3d init_ecef;
+  LocalCoord(Geodetic g, ECEF e);
+  LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
+  LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
+
+  NED ecef2ned(ECEF e);
+  ECEF ned2ecef(NED n);
+  NED geodetic2ned(Geodetic g);
+  Geodetic ned2geodetic(NED n);
+};