Merge remote-tracking branch 'origin/master' into online-lag

4 months ago · 0e31a6a649
parent fa57660ebb 6ec5d82a29
commit 0e31a6a649
42 changed files with 604 additions and 428 deletions
--- a/cereal/services.py
+++ b/cereal/services.py
@ -54,7 +54,7 @@ _services: dict[str, tuple] = {
  "livePose": (True, 20., 4),
  "liveParameters": (True, 20., 5),
  "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 0.2, 1),
+  "thumbnail": (True, 1 / 60., 1),
  "onroadEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@ -1,6 +1,10 @@
+import io
 import os
 import tempfile
 import contextlib
+import zstandard as zstd
+
+LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change


 class CallbackReader:
@ -35,3 +39,20 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin
    yield tmp_file
    tmp_file_name = tmp_file.name
  os.replace(tmp_file_name, path)
+
+
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit bdc2fe3a9aa692bcf46c6ab052405564f6d8e379
+Subproject commit 4bfb262fd52bc6946de1c8280efc424910bd9d60
--- a/selfdrive/debug/qlog_size.py
+++ b/selfdrive/debug/qlog_size.py
@ -6,7 +6,7 @@ from collections import defaultdict
 import matplotlib.pyplot as plt

 from cereal.services import SERVICE_LIST
-from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
+from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm

--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -8,7 +8,6 @@ import shutil
 import subprocess
 import time
 import numpy as np
-import zstandard as zstd
 from collections import Counter, defaultdict
 from pathlib import Path
 from tabulate import tabulate
@ -23,7 +22,6 @@ from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
-from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader

 """
@ -102,8 +100,8 @@ TIMINGS = {
 }

 LOGS_SIZE_RATE = {
-  "qlog": 0.0083,
-  "rlog": 0.135,
+  "qlog.zst": 0.0083,
+  "rlog.zst": 0.135,
  "qcamera.ts": 0.03828,
 }
 LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740))
@ -119,10 +117,10 @@ class TestOnroad:
  @classmethod
  def setup_class(cls):
    if "DEBUG" in os.environ:
-      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir())
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir())
      segs = sorted(segs, key=lambda x: x.stat().st_mtime)
      print(segs[-3])
-      cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
+      cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst")))
      return

    # setup env
@ -173,18 +171,15 @@ class TestOnroad:
        if proc.wait(60) is None:
          proc.kill()

-    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]
+    cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.zst"))) for s in cls.segments]

-    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog")))
+    cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog.zst")))
    cls.log_path = cls.segments[0]

    cls.log_sizes = {}
    for f in cls.log_path.iterdir():
      assert f.is_file()
      cls.log_sizes[f] = f.stat().st_size / 1e6
-      if f.name in ("qlog", "rlog"):
-        with open(f, 'rb') as ff:
-          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6

    cls.msgs = defaultdict(list)
    for m in cls.lr:
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@ -14,7 +14,6 @@ import sys
 import tempfile
 import threading
 import time
-import zstandard as zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
@ -31,11 +30,10 @@ import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
-from openpilot.common.file_helpers import CallbackReader
+from openpilot.common.file_helpers import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
@ -294,17 +292,17 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
    path = strip_zst_extension(path)
    compress = True

-  with open(path, "rb") as f:
-    content = f.read()
-    if compress:
-      cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
-
-  with io.BytesIO(content) as data:
-    return requests.put(upload_item.url,
-                        data=CallbackReader(data, callback, len(content)) if callback else data,
-                        headers={**upload_item.headers, 'Content-Length': str(len(content))},
-                        timeout=30)
+  stream = None
+  try:
+    stream, content_length = get_upload_stream(path, compress)
+    response = requests.put(upload_item.url,
+                            data=CallbackReader(stream, callback, content_length) if callback else stream,
+                            headers={**upload_item.headers, 'Content-Length': str(content_length)},
+                            timeout=30)
+    return response
+  finally:
+    if stream:
+      stream.close()


 # security: user should be able to request any message from their car
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@ -138,7 +138,7 @@ class TestAthenadMethods:
    route = '2021-03-29--13-32-47'
    segments = [0, 1, 2, 3, 11]

-    filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
+    filenames = ['qlog.zst', 'qcamera.ts', 'rlog.zst', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
    files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
    for file in files:
      self._create_file(file)
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')

-libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
+libs = ['pthread', common, 'OpenCL', messaging, visionipc, gpucommon]

 if arch != "Darwin":
  camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@ -3,8 +3,6 @@
 #include <cassert>
 #include <string>

-#include <jpeglib.h>
-
 #include "common/clutil.h"
 #include "common/swaglog.h"

@ -150,95 +148,6 @@ kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
  return kj::mv(frame_image);
 }

-static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) {
-  int downscale = b->cur_yuv_buf->width / thumbnail_width;
-  assert(downscale * thumbnail_height == b->cur_yuv_buf->height);
-  int in_stride = b->cur_yuv_buf->stride;
-
-  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
-  std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
-  uint8_t *y_plane = buf.get();
-  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
-  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
-  {
-    // subsampled conversion from nv12 to yuv
-    for (int hy = 0; hy < thumbnail_height/2; hy++) {
-      for (int hx = 0; hx < thumbnail_width/2; hx++) {
-        int ix = hx * downscale + (downscale-1)/2;
-        int iy = hy * downscale + (downscale-1)/2;
-        y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 0];
-        y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 1];
-        y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 0];
-        y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 1];
-        u_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 0];
-        v_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 1];
-      }
-    }
-  }
-
-  struct jpeg_compress_struct cinfo;
-  struct jpeg_error_mgr jerr;
-  cinfo.err = jpeg_std_error(&jerr);
-  jpeg_create_compress(&cinfo);
-
-  uint8_t *thumbnail_buffer = nullptr;
-  size_t thumbnail_len = 0;
-  jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len);
-
-  cinfo.image_width = thumbnail_width;
-  cinfo.image_height = thumbnail_height;
-  cinfo.input_components = 3;
-
-  jpeg_set_defaults(&cinfo);
-  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
-  // configure sampling factors for yuv420.
-  cinfo.comp_info[0].h_samp_factor = 2;  // Y
-  cinfo.comp_info[0].v_samp_factor = 2;
-  cinfo.comp_info[1].h_samp_factor = 1;  // U
-  cinfo.comp_info[1].v_samp_factor = 1;
-  cinfo.comp_info[2].h_samp_factor = 1;  // V
-  cinfo.comp_info[2].v_samp_factor = 1;
-  cinfo.raw_data_in = TRUE;
-
-  jpeg_set_quality(&cinfo, 50, TRUE);
-  jpeg_start_compress(&cinfo, TRUE);
-
-  JSAMPROW y[16], u[8], v[8];
-  JSAMPARRAY planes[3]{y, u, v};
-
-  for (int line = 0; line < cinfo.image_height; line += 16) {
-    for (int i = 0; i < 16; ++i) {
-      y[i] = y_plane + (line + i) * cinfo.image_width;
-      if (i % 2 == 0) {
-        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
-        u[i / 2] = u_plane + offset;
-        v[i / 2] = v_plane + offset;
-      }
-    }
-    jpeg_write_raw_data(&cinfo, planes, 16);
-  }
-
-  jpeg_finish_compress(&cinfo);
-  jpeg_destroy_compress(&cinfo);
-
-  kj::Array<capnp::byte> dat = kj::heapArray<capnp::byte>(thumbnail_buffer, thumbnail_len);
-  free(thumbnail_buffer);
-  return dat;
-}
-
-void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
-  auto thumbnail = yuv420_to_jpeg(b, b->out_img_width / 4, b->out_img_height / 4);
-  if (thumbnail.size() == 0) return;
-
-  MessageBuilder msg;
-  auto thumbnaild = msg.initEvent().initThumbnail();
-  thumbnaild.setFrameId(b->cur_frame_data.frame_id);
-  thumbnaild.setTimestampEof(b->cur_frame_data.timestamp_eof);
-  thumbnaild.setThumbnail(thumbnail);
-
-  pm->send("thumbnail", msg);
-}
-
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) {
  int lum_med;
  uint32_t lum_binning[256] = {0};
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@ -52,5 +52,4 @@ public:
 void camerad_thread();
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
-void publish_thumbnail(PubMaster *pm, const CameraBuf *b);
 int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@ -55,7 +55,7 @@ public:

  float fl_pix = 0;

-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {};
  ~CameraState();
  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@ -231,9 +231,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
 void CameraState::run() {
  util::set_thread_name(camera.cc.publish_name);

-  std::vector<const char*> pubs = {camera.cc.publish_name};
-  if (camera.cc.stream_type == VISION_STREAM_ROAD) pubs.push_back("thumbnail");
-  PubMaster pm(pubs);
+  PubMaster pm(std::vector{camera.cc.publish_name});

  for (uint32_t cnt = 0; !do_exit; ++cnt) {
    // Acquire the buffer; continue if acquisition fails
@ -267,9 +265,6 @@ void CameraState::run() {

    // Send the message
    pm.send(camera.cc.publish_name, msg);
-    if (camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
-      publish_thumbnail(&pm, &camera.buf);  // this takes 10ms???
-    }
  }
 }

@ -288,7 +283,7 @@ void camerad_thread() {

  // *** per-cam init ***
  std::vector<std::unique_ptr<CameraState>> cams;
-  for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) {
+  for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
    auto cam = std::make_unique<CameraState>(&m, config);
    cam->init(&v, device_id, ctx);
    cams.emplace_back(std::move(cam));
--- a/system/camerad/cameras/tici.h
+++ b/system/camerad/cameras/tici.h
@ -16,6 +16,7 @@ struct CameraConfig {
  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
  bool enabled;
  uint32_t phy;
+  bool vignetting_correction;
 };

 // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
@ -28,6 +29,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
  .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
  .enabled = !getenv("DISABLE_WIDE_ROAD"),
  .phy = CAM_ISP_IFE_IN_RES_PHY_0,
+  .vignetting_correction = false,
 };

 const CameraConfig ROAD_CAMERA_CONFIG = {
@ -38,6 +40,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
  .enabled = !getenv("DISABLE_ROAD"),
  .phy = CAM_ISP_IFE_IN_RES_PHY_1,
+  .vignetting_correction = true,
 };

 const CameraConfig DRIVER_CAMERA_CONFIG = {
@ -48,4 +51,5 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
  .enabled = !getenv("DISABLE_DRIVER"),
  .phy = CAM_ISP_IFE_IN_RES_PHY_2,
+  .vignetting_correction = false,
 };
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@ -2,13 +2,14 @@

 #include "cdm.h"

-#include "system/camerad/cameras/tici.h"
+#include "system/camerad/cameras/hw.h"
 #include "system/camerad/sensors/sensor.h"


-int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
+int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
  uint8_t *start = dst;

+  // init sequence
  dst += write_random(dst, {
    0x2c, 0xffffffff,
    0x30, 0xffffffff,
@ -17,6 +18,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
    0x3c, 0xffffffff,
  });

+  // demux cfg
  dst += write_cont(dst, 0x560, {
    0x00000001,
    0x04440444,
@ -35,38 +37,31 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
    0x00000000,
  });

+  // module config/enables (e.g. enable debayer, white balance, etc.)
  dst += write_cont(dst, 0x40, {
-    0x00000c06 | ((uint32_t)(camera_num == 1) << 8),
+    0x00000c06 | ((uint32_t)(cam.vignetting_correction) << 8),
+  });
+  dst += write_cont(dst, 0x44, {
+    0x00000000,
  });
-
  dst += write_cont(dst, 0x48, {
    (1 << 3) | (1 << 1),
  });
-
  dst += write_cont(dst, 0x4c, {
    0x00000019,
  });
+  dst += write_cont(dst, 0xf00, {
+    0x00000000,
+  });

+  // cropping
  dst += write_cont(dst, 0xe0c, {
    0x00000e00,
  });
-
  dst += write_cont(dst, 0xe2c, {
    0x00000e00,
  });

-  dst += write_cont(dst, 0x44, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xaac, {
-    0x00000000,
-  });
-
-  dst += write_cont(dst, 0xf00, {
-    0x00000000,
-  });
-
  // black level scale + offset
  dst += write_cont(dst, 0x6b0, {
    ((uint32_t)(1 << 11) << 0xf) | (s->black_level << (14 - s->bits_per_pixel)),
@ -78,11 +73,11 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patch
 }


-int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t> &patches, int camera_num) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
  uint8_t *start = dst;

  // start with the every frame config
-  dst += build_update(dst, s, patches, camera_num);
+  dst += build_update(dst, cam, s, patches);

  uint64_t addr;

@ -115,15 +110,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
  // TODO: this is DMI64 in the dump, does that matter?
  dst += write_dmi(dst, &addr, s->linearization_lut.size()*sizeof(uint32_t), 0xc24, 9);
  patches.push_back(addr - (uint64_t)start);
-  /* TODO
-  cdm_dmi_cmd_t 248
-    .length = 287
-    .reserved = 33
-    .cmd = 11
-    .addr = 0
-    .DMIAddr = 3108
-    .DMISel = 9
-  */

  // vignetting correction
  dst += write_cont(dst, 0x6bc, {
@ -180,7 +166,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
    0x03ff0000,
  });

-  // TODO: remove this
+  // output size/scaling
  dst += write_cont(dst, 0xa3c, {
    0x00000003,
    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@ -299,8 +299,9 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c

 void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) {
  for (uint64_t i = start; i < start + n; ++i) {
-    request_ids[(i - 1) % ife_buf_depth] = i;
-    enqueue_buffer((i - 1) % ife_buf_depth, dp);
+    uint64_t idx = (i - 1) % ife_buf_depth;
+    request_ids[idx] = i;
+    enqueue_buffer(idx, dp);
  }
 }

@ -715,9 +716,9 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
    bool is_raw = output_type != ISP_IFE_PROCESSED;
    if (!is_raw) {
      if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
      } else {
-        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num);
+        buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
      }
    }

--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@ -9,7 +9,7 @@
 #include "media/cam_req_mgr.h"

 #include "common/util.h"
-#include "system/camerad/cameras/tici.h"
+#include "system/camerad/cameras/hw.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"

--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@ -388,7 +388,7 @@ class Tici(HardwareBase):
    affine_irq(5, "kgsl-3d0")

    # camerad core
-    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
+    camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
    for n in camera_irqs:
      affine_irq(5, n)

--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@ -31,7 +31,7 @@ class Proc:


 PROCS = [
-  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.6, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
  Proc(['encoderd'], 0.23, msgs=[]),
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@ -1,10 +1,10 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')

 libs = [common, messaging, visionipc,
-        'z', 'avformat', 'avcodec', 'swscale',
-        'avutil', 'yuv', 'OpenCL', 'pthread']
+        'avformat', 'avcodec', 'avutil',
+        'yuv', 'OpenCL', 'pthread', 'zstd']

-src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc']
+src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
 if arch != "larch64":
  src += ['encoder/ffmpeg_encoder.cc']

@ -19,8 +19,8 @@ logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)

 env.Program('loggerd', ['loggerd.cc'], LIBS=libs)
-env.Program('encoderd', ['encoderd.cc'], LIBS=libs)
+env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"])
 env.Program('bootlog.cc', LIBS=libs)

 if GetOption('extras'):
-  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto'])
+  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs + ['curl', 'crypto'])
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@ -5,6 +5,7 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "system/loggerd/logger.h"
+#include "system/loggerd/zstd_writer.h"


 static kj::Array<capnp::word> build_boot_log() {
@ -50,14 +51,14 @@ static kj::Array<capnp::word> build_boot_log() {

 int main(int argc, char** argv) {
  const std::string id = logger_get_identifier("BootCount");
-  const std::string path = Path::log_root() + "/boot/" + id;
+  const std::string path = Path::log_root() + "/boot/" + id + ".zst";
  LOGW("bootlog to %s", path.c_str());

  // Open bootlog
  bool r = util::create_directories(Path::log_root() + "/boot/", 0775);
  assert(r);

-  RawFile file(path.c_str());
+  ZstdFileWriter file(path, LOG_COMPRESSION_LEVEL);
  // Write initdata
  file.write(logger_build_init_data().asBytes());
  // Write bootlog
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@ -6,12 +6,7 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
  out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
  out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;

-
-  std::vector pubs = {encoder_info.publish_name};
-  if (encoder_info.thumbnail_name != NULL) {
-    pubs.push_back(encoder_info.thumbnail_name);
-  }
-  pm.reset(new PubMaster(pubs));
+  pm.reset(new PubMaster(std::vector{encoder_info.publish_name}));
 }

 void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@ -45,15 +40,4 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(msg_cache.data(), bytes_size));
  capnp::writeMessage(output_stream, msg);
  pm->send(encoder_info.publish_name, msg_cache.data(), bytes_size);
-
-  // Publish keyframe thumbnail
-  if ((flags & V4L2_BUF_FLAG_KEYFRAME) && encoder_info.thumbnail_name != NULL) {
-    MessageBuilder tm;
-    auto thumbnail = tm.initEvent().initThumbnail();
-    thumbnail.setFrameId(extra.frame_id);
-    thumbnail.setTimestampEof(extra.timestamp_eof);
-    thumbnail.setThumbnail(dat);
-    thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
-    pm->send(encoder_info.thumbnail_name, tm);
-  }
 }
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@ -30,8 +30,6 @@ public:
  void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);

 protected:
-  void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
-
  int in_width, in_height;
  int out_width, out_height;
  const EncoderInfo encoder_info;
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@ -48,7 +48,10 @@ FfmpegEncoder::~FfmpegEncoder() {
 }

 void FfmpegEncoder::encoder_open(const char* path) {
-  const AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_FFVHUFF);
+  auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
+                      ? AV_CODEC_ID_H264
+                      : AV_CODEC_ID_FFVHUFF;
+  const AVCodec *codec = avcodec_find_encoder(codec_id);

  this->codec_ctx = avcodec_alloc_context3(codec);
  assert(this->codec_ctx);
--- a/system/loggerd/encoder/jpeg_encoder.cc
+++ b/system/loggerd/encoder/jpeg_encoder.cc
@ -0,0 +1,105 @@
+#include "system/loggerd/encoder/jpeg_encoder.h"
+
+#include <cassert>
+#include <cstring>
+
+JpegEncoder::JpegEncoder(const std::string &pusblish_name, int width, int height)
+    : publish_name(pusblish_name), thumbnail_width(width), thumbnail_height(height) {
+  yuv_buffer.resize((thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2);
+  pm = std::make_unique<PubMaster>(std::vector{pusblish_name.c_str()});
+}
+
+JpegEncoder::~JpegEncoder() {
+  if (out_buffer) {
+    free(out_buffer);
+  }
+}
+
+void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) {
+  generateThumbnail(buf->y, buf->uv, buf->width, buf->height, buf->stride);
+
+  MessageBuilder msg;
+  auto thumbnaild = msg.initEvent().initThumbnail();
+  thumbnaild.setFrameId(extra.frame_id);
+  thumbnaild.setTimestampEof(extra.timestamp_eof);
+  thumbnaild.setThumbnail({out_buffer, out_size});
+
+  pm->send(publish_name.c_str(), msg);
+}
+
+void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_addr, int width, int height, int stride) {
+  int downscale = width / thumbnail_width;
+  assert(downscale * thumbnail_height == height);
+
+  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
+  uint8_t *y_plane = yuv_buffer.data();
+  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
+  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
+  {
+    // subsampled conversion from nv12 to yuv
+    for (int hy = 0; hy < thumbnail_height / 2; hy++) {
+      for (int hx = 0; hx < thumbnail_width / 2; hx++) {
+        int ix = hx * downscale + (downscale - 1) / 2;
+        int iy = hy * downscale + (downscale - 1) / 2;
+        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 0];
+        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 1];
+        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 0];
+        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 1];
+        u_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 0];
+        v_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 1];
+      }
+    }
+  }
+
+  compressToJpeg(y_plane, u_plane, v_plane);
+}
+
+void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) {
+  struct jpeg_compress_struct cinfo;
+  struct jpeg_error_mgr jerr;
+  cinfo.err = jpeg_std_error(&jerr);
+  jpeg_create_compress(&cinfo);
+
+  if (out_buffer) {
+    free(out_buffer);
+    out_buffer = nullptr;
+    out_size = 0;
+  }
+  jpeg_mem_dest(&cinfo, &out_buffer, &out_size);
+
+  cinfo.image_width = thumbnail_width;
+  cinfo.image_height = thumbnail_height;
+  cinfo.input_components = 3;
+
+  jpeg_set_defaults(&cinfo);
+  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
+  // configure sampling factors for yuv420.
+  cinfo.comp_info[0].h_samp_factor = 2;  // Y
+  cinfo.comp_info[0].v_samp_factor = 2;
+  cinfo.comp_info[1].h_samp_factor = 1;  // U
+  cinfo.comp_info[1].v_samp_factor = 1;
+  cinfo.comp_info[2].h_samp_factor = 1;  // V
+  cinfo.comp_info[2].v_samp_factor = 1;
+  cinfo.raw_data_in = TRUE;
+
+  jpeg_set_quality(&cinfo, 50, TRUE);
+  jpeg_start_compress(&cinfo, TRUE);
+
+  JSAMPROW y[16], u[8], v[8];
+  JSAMPARRAY planes[3]{y, u, v};
+
+  for (int line = 0; line < cinfo.image_height; line += 16) {
+    for (int i = 0; i < 16; ++i) {
+      y[i] = y_plane + (line + i) * cinfo.image_width;
+      if (i % 2 == 0) {
+        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
+        u[i / 2] = u_plane + offset;
+        v[i / 2] = v_plane + offset;
+      }
+    }
+    jpeg_write_raw_data(&cinfo, planes, 16);
+  }
+
+  jpeg_finish_compress(&cinfo);
+  jpeg_destroy_compress(&cinfo);
+}
--- a/system/loggerd/encoder/jpeg_encoder.h
+++ b/system/loggerd/encoder/jpeg_encoder.h
@ -0,0 +1,32 @@
+#pragma once
+
+#include <cstdio>
+#include <cstdlib>
+#include <cstddef>
+#include <cstdint>
+#include <jpeglib.h>
+#include <vector>
+#include <memory>
+#include "cereal/messaging/messaging.h"
+#include "msgq/visionipc/visionbuf.h"
+
+class JpegEncoder {
+public:
+  JpegEncoder(const std::string &pusblish_name, int width, int height);
+  ~JpegEncoder();
+  void pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra);
+
+private:
+  void generateThumbnail(const uint8_t *y, const uint8_t *uv, int width, int height, int stride);
+  void compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane);
+
+  int thumbnail_width;
+  int thumbnail_height;
+  std::string publish_name;
+  std::vector<uint8_t> yuv_buffer;
+  std::unique_ptr<PubMaster> pm;
+
+  // JPEG output buffer
+  unsigned char* out_buffer = nullptr;
+  unsigned long out_size = 0;
+};
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@ -1,6 +1,7 @@
 #include <cassert>

 #include "system/loggerd/loggerd.h"
+#include "system/loggerd/encoder/jpeg_encoder.h"

 #ifdef QCOM2
 #include "system/loggerd/encoder/v4l_encoder.h"
@ -50,6 +51,8 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
  std::vector<std::unique_ptr<Encoder>> encoders;
  VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);

+  std::unique_ptr<JpegEncoder> jpeg_encoder;
+
  int cur_seg = 0;
  while (!do_exit) {
    if (!vipc_client.connect(false)) {
@ -67,6 +70,11 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
        auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height));
        e->encoder_open(nullptr);
      }
+
+      // Only one thumbnail can be generated per camera stream
+      if (auto thumbnail_name = cam_info.encoder_infos[0].thumbnail_name) {
+        jpeg_encoder = std::make_unique<JpegEncoder>(thumbnail_name, buf_info.width / 4, buf_info.height / 4);
+      }
    }

    bool lagging = false;
@ -108,6 +116,10 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
          LOGE("Failed to encode frame. frame_id: %d", extra.frame_id);
        }
      }
+
+      if (jpeg_encoder && (extra.frame_id % 1200 == 100)) {
+        jpeg_encoder->pushThumbnail(buf, extra);
+      }
    }
  }
 }
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@ -113,6 +113,42 @@ std::string logger_get_identifier(std::string key) {
  return util::string_format("%08x--%s", cnt, ss.str().c_str());
 }

+std::string zstd_decompress(const std::string &in) {
+  ZSTD_DCtx *dctx = ZSTD_createDCtx();
+  assert(dctx != nullptr);
+
+  // Initialize input and output buffers
+  ZSTD_inBuffer input = {in.data(), in.size(), 0};
+
+  // Estimate and reserve memory for decompressed data
+  size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in.data(), in.size());
+  if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) {
+    estimatedDecompressedSize = in.size() * 2;  // Use a fallback size
+  }
+
+  std::string decompressedData;
+  decompressedData.reserve(estimatedDecompressedSize);
+
+  const size_t bufferSize = ZSTD_DStreamOutSize();  // Recommended output buffer size
+  std::string outputBuffer(bufferSize, '\0');
+
+  while (input.pos < input.size) {
+    ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0};
+
+    size_t result = ZSTD_decompressStream(dctx, &output, &input);
+    if (ZSTD_isError(result)) {
+      break;
+    }
+
+    decompressedData.append(outputBuffer.data(), output.pos);
+  }
+
+  ZSTD_freeDCtx(dctx);
+  decompressedData.shrink_to_fit();
+  return decompressedData;
+}
+
+
 static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal = 0) {
  MessageBuilder msg;
  auto sen = msg.initEvent().initSentinel();
@ -144,12 +180,11 @@ bool LoggerState::next() {
  bool ret = util::create_directories(segment_path, 0775);
  assert(ret == true);

-  const std::string rlog_path = segment_path + "/rlog";
-  lock_file = rlog_path + ".lock";
+  lock_file = segment_path + "/rlog.lock";
  std::ofstream{lock_file};

-  rlog.reset(new RawFile(rlog_path));
-  qlog.reset(new RawFile(segment_path + "/qlog"));
+  rlog.reset(new ZstdFileWriter(segment_path + "/rlog.zst", LOG_COMPRESSION_LEVEL));
+  qlog.reset(new ZstdFileWriter(segment_path + "/qlog.zst", LOG_COMPRESSION_LEVEL));

  // log init data & sentinel type.
  write(init_data.asBytes(), true);
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@ -7,31 +7,12 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
+#include "system/loggerd/zstd_writer.h"

-class RawFile {
- public:
-  RawFile(const std::string &path) {
-    file = util::safe_fopen(path.c_str(), "wb");
-    assert(file != nullptr);
-  }
-  ~RawFile() {
-    util::safe_fflush(file);
-    int err = fclose(file);
-    assert(err == 0);
-  }
-  inline void write(void* data, size_t size) {
-    int written = util::safe_fwrite(data, 1, size, file);
-    assert(written == size);
-  }
-  inline void write(kj::ArrayPtr<capnp::byte> array) { write(array.begin(), array.size()); }
-
- private:
-  FILE* file = nullptr;
-};
+constexpr int LOG_COMPRESSION_LEVEL = 10;

 typedef cereal::Sentinel::SentinelType SentinelType;

-
 class LoggerState {
 public:
  LoggerState(const std::string& log_root = Path::log_root());
@ -48,8 +29,9 @@ protected:
  int part = -1, exit_signal = 0;
  std::string route_path, route_name, segment_path, lock_file;
  kj::Array<capnp::word> init_data;
-  std::unique_ptr<RawFile> rlog, qlog;
+  std::unique_ptr<ZstdFileWriter> rlog, qlog;
 };

 kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_identifier(std::string key);
+std::string zstd_decompress(const std::string &in);
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@ -56,6 +56,7 @@ public:

 const EncoderInfo main_road_encoder_info = {
  .publish_name = "roadEncodeData",
+  .thumbnail_name = "thumbnail",
  .filename = "fcamera.hevc",
  INIT_ENCODE_FUNCTIONS(RoadEncode),
 };
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@ -106,7 +106,7 @@ class TestEncoder:

        # Check encodeIdx
        if encode_idx_name is not None:
-          rlog_path = f"{route_prefix_path}--{i}/rlog"
+          rlog_path = f"{route_prefix_path}--{i}/rlog.zst"
          msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
          encode_msgs = [getattr(m, encode_idx_name) for m in msgs]

--- a/system/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@ -9,12 +9,13 @@ void verify_segment(const std::string &route_path, int segment, int max_segment,
  SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT;

  REQUIRE(!util::file_exists(segment_path + "/rlog.lock"));
-  for (const char *fn : {"/rlog", "/qlog"}) {
+  for (const char *fn : {"/rlog.zst", "/qlog.zst"}) {
    const std::string log_file = segment_path + fn;
    std::string log = util::read_file(log_file);
    REQUIRE(!log.empty());
+    std::string decompressed_log = zstd_decompress(log);
    int event_cnt = 0, i = 0;
-    kj::ArrayPtr<const capnp::word> words((capnp::word *)log.data(), log.size() / sizeof(capnp::word));
+    kj::ArrayPtr<const capnp::word> words((capnp::word *)decompressed_log.data(), decompressed_log.size() / sizeof(capnp::word));
    while (words.size() > 0) {
      try {
        capnp::FlatArrayMessageReader reader(words);
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@ -142,7 +142,7 @@ class TestLoggerd:
    Params().put("RecordFront", "1")

    d = DEVICE_CAMERAS[("tici", "ar0231")]
-    expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
+    expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
    streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
               (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
@ -229,7 +229,7 @@ class TestLoggerd:
               random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
    sent_msgs = self._publish_random_messages(services)

-    qlog_path = os.path.join(self._get_latest_log_dir(), "qlog")
+    qlog_path = os.path.join(self._get_latest_log_dir(), "qlog.zst")
    lr = list(LogReader(qlog_path))

    # check initData and sentinel
@ -255,7 +255,7 @@ class TestLoggerd:
    services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
    sent_msgs = self._publish_random_messages(services)

-    lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog")))
+    lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog.zst")))

    # check initData and sentinel
    self._check_init_data(lr)
--- a/system/loggerd/tests/test_zstd_writer.cc
+++ b/system/loggerd/tests/test_zstd_writer.cc
@ -0,0 +1,38 @@
+#include <zstd.h>
+
+#include <catch2/catch.hpp>
+#include <cstring>
+#include <vector>
+
+#include "common/util.h"
+#include "system/loggerd/logger.h"
+#include "system/loggerd/zstd_writer.h"
+
+TEST_CASE("ZstdFileWriter writes and compresses data correctly in loops", "[ZstdFileWriter]") {
+  const std::string filename = "test_zstd_file.zst";
+  const int iterations = 100;
+  const size_t dataSize = 1024;
+
+  std::string totalTestData;
+
+  // Step 1: Write compressed data to file in a loop
+  {
+    ZstdFileWriter writer(filename, LOG_COMPRESSION_LEVEL);
+    for (int i = 0; i < iterations; ++i) {
+      std::string testData = util::random_string(dataSize);
+      totalTestData.append(testData);
+      writer.write((void *)testData.c_str(), testData.size());
+    }
+  }
+
+  // Step 2: Decompress the file and verify the data
+  auto compressedContent = util::read_file(filename);
+  std::string decompressedData = zstd_decompress(compressedContent);
+
+  // Step 3: Verify that the decompressed data matches the original accumulated data
+  REQUIRE(decompressedData.size() == totalTestData.size());
+  REQUIRE(std::memcmp(decompressedData.data(), totalTestData.c_str(), totalTestData.size()) == 0);
+
+  // Clean up the test file
+  std::remove(filename.c_str());
+}
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import io
 import json
 import os
 import random
@ -8,12 +7,12 @@ import threading
 import time
 import traceback
 import datetime
-import zstandard as zstd
 from collections.abc import Iterator

 from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.api import Api
+from openpilot.common.file_helpers import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware.hw import Paths
@ -29,7 +28,6 @@ MAX_UPLOAD_SIZES = {
                   # bugs, including ones that can cause massive log sizes
  "qcam": 5*1e6,
 }
-LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change

 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
@ -154,13 +152,15 @@ class Uploader:
    if fake_upload:
      return FakeResponse()

-    with open(fn, "rb") as f:
-      content = f.read()
-      if key.endswith('.zst') and not fn.endswith('.zst'):
-        content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
-
-      with io.BytesIO(content) as data:
-        return requests.put(url, data=data, headers=headers, timeout=10)
+    stream = None
+    try:
+      compress = key.endswith('.zst') and not fn.endswith('.zst')
+      stream, _ = get_upload_stream(fn, compress)
+      response = requests.put(url, data=stream, headers=headers, timeout=10)
+      return response
+    finally:
+      if stream:
+        stream.close()

  def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
    try:
--- a/system/loggerd/zstd_writer.cc
+++ b/system/loggerd/zstd_writer.cc
@ -0,0 +1,65 @@
+
+#include "system/loggerd/zstd_writer.h"
+
+#include <cassert>
+
+#include "common/util.h"
+
+// Constructor: Initializes compression stream and opens file
+ZstdFileWriter::ZstdFileWriter(const std::string& filename, int compression_level) {
+  // Create the compression stream
+  cstream_ = ZSTD_createCStream();
+  assert(cstream_);
+
+  size_t initResult = ZSTD_initCStream(cstream_, compression_level);
+  assert(!ZSTD_isError(initResult));
+
+  input_cache_capacity_ = ZSTD_CStreamInSize();
+  input_cache_.reserve(input_cache_capacity_);
+  output_buffer_.resize(ZSTD_CStreamOutSize());
+
+  file_ = util::safe_fopen(filename.c_str(), "wb");
+  assert(file_ != nullptr);
+}
+
+// Destructor: Finalizes compression and closes file
+ZstdFileWriter::~ZstdFileWriter() {
+  flushCache(true);
+  util::safe_fflush(file_);
+
+  int err = fclose(file_);
+  assert(err == 0);
+
+  ZSTD_freeCStream(cstream_);
+}
+
+// Compresses and writes data to file
+void ZstdFileWriter::write(void* data, size_t size) {
+  // Add data to the input cache
+  input_cache_.insert(input_cache_.end(), (uint8_t*)data, (uint8_t*)data + size);
+
+  // If the cache is full, compress and write to the file
+  if (input_cache_.size() >= input_cache_capacity_) {
+    flushCache(false);
+  }
+}
+
+// Compress and flush the input cache to the file
+void ZstdFileWriter::flushCache(bool last_chunk) {
+  ZSTD_inBuffer input = {input_cache_.data(), input_cache_.size(), 0};
+  ZSTD_EndDirective mode = !last_chunk ? ZSTD_e_continue : ZSTD_e_end;
+  int finished = 0;
+
+  do {
+    ZSTD_outBuffer output = {output_buffer_.data(), output_buffer_.size(), 0};
+    size_t remaining = ZSTD_compressStream2(cstream_, &output, &input, mode);
+    assert(!ZSTD_isError(remaining));
+
+    size_t written = util::safe_fwrite(output_buffer_.data(), 1, output.pos, file_);
+    assert(written == output.pos);
+
+    finished = last_chunk ? (remaining == 0) : (input.pos == input.size);
+  } while (!finished);
+
+  input_cache_.clear();  // Clear cache after compression
+}
--- a/system/loggerd/zstd_writer.h
+++ b/system/loggerd/zstd_writer.h
@ -0,0 +1,24 @@
+#pragma once
+
+#include <zstd.h>
+
+#include <string>
+#include <vector>
+#include <capnp/common.h>
+
+class ZstdFileWriter {
+public:
+  ZstdFileWriter(const std::string &filename, int compression_level);
+  ~ZstdFileWriter();
+  void write(void* data, size_t size);
+  inline void write(kj::ArrayPtr<capnp::byte> array) { write(array.begin(), array.size()); }
+
+private:
+  void flushCache(bool last_chunk);
+
+  size_t input_cache_capacity_ = 0;
+  std::vector<char> input_cache_;
+  std::vector<char> output_buffer_;
+  ZSTD_CStream *cstream_;
+  FILE* file_ = nullptr;
+};
--- a/system/ui/SConscript
+++ b/system/ui/SConscript
@ -4,20 +4,17 @@ Import('env', 'arch', 'common')

 renv = env.Clone()

-UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib')
+linked_libs = ['raylib', rayutil, common]
+renv['LIBPATH'] += [f'#third_party/raylib/{arch}/']

-if not UBUNTU_FOCAL:
-  rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib')
-  linked_libs = ['raylib', rayutil, common]
-  renv['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+mac_frameworks = []
+if arch == "Darwin":
+  mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
+elif arch == 'larch64':
+  linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl']
+else:
+  linked_libs += ['OpenCL', 'dl', 'pthread']

-  mac_frameworks = []
-  if arch == "Darwin":
-    mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
-  elif arch == 'larch64':
-    linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl']
-  else:
-    linked_libs += ['OpenCL', 'dl', 'pthread']
-
-  if arch != 'aarch64':
-    renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
+if arch != 'aarch64':
+  renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@ -45,6 +45,7 @@ function install_ubuntu_common_requirements() {
    libgles2-mesa-dev \
    libglfw3-dev \
    libglib2.0-0 \
+    libjpeg-dev \
    libqt5charts5-dev \
    libncurses5-dev \
    libssl-dev \
@ -79,16 +80,6 @@ function install_ubuntu_lts_latest_requirements() {
    python3-venv
 }

-# Install Ubuntu 20.04 packages
-function install_ubuntu_focal_requirements() {
-  install_ubuntu_common_requirements
-
-  $SUDO apt-get install -y --no-install-recommends \
-    libavresample-dev \
-    qt5-default \
-    python-dev
-}
-
 # Detect OS using /etc/os-release file
 if [ -f "/etc/os-release" ]; then
  source /etc/os-release
@ -96,9 +87,6 @@ if [ -f "/etc/os-release" ]; then
    "jammy" | "kinetic" | "noble")
      install_ubuntu_lts_latest_requirements
      ;;
-    "focal")
-      install_ubuntu_focal_requirements
-      ;;
    *)
      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
      read -p "Would you like to attempt installation anyway? " -n 1 -r
@ -106,11 +94,7 @@ if [ -f "/etc/os-release" ]; then
      if [[ ! $REPLY =~ ^[Yy]$ ]]; then
        exit 1
      fi
-      if [ "$UBUNTU_CODENAME" = "focal" ]; then
-        install_ubuntu_focal_requirements
-      else
-        install_ubuntu_lts_latest_requirements
-      fi
+      install_ubuntu_lts_latest_requirements
  esac

  if [[ -d "/etc/udev/rules.d/" ]]; then
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@ -38,6 +38,14 @@ def save_log(dest, log_msgs, compress=True):
  with open(dest, "wb") as f:
    f.write(dat)

+def decompress_stream(data: bytes):
+  dctx = zstd.ZstdDecompressor()
+  decompressed_data = b""
+
+  with dctx.stream_reader(data) as reader:
+    decompressed_data = reader.read()
+
+  return decompressed_data

 class _LogFileReader:
  def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
@ -58,7 +66,7 @@ class _LogFileReader:
      dat = bz2.decompress(dat)
    elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'):
      # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames
-      dat = zstd.decompress(dat)
+      dat = decompress_stream(dat)

    ents = capnp_log.Event.read_multiple_bytes(dat)

--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@ -159,7 +159,7 @@ if __name__ == '__main__':
    lr = LogReader(args.route)
  else:
    segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg]
-    lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs])
+    lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog.zst') for seg in segs])

  CP = lr.first('carParams')
  ID = lr.first('initData')
--- a/tools/op.sh
+++ b/tools/op.sh
@ -345,7 +345,7 @@ function op_switch() {
 function op_start() {
  if [[ -f "/AGNOS" ]]; then
    op_before_cmd
-    op_run_command sudo systemctl start comma $@
+    op_run_command sudo systemctl restart comma $@
  fi
 }

@ -356,13 +356,6 @@ function op_stop() {
  fi
 }

-function op_restart() {
-  if [[ -f "/AGNOS" ]]; then
-    op_before_cmd
-    op_run_command sudo systemctl restart comma $@
-  fi
-}
-
 function op_default() {
  echo "An openpilot helper"
  echo ""
@ -386,9 +379,8 @@ function op_default() {
  echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
  echo -e "  ${BOLD}install${NC}      Install the 'op' tool system wide"
  echo -e "  ${BOLD}switch${NC}       Switch to a different git branch with a clean slate (nukes any changes)"
-  echo -e "  ${BOLD}start${NC}        Starts openpilot"
+  echo -e "  ${BOLD}start${NC}        Starts (or restarts) openpilot"
  echo -e "  ${BOLD}stop${NC}         Stops openpilot"
-  echo -e "  ${BOLD}restart${NC}      Restarts openpilot"
  echo ""
  echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
  echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@ -177,7 +177,14 @@ bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
        break;
      }
    }
-    avio_seek(reader->input_ctx->pb, reader->packets_info[from_idx].pos, SEEK_SET);
+
+    auto pos = reader->packets_info[from_idx].pos;
+    int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE);
+    if (ret < 0) {
+      rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret));
+      return false;
+    }
+    avcodec_flush_buffers(decoder_ctx);
  }
  reader->prev_idx = idx;

--- a/uv.lock
+++ b/uv.lock
@ -13,16 +13,16 @@ resolution-markers = [

 [[package]]
 name = "aiohappyeyeballs"
-version = "2.4.4"
+version = "2.4.6"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/7f/55/e4373e888fdacb15563ef6fa9fa8c8252476ea071e96fb46defac9f18bf2/aiohappyeyeballs-2.4.4.tar.gz", hash = "sha256:5fdd7d87889c63183afc18ce9271f9b0a7d32c2303e394468dd45d514a757745", size = 21977 }
+sdist = { url = "https://files.pythonhosted.org/packages/08/07/508f9ebba367fc3370162e53a3cfd12f5652ad79f0e0bfdf9f9847c6f159/aiohappyeyeballs-2.4.6.tar.gz", hash = "sha256:9b05052f9042985d32ecbe4b59a77ae19c006a78f1344d7fdad69d28ded3d0b0", size = 21726 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b9/74/fbb6559de3607b3300b9be3cc64e97548d55678e44623db17820dbd20002/aiohappyeyeballs-2.4.4-py3-none-any.whl", hash = "sha256:a980909d50efcd44795c4afeca523296716d50cd756ddca6af8c65b996e27de8", size = 14756 },
+    { url = "https://files.pythonhosted.org/packages/44/4c/03fb05f56551828ec67ceb3665e5dc51638042d204983a03b0a1541475b6/aiohappyeyeballs-2.4.6-py3-none-any.whl", hash = "sha256:147ec992cf873d74f5062644332c539fcd42956dc69453fe5204195e560517e1", size = 14543 },
 ]

 [[package]]
 name = "aiohttp"
-version = "3.11.11"
+version = "3.11.12"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "aiohappyeyeballs" },
@ -33,38 +33,40 @@ dependencies = [
    { name = "propcache" },
    { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/fe/ed/f26db39d29cd3cb2f5a3374304c713fe5ab5a0e4c8ee25a0c45cc6adf844/aiohttp-3.11.11.tar.gz", hash = "sha256:bb49c7f1e6ebf3821a42d81d494f538107610c3a705987f53068546b0e90303e", size = 7669618 }
-wheels = [
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