diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore
index 1f8ec242b8..5682fe1190 100644
--- a/.devcontainer/.gitignore
+++ b/.devcontainer/.gitignore
@@ -1 +1,3 @@
-.Xauthority
\ No newline at end of file
+.Xauthority
+.env
+.host/
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index e72704bfd0..a24c524047 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,6 +1,15 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-# remove gitconfig if exists, since its gonna be replaced by host one
-RUN rm -f /root/.gitconfig
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
 RUN pip install ipython jupyter jupyterlab
+
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
diff --git a/.devcontainer/container_post_create.sh b/.devcontainer/container_post_create.sh
new file mode 100755
index 0000000000..dee1c61101
--- /dev/null
+++ b/.devcontainer/container_post_create.sh
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache
+sudo chown -R $TARGET_USER: /home/batman/.comma
diff --git a/.devcontainer/container_post_start.sh b/.devcontainer/container_post_start.sh
new file mode 100755
index 0000000000..1521b9c3fb
--- /dev/null
+++ b/.devcontainer/container_post_start.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
old mode 100755
new mode 100644
index 2dfe46b4f0..a0ff582e68
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -3,23 +3,37 @@
   "build": {
     "dockerfile": "Dockerfile"
   },
-  "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'",
-  "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"",
-  "initializeCommand": ".devcontainer/setup_host.sh",
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
   "privileged": true,
   "containerEnv": {
     "DISPLAY": "${localEnv:DISPLAY}",
     "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "CARLA_HOST": "host.docker.internal",
     "force_color_prompt": "1"
   },
   "runArgs": [
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
-    "--shm-size=1G"
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
   ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    }
+  },
+  "containerUser": "batman",
+  "remoteUser": "batman",
   "customizations": {
     "vscode": {
       "extensions": [
diff --git a/.devcontainer/host_setup b/.devcontainer/host_setup
new file mode 100755
index 0000000000..8ff81ebe42
--- /dev/null
+++ b/.devcontainer/host_setup
@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi
diff --git a/.devcontainer/host_setup.cmd b/.devcontainer/host_setup.cmd
new file mode 100644
index 0000000000..885bd27f25
--- /dev/null
+++ b/.devcontainer/host_setup.cmd
@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env
\ No newline at end of file
diff --git a/.devcontainer/setup_host.sh b/.devcontainer/setup_host.sh
deleted file mode 100755
index 5c3c5e900c..0000000000
--- a/.devcontainer/setup_host.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env bash
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-    echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-    if ! [[ -f $HOME/.Xauthority ]]; then
-        echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-        touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-    else
-        ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-    fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
diff --git a/.dir-locals.el b/.dir-locals.el
deleted file mode 100644
index 53017c9fb2..0000000000
--- a/.dir-locals.el
+++ /dev/null
@@ -1,3 +0,0 @@
-((c++-mode (flycheck-gcc-language-standard . "c++11")
-           (flycheck-clang-language-standard . "c++11")
-           ))
diff --git a/.dockerignore b/.dockerignore
index 1f261adf30..cfc34e5848 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -28,10 +28,8 @@ 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
diff --git a/.gitattributes b/.gitattributes
index 2d1df43fd3..d00208ba84 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,3 +1,18 @@
+* text=auto
+
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+selfdrive/assets/fonts/*.ttf filter=lfs diff=lfs merge=lfs -text
+selfdrive/assets/training/*.png filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
+third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
+third_party/bootstrap/bootstrap-icons.svg filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
+third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
new file mode 100644
index 0000000000..d4a17ab78c
--- /dev/null
+++ b/.github/labeler.yaml
@@ -0,0 +1,65 @@
+CI / testing:
+  - all:
+    - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile']
+
+car: 
+  - all:
+    - changed-files: ['selfdrive/car/**']
+
+body:
+  - all:
+    - changed-files: ['selfdrive/car/body/*']
+chrysler:
+  - all:
+    - changed-files: ['selfdrive/car/chrysler/*']
+ford: 
+  - all:
+    - changed-files: ['selfdrive/car/ford/*']
+gm: 
+  - all:
+    - changed-files: ['selfdrive/car/gm/*']
+honda: 
+  - all:
+    - changed-files: ['selfdrive/car/honda/*']
+hyundai: 
+  - all:
+    - changed-files: ['selfdrive/car/hyundai/*']
+mazda: 
+  - all:
+    - changed-files: ['selfdrive/car/mazda/*']
+nissan: 
+  - all:
+    - changed-files: ['selfdrive/car/nissan/*']
+subaru: 
+  - all:
+    - changed-files: ['selfdrive/car/subaru/*']
+tesla: 
+  - all:
+    - changed-files: ['selfdrive/car/tesla/*']
+toyota: 
+  - all:
+    - changed-files: ['selfdrive/car/toyota/*']
+volkswagen: 
+  - all:
+    - changed-files: ['selfdrive/car/volkswagen/*']
+
+simulation:
+  - all:
+    - changed-files: ['tools/sim/**']
+ui:
+  - all:
+    - changed-files: ['selfdrive/ui/**']
+tools: 
+  - all:
+    - changed-files: ['tools/**']
+
+multilanguage:
+  - all:
+    - changed-files: ['selfdrive/ui/translations/**']
+
+research:
+  - all:
+    - changed-files: [
+        'selfdrive/modeld/models/**',
+        'selfdrive/test/process_replay/model_replay_ref_commit',
+      ]
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index efa947a91a..6fbccfbdbb 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -1,5 +1,15 @@
 <!-- Please copy and paste the relevant template -->
 
+<!--- ***** Template: Fingerprint *****
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint
+
+-->
+
 <!--- ***** Template: Car bug fix *****
 
 **Description** [](A description of the bug and the fix. Also link any relevant issues.)
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 2ab3bded6a..c19be4c563 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -15,10 +15,10 @@ jobs:
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
new file mode 100644
index 0000000000..8775c96262
--- /dev/null
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -0,0 +1,27 @@
+name: 'compile openpilot'
+
+inputs:
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
new file mode 100644
index 0000000000..8b5b165536
--- /dev/null
+++ b/.github/workflows/docs.yaml
@@ -0,0 +1,63 @@
+name: docs
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
+jobs:
+  docs:
+    name: build docs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Build docs
+      run: |
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make html"
+
+    - uses: actions/checkout@v4
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      with:
+        path: openpilot-docs
+        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
+        repository: commaai/openpilot-docs
+    - name: Push
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        set -x
+
+        source release/identity.sh
+
+        cd openpilot-docs
+
+        git checkout --orphan tmp
+        git rm -rf --cached .
+
+        cp -r ../build/docs/html/ docs/
+        touch docs/.nojekyll
+        echo -n docs.comma.ai > docs/CNAME
+        git add -f .
+
+        git commit -m "build docs"
+
+        # docs live in different repo to not bloat openpilot's full clone size
+        git push -f origin gh-pages
diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml
new file mode 100644
index 0000000000..95d1af8bc6
--- /dev/null
+++ b/.github/workflows/labeler.yaml
@@ -0,0 +1,18 @@
+name: "Pull Request Labeler"
+on:
+  pull_request_target:
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - uses: actions/labeler@v5.0.0-alpha.1
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml
\ No newline at end of file
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 8b16ea90b9..f5b0b8c558 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -24,9 +24,10 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build and Push docker image
       run: |
         $DOCKER_LOGIN
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index c57a17bbd2..7c36410b32 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -1,7 +1,7 @@
 name: release
 on:
   schedule:
-    - cron: '0 * * * *'
+    - cron: '0 10 * * *'
   workflow_dispatch:
 
 jobs:
@@ -27,7 +27,7 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build master-ci'
         check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
         fetch-depth: 0
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
new file mode 100644
index 0000000000..1f14895e21
--- /dev/null
+++ b/.github/workflows/repo-maintenance.yaml
@@ -0,0 +1,57 @@
+name: repo maintenance
+
+on:
+  schedule:
+    - cron: "0 12 * * 1" # every Monday at 12am UTC (4am PST)
+  workflow_dispatch:
+
+jobs:
+  bump_submodules:
+    name: bump_submodules
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: bump submodules
+      run: |
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
+        git add .
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: bump submodules
+        title: 'Bump submodules'
+        branch: auto-bump-submodules
+        base: master
+        delete-branch: true
+        body: 'Automatic PR from repo-maintenance -> bump_submodules'
+  package_updates:
+    name: package_updates
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: poetry lock
+      run: |
+        pip install poetry
+        poetry lock
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update Python packages and pre-commit hooks
+        title: 'Update Python packages and pre-commit hooks'
+        branch: auto-package-updates
+        base: master
+        delete-branch: true
+        body: 'Automatic PR from repo-maintenance -> package_updates'
diff --git a/.github/workflows/repo.yml b/.github/workflows/repo.yml
deleted file mode 100644
index 1445aa635d..0000000000
--- a/.github/workflows/repo.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-name: repo
-
-on:
-  schedule:
-    - cron: "0 15 * * 2"
-  workflow_dispatch:
-
-jobs:
-  pre-commit-autoupdate:
-    name: pre-commit autoupdate
-    runs-on: ubuntu-20.04
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    steps:
-    - uses: actions/checkout@v3
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
-      with:
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update pre-commit hook versions
-        title: 'pre-commit: autoupdate hooks'
-        branch: pre-commit-updates
-        base: master
-        delete-branch: true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 5c5f8d78d7..94e6304539 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -5,6 +5,7 @@ on:
     branches:
       - master
   pull_request:
+  workflow_dispatch:
 
 concurrency:
   group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
@@ -25,7 +26,7 @@ env:
 
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
-  UNIT_TEST: coverage run --append -m unittest discover
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0
 
 jobs:
   build_release:
@@ -34,13 +35,14 @@ jobs:
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       timeout-minutes: 1
@@ -51,11 +53,11 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
     - name: Run tests
-      timeout-minutes: 2
+      timeout-minutes: 3
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
-                        python -m unittest discover selfdrive/car"
+                        MAX_EXAMPLES=5 $PYTEST selfdrive/car"
     - name: pre-commit
       timeout-minutes: 3
       run: |
@@ -64,153 +66,79 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all"
 
-  build_all:
-    name: build all
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Build openpilot with all flags
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Cleanup scons cache and rebuild
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-
-  build_mac:
-    name: build macos
-    runs-on: macos-latest
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') || 
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - name: Determine pre-existing Homebrew packages
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-        brew list --formula -1 >> $GITHUB_ENV
-        echo 'EOF' >> $GITHUB_ENV
-    - name: Restore scons cache
-      id: scons-restore-cache
-      uses: actions/cache/restore@v3
+    - uses: ./.github/workflows/setup-with-retry
       with:
-        path: /tmp/scons_cache
-        key: macos_scons-${{ github.sha }}
-        restore-keys: macos_scons-
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v3
-      with:
-        path: |
-          .env
-          .venv
-          ~/github_brew_cache_entries.txt
-          ~/.pyenv
-          ~/Library/Caches/pypoetry
-          /usr/local/Cellar
-          /usr/local/opt
-          /usr/local/Caskroom/gcc-arm-*
-          /opt/homebrew/Cellar
-          /opt/homebrew/opt
-          /opt/homebrew/Caskroom/gcc-arm-*
-          /Applications/ArmGNUToolchain/*/*/*
-        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }}
-        restore-keys: macos_deps-
-    - name: Brew link restored dependencies
-      run: |
-        if [ -f ~/github_brew_cache_entries.txt ]; then
-          brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
-          if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
-            GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
-            echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
-          fi
-        else
-          echo "Cache entries not found"
-        fi
-    - name: Install dependencies
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - name: Build openpilot
-      run: |
-        eval "$(pyenv init --path)"
-        poetry run scons -j$(nproc)
-    - name: Run tests
-      run: |
-        eval "$(pyenv init --path)"
-        poetry run tools/plotjuggler/test_plotjuggler.py
-    - name: Pre Cache - Cleanup scons cache
-      if: github.ref == 'refs/heads/master'
-      run: |
-        rm -rf /tmp/scons_cache/*
-        eval "$(pyenv init --path)"
-        poetry run scons -j$(nproc) --cache-populate
-    - name: Save scons cache
-      id: scons-save-cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+        cache_key_prefix: scons_${{ matrix.arch }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
       with:
-        path: /tmp/scons_cache
-        key: macos_scons-${{ github.sha }}
-    - name: Pre Cache - Remove pre-existing Homebrew packages
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        new_cellar=$(brew list --formula -1)
-        exceptions="zstd lz4 xz" # caching step needs zstd
-        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-          if [[ " $exceptions " != *" $pkg "* ]]; then
-            rm -rf "$(brew --cellar)/$pkg"
-          fi
-        done
-        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
-        # .fseventsd directory causes permission errors in dep caching step
-        # its used by the system to observe changes within the directory - toolchain works without it, just remove it
-        sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
+        cache_key_prefix: scons_${{ matrix.arch }}
 
   docker_push:
     name: docker push
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - name: Setup to push to repo
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
       with:
-        git-lfs: false
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build and push CL Docker image
+      if: matrix.arch == 'x86_64'
       run: |
+        unset TARGET_ARCHITECTURE
         eval "$BUILD_CL"
 
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [docker_push]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: pre-commit
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
@@ -219,10 +147,10 @@ jobs:
     name: valgrind
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
@@ -237,57 +165,39 @@ jobs:
     name: unit tests
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 40
+      timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $UNIT_TEST common && \
-                        $UNIT_TEST opendbc/can && \
-                        $UNIT_TEST selfdrive/boardd && \
-                        $UNIT_TEST selfdrive/controls && \
-                        $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST system/loggerd && \
-                        $UNIT_TEST selfdrive/car && \
-                        $UNIT_TEST selfdrive/locationd && \
-                        $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \
-                        $UNIT_TEST system/tests && \
-                        $UNIT_TEST system/ubloxd && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./system/ubloxd/tests/test_glonass_runner && \
-                        $UNIT_TEST selfdrive/athena && \
-                        $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST system/hardware/tici && \
-                        $UNIT_TEST tools/lib/tests && \
+        ${{ env.RUN }} "$PYTEST --timeout 30 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
-                        ./common/tests/test_common && \
-                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./system/loggerd/tests/test_logger &&\
-                        ./system/proclogd/tests/test_proclog && \
-                        ./tools/replay/tests/test_replay && \
-                        ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
-                        ./selfdrive/test/process_replay/test_fuzzy.py && \
-                        coverage xml"
+                        ./selfdrive/test/process_replay/test_fuzzy.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
+      with:
+        name: ${{ github.job }}
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -298,36 +208,56 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
+      id: run-replay
       timeout-minutes: 30
       run: |
-        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache && \
-                        coverage xml"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v2
-      if: always()
-      continue-on-error: true
+        ${{ env.RUN }} "CI=1 $PYTEST -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --long-diff && \
+                        chmod -R 777 /tmp/comma_download_cache"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v3
       with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
+        name: ${{ github.job }}
     - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' \
+                        pytest -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --upload-only"
+
+  regen:
+    name: regen
+    runs-on: 'ubuntu-20.04'
+    steps: 
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: .ci_cache/comma_download_cache
+        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
+    - name: Build base Docker image
+      run: eval "$BUILD"
+    - name: Build Docker image
+      run: eval "$BUILD_CL"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run regen
+      timeout-minutes: 30
+      run: |
+        ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                           chmod -R 777 /tmp/comma_download_cache"
 
   test_modeld:
     name: model tests
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base Docker image
       run: eval "$BUILD"
     - name: Build Docker image
@@ -338,19 +268,21 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
-      timeout-minutes: 2
+      timeout-minutes: 4
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                           coverage combine && \
                            coverage xml"
     - name: Run unit tests
       timeout-minutes: 4
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
-                           $UNIT_TEST selfdrive/modeld && \
-                           coverage xml"
+                           $PYTEST selfdrive/modeld"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
+      with:
+        name: ${{ github.job }}
 
   test_cars:
     name: cars
@@ -360,10 +292,10 @@ jobs:
       matrix:
         job: [0, 1, 2, 3, 4]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -375,32 +307,36 @@ jobs:
     - name: Test car models
       timeout-minutes: 25
       run: |
-        ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
+      with:
+        name: ${{ github.job }}-${{ matrix.job }}
 
   car_docs_diff:
     name: PR comments
     runs-on: ubuntu-20.04
     if: github.event_name == 'pull_request'
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
-      - uses: ./.github/workflows/setup
+      - run: git lfs pull
+      - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
           ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
           sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
           path: current
+      - run: cd current && git lfs pull
       - name: Save car docs diff
         id: save_diff
         run: |
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
new file mode 100644
index 0000000000..e0da746b44
--- /dev/null
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -0,0 +1,47 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
+
+runs:
+  using: "composite"
+  steps:
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 263432ea98..8bb1ccc376 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -1,19 +1,46 @@
 name: 'openpilot env setup'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: true
+    default: 'scons_x86_64'
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
-    default: 'true'
+    default: 'false'
 
 runs:
   using: "composite"
   steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
-      if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash
@@ -24,10 +51,10 @@ runs:
       uses: actions/cache/restore@v3
       with:
         path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          scons-${{ env.CACHE_COMMIT_DATE }}-
-          scons-
+          ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
+          ${{ inputs.cache_key_prefix }}-
     # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
     - id: scons-cache-setup
       shell: bash
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
new file mode 100644
index 0000000000..f2a24e4368
--- /dev/null
+++ b/.github/workflows/stale.yaml
@@ -0,0 +1,28 @@
+name: stale
+on:
+  schedule:
+    - cron: '30 1 * * *'
+  workflow_dispatch:
+
+env:
+  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_STALE: 30
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v8
+        with:
+          exempt-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index e71a4e397f..75a34b3c55 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -30,14 +30,13 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 45
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
     - name: Test PlotJuggler
       timeout-minutes: 2
       run: |
@@ -49,10 +48,10 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     timeout-minutes: 45
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base cl image
       run: eval "$BUILD_CL"
     - name: Setup to push to repo
@@ -64,38 +63,29 @@ jobs:
       run: |
         selfdrive/test/docker_build.sh sim
 
-  docs:
-    name: build docs
-    runs-on: ubuntu-20.04
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup
-      with:
-        git_lfs: false
-    - name: Setup to push to repo
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - name: Build and push docs image
-      run: |
-        selfdrive/test/docker_build.sh docs
-
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
       run: devcontainer build --workspace-folder .
     - name: Run dev container
-      run: devcontainer up --workspace-folder .
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
     - name: Test environment
-      run: devcontainer exec --workspace-folder . scons --dry-run
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index a0c8df3142..e414e4301a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -48,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
@@ -78,6 +79,7 @@ comma*.sh
 
 selfdrive/modeld/thneed/compile
 selfdrive/modeld/models/*.thneed
+selfdrive/modeld/models/*.pkl
 
 *.bz2
 
diff --git a/.gitmodules b/.gitmodules
index 26f93ef164..4ba149cb2d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,9 +4,6 @@
 [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
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d4259dec17..b6a46ad507 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,29 +1,35 @@
+exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
     hooks:
     -   id: check-hooks-apply
     -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
     -   id: check-ast
         exclude: '^(third_party)/'
     -   id: check-json
+        exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments
     -   id: check-toml
     -   id: check-xml
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        args: ['--maxkb=100']
+        args:
+        - --maxkb=500
+        - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: local
     hooks:
@@ -32,13 +38,13 @@ repos:
         entry: mypy
         language: system
         types: [python]
-        args: ['--explicit-package-bases']
-        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
+        args: ['--explicit-package-bases', '--local-partial-types']
+        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.285
+    rev: v0.1.6
     hooks:
     -   id: ruff
-        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -73,10 +79,13 @@ repos:
         language: script
         pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.6.0'
+    rev: '1.7.0'
     hooks:
     -   id: poetry-check
-    -   id: poetry-lock
         name: validate poetry lock
         args:
-        - --check
+        - --lock
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.27.2
+    hooks:
+    -   id: check-github-workflows
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 3541be92b0..1e15722bb9 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -13,9 +13,8 @@ COPY SConstruct ${OPENPILOT_PATH}
 COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 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 ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
 COPY ./tools ${OPENPILOT_PATH}/tools
 COPY ./release ${OPENPILOT_PATH}/release
 COPY ./common ${OPENPILOT_PATH}/common
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index e21371ca4a..98d07ea39e 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -12,22 +12,35 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/root/.pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-
-COPY pyproject.toml poetry.lock .python-version /tmp/
-COPY tools/ubuntu_setup.sh tools/install_ubuntu_dependencies.sh tools/install_python_dependencies.sh /tmp/tools/
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN cd /tmp && \
-    tools/ubuntu_setup.sh && \
+    tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* && \
     rm -rf /tmp/* && \
-    rm -rf /root/.cache && \
-    pip uninstall -y poetry && \
     # 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
 
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+ARG USER=batman
+ARG USER_UID=1000
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV POETRY_VIRTUALENVS_CREATE=false
+ENV PYENV_VERSION=3.11.4
+ENV PYENV_ROOT="/home/$USER/pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
+
+RUN cd /tmp && \
+    tools/install_python_dependencies.sh && \
+    rm -rf /tmp/* && \
+    rm -rf /home/$USER/.cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot
\ No newline at end of file
diff --git a/Jenkinsfile b/Jenkinsfile
index c0bdd53253..3dd9c45f14 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,4 +1,4 @@
-def phone(String ip, String step_label, String cmd) {
+def device(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'
@@ -14,6 +14,8 @@ export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
+export PYTEST_ADDOPTS="-c selfdrive/test/pytest-tici.ini --rootdir ."
+
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
@@ -21,6 +23,8 @@ source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
 
+  rm -rf ~/.commacache
+
   if ! systemctl is-active --quiet systemd-resolved; then
     echo "restarting resolved"
     sudo systemctl start systemd-resolved
@@ -51,226 +55,194 @@ END"""
   }
 }
 
-def phone_steps(String device_type, steps) {
-  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 20, unit: 'MINUTES') {
-      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
-      }
+def deviceStage(String stageName, String deviceType, List env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
     }
-  }
-}
 
-pipeline {
-  agent none
-  environment {
-    CI = "1"
-    PYTHONWARNINGS = "error"
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
-    AZURE_TOKEN = credentials('azure_token')
-    MAPBOX_TOKEN = credentials('mapbox_token')
-  }
-  options {
-    timeout(time: 3, unit: 'HOURS')
-    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
-  }
+    def extra = env.collect { "export ${it}" }.join('\n');
 
-  stages {
-    stage('build release3-staging') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
-        ])
+    docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+      lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+        timeout(time: 20, unit: 'MINUTES') {
+          retry (3) {
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          }
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
       }
     }
+  }
+}
 
-    stage('build nightly') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'master-ci'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
     }
 
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
-            branch 'testing-closet*'; branch 'hotfix-*'
-          }
+    checkout scm
+
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}";
+    docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
+      timeout(time: 20, unit: 'MINUTES') {
+        try {
+          // TODO: remove these after all jenkins jobs are running as batman (merged with master)
+          sh "sudo chown -R batman:batman /tmp/scons_cache"
+          sh "sudo chown -R batman:batman /tmp/comma_download_cache"
+
+          sh "git config --global --add safe.directory '*'"
+          sh "git submodule update --init --recursive"
+          sh "git lfs pull"
+          body()
+        } finally {
+          sh "rm -rf ${env.WORKSPACE}/* || true"
+          sh "rm -rf .* || true"
         }
       }
+    }
+  }
+  }
+}
 
-      parallel {
-
-        /*
-        stage('simulator') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.sim_nvidia'
-              dir 'tools/sim'
-              args '--user=root'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --recursive"
-            sh "git lfs pull"
-            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
-              sh "${WORKSPACE}/tools/sim/build_container.sh"
-              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
-              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
-            }
-          }
-
-          post {
-            always {
-              sh "docker kill carla_sim || true"
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-        */
-
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilot_base'
-              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --depth=1 --recursive"
-            sh "git lfs pull"
-            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
-            sh "scons --clean && scons --no-cache --random -j42"
-            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
-            sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
-          }
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
 
-          post {
-            always {
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
 
-        stage('tizi-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tizi", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
-            ])
-          }
-        }
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-        stage('build') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          environment {
-            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-          }
-          steps {
-            phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["check dirty", "release/check-dirty.sh"],
-              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-            ])
-          }
-        }
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-        stage('loopback-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-loopback", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-            ])
-          }
-        }
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
 
-        stage('HW + Unit Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-common", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
-              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-              ["test nav", "pytest selfdrive/navd/tests/"],
-            ])
-          }
-        }
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
 
-        stage('camerad') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-ar0231", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-            phone_steps("tici-ox03c10", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-          }
-        }
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
 
-        stage('sensord') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-lsmc", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-            phone_steps("tici-bmx-lsm", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-          }
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
+          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test nav", "pytest selfdrive/navd/tests/"],
+        ])
+      },
+      'loopback': {
+        deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+        ])
+      },
+
+      // *** PC tests ***
+      'PC tests': {
+        pcStage("PC tests") {
+          // tests that our build system's dependencies are configured properly,
+          // needs a machine with lots of cores
+          sh label: "test multi-threaded build",
+             script: '''#!/bin/bash
+                        scons --no-cache --random -j$(nproc)'''
         }
-
-        stage('replay') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-replay", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-            ])
-          }
+      },
+      'car tests': {
+        pcStage("car tests") {
+          sh label: "build", script: "selfdrive/manager/build.py"
+          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+              pytest -n auto --dist=loadscope selfdrive/car/tests/test_models.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n auto --dist=load selfdrive/car/tests/test_car_interfaces.py"
         }
+      },
 
-      }
+    )
     }
-
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
   }
-}
+}
\ No newline at end of file
diff --git a/README.md b/README.md
old mode 100755
new mode 100644
index 5978a0e5dd..7d051ada14
--- a/README.md
+++ b/README.md
@@ -39,13 +39,17 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
-* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford 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 [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
-
-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
+  
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
+  To install the release version of openpilot, use the URL `openpilot.comma.ai`.
+  To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
+
+3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
+  If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
+  
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+  We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
 
 Running on PC
 ------
@@ -105,7 +109,6 @@ Directory Structure
     ├── third_party         # External libraries
     └── system              # Generic services
         ├── camerad         # Driver to capture images from the camera sensors
-        ├── clocksd         # Broadcasts current time
         ├── hardware        # Hardware abstraction classes
         ├── logcatd         # systemd journal as a service
         ├── loggerd         # Logger and uploader of car data
diff --git a/RELEASES.md b/RELEASES.md
index e8476107bc..4c12971c54 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,7 +1,22 @@
-Version 0.9.5 (202X-XX-XX)
+Version 0.9.6 (2023-XX-XX)
 ========================
+
+Version 0.9.5 (2023-11-17)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
 * Lexus IS 2023 support thanks to L3R5!
 
 Version 0.9.4 (2023-07-27)
diff --git a/SConstruct b/SConstruct
index 478bc885a4..8790221315 100644
--- a/SConstruct
+++ b/SConstruct
@@ -26,6 +26,10 @@ AddOption('--ubsan',
           action='store_true',
           help='turn on UBSan')
 
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
 AddOption('--clazy',
           action='store_true',
           help='build with clazy')
@@ -33,6 +37,12 @@ AddOption('--clazy',
 AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
+          
+AddOption('--ccflags',
+          action='store',
+          type='string',
+          default='',
+          help='pass arbitrary flags over the command line')
 
 AddOption('--snpe',
           action='store_true',
@@ -52,7 +62,7 @@ AddOption('--pc-thneed',
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.islink(Dir('#laika/').abspath),
+          default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 ## Architecture name breakdown (arch)
@@ -106,10 +116,7 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
-  rpath += [
-    Dir("#cereal").abspath,
-    Dir("#common").abspath
-  ]
+  rpath += []
 
   # MacOS
   if arch == "Darwin":
@@ -134,8 +141,6 @@ else:
       f"#third_party/acados/{arch}/lib",
       f"#third_party/libyuv/{arch}/lib",
       f"#third_party/mapbox-gl-native-qt/{arch}",
-      "#cereal",
-      "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
@@ -166,6 +171,10 @@ if arch != "Darwin":
 cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
+ccflags_option = GetOption('ccflags')
+if ccflags_option:
+  ccflags += ccflags_option.split(' ')
+
 env = Environment(
   ENV=lenv,
   CCFLAGS=[
@@ -215,10 +224,13 @@ env = Environment(
     "#opendbc/can",
     "#selfdrive/boardd",
     "#common",
+    "#rednose/helpers",
   ],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  tools=["default", "cython", "compilation_db"],
+  REDNOSE_ROOT="#",
+  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  toolpath=["#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -244,18 +256,6 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
-
-# TODO: this can probably be removed
-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 environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
@@ -337,63 +337,39 @@ if GetOption("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')
+Export('env', 'qt_env', 'arch', 'real_arch')
 
+# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon]
+common = [_common, 'json11']
+gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# cereal and messaging are shared with the system
+# Build cereal and messaging
 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')]
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
 messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
 
 Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
-# Build rednose library and ekf models
-
-rednose_deps = [
-  "#selfdrive/locationd/models/constants.py",
-  "#selfdrive/locationd/models/gnss_helpers.py",
-]
-
-rednose_config = {
-  'generated_folder': '#selfdrive/locationd/models/generated',
-  'to_build': {
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
-  },
-}
-
-if arch != "larch64":
-  rednose_config['to_build'].update({
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
-    'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps),
-    '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, [], []),
-  })
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
 
-Export('rednose_config')
+# Build rednose library
 SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/clocksd/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
@@ -406,20 +382,8 @@ if arch != "Darwin":
   ])
 
 # Build openpilot
-
-# build submodules
-SConscript([
-  'body/board/SConscript',
-  'cereal/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
-
 SConscript(['third_party/SConscript'])
 
-SConscript(['common/kalman/SConscript'])
-SConscript(['common/transformations/SConscript'])
-
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
diff --git a/body b/body
index 6ff44357a3..cad7ef43ad 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit 6ff44357a3e416d29044b1d085a3e9223db9691a
+Subproject commit cad7ef43ad5daf40b44d4792d47671c397cca376
diff --git a/cereal b/cereal
index 82bca3a971..2cb2bfb015 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 82bca3a9714b73c05414fdf848b6016a0ffac17d
+Subproject commit 2cb2bfb0154874775e56715ecf81f0e6b00538e9
diff --git a/codecov.yml b/codecov.yml
index 83427c3ee8..40d03dcd7a 100644
--- a/codecov.yml
+++ b/codecov.yml
@@ -6,3 +6,7 @@ coverage:
         informational: true
     patch: off
 
+ignore:
+  - "**/test_*.py"
+  - "selfdrive/test/**"
+  - "system/version.py" # codecov changes depending on if we are in a branch or not
\ No newline at end of file
diff --git a/common/SConscript b/common/SConscript
index c703434993..97322b248d 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,9 +1,4 @@
-Import('env', 'envCython', 'arch', 'SHARED')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
+Import('env', 'envCython', 'arch')
 
 common_libs = [
   'params.cc',
@@ -18,13 +13,13 @@ common_libs = [
 if arch != "Darwin":
   common_libs.append('gpio.cc')
 
-_common = fxn('common', common_libs, LIBS="json11")
+_common = env.Library('common', common_libs, LIBS="json11")
 
 files = [
   'clutil.cc',
 ]
 
-_gpucommon = fxn('gpucommon', files)
+_gpucommon = env.Library('gpucommon', files)
 Export('_common', '_gpucommon')
 
 if GetOption('extras'):
@@ -32,5 +27,15 @@ if GetOption('extras'):
               ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
-# Cython
-envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+# Cython bindings
+params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+
+SConscript([
+  'kalman/SConscript',
+  'transformations/SConscript'  
+])
+
+Import('simple_kalman_python', 'transformations_python')
+common_python = [params_python, simple_kalman_python, transformations_python]
+
+Export('common_python')
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 0eb8aa7627..79875023a2 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -2,7 +2,7 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta
-from openpilot.common.basedir import PERSIST
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
@@ -10,7 +10,7 @@ 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:
+    with open(Paths.persist_root()+'/comma/id_rsa') as f:
       self.private_key = f.read()
 
   def get(self, *args, **kwargs):
diff --git a/common/basedir.py b/common/basedir.py
index b4486f9f08..c840b86f7f 100644
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,11 +1,4 @@
 import os
-from pathlib import Path
 
-from openpilot.system.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"
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
\ No newline at end of file
diff --git a/common/kalman/SConscript b/common/kalman/SConscript
index d60354c987..7cba4a9a61 100644
--- a/common/kalman/SConscript
+++ b/common/kalman/SConscript
@@ -1,3 +1,5 @@
 Import('envCython')
 
-envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
+simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
+
+Export('simple_kalman_python')
diff --git a/common/modeldata.h b/common/modeldata.h
deleted file mode 100644
index 6dc02cc792..0000000000
--- a/common/modeldata.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <array>
-#include "common/mat.h"
-#include "system/hardware/hw.h"
-
-const int TRAJECTORY_SIZE = 33;
-const int LAT_MPC_N = 16;
-const int LON_MPC_N = 32;
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
-
-const float RYG_GREEN = 0.01165;
-const float RYG_YELLOW = 0.06157;
-
-template <typename T, size_t size>
-constexpr std::array<T, size> build_idxs(float max_val) {
-  std::array<T, size> result{};
-  for (int i = 0; i < size; ++i) {
-    result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
-  }
-  return result;
-}
-
-constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
-constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
-constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
-constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
-
-const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
-                                           0.0, 2648.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
-
-// tici ecam focal probably wrong? magnification is not consistent across frame
-// Need to retrain model before this can be changed
-const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
diff --git a/common/params.cc b/common/params.cc
index 63baa30315..54168165a1 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -64,7 +64,9 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
 std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
   if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
+    throw std::runtime_error(util::string_format(
+        "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
+        errno, params_path.c_str(), prefix.c_str()));
   }
   return params_path;
 }
@@ -86,7 +88,6 @@ private:
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
     {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_DriveStats", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
@@ -98,6 +99,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
+    {"CarParamsPrevRoute", PERSISTENT},
     {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -153,7 +155,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
     {"LiveParameters", PERSISTENT},
-    {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -179,7 +180,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaLogState", PERSISTENT},
+    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
diff --git a/common/params.h b/common/params.h
index 24b1bffeb1..fbe0bba6b0 100644
--- a/common/params.h
+++ b/common/params.h
@@ -15,7 +15,11 @@ enum ParamKeyType {
 
 class Params {
 public:
-  Params(const std::string &path = {});
+  explicit Params(const std::string &path = {});
+  // Not copyable.
+  Params(const Params&) = delete;
+  Params& operator=(const Params&) = delete;
+
   std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
old mode 100755
new mode 100644
index abb3199d05..de52c490b3
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -14,7 +14,7 @@ cdef extern from "common/params.h":
     ALL
 
   cdef cppclass c_Params "Params":
-    c_Params(string) nogil
+    c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil
diff --git a/common/prefix.py b/common/prefix.py
new file mode 100644
index 0000000000..c5ae4393cd
--- /dev/null
+++ b/common/prefix.py
@@ -0,0 +1,47 @@
+import os
+import shutil
+import uuid
+
+from typing import Optional
+
+from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
+
+class OpenpilotPrefix:
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
+    self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.clean_dirs_on_exit = clean_dirs_on_exit
+
+  def __enter__(self):
+    self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
+    os.environ['OPENPILOT_PREFIX'] = self.prefix
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
+    os.makedirs(Paths.download_cache_root(), exist_ok=True)
+
+    return self
+
+  def __exit__(self, exc_type, exc_obj, exc_tb):
+    if self.clean_dirs_on_exit:
+      self.clean_dirs()
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+      if self.original_prefix is not None:
+        os.environ['OPENPILOT_PREFIX'] = self.original_prefix
+    except KeyError:
+      pass
+    return False
+
+  def clean_dirs(self):
+    symlink_path = Params().get_param_path()
+    if os.path.exists(symlink_path):
+      shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
+      os.remove(symlink_path)
+    shutil.rmtree(self.msgq_path, ignore_errors=True)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 923f701ab2..bcd597a257 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -20,7 +20,7 @@
 
 class SwaglogState : public LogState {
  public:
-  SwaglogState() : LogState("ipc:///tmp/logmessage") {}
+  SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}
 
   json11::Json::object ctx_j;
 
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 72fa4e3f72..fb6f320ea4 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -1,8 +1,6 @@
 import os
 import threading
 import time
-import tempfile
-import shutil
 import uuid
 import unittest
 
@@ -10,12 +8,7 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no
 
 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)
+    self.params = Params()
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
@@ -90,19 +83,19 @@ class TestParams(unittest.TestCase):
     self.assertFalse(self.params.get_bool("IsMetric"))
 
   def test_put_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_nonblocking("CarParams", "test", self.tmpdir)
+      put_nonblocking("CarParams", "test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
   def test_put_bool_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True, self.tmpdir)
+      put_bool_nonblocking("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc
index f5aa16a859..32c7dfe58c 100644
--- a/common/tests/test_ratekeeper.cc
+++ b/common/tests/test_ratekeeper.cc
@@ -6,11 +6,18 @@
 TEST_CASE("RateKeeper") {
   float freq = GENERATE(10, 50, 100);
   RateKeeper rk("Test RateKeeper", freq);
+
+  int lags = 0;
+  int bad_keep_times = 0;
   for (int i = 0; i < freq; ++i) {
     double begin = seconds_since_boot();
     util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
     bool lagged = rk.keepTime();
-    REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
-    REQUIRE(lagged == false);
+    lags += lagged;
+    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
   }
+
+  // need a tolerance here due to scheduling
+  REQUIRE(lags < 5);
+  REQUIRE(bad_keep_times < 5);
 }
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 322354d730..09bc4c3795 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -9,7 +9,6 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
-const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -25,7 +24,7 @@ void log_thread(int thread_id, int msg_cnt) {
 void recv_log(int thread_cnt, int thread_msg_cnt) {
   void *zctx = zmq_ctx_new();
   void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, SWAGLOG_ADDR);
+  zmq_bind(sock, Path::swaglog_ipc().c_str());
   std::vector<int> thread_msgs(thread_cnt);
   int total_count = 0;
 
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
index 68fced19c2..de87fa3e06 100644
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -38,7 +38,8 @@ TEST_CASE("util::read_file") {
     std::string content = random_bytes(64 * 1024);
     write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
-    REQUIRE(ret == content);
+    bool equal = (ret == content);
+    REQUIRE(equal);
     close(fd);
   }
   SECTION("read directory") {
@@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") {
   REQUIRE(ret == 0);
   ret = fclose(f);
   REQUIRE(ret == 0);
-  REQUIRE(dat == util::read_file(filename));
+  bool equal = (dat == util::read_file(filename));
+  REQUIRE(equal);
 }
 
 TEST_CASE("util::create_directories") {
diff --git a/common/transformations/README.md b/common/transformations/README.md
index 13878cb99c..42a060da80 100644
--- a/common/transformations/README.md
+++ b/common/transformations/README.md
@@ -11,7 +11,7 @@ by generating a rotation matrix and multiplying.
 | :-------------: |:-------------:| :-----:| :----: |
 | 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. |
+| NED | [North, East, Down] | meters | Relative to earth's surface, useful for visualizing. |
 | 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>|
diff --git a/common/transformations/SConscript b/common/transformations/SConscript
index ee9b9a2b73..4ac73a165e 100644
--- a/common/transformations/SConscript
+++ b/common/transformations/SConscript
@@ -1,6 +1,5 @@
 Import('env', 'envCython')
 
 transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-Export('transformations')
-
-envCython.Program('transformations.so', 'transformations.pyx')
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')
diff --git a/common/transformations/model.py b/common/transformations/model.py
index 114f8eae38..7e40767f63 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,7 +1,9 @@
 import numpy as np
 
-from openpilot.common.transformations.camera import (FULL_FRAME_SIZE,
-                                           get_view_frame_from_calib_frame)
+from openpilot.common.transformations.orientation import rot_from_euler
+from openpilot.common.transformations.camera import (
+  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
+  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -57,61 +59,20 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
 
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
+calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
+calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
 
-### This function mimics the update_calibration logic in modeld.cc
-### Manually verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from openpilot.common.transformations.orientation import rot_from_euler
-  from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
-
-  if tici and wide_cam:
-    intrinsics = tici_ecam_intrinsics
-  elif tici:
-    intrinsics = tici_fcam_intrinsics
-  else:
-    intrinsics = eon_fcam_intrinsics
-
-  if big_model:
-    sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
-    calib_from_model = np.linalg.inv(sbigmodel_from_calib)
-  else:
-    medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
-    calib_from_model = np.linalg.inv(medmodel_from_calib)
-  device_from_calib = rot_from_euler(rpy_calib)
-  camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
-  warp_matrix = camera_from_calib.dot(calib_from_model)
-  return warp_matrix
-
-
-### This is old, just for debugging
-def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from openpilot.common.transformations.orientation import rot_from_euler
-  from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
-
-
-  def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-    device_from_road = 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]]))
-
-  if tici and wide_cam:
-    intrinsics = tici_ecam_intrinsics
+# This function is verified to give similar results to xx.uncommon.utils.transform_img
+def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
+  if tici and wide_camera:
+    cam_intrinsics = tici_ecam_intrinsics
   elif tici:
-    intrinsics = tici_fcam_intrinsics
+    cam_intrinsics = tici_fcam_intrinsics
   else:
-    intrinsics = eon_fcam_intrinsics
+    cam_intrinsics = eon_fcam_intrinsics
 
-  model_height = 1.22
-  if big_model:
-    model_from_road = np.dot(sbigmodel_intrinsics,
-             get_view_frame_from_road_frame(0, 0, 0, model_height))
-  else:
-    model_from_road = np.dot(medmodel_intrinsics,
-             get_view_frame_from_road_frame(0, 0, 0, model_height))
-  ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
-
-  E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
-  camera_frame_from_road_frame = intrinsics.dot(E)
-  camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
-  warp_matrix = camera_frame_from_ground .dot(ground_from_model)
+  calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
+  device_from_calib = rot_from_euler(device_from_calib_euler)
+  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
   return warp_matrix
diff --git a/common/util.h b/common/util.h
index 30f514f8dc..5c0ef7fec5 100644
--- a/common/util.h
+++ b/common/util.h
@@ -188,9 +188,9 @@ class LogState {
   void *zctx = nullptr;
   void *sock = nullptr;
   int print_level;
-  const char* endpoint;
+  std::string endpoint;
 
-  LogState(const char* _endpoint) {
+  LogState(std::string _endpoint) {
     endpoint = _endpoint;
   }
 
@@ -202,7 +202,7 @@ class LogState {
     int timeout = 100;
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
-    zmq_connect(sock, endpoint);
+    zmq_connect(sock, endpoint.c_str());
     initialized = true;
   }
 
diff --git a/common/version.h b/common/version.h
index 946f6a1fec..787bc897d7 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.5"
+#define COMMA_VERSION "0.9.6"
diff --git a/conftest.py b/conftest.py
new file mode 100644
index 0000000000..9aaf04d798
--- /dev/null
+++ b/conftest.py
@@ -0,0 +1,57 @@
+import os
+import pytest
+import random
+
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.system.hardware import TICI
+
+
+@pytest.fixture(scope="function", autouse=True)
+def openpilot_function_fixture():
+  starting_env = dict(os.environ)
+
+  random.seed(0)
+
+  # setup a clean environment for each test
+  with OpenpilotPrefix():
+    prefix = os.environ["OPENPILOT_PREFIX"]
+
+    yield
+
+    # ensure the test doesn't change the prefix
+    assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
+
+  os.environ.clear()
+  os.environ.update(starting_env)
+
+
+# If you use setUpClass, the environment variables won't be cleared properly,
+# so we need to hook both the function and class pytest fixtures
+@pytest.fixture(scope="class", autouse=True)
+def openpilot_class_fixture():
+  starting_env = dict(os.environ)
+
+  yield
+
+  os.environ.clear()
+  os.environ.update(starting_env)
+
+
+@pytest.hookimpl(tryfirst=True)
+def pytest_collection_modifyitems(config, items):
+  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
+  for item in items:
+    if not TICI and "tici" in item.keywords:
+      item.add_marker(skipper)
+
+    if "xdist_group_class_property" in item.keywords:
+      class_property = item.get_closest_marker('xdist_group_class_property').args[0]
+      item.add_marker(pytest.mark.xdist_group(getattr(item.cls, class_property)))
+
+
+@pytest.hookimpl(trylast=True)
+def pytest_configure(config):
+    config_line = (
+        "xdist_group_class_property: group tests by a property of the class that contains them"
+    )
+    config.addinivalue_line("markers", config_line)
\ No newline at end of file
diff --git a/docs/CARS.md b/docs/CARS.md
index a15a0ef2f9..3a67a0151a 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -2,271 +2,280 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 259 Supported Cars
+# 268 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
-|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
-|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>||
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
-|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
-|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
-|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2023">Buy Here</a></sub></details>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
+|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
+|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Carnival 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
+|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
+|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
@@ -274,12 +283,12 @@ A supported vehicle is one that just works when you install a comma three. All s
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>Requires a comma 3X or <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
 <sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
 <sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
 <sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
 <sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
@@ -310,7 +319,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 ### FlexRay
 
-All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
 
 ### Toyota Security
 
diff --git a/docs/Makefile b/docs/Makefile
index dee660f770..1eaae656bb 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -41,7 +41,7 @@ clean:
 
 	@echo "Building rst files..."
 	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \
+		../xx ../rednose_repo ../notebooks ../panda_jungle \
 		../third_party \
 		../panda/examples \
 		../scripts \
diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile
deleted file mode 100644
index 1bae2be24a..0000000000
--- a/docs/docker/Dockerfile
+++ /dev/null
@@ -1,42 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED 1
-
-ENV OPENPILOT_PATH /tmp/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
-ENV POETRY_VIRUALENVS_CREATE false
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./body ${OPENPILOT_PATH}/body
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
-RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo
-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
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./*.md ${OPENPILOT_PATH}/
-
-RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
-
-RUN apt update && apt install doxygen -y
-COPY ./docs ${OPENPILOT_PATH}/docs
-RUN git init .
-WORKDIR ${OPENPILOT_PATH}/docs
-RUN make html
-
-FROM nginx:1.21
-COPY --from=0 /tmp/openpilot/build/docs/html /usr/share/nginx/html
-COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf
diff --git a/docs/docker/nginx.conf b/docs/docker/nginx.conf
deleted file mode 100644
index 21fb226368..0000000000
--- a/docs/docker/nginx.conf
+++ /dev/null
@@ -1,15 +0,0 @@
-server {
-  listen       80;
-  listen  [::]:80;
-  server_name  localhost;
-
-  gzip on;
-  gzip_types text/html text/plain text/css text/xml text/javascript application/javascript application/x-javascript;
-  gzip_min_length 1024;
-  gzip_vary on;
-
-  root /usr/share/nginx/html;
-  location / {
-    try_files $uri $uri/ /index.html;
-  }
-}
diff --git a/docs/overview.rst b/docs/overview.rst
index b9a5700528..8c552077f3 100644
--- a/docs/overview.rst
+++ b/docs/overview.rst
@@ -18,14 +18,6 @@ cereal
    cereal/README.md
    cereal/messaging/msgq.md
 
-laika
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   laika_repo/README.md
-
 models
 =========
 
diff --git a/laika b/laika
deleted file mode 120000
index 1c7429f4ac..0000000000
--- a/laika
+++ /dev/null
@@ -1 +0,0 @@
-laika_repo/laika/
\ No newline at end of file
diff --git a/laika_repo b/laika_repo
deleted file mode 160000
index c9baa95ca9..0000000000
--- a/laika_repo
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit c9baa95ca9b58222370fcccb24bce1d3722c8e73
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 9fe9b1bd15..a91bd677aa 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function agnos_init {
-  # wait longer for weston to come up
-  if [ -f "$BASEDIR/prebuilt" ]; then
-    sleep 3
-  fi
-
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
diff --git a/opendbc b/opendbc
index ef302f7183..2b96bcc456 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit ef302f7183cb05820b27e41cd4919cb6c319cd52
+Subproject commit 2b96bcc45669cdd14f9c652b07ef32d6403630f6
diff --git a/panda b/panda
index e6c1648835..b50455cc76 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e6c16488351762cd2aa096b523b09b009892c8c4
+Subproject commit b50455cc76a0f66aa6faf953dd3ea023783a4b3f
diff --git a/poetry.lock b/poetry.lock
index 3f3a33901f..b05dcae11e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,112 +1,99 @@
-# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
-version = "3.8.5"
+version = "3.9.1"
 description = "Async http client/server framework (asyncio)"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a94159871304770da4dd371f4291b20cac04e8c94f11bdea1c3478e557fbe0d8"},
-    {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:13bf85afc99ce6f9ee3567b04501f18f9f8dbbb2ea11ed1a2e079670403a7c84"},
-    {file = "aiohttp-3.8.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2ce2ac5708501afc4847221a521f7e4b245abf5178cf5ddae9d5b3856ddb2f3a"},
-    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:96943e5dcc37a6529d18766597c491798b7eb7a61d48878611298afc1fca946c"},
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 ]
 
 [package.dependencies]
 aiosignal = ">=1.1.2"
-async-timeout = ">=4.0.0a3,<5.0"
 attrs = ">=17.3.0"
-charset-normalizer = ">=2.0,<4.0"
 frozenlist = ">=1.1.1"
 multidict = ">=4.5,<7.0"
 yarl = ">=1.0,<2.0"
 
 [package.extras]
-speedups = ["Brotli", "aiodns", "cchardet"]
+speedups = ["Brotli", "aiodns", "brotlicffi"]
 
 [[package]]
 name = "aioice"
@@ -220,17 +207,6 @@ files = [
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 ]
 
-[[package]]
-name = "async-timeout"
-version = "4.0.3"
-description = "Timeout context manager for asyncio programs"
-optional = false
-python-versions = ">=3.7"
-files = [
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-]
-
 [[package]]
 name = "atomicwrites"
 version = "1.4.1"
@@ -314,13 +290,13 @@ files = [
 
 [[package]]
 name = "azure-core"
-version = "1.29.3"
+version = "1.29.5"
 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "azure-core-1.29.5.tar.gz", hash = "sha256:52983c89d394c6f881a121e5101c5fa67278ca3b1f339c8fb2ef39230c70e9ac"},
+    {file = "azure_core-1.29.5-py3-none-any.whl", hash = "sha256:0fa04b7b1f7d44a4fb8468c4093deb2ea01fdf4faddbf802ed9205615f99d68c"},
 ]
 
 [package.dependencies]
@@ -333,30 +309,30 @@ aio = ["aiohttp (>=3.0)"]
 
 [[package]]
 name = "azure-identity"
-version = "1.14.0"
+version = "1.15.0"
 description = "Microsoft Azure Identity Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "azure-identity-1.15.0.tar.gz", hash = "sha256:4c28fc246b7f9265610eb5261d65931183d019a23d4b0e99357facb2e6c227c8"},
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 ]
 
 [package.dependencies]
-azure-core = ">=1.11.0,<2.0.0"
+azure-core = ">=1.23.0,<2.0.0"
 cryptography = ">=2.5"
-msal = ">=1.20.0,<2.0.0"
+msal = ">=1.24.0,<2.0.0"
 msal-extensions = ">=0.3.0,<2.0.0"
 
 [[package]]
 name = "azure-storage-blob"
-version = "12.17.0"
+version = "12.19.0"
 description = "Microsoft Azure Blob Storage Client Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-storage-blob-12.17.0.zip", hash = "sha256:c14b785a17050b30fc326a315bdae6bc4a078855f4f94a4c303ad74a48dc8c63"},
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+    {file = "azure-storage-blob-12.19.0.tar.gz", hash = "sha256:26c0a4320a34a3c2a1b74528ba6812ebcb632a04cd67b1c7377232c4b01a5897"},
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 ]
 
 [package.dependencies]
@@ -370,15 +346,18 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]
 
 [[package]]
 name = "babel"
-version = "2.12.1"
+version = "2.13.1"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "Babel-2.12.1-py3-none-any.whl", hash = "sha256:b4246fb7677d3b98f501a39d43396d3cafdc8eadb045f4a31be01863f655c610"},
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 ]
 
+[package.extras]
+dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
+
 [[package]]
 name = "breathe"
 version = "4.35.0"
@@ -400,7 +379,9 @@ version = "0.9.14"
 description = "Python API for communicating with the CARLA server."
 optional = false
 python-versions = "*"
-files = []
+files = [
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+]
 
 [package.source]
 type = "url"
@@ -463,86 +444,74 @@ numpy = "*"
 
 [[package]]
 name = "certifi"
-version = "2023.7.22"
+version = "2023.11.17"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
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+    {file = "certifi-2023.11.17.tar.gz", hash = "sha256:9b469f3a900bf28dc19b8cfbf8019bf47f7fdd1a65a1d4ffb98fc14166beb4d1"},
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-version = "1.15.1"
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 description = "Foreign Function Interface for Python calling C code."
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 [package.dependencies]
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 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
+[[package]]
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+python-versions = "*"
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+
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+
+[[package]]
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+]
+
+[package.dependencies]
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+
+[package.extras]
+test = ["pytest-cov"]
+
+[[package]]
+name = "cloudpickle"
+version = "3.0.0"
+description = "Pickler class to extend the standard pickle.Pickler functionality"
+optional = false
+python-versions = ">=3.8"
+files = [
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+
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 name = "colorama"
 version = "0.4.6"
@@ -687,61 +716,66 @@ cron = ["capturer (>=2.4)"]
 
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 [package.dependencies]
-numpy = ">=1.16"
+numpy = ">=1.20,<2.0"
 
 [package.extras]
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-docs = ["furo", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.2.0)", "types-Pillow"]
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 [[package]]
 name = "control"
@@ -766,63 +800,63 @@ test = ["pytest", "pytest-timeout"]
 
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 [package.dependencies]
@@ -885,80 +919,84 @@ test-randomorder = ["pytest-randomly"]
 
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+version = "0.12.1"
 description = "Composable style cycles"
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+python-versions = ">=3.8"
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+[package.extras]
+docs = ["ipython", "matplotlib", "numpydoc", "sphinx"]
+tests = ["pytest", "pytest-cov", "pytest-xdist"]
+
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 testing = ["hatch", "pre-commit", "pytest", "tox"]
 
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 ]
 
 [[package]]
@@ -1238,6 +1350,24 @@ files = [
 [package.extras]
 rewrite = ["tokenize-rt (>=3)"]
 
+[[package]]
+name = "geopandas"
+version = "0.14.1"
+description = "Geographic pandas extensions"
+optional = false
+python-versions = ">=3.9"
+files = [
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+
+[package.dependencies]
+fiona = ">=1.8.21"
+packaging = "*"
+pandas = ">=1.4.0"
+pyproj = ">=3.3.0"
+shapely = ">=1.8.0"
+
 [[package]]
 name = "google-crc32c"
 version = "1.5.0"
@@ -1318,6 +1448,37 @@ files = [
 [package.extras]
 testing = ["pytest"]
 
+[[package]]
+name = "gymnasium"
+version = "0.28.1"
+description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
+optional = false
+python-versions = ">=3.7"
+files = [
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+
+[package.dependencies]
+cloudpickle = ">=1.2.0"
+farama-notifications = ">=0.0.1"
+jax-jumpy = ">=1.0.0"
+numpy = ">=1.21.0"
+typing-extensions = ">=4.3.0"
+
+[package.extras]
+accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
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+atari = ["shimmy[atari] (>=0.1.0,<1.0)"]
+box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.3)", "swig (==4.*)"]
+classic-control = ["pygame (==2.1.3)", "pygame (==2.1.3)"]
+jax = ["jax (==0.3.24)", "jaxlib (==0.3.24)"]
+mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.2)"]
+mujoco-py = ["mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"]
+other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)", "torch (>=1.0.0)"]
+testing = ["pytest (==7.1.3)", "scipy (==1.7.3)"]
+toy-text = ["pygame (==2.1.3)", "pygame (==2.1.3)"]
+
 [[package]]
 name = "h3"
 version = "3.7.6"
@@ -1370,27 +1531,6 @@ all = ["flake8", "numpy", "pylint", "pytest", "pytest-cov"]
 numpy = ["numpy"]
 test = ["flake8", "pylint", "pytest", "pytest-cov"]
 
-[[package]]
-name = "hatanaka"
-version = "2.4.0"
-description = "Effortlessly compress / decompress any RINEX file"
-optional = false
-python-versions = ">=3.6"
-files = [
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-]
-
-[package.dependencies]
-importlib-resources = "*"
-ncompress = "*"
-
-[package.extras]
-dev = ["pytest"]
-tests = ["pytest"]
-
 [[package]]
 name = "hexdump"
 version = "3.3"
@@ -1414,13 +1554,13 @@ files = [
 
 [[package]]
 name = "hypothesis"
-version = "6.46.7"
+version = "6.47.5"
 description = "A library for property-based testing"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "hypothesis-6.46.7-py3-none-any.whl", hash = "sha256:2696cdb9005946bf1d2b215cc91d3fc01625e3342eb8743ddd04b667b2f1882b"},
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+    {file = "hypothesis-6.47.5-py3-none-any.whl", hash = "sha256:87049b781ee11ec1c7948565b889ab02e428a1e32d427ab4de8fdb3649242d06"},
+    {file = "hypothesis-6.47.5.tar.gz", hash = "sha256:e0c1e253fc97e7ecdb9e2bbff2cf815d8739e0d1d3d093d67c3af5bb6a7211b0"},
 ]
 
 [package.dependencies]
@@ -1445,13 +1585,13 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "identify"
-version = "2.5.26"
+version = "2.5.32"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "identify-2.5.26-py2.py3-none-any.whl", hash = "sha256:c22a8ead0d4ca11f1edd6c9418c3220669b3b7533ada0a0ffa6cc0ef85cf9b54"},
-    {file = "identify-2.5.26.tar.gz", hash = "sha256:7243800bce2f58404ed41b7c002e53d4d22bcf3ae1b7900c2d7aefd95394bf7f"},
+    {file = "identify-2.5.32-py2.py3-none-any.whl", hash = "sha256:0b7656ef6cba81664b783352c73f8c24b39cf82f926f78f4550eda928e5e0545"},
+    {file = "identify-2.5.32.tar.gz", hash = "sha256:5d9979348ec1a21c768ae07e0a652924538e8bce67313a73cb0f681cf08ba407"},
 ]
 
 [package.extras]
@@ -1459,13 +1599,13 @@ license = ["ukkonen"]
 
 [[package]]
 name = "idna"
-version = "3.4"
+version = "3.6"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.5"
 files = [
-    {file = "idna-3.4-py3-none-any.whl", hash = "sha256:90b77e79eaa3eba6de819a0c442c0b4ceefc341a7a2ab77d7562bf49f425c5c2"},
-    {file = "idna-3.4.tar.gz", hash = "sha256:814f528e8dead7d329833b91c5faa87d60bf71824cd12a7530b5526063d02cb4"},
+    {file = "idna-3.6-py3-none-any.whl", hash = "sha256:c05567e9c24a6b9faaa835c4821bad0590fbb9d5779e7caa6e1cc4978e7eb24f"},
+    {file = "idna-3.6.tar.gz", hash = "sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca"},
 ]
 
 [[package]]
@@ -1491,19 +1631,23 @@ files = [
 ]
 
 [[package]]
-name = "importlib-resources"
-version = "6.0.1"
-description = "Read resources from Python packages"
+name = "importlib-metadata"
+version = "6.8.0"
+description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_resources-6.0.1-py3-none-any.whl", hash = "sha256:134832a506243891221b88b4ae1213327eea96ceb4e407a00d790bb0626f45cf"},
-    {file = "importlib_resources-6.0.1.tar.gz", hash = "sha256:4359457e42708462b9626a04657c6208ad799ceb41e5c58c57ffa0e6a098a5d4"},
+    {file = "importlib_metadata-6.8.0-py3-none-any.whl", hash = "sha256:3ebb78df84a805d7698245025b975d9d67053cd94c79245ba4b3eb694abe68bb"},
+    {file = "importlib_metadata-6.8.0.tar.gz", hash = "sha256:dbace7892d8c0c4ac1ad096662232f831d4e64f4c4545bd53016a3e9d4654743"},
 ]
 
+[package.dependencies]
+zipp = ">=0.5"
+
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+perf = ["ipython"]
+testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]
 
 [[package]]
 name = "iniconfig"
@@ -1527,16 +1671,6 @@ files = [
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 ]
 
-[[package]]
-name = "ioctl-opt"
-version = "1.3"
-description = "Functions to compute fnctl.ioctl's opt argument"
-optional = false
-python-versions = "*"
-files = [
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-]
-
 [[package]]
 name = "isodate"
 version = "0.6.1"
@@ -1551,6 +1685,24 @@ files = [
 [package.dependencies]
 six = "*"
 
+[[package]]
+name = "jax-jumpy"
+version = "1.0.0"
+description = "Common backend for Jax or Numpy."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "jax-jumpy-1.0.0.tar.gz", hash = "sha256:195fb955cc4c2b7f0b1453e3cb1fb1c414a51a407ffac7a51e69a73cb30d59ad"},
+    {file = "jax_jumpy-1.0.0-py3-none-any.whl", hash = "sha256:ab7e01454bba462de3c4d098e3e585c302a8f06bc36d9182ab4e7e4aa7067c5e"},
+]
+
+[package.dependencies]
+numpy = ">=1.18.0"
+
+[package.extras]
+jax = ["jax (>=0.3.24)", "jaxlib (>=0.3.24)"]
+testing = ["pytest (==7.1.3)"]
+
 [[package]]
 name = "jinja2"
 version = "3.1.2"
@@ -1581,188 +1733,330 @@ files = [
 
 [[package]]
 name = "kiwisolver"
-version = "1.4.4"
+version = "1.4.5"
 description = "A fast implementation of the Cassowary constraint solver"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "kiwisolver-1.4.4-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:2f5e60fabb7343a836360c4f0919b8cd0d6dbf08ad2ca6b9cf90bf0c76a3c4f6"},
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 ]
 
 [package.dependencies]
 contourpy = ">=1.0.1"
 cycler = ">=0.10"
 fonttools = ">=4.22.0"
-kiwisolver = ">=1.0.1"
-numpy = ">=1.20"
+kiwisolver = ">=1.3.1"
+numpy = ">=1.21,<2"
 packaging = ">=20.0"
-pillow = ">=6.2.0"
-pyparsing = ">=2.3.1,<3.1"
+pillow = ">=8"
+pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 
 [[package]]
@@ -1937,6 +2228,51 @@ files = [
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 ]
 
+[[package]]
+name = "metadrive-simulator"
+version = "0.4.1.2"
+description = "An open-ended driving simulator with infinite scenes"
+optional = false
+python-versions = ">=3.6, <3.12"
+files = []
+develop = false
+
+[package.dependencies]
+geopandas = "*"
+gymnasium = ">=0.28,<0.29"
+lxml = "*"
+matplotlib = "*"
+numpy = ">=1.21.6,<=1.24.2"
+opencv-python = "*"
+panda3d = "1.10.13"
+panda3d-gltf = "0.13"
+panda3d-simplepbr = "*"
+pandas = "*"
+pillow = "*"
+progressbar = "*"
+psutil = "*"
+pygame = "*"
+pytest = "*"
+requests = "*"
+scipy = "*"
+seaborn = "*"
+shapely = "*"
+tqdm = "*"
+yapf = "*"
+
+[package.extras]
+all = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "aioboto3", "aiofiles", "bokeh (==2.4)", "boto3", "chardet", "cuda-python (==12.0.0)", "glfw", "hydra-core", "pyarrow", "pyrr (==0.10.3)", "retry"]
+cuda = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "cuda-python (==12.0.0)", "glfw", "pyrr (==0.10.3)"]
+gym = ["gym (>=0.19.0,<=0.26.0)"]
+nuplan = ["aioboto3", "aiofiles", "bokeh (==2.4)", "boto3", "chardet", "hydra-core", "pyarrow", "retry"]
+waymo = ["waymo-open-dataset-tf-2.11.0 (==1.5.0)"]
+
+[package.source]
+type = "git"
+url = "https://github.com/metadriverse/metadrive.git"
+reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
+resolved_reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
+
 [[package]]
 name = "mpld3"
 version = "0.5.9"
@@ -1971,13 +2307,13 @@ tests = ["pytest (>=4.6)"]
 
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 [package.extras]
 dmypy = ["psutil (>=4.0)"]
 install-types = ["pip"]
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 reports = ["lxml"]
 
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 [package.dependencies]
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 sympy = "*"
 
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 [package.extras]
@@ -2574,13 +3014,13 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 
 [[package]]
 name = "platformdirs"
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 optional = false
 python-versions = ">=3.7"
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 ]
 
 [package.extras]
@@ -2589,13 +3029,13 @@ test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4)", "pytest-co
 
 [[package]]
 name = "pluggy"
-version = "1.2.0"
+version = "1.3.0"
 description = "plugin and hook calling mechanisms for python"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -2604,13 +3044,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "polyline"
-version = "2.0.0"
+version = "2.0.1"
 description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
@@ -2619,13 +3059,13 @@ publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"]
 
 [[package]]
 name = "portalocker"
-version = "2.7.0"
+version = "2.8.2"
 description = "Wraps the portalocker recipe for easy usage"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.8"
 files = [
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-    {file = "portalocker-2.7.0.tar.gz", hash = "sha256:032e81d534a88ec1736d03f780ba073f047a06c478b06e2937486f334e955c51"},
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 ]
 
 [package.dependencies]
@@ -2634,7 +3074,7 @@ pywin32 = {version = ">=226", markers = "platform_system == \"Windows\""}
 [package.extras]
 docs = ["sphinx (>=1.7.1)"]
 redis = ["redis"]
-tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=6.0.0)"]
+tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=6.0.0)", "types-redis"]
 
 [[package]]
 name = "pprofile"
@@ -2648,13 +3088,13 @@ files = [
 
 [[package]]
 name = "pre-commit"
-version = "3.3.3"
+version = "3.5.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -2664,49 +3104,59 @@ nodeenv = ">=0.11.1"
 pyyaml = ">=5.1"
 virtualenv = ">=20.10.0"
 
+[[package]]
+name = "progressbar"
+version = "2.5"
+description = "Text progress bar library for Python."
+optional = false
+python-versions = "*"
+files = [
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+]
+
 [[package]]
 name = "protobuf"
-version = "4.24.0"
+version = "4.25.1"
 description = ""
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
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 description = "Cross-platform lib for process and system monitoring in Python."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
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 ]
 
 [package.extras]
@@ -2714,22 +3164,22 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
 [[package]]
 name = "pyaudio"
-version = "0.2.13"
+version = "0.2.14"
 description = "Cross-platform audio I/O with PortAudio"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [[package]]
@@ -3192,13 +3694,13 @@ cp2110 = ["hidapi"]
 
 [[package]]
 name = "pytest"
-version = "7.4.0"
+version = "7.4.3"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -3228,6 +3730,35 @@ pytest = ">=4.6"
 [package.extras]
 testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
 
+[[package]]
+name = "pytest-cpp"
+version = "2.5.0"
+description = "Use pytest's runner to discover and execute C++ tests"
+optional = false
+python-versions = ">=3.7"
+files = [
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+]
+
+[package.dependencies]
+colorama = "*"
+pytest = ">=7.0"
+
+[[package]]
+name = "pytest-random-order"
+version = "1.1.0"
+description = "Randomise the order in which pytest tests are run with some control over the randomness"
+optional = false
+python-versions = ">=3.5.0"
+files = [
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+]
+
+[package.dependencies]
+pytest = ">=3.0.0"
+
 [[package]]
 name = "pytest-subtests"
 version = "0.11.0"
@@ -3245,13 +3776,13 @@ pytest = ">=7.0"
 
 [[package]]
 name = "pytest-timeout"
-version = "2.1.0"
+version = "2.2.0"
 description = "pytest plugin to abort hanging tests"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -3272,13 +3803,13 @@ pytest = ">=3.1"
 
 [[package]]
 name = "pytest-xdist"
-version = "3.3.1"
+version = "3.5.0"
 description = "pytest xdist plugin for distributed testing, most importantly across multiple CPUs"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -3323,13 +3854,13 @@ numpy = ["numpy (>=1.6.0)"]
 
 [[package]]
 name = "pytz"
-version = "2023.3"
+version = "2023.3.post1"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
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@@ -3530,32 +4071,64 @@ urllib3 = ">=1.21.1,<3"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
+[[package]]
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+version = "0.1.6"
+description = "An extremely fast Python linter and code formatter, written in Rust."
+optional = false
+python-versions = ">=3.7"
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 ]
 
 [package.dependencies]
@@ -3568,13 +4141,13 @@ test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeo
 
 [[package]]
 name = "scons"
-version = "4.5.2"
+version = "4.6.0"
 description = "Open Source next-generation build tool."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -3583,9 +4156,9 @@ setuptools = "*"
 [[package]]
 name = "sconscontrib"
 version = "1.0"
-description = ""
+description = "Contributed builders and other useful logic for the SCons build system.,"
 optional = false
-python-versions = ">=3.6, <4"
+python-versions = "<4,>=3.6"
 files = []
 develop = false
 
@@ -3601,6 +4174,27 @@ url = "https://github.com/SCons/scons-contrib.git"
 reference = "HEAD"
 resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
 
+[[package]]
+name = "seaborn"
+version = "0.13.0"
+description = "Statistical data visualization"
+optional = false
+python-versions = ">=3.8"
+files = [
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+
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+numpy = ">=1.20,<1.24.0 || >1.24.0"
+pandas = ">=1.2"
+
+[package.extras]
+dev = ["flake8", "flit", "mypy", "pandas-stubs", "pre-commit", "pytest", "pytest-cov", "pytest-xdist"]
+docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx (<6.0.0)", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
+stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
+
 [[package]]
 name = "sentry-sdk"
 version = "1.28.1"
@@ -3645,83 +4239,99 @@ tornado = ["tornado (>=5)"]
 
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 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+docs = ["matplotlib", "numpydoc (==1.1.*)", "sphinx", "sphinx-book-theme", "sphinx-remove-toctrees"]
+test = ["pytest", "pytest-cov"]
 
 [[package]]
 name = "six"
@@ -3756,13 +4423,13 @@ files = [
 
 [[package]]
 name = "smbus2"
-version = "0.4.2"
+version = "0.4.3"
 description = "smbus2 is a drop-in replacement for smbus-cffi/smbus-python in pure Python"
 optional = false
 python-versions = "*"
 files = [
-    {file = "smbus2-0.4.2-py2.py3-none-any.whl", hash = "sha256:50f3c78e436b42a9583948be06961a8104cf020ebad5edfaaf2657528bef0818"},
-    {file = "smbus2-0.4.2.tar.gz", hash = "sha256:634541ed794068a822fe7499f1577468b9d4641b68dd9bfb6d0eb7270f4d2a32"},
+    {file = "smbus2-0.4.3-py2.py3-none-any.whl", hash = "sha256:a2fc29cfda4081ead2ed61ef2c4fc041d71dd40a8d917e85216f44786fca2d1d"},
+    {file = "smbus2-0.4.3.tar.gz", hash = "sha256:36f2288a8e1a363cb7a7b2244ec98d880eb5a728a2494ac9c71e9de7bf6a803a"},
 ]
 
 [package.extras]
@@ -3814,24 +4481,24 @@ numpy = ["NumPy"]
 
 [[package]]
 name = "sphinx"
-version = "6.2.1"
+version = "7.2.6"
 description = "Python documentation generator"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
-    {file = "Sphinx-6.2.1.tar.gz", hash = "sha256:6d56a34697bb749ffa0152feafc4b19836c755d90a7c59b72bc7dfd371b9cc6b"},
-    {file = "sphinx-6.2.1-py3-none-any.whl", hash = "sha256:97787ff1fa3256a3eef9eda523a63dbf299f7b47e053cfcf684a1c2a8380c912"},
+    {file = "sphinx-7.2.6-py3-none-any.whl", hash = "sha256:1e09160a40b956dc623c910118fa636da93bd3ca0b9876a7b3df90f07d691560"},
+    {file = "sphinx-7.2.6.tar.gz", hash = "sha256:9a5160e1ea90688d5963ba09a2dcd8bdd526620edbb65c328728f1b2228d5ab5"},
 ]
 
 [package.dependencies]
 alabaster = ">=0.7,<0.8"
 babel = ">=2.9"
 colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.18.1,<0.20"
+docutils = ">=0.18.1,<0.21"
 imagesize = ">=1.3"
 Jinja2 = ">=3.0"
 packaging = ">=21.0"
-Pygments = ">=2.13"
+Pygments = ">=2.14"
 requests = ">=2.25.0"
 snowballstemmer = ">=2.0"
 sphinxcontrib-applehelp = "*"
@@ -3839,27 +4506,27 @@ sphinxcontrib-devhelp = "*"
 sphinxcontrib-htmlhelp = ">=2.0.0"
 sphinxcontrib-jsmath = "*"
 sphinxcontrib-qthelp = "*"
-sphinxcontrib-serializinghtml = ">=1.1.5"
+sphinxcontrib-serializinghtml = ">=1.1.9"
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
 lint = ["docutils-stubs", "flake8 (>=3.5.0)", "flake8-simplify", "isort", "mypy (>=0.990)", "ruff", "sphinx-lint", "types-requests"]
-test = ["cython", "filelock", "html5lib", "pytest (>=4.6)"]
+test = ["cython (>=3.0)", "filelock", "html5lib", "pytest (>=4.6)", "setuptools (>=67.0)"]
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "1.2.2"
+version = "1.3.0"
 description = "Read the Docs theme for Sphinx"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
 files = [
-    {file = "sphinx_rtd_theme-1.2.2-py2.py3-none-any.whl", hash = "sha256:6a7e7d8af34eb8fc57d52a09c6b6b9c46ff44aea5951bc831eeb9245378f3689"},
-    {file = "sphinx_rtd_theme-1.2.2.tar.gz", hash = "sha256:01c5c5a72e2d025bd23d1f06c59a4831b06e6ce6c01fdd5ebfe9986c0a880fc7"},
+    {file = "sphinx_rtd_theme-1.3.0-py2.py3-none-any.whl", hash = "sha256:46ddef89cc2416a81ecfbeaceab1881948c014b1b6e4450b815311a89fb977b0"},
+    {file = "sphinx_rtd_theme-1.3.0.tar.gz", hash = "sha256:590b030c7abb9cf038ec053b95e5380b5c70d61591eb0b552063fbe7c41f0931"},
 ]
 
 [package.dependencies]
 docutils = "<0.19"
-sphinx = ">=1.6,<7"
+sphinx = ">=1.6,<8"
 sphinxcontrib-jquery = ">=4,<5"
 
 [package.extras]
@@ -3867,13 +4534,13 @@ dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
 name = "sphinx-sitemap"
-version = "2.5.0"
+version = "2.5.1"
 description = "Sitemap generator for Sphinx"
 optional = false
 python-versions = "*"
 files = [
-    {file = "sphinx-sitemap-2.5.0.tar.gz", hash = "sha256:95101f622d0d594161720cbe92a39d353efae9382f7f3563f06d150b1146fef6"},
-    {file = "sphinx_sitemap-2.5.0-py3-none-any.whl", hash = "sha256:98a7e3bb25acb467037b56f3585fc38d53d5a274542b1497393a66f71b79b125"},
+    {file = "sphinx-sitemap-2.5.1.tar.gz", hash = "sha256:984bef068bbdbc26cfae209a8b61392e9681abc9191b477cd30da406e3a60ee5"},
+    {file = "sphinx_sitemap-2.5.1-py3-none-any.whl", hash = "sha256:0b7bce2835f287687f75584d7695e4eb8efaec028e5e7b36e9f791de3c344686"},
 ]
 
 [package.dependencies]
@@ -3881,13 +4548,13 @@ sphinx = ">=1.2"
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.6"
+version = "1.0.7"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_applehelp-1.0.6-py3-none-any.whl", hash = "sha256:c0578efa23cab5a2f3aaa8af5691b952433f4fdfaac255befd3452448e7ea4a4"},
-    {file = "sphinxcontrib_applehelp-1.0.6.tar.gz", hash = "sha256:a59274de7a952a99af36b8a5092352d9249279c0e3280b7dceaae8e15873c942"},
+    {file = "sphinxcontrib_applehelp-1.0.7-py3-none-any.whl", hash = "sha256:094c4d56209d1734e7d252f6e0b3ccc090bd52ee56807a5d9315b19c122ab15d"},
+    {file = "sphinxcontrib_applehelp-1.0.7.tar.gz", hash = "sha256:39fdc8d762d33b01a7d8f026a3b7d71563ea3b72787d5f00ad8465bd9d6dfbfa"},
 ]
 
 [package.dependencies]
@@ -3899,13 +4566,13 @@ test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.4"
+version = "1.0.5"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_devhelp-1.0.4-py3-none-any.whl", hash = "sha256:d4e20a17f78865d4096733989b5efa0d5e7743900e98e1f6ecd6f489380febc8"},
-    {file = "sphinxcontrib_devhelp-1.0.4.tar.gz", hash = "sha256:4fd751c63dc40895ac8740948f26bf1a3c87e4e441cc008672abd1cb2bc8a3d1"},
+    {file = "sphinxcontrib_devhelp-1.0.5-py3-none-any.whl", hash = "sha256:fe8009aed765188f08fcaadbb3ea0d90ce8ae2d76710b7e29ea7d047177dae2f"},
+    {file = "sphinxcontrib_devhelp-1.0.5.tar.gz", hash = "sha256:63b41e0d38207ca40ebbeabcf4d8e51f76c03e78cd61abe118cf4435c73d4212"},
 ]
 
 [package.dependencies]
@@ -3917,13 +4584,13 @@ test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.3"
+version = "2.0.4"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_htmlhelp-2.0.3-py3-none-any.whl", hash = "sha256:abee4e6c5471203ad2fc40dc6a16ed99884a5d6b15a6f79c9269a7e82cf04149"},
-    {file = "sphinxcontrib_htmlhelp-2.0.3.tar.gz", hash = "sha256:14358d0f88ccf58447f2b54343cdcc0012f32de2f8d27cf934fdbc0b362f9597"},
+    {file = "sphinxcontrib_htmlhelp-2.0.4-py3-none-any.whl", hash = "sha256:8001661c077a73c29beaf4a79968d0726103c5605e27db92b9ebed8bab1359e9"},
+    {file = "sphinxcontrib_htmlhelp-2.0.4.tar.gz", hash = "sha256:6c26a118a05b76000738429b724a0568dbde5b72391a688577da08f11891092a"},
 ]
 
 [package.dependencies]
@@ -3963,13 +4630,13 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.5"
+version = "1.0.6"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_qthelp-1.0.5-py3-none-any.whl", hash = "sha256:962730a6ad15d21fd6760b14c9e95c00a097413595aa6ee871dd9dfa4b002a16"},
-    {file = "sphinxcontrib_qthelp-1.0.5.tar.gz", hash = "sha256:d31d1a1beaf3894866bb318fb712f1edc82687f1c06235a01e5b2c50c36d5c40"},
+    {file = "sphinxcontrib_qthelp-1.0.6-py3-none-any.whl", hash = "sha256:bf76886ee7470b934e363da7a954ea2825650013d367728588732c7350f49ea4"},
+    {file = "sphinxcontrib_qthelp-1.0.6.tar.gz", hash = "sha256:62b9d1a186ab7f5ee3356d906f648cacb7a6bdb94d201ee7adf26db55092982d"},
 ]
 
 [package.dependencies]
@@ -3981,13 +4648,13 @@ test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.7"
+version = "1.1.9"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_serializinghtml-1.1.7-py3-none-any.whl", hash = "sha256:424164fc3a8b4355a29d5ea8b7f18199022d160c8f7b96e68bb6c50217729b87"},
-    {file = "sphinxcontrib_serializinghtml-1.1.7.tar.gz", hash = "sha256:ca31afee32e1508cff4034e258060ce2c81a3b1c49e77da60fdb61f0e7a73c22"},
+    {file = "sphinxcontrib_serializinghtml-1.1.9-py3-none-any.whl", hash = "sha256:9b36e503703ff04f20e9675771df105e58aa029cfcbc23b8ed716019b7416ae1"},
+    {file = "sphinxcontrib_serializinghtml-1.1.9.tar.gz", hash = "sha256:0c64ff898339e1fac29abd2bf5f11078f3ec413cfe9c046d3120d7ca65530b54"},
 ]
 
 [package.dependencies]
@@ -4008,19 +4675,6 @@ files = [
     {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
 ]
 
-[[package]]
-name = "spidev2"
-version = "0.9.0"
-description = "Pure-python interface to Linux spidev."
-optional = false
-python-versions = "*"
-files = [
-    {file = "spidev2-0.9.0.tar.gz", hash = "sha256:152da2911a8660283ceac3a75dd869953379bcbcf079e5436af5aae736876086"},
-]
-
-[package.dependencies]
-ioctl-opt = "*"
-
 [[package]]
 name = "sympy"
 version = "1.12"
@@ -4051,13 +4705,13 @@ widechars = ["wcwidth"]
 
 [[package]]
 name = "tenacity"
-version = "8.2.2"
+version = "8.2.3"
 description = "Retry code until it succeeds"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
-    {file = "tenacity-8.2.2-py3-none-any.whl", hash = "sha256:2f277afb21b851637e8f52e6a613ff08734c347dc19ade928e519d7d2d8569b0"},
-    {file = "tenacity-8.2.2.tar.gz", hash = "sha256:43af037822bd0029025877f3b2d97cc4d7bb0c2991000a3d59d71517c5c969e0"},
+    {file = "tenacity-8.2.3-py3-none-any.whl", hash = "sha256:ce510e327a630c9e1beaf17d42e6ffacc88185044ad85cf74c0a8887c6a0f88c"},
+    {file = "tenacity-8.2.3.tar.gz", hash = "sha256:5398ef0d78e63f40007c1fb4c0bff96e1911394d2fa8d194f77619c05ff6cc8a"},
 ]
 
 [package.extras]
@@ -4084,6 +4738,17 @@ setuptools = ">=65.5"
 numba = ["numba (>=0.56,<1)"]
 pytz = ["pytz (>=2022.7.1)"]
 
+[[package]]
+name = "tomli"
+version = "2.0.1"
+description = "A lil' TOML parser"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
+    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
+]
+
 [[package]]
 name = "tqdm"
 version = "4.66.1"
@@ -4115,52 +4780,41 @@ files = [
     {file = "types_atomicwrites-1.4.5.1-py3-none-any.whl", hash = "sha256:2f1febbdc78b55453b189fa5b136dce34bab7d1d82319163d470e404aab55c83"},
 ]
 
-[[package]]
-name = "types-certifi"
-version = "2021.10.8.3"
-description = "Typing stubs for certifi"
-optional = false
-python-versions = "*"
-files = [
-    {file = "types-certifi-2021.10.8.3.tar.gz", hash = "sha256:72cf7798d165bc0b76e1c10dd1ea3097c7063c42c21d664523b928e88b554a4f"},
-    {file = "types_certifi-2021.10.8.3-py3-none-any.whl", hash = "sha256:b2d1e325e69f71f7c78e5943d410e650b4707bb0ef32e4ddf3da37f54176e88a"},
-]
-
 [[package]]
 name = "types-pycurl"
-version = "7.45.2.4"
+version = "7.45.2.5"
 description = "Typing stubs for pycurl"
 optional = false
 python-versions = "*"
 files = [
-    {file = "types-pycurl-7.45.2.4.tar.gz", hash = "sha256:02c1611e7862f5ce02127746f079cd20dff511b049c7030cf24bb3d3ef41ceff"},
-    {file = "types_pycurl-7.45.2.4-py3-none-any.whl", hash = "sha256:d10efc8b71bfcd2fc4745a2f08967baa441a8c74bc6028829e5b65899affc40b"},
+    {file = "types-pycurl-7.45.2.5.tar.gz", hash = "sha256:cc07e4b1e388b98e1a935bc12ef33eec8e7294496d0a81ed50c46a31bf5df5ee"},
+    {file = "types_pycurl-7.45.2.5-py3-none-any.whl", hash = "sha256:e433f13a266245be770018eabc6a50139ea26150f75df5b0ee698d291575582b"},
 ]
 
 [[package]]
 name = "types-pyyaml"
-version = "6.0.12.11"
+version = "6.0.12.12"
 description = "Typing stubs for PyYAML"
 optional = false
 python-versions = "*"
 files = [
-    {file = "types-PyYAML-6.0.12.11.tar.gz", hash = "sha256:7d340b19ca28cddfdba438ee638cd4084bde213e501a3978738543e27094775b"},
-    {file = "types_PyYAML-6.0.12.11-py3-none-any.whl", hash = "sha256:a461508f3096d1d5810ec5ab95d7eeecb651f3a15b71959999988942063bf01d"},
+    {file = "types-PyYAML-6.0.12.12.tar.gz", hash = "sha256:334373d392fde0fdf95af5c3f1661885fa10c52167b14593eb856289e1855062"},
+    {file = "types_PyYAML-6.0.12.12-py3-none-any.whl", hash = "sha256:c05bc6c158facb0676674b7f11fe3960db4f389718e19e62bd2b84d6205cfd24"},
 ]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.2"
+version = "2.31.0.10"
 description = "Typing stubs for requests"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 files = [
-    {file = "types-requests-2.31.0.2.tar.gz", hash = "sha256:6aa3f7faf0ea52d728bb18c0a0d1522d9bfd8c72d26ff6f61bfc3d06a411cf40"},
-    {file = "types_requests-2.31.0.2-py3-none-any.whl", hash = "sha256:56d181c85b5925cbc59f4489a57e72a8b2166f18273fd8ba7b6fe0c0b986f12a"},
+    {file = "types-requests-2.31.0.10.tar.gz", hash = "sha256:dc5852a76f1eaf60eafa81a2e50aefa3d1f015c34cf0cba130930866b1b22a92"},
+    {file = "types_requests-2.31.0.10-py3-none-any.whl", hash = "sha256:b32b9a86beffa876c0c3ac99a4cd3b8b51e973fb8e3bd4e0a6bb32c7efad80fc"},
 ]
 
 [package.dependencies]
-types-urllib3 = "*"
+urllib3 = ">=2"
 
 [[package]]
 name = "types-tabulate"
@@ -4173,26 +4827,15 @@ files = [
     {file = "types_tabulate-0.9.0.3-py3-none-any.whl", hash = "sha256:462d1b62e01728416e8277614d6a3eb172d53a8efaf04a04a973ff2dd45238f6"},
 ]
 
-[[package]]
-name = "types-urllib3"
-version = "1.26.25.14"
-description = "Typing stubs for urllib3"
-optional = false
-python-versions = "*"
-files = [
-    {file = "types-urllib3-1.26.25.14.tar.gz", hash = "sha256:229b7f577c951b8c1b92c1bc2b2fdb0b49847bd2af6d1cc2a2e3dd340f3bda8f"},
-    {file = "types_urllib3-1.26.25.14-py3-none-any.whl", hash = "sha256:9683bbb7fb72e32bfe9d2be6e04875fbe1b3eeec3cbb4ea231435aa7fd6b4f0e"},
-]
-
 [[package]]
 name = "typing-extensions"
-version = "4.7.1"
-description = "Backported and Experimental Type Hints for Python 3.7+"
+version = "4.8.0"
+description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "typing_extensions-4.7.1-py3-none-any.whl", hash = "sha256:440d5dd3af93b060174bf433bccd69b0babc3b15b1a8dca43789fd7f61514b36"},
-    {file = "typing_extensions-4.7.1.tar.gz", hash = "sha256:b75ddc264f0ba5615db7ba217daeb99701ad295353c45f9e95963337ceeeffb2"},
+    {file = "typing_extensions-4.8.0-py3-none-any.whl", hash = "sha256:8f92fc8806f9a6b641eaa5318da32b44d401efaac0f6678c9bc448ba3605faa0"},
+    {file = "typing_extensions-4.8.0.tar.gz", hash = "sha256:df8e4339e9cb77357558cbdbceca33c303714cf861d1eef15e1070055ae8b7ef"},
 ]
 
 [[package]]
@@ -4208,145 +4851,191 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "2.0.4"
+version = "2.1.0"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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+    {file = "yarl-1.9.3-py3-none-any.whl", hash = "sha256:271d63396460b6607b588555ea27a1a02b717ca2e3f2cf53bdde4013d7790929"},
+    {file = "yarl-1.9.3.tar.gz", hash = "sha256:4a14907b597ec55740f63e52d7fee0e9ee09d5b9d57a4f399a7423268e457b57"},
 ]
 
 [package.dependencies]
 idna = ">=2.0"
 multidict = ">=4.0"
 
+[[package]]
+name = "zipp"
+version = "3.17.0"
+description = "Backport of pathlib-compatible object wrapper for zip files"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
+    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
+]
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "f8caec155fce3e3f41d961eb35919c3132e73c518324850839957d1020cf709f"
+content-hash = "f0abc0f53443c3b98eb06fc4dd0ff736e39197bc68c79db9aeffb4736657b676"
diff --git a/pyproject.toml b/pyproject.toml
index 6555c7d5c3..1426905d06 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,10 +1,32 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+cpp_files = "test_*"
+cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
-  "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
+  "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
+  "tici: tests that are only meant to run on the C3/C3X",
+]
+testpaths = [
+  "common",
+  "selfdrive/athena",
+  "selfdrive/boardd",
+  "selfdrive/car",
+  "selfdrive/controls",
+  "selfdrive/locationd",
+  "selfdrive/monitoring",
+  "selfdrive/thermald",
+  "selfdrive/test/longitudinal_maneuvers",
+  "system/hardware/tici",
+  "system/loggerd",
+  "system/proclogd",
+  "system/tests",
+  "system/ubloxd",
+  "tools/lib/tests",
+  "tools/replay",
+  "tools/cabana"
 ]
 
 [tool.mypy]
@@ -17,8 +39,6 @@ exclude = [
   "cereal/",
   "opendbc/",
   "panda/",
-  "laika/",
-  "laika_repo/",
   "rednose/",
   "rednose_repo/",
   "tinygrad/",
@@ -61,15 +81,14 @@ crcmod = "*"
 cryptography = "*"
 Cython = "*"
 future-fstrings = "*"  # for acados
-hatanaka = "==2.4"
 hexdump = "*"
 Jinja2 = "*"
 json-rpc = "*"
 libusb1 = "*"
 numpy = "*"
 onnx = ">=1.14.0"
+onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" }
 onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
-pillow = "*"
 psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
@@ -88,11 +107,9 @@ setproctitle = "*"
 smbus2 = "*"
 sounddevice = "*"
 spidev = { version = "*", platform = "linux" }
-spidev2 = { version = "*", platform = "linux" }
 sympy = "*"
 timezonefinder = "*"
 tqdm = "*"
-urllib3 = "*"
 websocket_client = "*"
 polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
@@ -103,15 +120,15 @@ av = "*"
 azure-identity = "*"
 azure-storage-blob = "*"
 breathe = "*"
-carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
-hypothesis = "==6.46.7"
+hypothesis = "~6.47"
 inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -122,13 +139,17 @@ parameterized = "^0.8"
 pprofile = "*"
 pre-commit = "*"
 pygame = "*"
+pympler = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
+pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
+pytest-random-order = "*"
+ruff = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
@@ -136,13 +157,19 @@ sphinx-sitemap = "*"
 tabulate = "*"
 tenacity = "*"
 types-atomicwrites = "*"
-types-certifi = "*"
 types-pycurl = "*"
 types-PyYAML = "*"
 types-requests = "*"
 types-tabulate = "*"
-pyqt5 = { version = "*", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
 
+# this is only pinned since 5.15.11 is broken
+pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
+
+[tool.poetry.group.carla]
+optional = true
+
+[tool.poetry.group.carla.dependencies]
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 
 [build-system]
 requires = ["poetry-core"]
@@ -150,16 +177,24 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
   "panda",
   "opendbc",
-  "laika_repo",
   "rednose_repo",
   "tinygrad_repo",
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.flake8-tidy-imports.banned-api]
+"selfdrive".msg = "Use openpilot.selfdrive"
+"common".msg = "Use openpilot.common"
+"system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
+"tools".msg = "Use openpilot.tools"
+
+[tool.coverage.run]
+concurrency = ["multiprocessing", "thread"]
\ No newline at end of file
diff --git a/rednose_repo b/rednose_repo
index e32658ed91..44e8a891a2 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit e32658ed9164d6e8dde882c05c5ece9707acde82
+Subproject commit 44e8a891a2810f274a1fa980775155d9463e87b9
diff --git a/release/files_common b/release/files_common
index 54aece8530..cfc3830e0d 100644
--- a/release/files_common
+++ b/release/files_common
@@ -6,6 +6,7 @@ launch_openpilot.sh
 
 Jenkinsfile
 SConstruct
+pyproject.toml
 
 README.md
 RELEASES.md
@@ -71,7 +72,6 @@ selfdrive/__init__.py
 selfdrive/sentry.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
-selfdrive/rtshield.py
 selfdrive/statsd.py
 
 system/logmessaged.py
@@ -133,10 +133,6 @@ selfdrive/car/tesla/*.py
 selfdrive/car/toyota/*.py
 selfdrive/car/volkswagen/*.py
 
-system/clocksd/.gitignore
-system/clocksd/SConscript
-system/clocksd/clocksd.cc
-
 selfdrive/debug/can_printer.py
 selfdrive/debug/check_freq.py
 selfdrive/debug/dump.py
@@ -167,7 +163,6 @@ common/ratekeeper.h
 common/watchdog.cc
 common/watchdog.h
 
-common/modeldata.h
 common/mat.h
 common/timing.h
 
@@ -201,14 +196,13 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
-selfdrive/hardware
-
 system/__init__.py
 
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
 system/hardware/hw.h
+system/hardware/hw.py
 system/hardware/tici/__init__.py
 system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
@@ -219,6 +213,7 @@ system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater
 system/hardware/tici/iwlist.py
+system/hardware/tici/esim.nmconnection
 system/hardware/pc/__init__.py
 system/hardware/pc/hardware.h
 system/hardware/pc/hardware.py
@@ -232,22 +227,20 @@ system/ubloxd/*.cc
 selfdrive/locationd/__init__.py
 selfdrive/locationd/SConscript
 selfdrive/locationd/.gitignore
-selfdrive/locationd/laikad.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
 selfdrive/locationd/models/__init__.py
 selfdrive/locationd/models/.gitignore
 selfdrive/locationd/models/car_kf.py
-selfdrive/locationd/models/gnss_kf.py
 selfdrive/locationd/models/live_kf.py
 selfdrive/locationd/models/live_kf.h
 selfdrive/locationd/models/live_kf.cc
 selfdrive/locationd/models/constants.py
-selfdrive/locationd/models/gnss_helpers.py
 
 selfdrive/locationd/torqued.py
 selfdrive/locationd/calibrationd.py
+selfdrive/locationd/helpers.py
 
 system/logcatd/.gitignore
 system/logcatd/SConscript
@@ -286,7 +279,6 @@ system/sensord/SConscript
 system/sensord/sensors_qcom2.cc
 system/sensord/sensors/*.cc
 system/sensord/sensors/*.h
-system/sensord/sensord
 system/sensord/pigeond.py
 
 selfdrive/thermald/thermald.py
@@ -299,6 +291,7 @@ selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
 selfdrive/test/test_time_to_onroad.py
+selfdrive/test/pytest-tici.ini
 
 selfdrive/ui/.gitignore
 selfdrive/ui/SConscript
@@ -360,12 +353,13 @@ selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.py
-selfdrive/modeld/navmodeld.cc
-selfdrive/modeld/dmonitoringmodeld.cc
+selfdrive/modeld/parse_model_outputs.py
+selfdrive/modeld/fill_model_msg.py
+selfdrive/modeld/get_model_metadata.py
+selfdrive/modeld/navmodeld.py
+selfdrive/modeld/dmonitoringmodeld.py
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
-selfdrive/modeld/navmodeld
-selfdrive/modeld/dmonitoringmodeld
 
 selfdrive/modeld/models/__init__.py
 selfdrive/modeld/models/*.pxd
@@ -374,16 +368,10 @@ selfdrive/modeld/models/*.pyx
 selfdrive/modeld/models/commonmodel.cc
 selfdrive/modeld/models/commonmodel.h
 
-selfdrive/modeld/models/driving.cc
-selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/supercombo.onnx
 
-selfdrive/modeld/models/dmonitoring.cc
-selfdrive/modeld/models/dmonitoring.h
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
-selfdrive/modeld/models/nav.cc
-selfdrive/modeld/models/nav.h
 selfdrive/modeld/models/navmodel_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc
@@ -456,9 +444,9 @@ third_party/qt5/larch64/bin/**
 scripts/update_now.sh
 scripts/stop_updater.sh
 
+rednose_repo/site_scons/site_tools/rednose_filter.py
 rednose/.gitignore
 rednose/**
-laika/**
 
 body/.gitignore
 body/board/SConscript
@@ -594,14 +582,21 @@ opendbc/tesla_can.dbc
 opendbc/tesla_radar.dbc
 opendbc/tesla_powertrain.dbc
 
-tinygrad_repo/openpilot/compile.py
+tinygrad_repo/openpilot/compile2.py
 tinygrad_repo/extra/onnx.py
 tinygrad_repo/extra/onnx_ops.py
 tinygrad_repo/extra/thneed.py
 tinygrad_repo/extra/utils.py
-tinygrad_repo/tinygrad/codegen/ast.py
-tinygrad_repo/tinygrad/codegen/gpu.py
+tinygrad_repo/tinygrad/codegen/kernel.py
+tinygrad_repo/tinygrad/codegen/linearizer.py
+tinygrad_repo/tinygrad/features/image.py
+tinygrad_repo/tinygrad/features/search.py
 tinygrad_repo/tinygrad/nn/*
+tinygrad_repo/tinygrad/renderer/cstyle.py
+tinygrad_repo/tinygrad/renderer/opencl.py
+tinygrad_repo/tinygrad/runtime/lib.py
+tinygrad_repo/tinygrad/runtime/ops_cpu.py
+tinygrad_repo/tinygrad/runtime/ops_disk.py
 tinygrad_repo/tinygrad/runtime/ops_gpu.py
 tinygrad_repo/tinygrad/shape/*
 tinygrad_repo/tinygrad/*.py
diff --git a/release/files_tici b/release/files_tici
index ab49de34f6..1e5adab498 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -12,7 +12,7 @@ system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl
 
-system/sensord/rawgps/*
+system/qcomgpsd/*
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
index 59b5724a68..3189cd7cc1 100755
--- a/scripts/code_stats.py
+++ b/scripts/code_stats.py
@@ -13,7 +13,7 @@ for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
       if f.endswith(".py"):
         pyf.append(os.path.join(root, f))
 
-imps = set()
+imps: set[str] = set()
 
 class Analyzer(ast.NodeVisitor):
   def visit_Import(self, node):
diff --git a/scripts/dump_pll.c b/scripts/dump_pll.c
deleted file mode 100644
index 3e2190235a..0000000000
--- a/scripts/dump_pll.c
+++ /dev/null
@@ -1,59 +0,0 @@
-#include <stdio.h>
-#include <fcntl.h>
-#include <sys/mman.h>
-
-void hexdump(uint32_t *d, int l) {
-  for (int i = 0; i < l; i++) {
-    if (i%0x10 == 0 && i != 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-/* Power cluster primary PLL */
-#define C0_PLL_MODE         0x0
-#define C0_PLL_L_VAL        0x4
-#define C0_PLL_ALPHA        0x8
-#define C0_PLL_USER_CTL    0x10
-#define C0_PLL_CONFIG_CTL  0x18
-#define C0_PLL_CONFIG_CTL_HI 0x1C
-#define C0_PLL_STATUS      0x28
-#define C0_PLL_TEST_CTL_LO 0x20
-#define C0_PLL_TEST_CTL_HI 0x24
-
-/* Power cluster alt PLL */
-#define C0_PLLA_MODE        0x100
-#define C0_PLLA_L_VAL       0x104
-#define C0_PLLA_ALPHA       0x108
-#define C0_PLLA_USER_CTL    0x110
-#define C0_PLLA_CONFIG_CTL  0x118
-#define C0_PLLA_STATUS      0x128
-#define C0_PLLA_TEST_CTL_LO 0x120
-
-#define APC_DIAG_OFFSET 0x48
-#define CLK_CTL_OFFSET 0x44
-#define MUX_OFFSET 0x40
-#define MDD_DROOP_CODE 0x7c
-#define SSSCTL_OFFSET 0x160
-#define PSCTL_OFFSET 0x164
-
-int main() {
-  int fd = open("/dev/mem", O_RDWR);
-  volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000);
-  volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000);
-  volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000);
-  while (1) {
-    printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n",
-        mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4],
-        mb[C0_PLL_USER_CTL/4], mb[C0_PLL_CONFIG_CTL/4], mb[C0_PLL_CONFIG_CTL_HI/4],
-        mb[C0_PLL_STATUS/4], mb[C0_PLL_TEST_CTL_LO/4], mb[C0_PLL_TEST_CTL_HI/4]);
-    printf("  MUX_OFFSET:%x CLK_CTL_OFFSET:%x APC_DIAG_OFFSET:%x MDD_DROOP_CODE:%x\n",
-        mb[MUX_OFFSET/4], mb[CLK_CTL_OFFSET/4], mb[APC_DIAG_OFFSET/4], mb[MDD_DROOP_CODE/4]);
-    printf("  PLLA MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x STATUS:%x TEST_CTL_LO:%x SSSCTL_OFFSET:%x PSCTL_OFFSET:%x\n",
-        mb[C0_PLLA_MODE/4], mb[C0_PLLA_L_VAL/4], mb[C0_PLLA_ALPHA/4], mb[C0_PLLA_USER_CTL/4],
-        mb[C0_PLLA_CONFIG_CTL/4], mb[C0_PLLA_STATUS/4], mb[C0_PLLA_TEST_CTL_LO/4],
-        mb[SSSCTL_OFFSET/4], mb[PSCTL_OFFSET/4]);
-    usleep(1000*100);
-  }
-}
-
diff --git a/selfdrive/assets/fonts/Inter-Black.ttf b/selfdrive/assets/fonts/Inter-Black.ttf
index 5653757735..6bfd108896 100644
Binary files a/selfdrive/assets/fonts/Inter-Black.ttf and b/selfdrive/assets/fonts/Inter-Black.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Bold.ttf b/selfdrive/assets/fonts/Inter-Bold.ttf
index e98b84ce87..240f73d344 100644
Binary files a/selfdrive/assets/fonts/Inter-Bold.ttf and b/selfdrive/assets/fonts/Inter-Bold.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-ExtraBold.ttf b/selfdrive/assets/fonts/Inter-ExtraBold.ttf
index 7f16a0f0f5..8cb343bc40 100644
Binary files a/selfdrive/assets/fonts/Inter-ExtraBold.ttf and b/selfdrive/assets/fonts/Inter-ExtraBold.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-ExtraLight.ttf b/selfdrive/assets/fonts/Inter-ExtraLight.ttf
index 69426a3eb5..9ab6117be9 100644
Binary files a/selfdrive/assets/fonts/Inter-ExtraLight.ttf and b/selfdrive/assets/fonts/Inter-ExtraLight.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Light.ttf b/selfdrive/assets/fonts/Inter-Light.ttf
index a5f073690d..a09fccdb3d 100644
Binary files a/selfdrive/assets/fonts/Inter-Light.ttf and b/selfdrive/assets/fonts/Inter-Light.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Medium.ttf b/selfdrive/assets/fonts/Inter-Medium.ttf
index 721147d831..e3a0591ed1 100644
Binary files a/selfdrive/assets/fonts/Inter-Medium.ttf and b/selfdrive/assets/fonts/Inter-Medium.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Regular.ttf b/selfdrive/assets/fonts/Inter-Regular.ttf
index 96fd6a12d0..3d153fa567 100644
Binary files a/selfdrive/assets/fonts/Inter-Regular.ttf and b/selfdrive/assets/fonts/Inter-Regular.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-SemiBold.ttf b/selfdrive/assets/fonts/Inter-SemiBold.ttf
index ddb279290b..ec7ef519d0 100644
Binary files a/selfdrive/assets/fonts/Inter-SemiBold.ttf and b/selfdrive/assets/fonts/Inter-SemiBold.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Thin.ttf b/selfdrive/assets/fonts/Inter-Thin.ttf
index 76be6252b9..abcfac0b75 100644
Binary files a/selfdrive/assets/fonts/Inter-Thin.ttf and b/selfdrive/assets/fonts/Inter-Thin.ttf differ
diff --git a/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf b/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
index a6ba5529af..34cd543d94 100644
Binary files a/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf and b/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf differ
diff --git a/selfdrive/assets/training/step0.png b/selfdrive/assets/training/step0.png
index 3c2c5c72a0..fb869e317d 100644
Binary files a/selfdrive/assets/training/step0.png and b/selfdrive/assets/training/step0.png differ
diff --git a/selfdrive/assets/training/step1.png b/selfdrive/assets/training/step1.png
index 0857893118..8bd9fbaa67 100644
Binary files a/selfdrive/assets/training/step1.png and b/selfdrive/assets/training/step1.png differ
diff --git a/selfdrive/assets/training/step10.png b/selfdrive/assets/training/step10.png
index 2941316d17..da71f97e83 100644
Binary files a/selfdrive/assets/training/step10.png and b/selfdrive/assets/training/step10.png differ
diff --git a/selfdrive/assets/training/step11.png b/selfdrive/assets/training/step11.png
index 7a7c72e3df..aa3791304e 100644
Binary files a/selfdrive/assets/training/step11.png and b/selfdrive/assets/training/step11.png differ
diff --git a/selfdrive/assets/training/step12.png b/selfdrive/assets/training/step12.png
index 0d6f64eb84..745a8d0553 100644
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diff --git a/selfdrive/assets/training/step13.png b/selfdrive/assets/training/step13.png
index 565e02fa3f..68638ffec1 100644
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diff --git a/selfdrive/assets/training/step14.png b/selfdrive/assets/training/step14.png
index 225231cbaa..2f5956b1ff 100644
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diff --git a/selfdrive/assets/training/step15.png b/selfdrive/assets/training/step15.png
index 929c759b26..798e01d00a 100644
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diff --git a/selfdrive/assets/training/step16.png b/selfdrive/assets/training/step16.png
index 161af863aa..2728814181 100644
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diff --git a/selfdrive/assets/training/step17.png b/selfdrive/assets/training/step17.png
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diff --git a/selfdrive/assets/training/step18.png b/selfdrive/assets/training/step18.png
index 0e3b64bab5..8149e79364 100644
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diff --git a/selfdrive/assets/training/step2.png b/selfdrive/assets/training/step2.png
index 55814b8ef9..35d65c9b01 100644
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diff --git a/selfdrive/assets/training/step3.png b/selfdrive/assets/training/step3.png
index 831095b0ae..0d3a6bbecb 100644
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diff --git a/selfdrive/assets/training/step4.png b/selfdrive/assets/training/step4.png
index 5433034939..1d4da570b1 100644
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diff --git a/selfdrive/assets/training/step5.png b/selfdrive/assets/training/step5.png
index 7191b63a0c..1ce43e28dc 100644
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diff --git a/selfdrive/assets/training/step6.png b/selfdrive/assets/training/step6.png
index 8eafd4a198..d0e06469c7 100644
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diff --git a/selfdrive/assets/training/step7.png b/selfdrive/assets/training/step7.png
index 502f5f1b2e..63e6e27e07 100644
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diff --git a/selfdrive/assets/training/step8.png b/selfdrive/assets/training/step8.png
index 77ff9d7368..de881446dc 100644
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diff --git a/selfdrive/assets/training/step9.png b/selfdrive/assets/training/step9.png
index 84eae3a066..43ca1d03df 100644
Binary files a/selfdrive/assets/training/step9.png and b/selfdrive/assets/training/step9.png differ
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 15088f69b1..423479517c 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -20,7 +20,7 @@ from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
 from queue import Queue
-from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
+from typing import Callable, Dict, List, Optional, Set, Union, cast
 
 import requests
 from jsonrpc import JSONRPCResponseManager, dispatcher
@@ -29,18 +29,16 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
-from openpilot.common.basedir import PERSIST
 from openpilot.common.file_helpers import CallbackReader
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC, AGNOS
-from openpilot.system.loggerd.config import ROOT
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.selfdrive.statsd import STATS_DIR
-from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog
+from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.system.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -75,7 +73,7 @@ class UploadFile:
   allow_cellular: bool
 
   @classmethod
-  def from_dict(cls, d: Dict) -> UploadFile:
+  def from_dict(cls, d: dict) -> UploadFile:
     return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False))
 
 
@@ -92,7 +90,7 @@ class UploadItem:
   allow_cellular: bool = False
 
   @classmethod
-  def from_dict(cls, d: Dict) -> UploadItem:
+  def from_dict(cls, d: dict) -> UploadItem:
     return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"],
                d["progress"], d["allow_cellular"])
 
@@ -119,12 +117,11 @@ class AbortTransferException(Exception):
 
 
 class UploadQueueCache:
-  params = Params()
 
   @staticmethod
   def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
-      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      upload_queue_json = Params().get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
           upload_queue.put(UploadItem.from_dict(item))
@@ -136,7 +133,7 @@ class UploadQueueCache:
     try:
       queue: List[Optional[UploadItem]] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -291,26 +288,22 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
     compress = True
 
   with open(path, "rb") as f:
-    data: BinaryIO
+    content = f.read()
     if compress:
       cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      compressed = bz2.compress(f.read())
-      size = len(compressed)
-      data = io.BytesIO(compressed)
-    else:
-      size = os.fstat(f.fileno()).st_size
-      data = f
+      content = bz2.compress(content)
 
+  with io.BytesIO(content) as data:
     return requests.put(upload_item.url,
-                        data=CallbackReader(data, callback, size) if callback else data,
-                        headers={**upload_item.headers, 'Content-Length': str(size)},
+                        data=CallbackReader(data, callback, len(content)) if callback else data,
+                        headers={**upload_item.headers, 'Content-Length': str(len(content))},
                         timeout=30)
 
 
 # security: user should be able to request any message from their car
 @dispatcher.add_method
-def getMessage(service: str, timeout: int = 1000) -> Dict:
-  if service is None or service not in service_list:
+def getMessage(service: str, timeout: int = 1000) -> dict:
+  if service is None or service not in SERVICE_LIST:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)
@@ -320,7 +313,7 @@ def getMessage(service: str, timeout: int = 1000) -> Dict:
     raise TimeoutError
 
   # this is because capnp._DynamicStructReader doesn't have typing information
-  return cast(Dict, ret.to_dict())
+  return cast(dict, ret.to_dict())
 
 
 @dispatcher.add_method
@@ -352,7 +345,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, ROOT)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
@@ -367,7 +360,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> List[str]:
-  return scan_dir(ROOT, prefix)
+  return scan_dir(Paths.log_root(), prefix)
 
 
 @dispatcher.add_method
@@ -408,7 +401,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(ROOT, file.fn)
+    path = os.path.join(Paths.log_root(), file.fn)
     if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
       failed.append(file.fn)
       continue
@@ -460,11 +453,6 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]
   return {"success": 1}
 
 
-@dispatcher.add_method
-def primeActivated(activated: bool) -> Dict[str, int]:
-  return {"success": 1}
-
-
 @dispatcher.add_method
 def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]:
   if not AGNOS:
@@ -512,10 +500,10 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
 
 @dispatcher.add_method
 def getPublicKey() -> Optional[str]:
-  if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
+  if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
     return None
 
-  with open(PERSIST + '/comma/id_rsa.pub') as f:
+  with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
     return f.read()
 
 
@@ -572,8 +560,8 @@ def get_logs_to_send_sorted() -> List[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
-  for log_entry in os.listdir(SWAGLOG_DIR):
-    log_path = os.path.join(SWAGLOG_DIR, log_entry)
+  for log_entry in os.listdir(Paths.swaglog_root()):
+    log_path = os.path.join(Paths.swaglog_root(), log_entry)
     time_sent = 0
     try:
       value = getxattr(log_path, LOG_ATTR_NAME)
@@ -608,7 +596,7 @@ def log_handler(end_event: threading.Event) -> None:
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
           curr_time = int(time.time())
-          log_path = os.path.join(SWAGLOG_DIR, log_entry)
+          log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:
             jsonrpc = {
@@ -635,7 +623,7 @@ def log_handler(end_event: threading.Event) -> None:
           log_success = "result" in log_resp and log_resp["result"].get("success")
           cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
           if log_entry and log_success:
-            log_path = os.path.join(SWAGLOG_DIR, log_entry)
+            log_path = os.path.join(Paths.swaglog_root(), log_entry)
             try:
               setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
             except OSError:
@@ -651,6 +639,7 @@ def log_handler(end_event: threading.Event) -> None:
 
 
 def stat_handler(end_event: threading.Event) -> None:
+  STATS_DIR = Paths.stats_root()
   while not end_event.is_set():
     last_scan = 0.
     curr_scan = time.monotonic()
diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py
index 0ab69371c2..7467e7fa86 100755
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@@ -9,9 +9,9 @@ from datetime import datetime, timedelta
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
-from openpilot.common.basedir import PERSIST
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 
 
@@ -32,7 +32,7 @@ def register(show_spinner=False) -> Optional[str]:
   dongle_id: Optional[str] = params.get("DongleId", encoding='utf8')
   needs_registration = None in (IMEI, HardwareSerial, dongle_id)
 
-  pubkey = Path(PERSIST+"/comma/id_rsa.pub")
+  pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
   if not pubkey.is_file():
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning(f"missing public key: {pubkey}")
@@ -42,7 +42,7 @@ def register(show_spinner=False) -> Optional[str]:
       spinner.update("registering device")
 
     # Create registration token, in the future, this key will make JWTs directly
-    with open(PERSIST+"/comma/id_rsa.pub") as f1, open(PERSIST+"/comma/id_rsa") as f2:
+    with open(Paths.persist_root()+"/comma/id_rsa.pub") as f1, open(Paths.persist_root()+"/comma/id_rsa") as f2:
       public_key = f1.read()
       private_key = f2.read()
 
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index f32df74217..8829ebfbf1 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -1,28 +1,28 @@
 #!/usr/bin/env python3
 import json
+import multiprocessing
 import os
 import requests
 import shutil
-import tempfile
 import time
 import threading
 import queue
 import unittest
 from dataclasses import asdict, replace
 from datetime import datetime, timedelta
+from parameterized import parameterized
 from typing import Optional
 
-from multiprocessing import Process
-from pathlib import Path
+from pympler.tracker import SummaryTracker
 from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from openpilot.system import swaglog
 from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
+from openpilot.system.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):
@@ -30,8 +30,6 @@ class TestAthenadMethods(unittest.TestCase):
   def setUpClass(cls):
     cls.SOCKET_PORT = 45454
     athenad.Params = MockParams
-    athenad.ROOT = tempfile.mkdtemp()
-    athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
@@ -41,13 +39,14 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.cur_upload_items.clear()
     athenad.cancelled_uploads.clear()
 
-    for i in os.listdir(athenad.ROOT):
-      p = os.path.join(athenad.ROOT, i)
+    for i in os.listdir(Paths.log_root()):
+      p = os.path.join(Paths.log_root(), i)
       if os.path.isdir(p):
         shutil.rmtree(p)
       else:
         os.unlink(p)
 
+    dispatcher["listUploadQueue"]() # ensure queue is empty at start
 
   # *** test helpers ***
 
@@ -59,10 +58,11 @@ class TestAthenadMethods(unittest.TestCase):
         break
 
   @staticmethod
-  def _create_file(file: str, parent: Optional[str] = None) -> str:
-    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+  def _create_file(file: str, parent: Optional[str] = None, data: bytes = b'') -> str:
+    fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
-    Path(fn).touch()
+    with open(fn, 'wb') as f:
+      f.write(data)
     return fn
 
 
@@ -75,24 +75,25 @@ class TestAthenadMethods(unittest.TestCase):
     with self.assertRaises(TimeoutError) as _:
       dispatcher["getMessage"]("controlsState")
 
-    def send_deviceState():
-      messaging.context = messaging.Context()
-      pub_sock = messaging.pub_sock("deviceState")
-      start = time.time()
+    end_event = multiprocessing.Event()
+
+    pub_sock = messaging.pub_sock("deviceState")
 
-      while time.time() - start < 1:
+    def send_deviceState():
+      while not end_event.is_set():
         msg = messaging.new_message('deviceState')
         pub_sock.send(msg.to_bytes())
         time.sleep(0.01)
 
-    p = Process(target=send_deviceState)
+    p = multiprocessing.Process(target=send_deviceState)
     p.start()
     time.sleep(0.1)
     try:
       deviceState = dispatcher["getMessage"]("deviceState")
       assert deviceState['deviceState']
     finally:
-      p.terminate()
+      end_event.set()
+      p.join()
 
   def test_listDataDirectory(self):
     route = '2021-03-29--13-32-47'
@@ -139,19 +140,31 @@ class TestAthenadMethods(unittest.TestCase):
     if fn.endswith('.bz2'):
       self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
-
+  @parameterized.expand([(True,), (False,)])
   @with_http_server
-  def test_do_upload(self, host):
-    fn = self._create_file('qlog.bz2')
+  def test_do_upload(self, compress, host):
+    # random bytes to ensure rather large object post-compression
+    fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
-    item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
+    # warm up object tracker
+    tracker = SummaryTracker()
+    for _ in range(5):
+      tracker.diff()
+
+    upload_fn = fn + ('.bz2' if compress else '')
+    item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
     with self.assertRaises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
     resp = athenad._do_upload(item)
     self.assertEqual(resp.status_code, 201)
 
+    # assert memory cleaned up
+    for _type, num_objects, total_size in tracker.diff():
+      with self.subTest(_type=_type):
+        self.assertLess(total_size / 1024, 10, f'Object {_type} ({num_objects=}) grew larger than 10 kB while uploading file')
+
   @with_http_server
   def test_uploadFileToUrl(self, host):
     fn = self._create_file('qlog.bz2')
@@ -417,7 +430,7 @@ class TestAthenadMethods(unittest.TestCase):
     fl = list()
     for i in range(10):
       file = f'swaglog.{i:010}'
-      self._create_file(file, athenad.SWAGLOG_DIR)
+      self._create_file(file, Paths.swaglog_root())
       fl.append(file)
 
     # ensure the list is all logs except most recent
diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py
index 3ec7cb115c..2958ec2262 100755
--- a/selfdrive/athena/tests/test_athenad_ping.py
+++ b/selfdrive/athena/tests/test_athenad_ping.py
@@ -40,8 +40,6 @@ class TestAthenadPing(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls) -> None:
-    cls.params = Params()
-    cls.dongle_id = cls.params.get("DongleId", encoding="utf-8")
     cls._create_connection = athenad.create_connection
     athenad.create_connection = MagicMock(wraps=cls._create_connection)
 
@@ -51,6 +49,9 @@ class TestAthenadPing(unittest.TestCase):
     athenad.create_connection = cls._create_connection
 
   def setUp(self) -> None:
+    self.params = Params()
+    self.dongle_id = self.params.get("DongleId", encoding="utf-8")
+
     wifi_radio(True)
     self._clear_ping_time()
 
diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py
index 195fca2df9..e7ad63a370 100755
--- a/selfdrive/athena/tests/test_registration.py
+++ b/selfdrive/athena/tests/test_registration.py
@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
 import json
-import os
-import tempfile
 import unittest
 from Crypto.PublicKey import RSA
 from pathlib import Path
@@ -10,6 +8,7 @@ from unittest import mock
 from openpilot.common.params import Params
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.selfdrive.athena.tests.helpers import MockResponse
+from openpilot.system.hardware.hw import Paths
 
 
 class TestRegistration(unittest.TestCase):
@@ -19,16 +18,11 @@ class TestRegistration(unittest.TestCase):
     self.params = Params()
     self.params.clear_all()
 
-    self.persist = tempfile.TemporaryDirectory()
-    os.mkdir(os.path.join(self.persist.name, "comma"))
-    self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa"))
-    self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub"))
-    self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name)
-    self.persist_patcher.start()
+    persist_dir = Path(Paths.persist_root()) / "comma"
+    persist_dir.mkdir(parents=True, exist_ok=True)
 
-  def tearDown(self):
-    self.persist_patcher.stop()
-    self.persist.cleanup()
+    self.priv_key = persist_dir / "id_rsa"
+    self.pub_key = persist_dir / "id_rsa.pub"
 
   def _generate_keys(self):
     self.pub_key.touch()
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index b64a81296e..0ec33c1a27 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -472,12 +472,15 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
   LOGD("start panda state thread");
 
-  // run at 2hz
-  RateKeeper rk("panda_state_thread", 2);
+  // run at 10hz
+  RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    // send out peripheralState at 2Hz
+    if (sm.frame % 5 == 0) {
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
     auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index e614432fad..14d272965d 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -3,7 +3,6 @@
 import os
 import usb1
 import time
-import json
 import subprocess
 from typing import List, NoReturn
 from functools import cmp_to_key
@@ -24,49 +23,6 @@ def get_expected_signature(panda: Panda) -> bytes:
     cloudlog.exception("Error computing expected signature")
     return b""
 
-def read_panda_logs(panda: Panda) -> None:
-  """
-    Forward panda logs to the cloud
-  """
-
-  params = Params()
-  serial = panda.get_usb_serial()
-
-  log_state = {}
-  try:
-    l = json.loads(params.get("PandaLogState"))
-    for k, v in l.items():
-      if isinstance(k, str) and isinstance(v, int):
-        log_state[k] = v
-  except (TypeError, json.JSONDecodeError):
-    cloudlog.exception("failed to parse PandaLogState")
-
-  try:
-    if serial in log_state:
-      logs = panda.get_logs(last_id=log_state[serial])
-    else:
-      logs = panda.get_logs(get_all=True)
-
-    # truncate logs to 100 entries if needed
-    MAX_LOGS = 100
-    if len(logs) > MAX_LOGS:
-      cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
-      logs = logs[-MAX_LOGS:]
-
-    # update log state
-    if len(logs) > 0:
-      log_state[serial] = logs[-1]["id"]
-
-    for log in logs:
-      if log['timestamp'] is not None:
-        log['timestamp'] = log['timestamp'].isoformat()
-      cloudlog.event("panda_log", **log, serial=serial)
-
-    params.put("PandaLogState", json.dumps(log_state))
-  except Exception:
-    cloudlog.exception(f"Error getting logs for panda {serial}")
-
-
 def flash_panda(panda_serial: str) -> Panda:
   try:
     panda = Panda(panda_serial)
@@ -188,8 +144,9 @@ def main() -> NoReturn:
         if health["heartbeat_lost"]:
           params.put_bool("PandaHeartbeatLost", True)
           cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-
-        read_panda_logs(panda)
+        if health["som_reset_triggered"]:
+          params.put_bool("PandaSomResetTriggered", True)
+          cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
 
         if first_run:
           if panda.is_internal():
diff --git a/selfdrive/boardd/tests/test_boardd b/selfdrive/boardd/tests/test_boardd
deleted file mode 100755
index b4455ce67c..0000000000
Binary files a/selfdrive/boardd/tests/test_boardd and /dev/null differ
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index 30a4a9b868..4036766faa 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -1,14 +1,13 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import time
 import unittest
 
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
-from openpilot.common.params import Params
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.selfdrive.test.helpers import phone_only
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
@@ -16,11 +15,13 @@ from openpilot.system.hardware.tici.pins import GPIO
 HERE = os.path.dirname(os.path.realpath(__file__))
 
 
+@pytest.mark.tici
 class TestPandad(unittest.TestCase):
 
   def setUp(self):
-    self.params = Params()
-    self.start_log_state = self.params.get("PandaLogState")
+    # ensure panda is up
+    if len(Panda.list()) == 0:
+      self._run_test(60)
 
   def tearDown(self):
     managed_processes['pandad'].stop()
@@ -39,10 +40,6 @@ class TestPandad(unittest.TestCase):
     if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
-    # simple check that we did something with the panda logs
-    cur_log_state = self.params.get("PandaLogState")
-    assert cur_log_state != self.start_log_state
-
   def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
@@ -71,19 +68,16 @@ class TestPandad(unittest.TestCase):
 
     self._run_test(45)
 
-  @phone_only
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
     self._run_test(60)
 
-  @phone_only
   def test_in_bootstub(self):
     with Panda() as p:
       p.reset(enter_bootstub=True)
       assert p.bootstub
     self._run_test()
 
-  @phone_only
   def test_internal_panda_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_set(GPIO.STM_RST_N, 1)
@@ -93,28 +87,23 @@ class TestPandad(unittest.TestCase):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
-  @phone_only
   def test_best_case_startup_time(self):
     # run once so we're setup
-    self._run_test()
+    self._run_test(60)
 
     # should be fast this time
     self._run_test(8)
 
-  @phone_only
   def test_protocol_version_check(self):
     if HARDWARE.get_device_type() == 'tici':
-      self.skipTest("")
-
+      raise unittest.SkipTest("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)
 
-  @phone_only
   def test_release_to_devel_bootstub(self):
     self._flash_bootstub_and_test(None)
 
-  @phone_only
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
@@ -127,4 +116,4 @@ class TestPandad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main()
\ No newline at end of file
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index ef64f6aa1e..ab4d231fa7 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -10,7 +10,7 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
 # {{all_car_info | length}} Supported Cars
 
@@ -53,7 +53,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 ### FlexRay
 
-All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
 
 ### Toyota Security
 
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 89828a5cf5..c90ae50ab9 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -40,7 +40,7 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, ca
 
 
 def gen_empty_fingerprint():
-  return {i: {} for i in range(0, 8)}
+  return {i: {} for i in range(8)}
 
 
 # these params were derived for the Civic and used to calculate params for other cars
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index bf33eea38f..12a2d5f304 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 from cereal import car
 from openpilot.common.realtime import DT_CTRL
diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/body/radar_interface.py
+++ b/selfdrive/car/body/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index 56d9723818..ce811ad221 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -1,3 +1,4 @@
+from enum import StrEnum
 from typing import Dict
 
 from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   BODY = "COMMA BODY"
 
 
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 7017580368..5c1234258e 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -66,9 +66,8 @@ def load_interfaces(brand_names):
 def _get_interface_names() -> Dict[str, List[str]]:
   # returns a dict of brand name and its respective models
   brand_names = {}
-  for brand_name, model_names in get_interface_attr("CAR").items():
-    model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
-    brand_names[brand_name] = model_names
+  for brand_name, brand_models in get_interface_attr("CAR").items():
+    brand_names[brand_name] = [model.value for model in brand_models]
 
   return brand_names
 
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index a87759910b..10cdd0fd14 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase):
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019)
+      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019)
       new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
       if new_eps_platform or new_eps_firmware:
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
@@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00006
 
     # Jeep
-    elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
+    elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
       ret.mass = 1778
       ret.wheelbase = 2.71
       ret.steerRatio = 16.7
@@ -64,7 +64,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2493.
       ret.minSteerSpeed = 14.5
       # Older EPS FW allow steer to zero
-      if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
+      if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 657ada2706..cb1aa4a880 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,5 +1,5 @@
 # ruff: noqa: E501
-from enum import IntFlag
+from enum import IntFlag, StrEnum
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
@@ -16,7 +16,7 @@ class ChryslerFlags(IntFlag):
   HIGHER_MIN_STEERING_SPEED = 1
 
 
-class CAR:
+class CAR(StrEnum):
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
@@ -25,8 +25,8 @@ class CAR:
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
 
   # Jeep
-  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"   # includes 2017 Trailhawk
-  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
+  JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
+  JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
 
   # Ram
   RAM_1500 = "RAM 1500 5TH GEN"
@@ -73,11 +73,11 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
     ChryslerCarInfo("Chrysler Pacifica 2019-20"),
     ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
   ],
-  CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
+  CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
   CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
-    ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])),
+    ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
     ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
   ],
 }
@@ -131,14 +131,14 @@ FINGERPRINTS = {
   {
     168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
   }],
-  CAR.JEEP_CHEROKEE: [{
+  CAR.JEEP_GRAND_CHEROKEE: [{
     55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   },
     # Based on c88f65eeaee4003a|2022-08-04--15-37-16
   {
     257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
-  CAR.JEEP_CHEROKEE_2019: [{
+  CAR.JEEP_GRAND_CHEROKEE_2019: [{
     # Jeep Grand Cherokee 2019, including most 2020 models
     55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
@@ -185,7 +185,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
-  CAR.JEEP_CHEROKEE_2019: {
+  CAR.JEEP_GRAND_CHEROKEE_2019: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68402971AD',
     ],
@@ -272,6 +272,7 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x75A, None): [
       b'21590101AA',
+      b'21590101AB',
       b'68273275AF',
       b'68273275AG',
       b'68273275AH',
@@ -330,6 +331,7 @@ FW_VERSIONS = {
       b'68525487AB',
       b'68525498AB',
       b'68528791AF',
+      b'68628474AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68399794AC',
@@ -346,6 +348,7 @@ FW_VERSIONS = {
       b'68530686AB',
       b'68530686AC',
       b'68544596AC',
+      b'68641704AA',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672895AB',
@@ -355,6 +358,7 @@ FW_VERSIONS = {
       b'68462657AE',
       b'68484694AD',
       b'68484694AE',
+      b'68615489AB',
     ],
     (Ecu.eps, 0x761, None): [
       b'68421036AC',
@@ -365,6 +369,7 @@ FW_VERSIONS = {
       b'52370131AF',
       b'52370231AF',
       b'52370231AG',
+      b'52370491AA',
       b'52370931CT',
       b'52401032AE',
       b'52421132AF',
@@ -382,8 +387,8 @@ DBC = {
   CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
   CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
 }
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index 1a1252327f..c11075342c 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.system.swaglog import cloudlog
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 60f9494708..2e80dde010 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -114,7 +114,7 @@ class CarHarness(EnumBase):
   hyundai_r = BaseCarHarness("Hyundai R connector")
   custom = BaseCarHarness("Developer connector")
   obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
-  gm = BaseCarHarness("GM connector")
+  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
   nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
   nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
   mazda = BaseCarHarness("Mazda connector")
@@ -123,9 +123,9 @@ class CarHarness(EnumBase):
 
 
 class Device(EnumBase):
-  three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
-  # variant of comma three with angled mounts
-  three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
+  threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
+  # variant of comma 3X with angled mounts
+  threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
   red_panda = BasePart("red panda")
 
 
@@ -149,7 +149,7 @@ class PartType(Enum):
   tool = Tool
 
 
-DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
+DEFAULT_CAR_PARTS: List[EnumBase] = [Device.threex]
 
 
 @dataclass
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 755d7d1d00..3045c317ff 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index a166fc20dd..716c9b6e58 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 8968d1dc29..ef8708f01d 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,6 +1,6 @@
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -40,7 +40,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
@@ -78,7 +78,7 @@ class FordCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
-      self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3])
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
@@ -142,6 +142,7 @@ FW_VERSIONS = {
       b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.ESCAPE_MK4: {
@@ -254,6 +255,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x760, None): [
       b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -265,7 +267,10 @@ FW_VERSIONS = {
       b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
 }
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 8585e9f205..89c1a3596a 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -98,7 +98,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -135,7 +135,7 @@ class CarState(CarStateBase):
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
-      ("VehicleIgnitionAlt", 10),
+      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 9b5cae0961..a0defb7cfb 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -198,17 +198,22 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.ESCALADE_ESV:
+    elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.mass = 2739.
       ret.wheelbase = 3.302
       ret.steerRatio = 17.3
       ret.centerToFront = ret.wheelbase * 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
-      ret.lateralTuning.pid.kf = 0.000045
       ret.tireStiffnessFactor = 1.0
 
+      if candidate == CAR.ESCALADE_ESV:
+        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
+        ret.lateralTuning.pid.kf = 0.000045
+      else:
+        ret.steerActuatorDelay = 0.2
+        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     elif candidate == CAR.BOLT_EUV:
       ret.mass = 1669.
       ret.wheelbase = 2.63779
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index d12c21dc23..e9ec8de9c5 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -61,7 +61,7 @@ class CarControllerParams:
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
 
-class CAR:
+class CAR(StrEnum):
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
@@ -71,6 +71,7 @@ class CAR:
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE = "CADILLAC ESCALADE 2017"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
+  ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
   EQUINOX = "CHEVROLET EQUINOX 2019"
@@ -106,6 +107,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
   CAR.BOLT_EUV: [
     GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
     GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
@@ -198,6 +200,10 @@ FINGERPRINTS = {
   {
     309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
   }],
+  CAR.ESCALADE_ESV_2019: [
+  {
+    715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
+  }],
   CAR.BOLT_EUV: [
   {
     189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 403745bd42..38ba0f22fe 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -72,7 +72,7 @@ VISUAL_HUD = {
 }
 
 
-class CAR:
+class CAR(StrEnum):
   ACCORD = "HONDA ACCORD 2018"
   ACCORDH = "HONDA ACCORD HYBRID 2018"
   CIVIC = "HONDA CIVIC 2016"
@@ -129,8 +129,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
   CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -1358,6 +1358,7 @@ FW_VERSIONS = {
       b'78109-T6Z-A910\x00\x00',
       b'78109-T6Z-AA10\x00\x00',
       b'78109-T6Z-C620\x00\x00',
+      b'78109-T6Z-C910\x00\x00',
       b'78109-TJZ-A510\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
@@ -1518,6 +1519,7 @@ FW_VERSIONS = {
       b'77959-T47-A940\x00\x00',
       b'77959-T47-A950\x00\x00',
       b'77959-T20-M820\x00\x00',
+      b'77959-T20-A980\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18DA60F1, None): [
       b'78108-T21-A220\x00\x00',
@@ -1526,6 +1528,7 @@ FW_VERSIONS = {
       b'78108-T21-A230\x00\x00',
       b'78108-T22-A020\x00\x00',
       b'78108-T21-MB10\x00\x00',
+      b'78108-T21-A740\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T20-A070\x00\x00',
@@ -1553,6 +1556,7 @@ FW_VERSIONS = {
       b'37805-64A-A540\x00\x00',
       b'37805-64A-A620\x00\x00',
       b'37805-64D-P510\x00\x00',
+      b'37805-64S-AA10\x00\x00',
     ],
   },
 }
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index b4ff0e9e6e..edc9e4855f 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -105,15 +105,17 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
     else:
       ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
       ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
       ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
     ret.brake = 0
-    ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
+    ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2  # 2 includes regen braking by user on HEV/EV
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
@@ -130,12 +132,12 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
 
@@ -226,6 +228,13 @@ class CarState(CarStateBase):
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
+    # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
+    # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
+    # The car will brake, but does not respect positive acceleration commands in this mode
+    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
+    if self.CP.carFingerprint in EV_CAR:
+      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
+
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -276,12 +285,12 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      messages.append(("ELECT_GEAR", 20))
+    elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       pass
     elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       messages.append(("TCU12", 100))
-    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      messages.append(("ELECT_GEAR", 20))
     else:
       messages.append(("LVR12", 100))
 
@@ -320,6 +329,11 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if CP.carFingerprint in EV_CAR:
+      messages += [
+        ("MANUAL_SPEED_LIMIT_ASSIST", 10),
+      ]
+
     if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
       messages += [
         ("CRUISE_BUTTONS", 50)
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 0083974020..bc29aeb985 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                          CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                         CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 3c254597a1..26b3491358 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,11 +1,10 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
-                                         EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
-                                         Buttons
+                                         CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
+                                         UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -28,8 +27,8 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    # FIXME: the Optima Hybrid uses a different SCC12 checksum
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6}
+    # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
 
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
     CAN = CanBus(None, hda2, fingerprint)
@@ -65,7 +64,11 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+    if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
+      ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675.  # ICE is ~average of 2.5L and 3.5L
+      ret.wheelbase = 2.885
+      ret.steerRatio = 14.5
+    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.mass = 3982. * CV.LB_TO_KG
       ret.wheelbase = 2.766
       # Values from optimizer
@@ -85,7 +88,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       ret.tireStiffnessFactor = 0.63
-    elif candidate == CAR.ELANTRA:
+    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
       ret.mass = 1275.
       ret.wheelbase = 2.7
       ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
@@ -118,6 +121,11 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.385
       if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
+      ret.mass = 1948
+      ret.wheelbase = 2.97
+      ret.steerRatio = 14.26
+      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.VELOSTER:
       ret.mass = 2917. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -138,6 +146,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.000
       # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
       ret.steerRatio = 14.2
+    elif candidate == CAR.CUSTIN_1ST_GEN:
+      ret.mass = 1690.  # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
+      ret.wheelbase = 3.055
+      ret.steerRatio = 17.0  # from learner
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -159,7 +171,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1700.  # weight from SX and above trims, average of FWD and AWD versions
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6  # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
-    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
+    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
@@ -190,11 +202,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
       ret.tireStiffnessFactor = 0.65
-    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
-      ret.mass = 1948
-      ret.wheelbase = 2.97
-      ret.steerRatio = 14.26
-      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
       ret.mass = 1767.  # SX Prestige trim support only
       ret.wheelbase = 2.756
@@ -212,6 +219,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2087.
       ret.wheelbase = 3.09
       ret.steerRatio = 14.23
+    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
+      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
+      ret.wheelbase = 2.895
+      ret.steerRatio = 13.27  # guesstimate from K5 platform
 
     # Genesis
     elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
@@ -249,7 +260,8 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
+      ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
+                                               (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR))
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index e1cae9ffaf..5260050986 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 
 from cereal import car
@@ -9,6 +8,7 @@ from openpilot.selfdrive.car.hyundai.values import DBC
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
 
+# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
 
 def get_radar_can_parser(CP):
   if DBC[CP.carFingerprint]['radar'] is None:
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 39a9aaf627..dbf2b38615 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
+from hypothesis import settings, given, strategies as st
 import unittest
 
 from cereal import car
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
-                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
+                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
+                                         get_platform_codes
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
@@ -21,6 +23,7 @@ NO_DATES_PLATFORMS = {
   CAR.TUCSON_HYBRID_4TH_GEN,
   # CAN
   CAR.ELANTRA,
+  CAR.ELANTRA_GT_I30,
   CAR.KIA_CEED,
   CAR.KIA_FORTE,
   CAR.KIA_OPTIMA_G4,
@@ -36,7 +39,11 @@ NO_DATES_PLATFORMS = {
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
-  def test_canfd_not_in_can_features(self):
+  def test_can_features(self):
+    # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
+    self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
+
+    # Test CAN FD car not in CAN feature lists
     can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
     for car_model in CANFD_CAR:
       self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
@@ -56,7 +63,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     # Asserts no ECUs known to be shared across platforms exist in the database.
     # Tucson having Santa Cruz camera and EPS for example
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         if car_model == CAR.SANTA_CRUZ_1ST_GEN:
           raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
 
@@ -66,16 +73,38 @@ class TestHyundaiFingerprint(unittest.TestCase):
           part = code.split(b"-")[1]
           self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
 
+  def test_correct_ecu_response_database(self):
+    """
+    Assert standard responses for certain ECUs, since they can
+    respond to multiple queries with different data
+    """
+    expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for ecu, fws in ecus.items():
+          # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
+          if ecu[0] in (Ecu.fwdCamera,):
+            self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+                            f"FW from unexpected request in database: {(ecu, fws)}")
+
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    """Ensure function doesn't raise an exception"""
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
   def test_platform_code_ecus_available(self):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
           if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
             continue
@@ -90,7 +119,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     # - expected parsing of ECU FW dates
 
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
           if ecu[0] not in PLATFORM_CODE_ECUS:
             continue
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 979a9fca05..222213322f 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 import re
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
@@ -37,9 +37,9 @@ class CarControllerParams:
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
+                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
     # these cars have significantly more torque than most HKG; limit to 70% of max
@@ -67,9 +67,12 @@ class HyundaiFlags(IntFlag):
   CANFD_HDA2_ALT_STEERING = 512
 
 
-class CAR:
+class CAR(StrEnum):
   # Hyundai
+  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
+  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
   ELANTRA = "HYUNDAI ELANTRA 2017"
+  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
   ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
   HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
@@ -99,11 +102,13 @@ class CAR:
   TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
   TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
   SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
+  CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
   KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
+  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@@ -112,6 +117,7 @@ class CAR:
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
   KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
+  KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@@ -137,9 +143,9 @@ class CAR:
 
 class Footnote(Enum):
   CANFD = CarFootnote(
-    "Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
-    "for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
-    Column.MODEL, shop_footnote=True)
+    "Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
+    "comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
+    Column.MODEL, shop_footnote=False)
 
 
 @dataclass
@@ -152,8 +158,14 @@ class HyundaiCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
+  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.ELANTRA: [
-    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+    # TODO: 2017-18 could be Hyundai G
+    HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+    HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
+  ],
+  CAR.ELANTRA_GT_I30: [
     HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
     HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
@@ -173,17 +185,20 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
-  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])),
-  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+                               car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  # TODO: this is the 2024 US MY, not yet released
+  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                                      car_parts=CarParts.common([CarHarness.hyundai_r])),
+  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
+                               car_parts=CarParts.common([CarHarness.hyundai_d])),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_l])),
+                                    car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_a])),
+                             car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -201,24 +216,24 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   ],
   CAR.IONIQ_6: [
-    # TODO: unknown
-    HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
     HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
   ],
   CAR.TUCSON_4TH_GEN: [
     HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
     HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   ],
-  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
 
   # Kia
   CAR.KIA_FORTE: [
     HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
     HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
     HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -235,26 +250,25 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                                              car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+                                    car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
   CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KIA_OPTIMA_H: [
-    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
-    HyundaiCarInfo("Kia Optima Hybrid 2019"),
-  ],
+  # TODO: may support adjacent years. may have a non-zero minimum steering speed
+  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                    car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                   car_parts=CarParts.common([CarHarness.hyundai_e])),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
                                   car_parts=CarParts.common([CarHarness.hyundai_c])),
-  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.KIA_EV6: [
     HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
@@ -262,7 +276,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -290,9 +304,6 @@ class Buttons:
   CANCEL = 4  # on newer models, this is a pause/resume button
 
 FINGERPRINTS = {
-  CAR.ELANTRA: [{
-    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
   CAR.HYUNDAI_GENESIS: [{
     67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
   },
@@ -392,8 +403,8 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
   # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
-  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
-  candidates = set()
+  fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)}
+  candidates: Set[str] = set()
 
   for candidate, fws in FW_VERSIONS.items():
     # Keep track of ECUs which pass all checks (platform codes, within date range)
@@ -461,6 +472,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 # TODO: use abs, it has the platform code and part number on many platforms
 PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # So far we've only seen dates in fwdCamera
+# TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -524,6 +536,40 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.AZERA_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AZERA_HEV_6TH_GEN: {
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -578,11 +624,13 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -595,6 +643,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
+      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
     ],
   },
   CAR.IONIQ_EV_2020: {
@@ -918,6 +967,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
+      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -931,12 +981,15 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_G00',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
       b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x87           \xf1\x81           ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
@@ -990,20 +1043,45 @@ FW_VERSIONS = {
   CAR.SANTA_FE_PHEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391312MTF0',
+      b'\xf1\x87391312MTF1',
+    ],
+  },
+  CAR.CUSTIN_1ST_GEN: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KU__ SCC F-CUP      1.00 1.01 99110-O3000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00KU  MDPS C 1.00 1.01 56310/O3100 4KUCC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391212MEC0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
     ],
   },
   CAR.KIA_STINGER: {
@@ -1053,21 +1131,26 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
       b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5600         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x81HM6M1_0a0_H00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
+      b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
       b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.00 99211-J5500 210622',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1',
       b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
     ],
   },
@@ -1250,20 +1333,24 @@ FW_VERSIONS = {
   CAR.GENESIS_G80: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
+      b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
+      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
       b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
       b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
       b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.GENESIS_G90: {
@@ -1331,16 +1418,22 @@ FW_VERSIONS = {
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.04 99110-L2100         ',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
       b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
       b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
+      b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.05 99210-L3000 211222',
     ],
     (Ecu.abs, 0x7D1, None): [
       b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
@@ -1348,11 +1441,15 @@ FW_VERSIONS = {
       b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
       b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
       b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
+      b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
+      b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391212MKT0',
       b'\xf1\x87391212MKV0',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
+      b'\xf1\x81HM6M2_0a0_DQ0',
+      b'\xf1\x87391212MKT3',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
@@ -1361,6 +1458,8 @@ FW_VERSIONS = {
       b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
       b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+      b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed',
     ],
   },
   CAR.KIA_K5_HEV_2020: {
@@ -1369,15 +1468,18 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391162JLA0',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
     ],
   },
   CAR.KONA_EV: {
@@ -1413,21 +1515,24 @@ FW_VERSIONS = {
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
       b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-      # TODO: these return from the MULTI request, above return from LONG
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
+      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
+      b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
       b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
       b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
       b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
@@ -1597,7 +1702,45 @@ FW_VERSIONS = {
       b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
     ],
   },
+  CAR.KIA_OPTIMA_H_G4_FL: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JFhe SCC FHCUP      1.00 1.01 99110-A8500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.ELANTRA: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
+      b'\xf1\x00AD  LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d',
+      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00',
+      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00',
+      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a',
+      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
+      b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AD__ SCC H-CUP      1.00 1.00 99110-F2100         ',
+      b'\xf1\x00AD__ SCC H-CUP      1.00 1.01 96400-F2100         ',
+    ],
+  },
+  CAR.ELANTRA_GT_I30: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
       b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
@@ -1770,7 +1913,8 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
-    ]
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.10 99210-P2000 210406',
+    ],
   },
   CAR.KIA_EV6: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1809,6 +1953,7 @@ FW_VERSIONS = {
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
@@ -1828,10 +1973,13 @@ FW_VERSIONS = {
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
+      b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
     ],
   },
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
@@ -1857,6 +2005,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
@@ -1890,10 +2039,12 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
       b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.03 99210-R5000 200903',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.00 99210-R5100 221019',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
       b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
+      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2ND_GEN: {
@@ -1917,46 +2068,61 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
+      b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
       b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
     ],
   },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
+      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.04 99110-P4000         ',
+    ],
+  },
+  CAR.KIA_K8_HEV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
     ],
   },
 }
 
 CHECKSUM = {
   "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
-           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
+           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
+           CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
 CAN_GEARS = {
-  # which message has the gear
-  "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
+  # which message has the gear. hybrid and EV use ELECT_GEAR
+  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD,
-                      CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
-                      CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
-                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
              CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
              CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
-                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
+                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+
+# These CAN FD cars do not accept communication control to disable the ADAS ECU,
+# responds with 0x7F2822 - 'conditions not correct'
+CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1965,23 +2131,28 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
+              CAR.AZERA_HEV_6TH_GEN}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
                           CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
-                          CAR.KIA_OPTIMA_H}
+                          CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
 
 # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
-UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL}
+UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
+                                                         CAR.KIA_OPTIMA_H_G4_FL}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
+  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
+  CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
+  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
@@ -2004,6 +2175,7 @@ DBC = {
   CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
@@ -2041,4 +2213,6 @@ DBC = {
   CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
 }
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 0230be2297..1547f69b04 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -25,7 +26,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   CX5 = "MAZDA CX-5"
   CX9 = "MAZDA CX-9"
   MAZDA3 = "MAZDA 3"
@@ -46,7 +47,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
   CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
 }
 
 
@@ -92,11 +93,13 @@ FW_VERSIONS = {
       b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
@@ -110,6 +113,8 @@ FW_VERSIONS = {
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index d36f972a87..c7821bdb97 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -1,61 +1,35 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-
-# mocked car interface to work with chffrplus
+# mocked car interface for dashcam mode
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    cloudlog.debug("Using Mock Car Interface")
-
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
     self.speed = 0.
-    self.prev_speed = 0.
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
-    ret.steerRatio = 13.  # reasonable
-
+    ret.steerRatio = 13.
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-    if self.sm.updated[gps_sock]:
-      self.prev_speed = self.speed
-      self.speed = self.sm[gps_sock].speed
 
-    # create message
     ret = car.CarState.new_message()
-
-    # speeds
-    ret.vEgo = self.speed
-    ret.vEgoRaw = self.speed
-
-    ret.aEgo = self.speed - self.prev_speed
-    ret.brakePressed = ret.aEgo < -0.5
-
-    ret.standstill = self.speed < 0.01
-    ret.wheelSpeeds.fl = self.speed
-    ret.wheelSpeeds.fr = self.speed
-    ret.wheelSpeeds.rl = self.speed
-    ret.wheelSpeeds.rr = self.speed
+    ret.vEgo = self.sm[gps_sock].speed
+    ret.vEgoRaw = self.sm[gps_sock].speed
 
     return ret
 
   def apply(self, c, now_nanos):
-    # in mock no carcontrols
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []
diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py
old mode 100755
new mode 100644
index b461fcd5f8..e654bd61fd
--- a/selfdrive/car/mock/radar_interface.py
+++ b/selfdrive/car/mock/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py
index 8426041b32..c6c96579b4 100644
--- a/selfdrive/car/mock/values.py
+++ b/selfdrive/car/mock/values.py
@@ -1,9 +1,10 @@
+from enum import StrEnum
 from typing import Dict, List, Optional, Union
 
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
-class CAR:
+class CAR(StrEnum):
   MOCK = 'mock'
 
 
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 3d6b6cb70c..aedcaa1887 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python3
 from cereal import car
+from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.44
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
       ret.mass = 1492
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44
diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/nissan/radar_interface.py
+++ b/selfdrive/car/nissan/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 979e09eb66..474cb15e7f 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   XTRAIL = "NISSAN X-TRAIL 2017"
   LEAF = "NISSAN LEAF 2018"
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index ec443dfd4d..cc8ce4f722 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,8 +1,14 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
+                                                  CanBus, CarControllerParams, SubaruFlags
+
+# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
+# involves the total steering angle change rather than rate, but these limits work well for now
+MAX_STEER_RATE = 25  # deg/s
+MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController:
@@ -12,6 +18,7 @@ class CarController:
     self.frame = 0
 
     self.cruise_button_prev = 0
+    self.steer_rate_counter = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -38,7 +45,15 @@ class CarController:
       if self.CP.carFingerprint in PREGLOBAL_CARS:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
+        apply_steer_req = CC.latActive
+
+        if self.CP.carFingerprint in STEER_RATE_LIMITED:
+          # Steering rate fault prevention
+          self.steer_rate_counter, apply_steer_req = \
+            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
+                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
 
       self.apply_steer_last = apply_steer
 
@@ -80,29 +95,46 @@ class CarController:
 
     else:
       if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
-                                                        CC.longActive, hud_control.leadVisible))
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
+                                                        self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible))
 
-        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
-          can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
+          can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
+                                                      self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
 
-          can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
+          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg,
+                                                     self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake))
 
-          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
+          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
         if pcm_cancel_cmd:
           if self.CP.carFingerprint not in HYBRID_CARS:
             bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
-            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
+
+      if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
+        # Tester present (keeps eyesight disabled)
+        if self.frame % 100 == 0:
+          can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
+
+        # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
+        if self.frame % 5 == 0:
+          can_sends.append(subarucan.create_es_highbeamassist(self.packer))
+
+        if self.frame % 10 == 0:
+          can_sends.append(subarucan.create_es_static_1(self.packer))
+
+        if self.frame % 2 == 0:
+          can_sends.append(subarucan.create_es_static_2(self.packer))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 5d03a920a8..79576f6433 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,9 +1,9 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
-      ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
+      ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
       ret.mass = 1568
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
@@ -121,6 +121,9 @@ class CarInterface(CarInterfaceBase):
     #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
+    if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
+      ret.flags |= SubaruFlags.DISABLE_EYESIGHT
+
     if ret.openpilotLongitudinalControl:
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
       ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
@@ -141,5 +144,10 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
+      disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
+
   def apply(self, c, now_nanos):
     return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/subaru/radar_interface.py
+++ b/selfdrive/car/subaru/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 0f297d9635..b851bcc088 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -16,10 +16,9 @@ def create_steering_control(packer, apply_steer, steer_req):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
+def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
   values = {s: es_distance_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_Throttle",
@@ -39,13 +38,15 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
     "Cruise_Resume",
     "Signal6",
   ]}
-  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
+
+  values["COUNTER"] = frame % 0x10
 
   if long_enabled:
     values["Cruise_Throttle"] = cruise_throttle
 
     # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long
     values["Cruise_Soft_Disable"] = 0
+    values["Cruise_Fault"] = 0
 
     if brake_cmd:
       values["Cruise_Brake_Active"] = 1
@@ -57,10 +58,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
   return packer.make_can_msg("ES_Distance", bus, values)
 
 
-def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
   values = {s: es_lkas_state_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "LKAS_Alert_Msg",
     "Signal1",
     "LKAS_ACTIVE",
@@ -77,6 +77,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1:
     values["LKAS_Alert_Msg"] = 0
@@ -119,10 +121,9 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
 
   return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
 
-def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
+def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
   values = {s: dashstatus_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "PCB_Off",
     "LDW_Off",
     "Signal1",
@@ -150,6 +151,8 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
     "Cruise_State",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if enabled and long_active:
     values["Cruise_State"] = 0
     values["Cruise_Activated"] = 1
@@ -158,6 +161,7 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
 
   if long_enabled:
     values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
+    values["Cruise_Fault"] = 0
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   if values["LKAS_State_Msg"] in (2, 3):
@@ -165,10 +169,9 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
 
   return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
-def create_es_brake(packer, es_brake_msg, enabled, brake_value):
+def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Brake_Pressure",
     "AEB_Status",
@@ -179,8 +182,13 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
     "Signal3",
   ]}
 
-  if enabled:
-    values["Cruise_Activated"] = 1
+  values["COUNTER"] = frame % 0x10
+
+  if long_enabled:
+    values["Cruise_Brake_Fault"] = 0
+
+    if long_active:
+      values["Cruise_Activated"] = 1
 
   values["Brake_Pressure"] = brake_value
 
@@ -190,10 +198,9 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
 
   return packer.make_can_msg("ES_Brake", CanBus.main, values)
 
-def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm):
+def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
   values = {s: es_status_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_RPM",
@@ -204,8 +211,11 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if long_enabled:
     values["Cruise_RPM"] = cruise_rpm
+    values["Cruise_Fault"] = 0
 
     if long_active:
       values["Cruise_Activated"] = 1
@@ -213,16 +223,18 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
   return packer.make_can_msg("ES_Status", CanBus.main, values)
 
 
-def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
+def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   values = {s: es_infotainment_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "LKAS_State_Infotainment",
     "LKAS_Blue_Lines",
     "Signal1",
     "Signal2",
   ]}
+
+  values["COUNTER"] = frame % 0x10
+
   if values["LKAS_State_Infotainment"] in (3, 4):
     values["LKAS_State_Infotainment"] = 0
 
@@ -237,6 +249,30 @@ def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
   return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
 
 
+def create_es_highbeamassist(packer):
+  values = {
+    "HBA_Available": False,
+  }
+
+  return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values)
+
+
+def create_es_static_1(packer):
+  values = {
+    "SET_3": 3,
+  }
+
+  return packer.make_can_msg("ES_STATIC_1", CanBus.main, values)
+
+
+def create_es_static_2(packer):
+  values = {
+    "SET_3": 3,
+  }
+
+  return packer.make_can_msg("ES_STATIC_2", CanBus.main, values)
+
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 73ad6aebcc..915785d329 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -43,18 +43,23 @@ class CarControllerParams:
 
   RPM_INACTIVE = 600             # a good base rpm for zero acceleration
 
-  THROTTLE_LOOKUP_BP = [0, 1]
+  THROTTLE_LOOKUP_BP = [0, 2]
   THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
 
-  RPM_LOOKUP_BP = [0, 1]
+  RPM_LOOKUP_BP = [0, 2]
   RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
 
-  BRAKE_LOOKUP_BP = [-1, 0]
+  BRAKE_LOOKUP_BP = [-3.5, 0]
   BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
 
 
 class SubaruFlags(IntFlag):
   SEND_INFOTAINMENT = 1
+  DISABLE_EYESIGHT = 2
+
+
+GLOBAL_ES_ADDR = 0x787
+GEN2_ES_BUTTONS_DID = b'\x11\x30'
 
 
 class CanBus:
@@ -63,7 +68,7 @@ class CanBus:
   camera = 2
 
 
-class CAR:
+class CAR(StrEnum):
   # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   ASCENT_2023 = "SUBARU ASCENT 2023"
@@ -114,14 +119,14 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
   # TODO: is there an XV and Impreza too?
-  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
+  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
   CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
   CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
-  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
   CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
   CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
@@ -136,12 +141,30 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
     ),
     # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
     # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
     Request(
       [SUBARU_VERSION_REQUEST],
       [SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+    ),
+    # Non-OBD requests
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      bus=0,
+      logging=True,
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      bus=1,
+      logging=True,
+      obd_multiplexing=False,
     ),
   ],
 )
@@ -202,6 +225,7 @@ FW_VERSIONS = {
       b'\xa1\\  x04\x01',
       b'\xa1  \x03\x03',
       b'\xa1  \x02\x01',
+      b'\xa1  \x02\x02',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x9b\xc0\x11\x00',
@@ -215,11 +239,13 @@ FW_VERSIONS = {
       b'\xde\"a0\x07',
       b'\xe2"aq\x07',
       b'\xde,\xa0@\x07',
+      b'\xe2,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xf6\x05@\x00',
       b'\xa7\xf6\x04@\x00',
       b'\xa5\xfe\xc7@\x00',
+      b'\xa7\xfe\xc4@\x00',
     ],
   },
   CAR.IMPREZA: {
@@ -310,6 +336,7 @@ FW_VERSIONS = {
       b'\xa2 !`\000',
       b'\xf1\x00\xb2\x06\x04',
       b'\xa2  `\x00',
+      b'\xa2 !3\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x9a\xc0\000\000',
@@ -323,6 +350,8 @@ FW_VERSIONS = {
       b'\x00\x00eq\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
       b'\x00\x00e\x8f\x00\x00\x00\x00',
+      b'\x00\x00e\x92\x00\x00\x00\x00',
+      b'\x00\x00e\xa4\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xca!ap\a',
@@ -330,6 +359,7 @@ FW_VERSIONS = {
       b'\xca!`0\a',
       b'\xcc\"f0\a',
       b'\xcc!fp\a',
+      b'\xcc!`p\x07',
       b'\xca!f@\x07',
       b'\xca!fp\x07',
       b'\xf3"f@\x07',
@@ -337,10 +367,12 @@ FW_VERSIONS = {
       b'\xf3"fp\x07',
       b'\xe6"f0\x07',
       b'\xe6"fp\x07',
+      b'\xe6!`@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
       b'\xe6\xf5$\000\000',
+      b'\xe7\xf5\x04\x00\x00',
       b'\xe7\xf6B0\000',
       b'\xe7\xf5D0\000',
       b'\xf1\x00\xd7\x10@',
@@ -348,6 +380,7 @@ FW_VERSIONS = {
       b'\xe9\xf6F0\x00',
       b'\xe9\xf5B0\x00',
       b'\xe9\xf6B0\x00',
+      b'\xe9\xf5"\x00\x00',
     ],
   },
   CAR.CROSSTREK_HYBRID: {
@@ -432,6 +465,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'\x7d\x97\x14\x40',
       b'\xf1\x00\xbb\x0c\x04',
+      b'm\x97\x14@',
     ],
     (Ecu.eps, 0x746, None): [
       b'}\xc0\x10\x00',
@@ -440,13 +474,15 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00\x64\x35\x1f\x40\x20\x09',
       b'\x00\x00c\xe9\x1f@ \x03',
-      b'\x00\x00d\xd3\x1f@ \t'
+      b'\x00\x00d\xd3\x1f@ \t',
+      b'\x00\x00c\xe9\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xba"@p\a',
       b'\xa7)\xa0q\a',
       b'\xf1\x82\xa7)\xa0q\a',
       b'\xba"@@\a',
+      b'\xa7"@p\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xdc\xf2\x60\x60\x00',
@@ -455,6 +491,7 @@ FW_VERSIONS = {
       b'\xdc\xf2`\x81\000',
       b'\xdc\xf2`\x80\x00',
       b'\x1a\xf6F`\x00',
+      b'\xda\xf2`\x80\x00',
     ],
   },
   CAR.LEGACY_PREGLOBAL: {
@@ -463,6 +500,7 @@ FW_VERSIONS = {
       b'[\xba\xc4\x03',
       b'{\x97D\x00',
       b'[\x97D\000',
+      b'k\x9aD\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'[\xb0\x00\x01',
@@ -479,12 +517,14 @@ FW_VERSIONS = {
       b'\xa0+@p\x07',
       b'\xb4"@0\x07',
       b'\xa0"@q\a',
+      b'\xab+@p\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xbe\xf2\x00p\x00',
       b'\xbf\xfb\xc0\x80\x00',
       b'\xbd\xf2\x00`\x00',
       b'\xbf\xf2\000\x80\000',
+      b'\xbe\xfb\xc0p\x00',
     ],
   },
   CAR.OUTBACK_PREGLOBAL: {
@@ -528,6 +568,7 @@ FW_VERSIONS = {
       b'\xb4"@r\a',
       b'\xa0+@@\x07',
       b'\xa0\"@\x80\a',
+      b'\xa0*@u\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xbd\xfb\xe0\x80\x00',
@@ -621,6 +662,7 @@ FW_VERSIONS = {
       b'\xbc"`q\x07',
       b'\xe3,\xa0@\x07',
       b'\xbc,\xa0u\x07',
+      b'\xde,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xfe\xf7@\x00',
@@ -647,7 +689,8 @@ FW_VERSIONS = {
       b'=\xc04\x02',
     ],
     (Ecu.fwdCamera, 0x787, None): [
-      b'\x04!\x01\x1eD\x07!\x00\x04,'
+      b'\x04!\x01\x1eD\x07!\x00\x04,',
+      b'\x04!\x08\x01.\x07!\x08\x022',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xd5"a0\x07',
@@ -664,19 +707,23 @@ FW_VERSIONS = {
   },
   CAR.OUTBACK_2023: {
     (Ecu.abs, 0x7b0, None): [
+      b'\xa1 #\x14\x00',
       b'\xa1 #\x17\x00',
     ],
     (Ecu.eps, 0x746, None): [
+      b'+\xc0\x10\x11\x00',
       b'+\xc0\x12\x11\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\t!\x08\x046\x05!\x08\x01/',
     ],
     (Ecu.engine, 0x7a2, None): [
+      b'\xed,\xa0q\x07',
       b'\xed,\xa2q\x07',
     ],
     (Ecu.transmission, 0x7a3, None): [
       b'\xa8\x8e\xf41\x00',
+      b'\xa8\xfe\xf41\x00',
     ]
   }
 }
@@ -703,3 +750,7 @@ LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
+
+# Cars that temporarily fault when steering angle rate is greater than some threshold.
+# Appears to be all torque-based cars produced around 2019 - present
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 15283ae4b2..548809af1b 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from collections import namedtuple
+from enum import StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -12,7 +13,7 @@ Ecu = car.CarParams.Ecu
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
-class CAR:
+class CAR(StrEnum):
   AP1_MODELS = 'TESLA AP1 MODEL S'
   AP2_MODELS = 'TESLA AP2 MODEL S'
 
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
old mode 100644
new mode 100755
index 651d668a58..9802524886
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -22,11 +22,8 @@ non_tested_cars = [
   GM.MALIBU,
   GM.EQUINOX,
   HYUNDAI.GENESIS_G90,
-  HYUNDAI.IONIQ_6,
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
-  TOYOTA.RAV4_TSS2_2023,
-  TOYOTA.RAV4H_TSS2_2023,
   SUBARU.FORESTER_HYBRID,
 ]
 
@@ -40,8 +37,8 @@ class CarTestRoute(NamedTuple):
 routes = [
   CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
 
-  CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE),
-  CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019),
+  CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
+  CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
   CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID),
   CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018),
   CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
@@ -62,6 +59,7 @@ routes = [
   CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
   CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
   CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
+  CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019),
   CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
   CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
   CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
@@ -95,11 +93,14 @@ routes = [
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
+  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
+  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_6TH_GEN),
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
   CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
+  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.CUSTIN_1ST_GEN),
   CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
   CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
   CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
@@ -111,6 +112,7 @@ routes = [
   CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
   CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
   CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
+  CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
   CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
@@ -124,14 +126,18 @@ routes = [
   CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
   CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
+  CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6),  # HDA2
   CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
+  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV),  # openpilot longitudinal enabled
   CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
   CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
   CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
+  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ),  # openpilot longitudinal enabled
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
   CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
   CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
@@ -143,6 +149,7 @@ routes = [
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
+  CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
@@ -151,7 +158,7 @@ routes = [
   CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
   CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
-  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA),  # 2019 Elantra GT
+  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
   CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
   CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
@@ -159,41 +166,44 @@ routes = [
   CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 
   CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
-  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
+  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARD_TSS2),  # hybrid
   CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
   CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
-  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
+  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALON_2019),  # hybrid
   CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
-  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
+  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALON_TSS2),  # hybrid
   CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
+  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
+  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY),  # hybrid
   CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
-  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
-  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
+  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2),  # hybrid
   CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
   CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
-  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2),
+  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2),  # hybrid
   CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
   CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
   CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
-  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
-  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
+  CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.RAV4_TSS2_2023),
+  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
+  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022),  # hybrid
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
+  CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
-  CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
+  CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
   CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
-  CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RXH_TSS2),
-  CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
+  CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2),  # hybrid
   CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
+  CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX),  # hybrid
   CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
-  CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2),
+  CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
   CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
-  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
+  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
   CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
   CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
   CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
@@ -202,10 +212,11 @@ routes = [
   CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
   CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
+  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR),  # hybrid
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
   CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
-  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
-  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
+  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2),  # hybrid
+  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
@@ -240,6 +251,8 @@ routes = [
   CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
   CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
+  # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA),  # openpilot longitudinal
+  # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
index 406ccd07f0..63621b459d 100755
--- a/selfdrive/car/tests/test_can_fingerprint.py
+++ b/selfdrive/car/tests/test_can_fingerprint.py
@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
 
 class TestCanFingerprint(unittest.TestCase):
-  @parameterized.expand([(c, f) for c, f in FINGERPRINTS.items()])
+  @parameterized.expand(list(FINGERPRINTS.items()))
   def test_can_fingerprint(self, car_model, fingerprints):
     """Tests online fingerprinting function on offline fingerprints"""
 
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 490c849863..a920bd45da 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -18,7 +18,7 @@ from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
 
-MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '5'))
+MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '20'))
 
 
 def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
@@ -50,7 +50,7 @@ class TestCarInterfaces(unittest.TestCase):
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
   @parameterized.expand([(car,) for car in sorted(all_known_cars())])
-  @settings(max_examples=MAX_EXAMPLES, deadline=500,
+  @settings(max_examples=MAX_EXAMPLES, deadline=None,
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
@@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
         self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
 
-      elif tune.which() == 'indi':
-        self.assertTrue(len(tune.indi.outerLoopGainV))
-
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
     now_nanos = 0
@@ -136,7 +133,7 @@ class TestCarInterfaces(unittest.TestCase):
 
     # Make sure we can combine dicts
     ret = get_interface_attr('DBC', combine_brands=True)
-    self.assertGreaterEqual(len(ret), 170)
+    self.assertGreaterEqual(len(ret), 160)
 
     # We don't support combining non-dicts
     ret = get_interface_attr('CAR', combine_brands=True)
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index b899627ad6..7503fc9aae 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import random
 import time
 import unittest
@@ -97,7 +98,7 @@ class TestFwFingerprint(unittest.TestCase):
 
   def test_fw_version_lists(self):
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, ecu_fw in ecus.items():
           with self.subTest(ecu):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
@@ -119,13 +120,13 @@ class TestFwFingerprint(unittest.TestCase):
     for brand, config in FW_QUERY_CONFIGS.items():
       for car_model, ecus in VERSIONS[brand].items():
         bad_ecus = set(ecus).intersection(config.extra_ecus)
-        with self.subTest(car_model=car_model):
+        with self.subTest(car_model=car_model.value):
           self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')
 
   def test_blacklisted_ecus(self):
     blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         CP = interfaces[car_model][0].get_non_essential_params(car_model)
         if CP.carName == 'subaru':
           for ecu in ecus.keys():
@@ -176,7 +177,7 @@ class TestFwFingerprint(unittest.TestCase):
 
 class TestFwFingerprintTiming(unittest.TestCase):
   N: int = 5
-  TOL: float = 0.1
+  TOL: float = 0.12
 
   @staticmethod
   def _run_thread(thread: threading.Thread) -> float:
@@ -235,8 +236,9 @@ class TestFwFingerprintTiming(unittest.TestCase):
     self._assert_timing(vin_time / self.N, vin_ref_time)
     print(f'get_vin, query time={vin_time / self.N} seconds')
 
+  @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 5.9
+    total_ref_time = 6.41
     brand_ref_times = {
       1: {
         'body': 0.1,
@@ -246,7 +248,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'hyundai': 0.7,
         'mazda': 0.2,
         'nissan': 0.4,
-        'subaru': 0.2,
+        'subaru': 0.52,
         'tesla': 0.2,
         'toyota': 1.6,
         'volkswagen': 0.2,
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 9de6063f3d..1fc626972f 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -32,7 +32,7 @@ ABOVE_LIMITS_CARS = [
 car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
 
 
-@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
+@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
 class TestLateralLimits(unittest.TestCase):
   car_model: str
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 57b7037530..f26fd363ca 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -2,6 +2,7 @@
 import capnp
 import os
 import importlib
+import pytest
 import unittest
 from collections import defaultdict, Counter
 from typing import List, Optional, Tuple
@@ -9,31 +10,28 @@ from parameterized import parameterized_class
 
 from cereal import log, car
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
-from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
 from panda.tests.libpanda import libpanda_py
 
+EventName = car.CarEvent.EventName
 PandaType = log.PandaState.PandaType
+SafetyModel = car.CarParams.SafetyModel
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
 INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
 
-ignore_addr_checks_valid = [
-  GM.BUICK_REGAL,
-  HYUNDAI.GENESIS_G70_2020,
-]
-
 
 def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
   # build list of test cases
@@ -45,7 +43,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 
     for i, c in enumerate(sorted(all_known_cars())):
       if i % NUM_JOBS == JOB_ID:
-        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
+        test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,))))
 
   else:
     with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f:
@@ -62,17 +60,16 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
   return test_cases
 
 
-SKIP_ENV_VAR = "SKIP_LONG_TESTS"
-
-
+@pytest.mark.slow
 class TestCarModelBase(unittest.TestCase):
   car_model: Optional[str] = None
   test_route: Optional[CarTestRoute] = None
   ci: bool = True
 
   can_msgs: List[capnp.lib.capnp._DynamicStructReader]
+  elm_frame: Optional[int]
+  car_safety_mode_frame: Optional[int]
 
-  @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
@@ -106,10 +103,10 @@ class TestCarModelBase(unittest.TestCase):
 
       car_fw = []
       can_msgs = []
+      cls.elm_frame = None
+      cls.car_safety_mode_frame = None
       fingerprint = defaultdict(dict)
       experimental_long = False
-      enabled_toggle = True
-      dashcam_only = False
       for msg in lr:
         if msg.which() == "can":
           can_msgs.append(msg)
@@ -120,16 +117,26 @@ class TestCarModelBase(unittest.TestCase):
 
         elif msg.which() == "carParams":
           car_fw = msg.carParams.carFw
-          dashcam_only = msg.carParams.dashcamOnly
           if msg.carParams.openpilotLongitudinalControl:
             experimental_long = True
           if cls.car_model is None and not cls.ci:
             cls.car_model = msg.carParams.carFingerprint
 
-        elif msg.which() == 'initData':
-          for param in msg.initData.params.entries:
-            if param.key == 'OpenpilotEnabledToggle':
-              enabled_toggle = param.value.strip(b'\x00') == b'1'
+        # Log which can frame the panda safety mode left ELM327, for CAN validity checks
+        elif msg.which() == 'pandaStates':
+          for ps in msg.pandaStates:
+            if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
+              cls.elm_frame = len(can_msgs)
+            if cls.car_safety_mode_frame is None and ps.safetyModel not in \
+              (SafetyModel.elm327, SafetyModel.noOutput):
+              cls.car_safety_mode_frame = len(can_msgs)
+
+        elif msg.which() == 'pandaStateDEPRECATED':
+          if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
+            cls.elm_frame = len(can_msgs)
+          if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \
+            (SafetyModel.elm327, SafetyModel.noOutput):
+            cls.car_safety_mode_frame = len(can_msgs)
 
       if len(can_msgs) > int(50 / DT_CTRL):
         break
@@ -137,7 +144,7 @@ class TestCarModelBase(unittest.TestCase):
       raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?")
 
     # if relay is expected to be open in the route
-    cls.openpilot_enabled = enabled_toggle and not dashcam_only
+    cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
@@ -151,9 +158,11 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
+    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
+
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
@@ -175,8 +184,6 @@ class TestCarModelBase(unittest.TestCase):
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
       elif tuning == 'torque':
         self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
-      elif tuning == 'indi':
-        self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
       else:
         raise Exception("unknown tuning")
 
@@ -205,14 +212,16 @@ class TestCarModelBase(unittest.TestCase):
     RI = RadarInterface(self.CP)
     assert RI
 
+    # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
+    # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
-    for i, msg in enumerate(self.can_msgs):
+    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
       rr = RI.update((msg.as_builder().to_bytes(),))
       if rr is not None and i > 50:
         error_cnt += car.RadarData.Error.canError in rr.errors
     self.assertEqual(error_cnt, 0)
 
-  def test_panda_safety_rx_valid(self):
+  def test_panda_safety_rx_checks(self):
     if self.CP.dashcamOnly:
       self.skipTest("no need to check panda safety for dashcamOnly")
 
@@ -234,20 +243,24 @@ class TestCarModelBase(unittest.TestCase):
           failed_addrs[hex(msg.address)] += 1
 
       # ensure all msgs defined in the addr checks are valid
-      if self.car_model not in ignore_addr_checks_valid:
-        self.safety.safety_tick_current_rx_checks()
-        if t > 1e6:
-          self.assertTrue(self.safety.addr_checks_valid())
-
-          # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time
-          # TODO: detect when relay has flipped to properly check relay malfunction
-          if self.openpilot_enabled and t > 5e6:
-            self.assertFalse(self.safety.get_relay_malfunction())
-          else:
-            self.safety.set_relay_malfunction(False)
+      self.safety.safety_tick_current_safety_config()
+      if t > 1e6:
+        self.assertTrue(self.safety.safety_config_valid())
+
+      # Don't check relay malfunction on disabled routes (relay closed),
+      # or before fingerprinting is done (elm327 and noOutput)
+      if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
+        self.assertFalse(self.safety.get_relay_malfunction())
+      else:
+        self.safety.set_relay_malfunction(False)
 
     self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
 
+    # ensure RX checks go invalid after small time with no traffic
+    self.safety.set_timer(int(t + (2*1e6)))
+    self.safety.safety_tick_current_safety_config()
+    self.assertFalse(self.safety.safety_config_valid())
+
   def test_panda_safety_tx_cases(self, data=None):
     """Asserts we can tx common messages"""
     if self.CP.notCar:
@@ -303,6 +316,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(lambda: 0)
+    controlsd = Controls(CI=self.CI)
+    controlsd.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -347,7 +362,10 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        button_enable = any(evt.enable for evt in CS.events)
+        controlsd.update_events(CS)
+        controlsd.CS_prev = CS
+        button_enable = (any(evt.enable for evt in CS.events) and
+                         not any(evt == EventName.pedalPressed for evt in controlsd.events.names))
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()
@@ -364,6 +382,7 @@ class TestCarModelBase(unittest.TestCase):
 
 
 @parameterized_class(('car_model', 'test_route'), get_test_cases())
+@pytest.mark.xdist_group_class_property('car_model')
 class TestCarModel(TestCarModelBase):
   pass
 
diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt
index 11c19685da..27a2104cf7 100644
--- a/selfdrive/car/tests/test_models_segs.txt
+++ b/selfdrive/car/tests/test_models_segs.txt
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b93de5a9a259934896d8573d9b0f696289b88693908968009fe144e2e10a3355
-size 127597
+oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887
+size 125301
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 3019fc5ddf..12b483cfa7 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -14,7 +14,6 @@ SUBARU ASCENT 2023: [.nan, 3.0, .nan]
 
 # Toyota LTA also has torque
 TOYOTA RAV4 2023: [.nan, 3.0, .nan]
-TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
 
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
@@ -37,6 +36,7 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
 RAM HD 5TH GEN: [1.4, 1.4, 0.05]
 SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
 CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
+CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16]
@@ -58,6 +58,12 @@ GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
 LEXUS IS 2023: [2.0, 2.0, 0.1]
 KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
+HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
+HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
+HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
+KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
+HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
+LEXUS GS F 2016: [2.5, 2.5, 0.08]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index 800507d91d..7bd83025f1 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -37,7 +37,7 @@ HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0
 HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
 HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
 HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
-HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272]
+HYUNDAI TUCSON HYBRID 4TH GEN: [2.960174, 2.860284, 0.108745]
 JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048]
 JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003]
 KIA EV6 2022: [3.2, 2.093457, 0.05]
@@ -45,15 +45,12 @@ KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
 KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
 KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
 KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
-LEXUS ES 2019: [1.935835, 2.134803912579666, 0.093439]
-LEXUS ES HYBRID 2019: [2.135678, 1.863360677810788, 0.109627]
-LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
+LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533]
+LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
 LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
 LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
-LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117]
+LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
 LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
-LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
 MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
 SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
 SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
@@ -64,30 +61,23 @@ TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
 TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
 TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
 TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
-TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.105192506]
-TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615]
-TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565]
-TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257]
+TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753]
+TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436]
 TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514]
-TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352]
+TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
 TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
-TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
+TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
 TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
-TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
 TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
 TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
 TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
 TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
-TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]
-TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
-TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
+TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
+TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
+TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
 TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
-TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
-TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
-TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
-TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
+TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
 TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
 VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
 VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index f02af01609..c7a1566b32 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -4,24 +4,18 @@ MAZDA CX-5: MAZDA CX-9 2021
 MAZDA CX-5 2022: MAZDA CX-9 2021
 MAZDA CX-9: MAZDA CX-9 2021
 
-TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
 TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
 TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
-TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
-TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
-TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021
 LEXUS IS 2018: LEXUS NX 2018
 LEXUS CT HYBRID 2018 : LEXUS NX 2018
-LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
-LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
-LEXUS NX HYBRID 2020: LEXUS NX 2020
+LEXUS ES 2018: TOYOTA CAMRY 2018
+LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018
 LEXUS RC 2020: LEXUS NX 2020
-TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
-TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 
 KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
 KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020
 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
 KIA SELTOS 2021: HYUNDAI SONATA 2020
@@ -34,8 +28,8 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
-HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022
 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
+HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
 HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index c96df6f10f..3a89d655da 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -58,9 +58,7 @@ class CarState(CarStateBase):
       ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
       ret.gasPressed = ret.gas > 805
     else:
-      # TODO: find a new, common signal
-      msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"
-      ret.gas = cp.vl[msg]["GAS_PEDAL"]
+      # TODO: find a common gas pedal percentage signal
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -76,6 +74,7 @@ class CarState(CarStateBase):
     ret.standstill = ret.vEgoRaw == 0
 
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
+    ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
     torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
 
     # On some cars, the angle measurement is non-zero while initializing
@@ -83,16 +82,14 @@ class CarState(CarStateBase):
       self.accurate_steer_angle_seen = True
 
     if self.accurate_steer_angle_seen:
-      # Offset seems to be invalid for large steering angles
-      if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
+      # Offset seems to be invalid for large steering angles and high angle rates
+      if abs(ret.steeringAngleDeg) < 90 and abs(ret.steeringRateDeg) < 100 and cp.can_valid:
         self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
 
       if self.angle_offset.initialized:
         ret.steeringAngleOffsetDeg = self.angle_offset.x
         ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
 
-    ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
-
     can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
@@ -183,11 +180,6 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.flags & ToyotaFlags.HYBRID:
-      messages.append(("GAS_PEDAL_HYBRID", 33))
-    else:
-      messages.append(("GAS_PEDAL", 33))
-
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       messages.append(("DSU_CRUISE", 5))
       messages.append(("PCM_CRUISE_ALT", 1))
@@ -210,7 +202,7 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
-    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
+    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       messages += [
         ("PRE_COLLISION", 33),
       ]
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ab242a09a2..9cf86d69ab 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -1,10 +1,9 @@
-#!/usr/bin/env python3
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
-                                        MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
+                                        MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -78,7 +77,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
+    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
@@ -86,28 +85,28 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.5533
       ret.mass = 4481. * CV.LB_TO_KG  # mean between min and max
 
-    elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
+    elif candidate in (CAR.CHR, CAR.CHR_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.6
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3300. * CV.LB_TO_KG
 
-    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
+    elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.82448
       ret.steerRatio = 13.7
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
       ret.steerRatio = 16.0
       ret.tireStiffnessFactor = 0.8
       ret.mass = 4516. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
+    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
       # starting from 2019, all Avalon variants have stop and go
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
       stop_and_go = candidate != CAR.AVALON
@@ -116,8 +115,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
-                       CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
+    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       ret.tireStiffnessFactor = 0.7933
@@ -138,13 +136,13 @@ class CarInterface(CarInterfaceBase):
           ret.lateralTuning.pid.kf = 0.00004
           break
 
-    elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
+    elif candidate == CAR.COROLLA_TSS2:
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG
 
-    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
+    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
       if candidate not in (CAR.LEXUS_ES,):  # TODO: LEXUS_ES may have sng
         stop_and_go = True
       ret.wheelbase = 2.8702
@@ -165,6 +163,12 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444
       ret.mass = 3736.8 * CV.LB_TO_KG
 
+    elif candidate == CAR.LEXUS_GS_F:
+      ret.wheelbase = 2.84988
+      ret.steerRatio = 13.3
+      ret.tireStiffnessFactor = 0.444
+      ret.mass = 4034. * CV.LB_TO_KG
+
     elif candidate == CAR.LEXUS_CTH:
       stop_and_go = True
       ret.wheelbase = 2.60
@@ -172,7 +176,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.517
       ret.mass = 3108 * CV.LB_TO_KG  # mean between min and max
 
-    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
+    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7
@@ -192,7 +196,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.8
       ret.mass = 4300. * CV.LB_TO_KG
 
-    elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
+    elif candidate == CAR.ALPHARD_TSS2:
       ret.wheelbase = 3.00
       ret.steerRatio = 14.2
       ret.tireStiffnessFactor = 0.444
@@ -205,7 +209,8 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    if 0x2FF in fingerprint[0]:
+    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
+    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
     # No radar dbc for cars without DSU which are not TSS 2.0
@@ -219,13 +224,14 @@ class CarInterface(CarInterfaceBase):
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
-    # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
+    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
-    if candidate in RADAR_ACC_CAR:
+    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
       ret.experimentalLongitudinalAvailable = use_sdsu
 
       if not use_sdsu:
-        if experimental_long and False:  # TODO: disabling radar isn't supported yet
+        # Disabling radar is only supported on TSS2 radar-ACC cars
+        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
       else:
         use_sdsu = use_sdsu and experimental_long
@@ -237,17 +243,13 @@ class CarInterface(CarInterfaceBase):
     # openpilot longitudinal behind experimental long toggle:
     #  - TSS2 radar ACC cars w/ smartDSU installed
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
+    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
-    # we can't use the fingerprint to detect this reliably, since
-    # the EV gas pedal signal can take a couple seconds to appear
-    if candidate in EV_HYBRID_CAR:
-      ret.flags |= ToyotaFlags.HYBRID.value
-
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py
new file mode 100755
index 0000000000..636a013242
--- /dev/null
+++ b/selfdrive/car/toyota/tests/print_platform_codes.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+from collections import defaultdict
+from cereal import car
+from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+if __name__ == "__main__":
+  parts_for_ecu: dict = defaultdict(set)
+  cars_for_code: dict = defaultdict(lambda: defaultdict(set))
+  for car_model, ecus in FW_VERSIONS.items():
+    print()
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      platform_codes = get_platform_codes(ecus[ecu])
+      parts_for_ecu[ecu] |= {code.split(b'-')[0] for code in platform_codes if code.count(b'-') > 1}
+      for code in platform_codes:
+        cars_for_code[ecu][b'-'.join(code.split(b'-')[:2])] |= {car_model}
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {platform_codes}')
+
+  print('\nECU parts:')
+  for ecu, parts in parts_for_ecu.items():
+    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
+
+  print('\nCar models vs. platform codes (no major versions):')
+  for ecu, codes in cars_for_code.items():
+    print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    for code, cars in codes.items():
+      print(f'    {code!r}: {sorted(cars)}')
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index c621734e2b..2a82ca5ec0 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -1,10 +1,15 @@
 #!/usr/bin/env python3
-from cereal import car
+from hypothesis import given, settings, strategies as st
 import unittest
 
-from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
+from cereal import car
+from openpilot.selfdrive.car.fw_versions import build_fw_dict
+from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \
+                                                  FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
+                                                  get_platform_codes
 
 Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
 class TestToyotaInterfaces(unittest.TestCase):
@@ -23,7 +28,7 @@ class TestToyotaInterfaces(unittest.TestCase):
     # Asserts standard ECUs exist for each platform
     common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         present_ecus = {ecu[0] for ecu in ecus}
         missing_ecus = common_ecus - present_ecus
         self.assertEqual(len(missing_ecus), 0)
@@ -39,5 +44,105 @@ class TestToyotaInterfaces(unittest.TestCase):
           self.assertIn(Ecu.eps, present_ecus)
 
 
+class TestToyotaFingerprint(unittest.TestCase):
+  # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
+  # fingerprint in the absence of full FW matches:
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
+  def test_platform_code_ecus_available(self):
+    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for platform_code_ecu in PLATFORM_CODE_ECUS:
+          if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,):
+            continue
+          if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,):
+            continue
+          self.assertIn(platform_code_ecu, [e[0] for e in ecus])
+
+  def test_fw_format(self):
+    # Asserts:
+    # - every supported ECU FW version returns one platform code
+    # - every supported ECU FW version has a part number
+    # - expected parsing of ECU sub-versions
+
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for ecu, fws in ecus.items():
+          if ecu[0] not in PLATFORM_CODE_ECUS:
+            continue
+
+          codes = dict()
+          for fw in fws:
+            result = get_platform_codes([fw])
+            # Check only one platform code and sub-version
+            self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
+            self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}")
+            codes |= result
+
+          # Toyota places the ECU part number in their FW versions, assert all parsable
+          # Note that there is only one unique part number per ECU across the fleet, so this
+          # is not important for identification, just a sanity check.
+          self.assertTrue(all(code.count(b"-") > 1 for code in codes),
+                          f"FW does not have part number: {fw} {codes}")
+
+  def test_platform_codes_spot_check(self):
+    # Asserts basic platform code parsing behavior for a few cases
+    results = get_platform_codes([
+      b"F152607140\x00\x00\x00\x00\x00\x00",
+      b"F152607171\x00\x00\x00\x00\x00\x00",
+      b"F152607110\x00\x00\x00\x00\x00\x00",
+      b"F152607180\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}})
+
+    results = get_platform_codes([
+      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
+      b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"8646F-41-04": {b"100"}})
+
+    # Short version has no part number
+    results = get_platform_codes([
+      b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
+      b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}})
+
+    results = get_platform_codes([
+      b"F152607110\x00\x00\x00\x00\x00\x00",
+      b"F152607140\x00\x00\x00\x00\x00\x00",
+      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
+      b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}})
+
+  def test_fuzzy_excluded_platforms(self):
+    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
+    platforms_with_shared_codes = set()
+    for platform, fw_by_addr in FW_VERSIONS.items():
+      car_fw = []
+      for ecu, fw_versions in fw_by_addr.items():
+        ecu_name, addr, sub_addr = ecu
+        for fw in fw_versions:
+          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                         "subAddress": 0 if sub_addr is None else sub_addr})
+
+      CP = car.CarParams.new_message(carFw=car_fw)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+      if len(matches) == 1:
+        self.assertEqual(list(matches)[0], platform)
+      else:
+        # If a platform has multiple matches, add it and its matches
+        platforms_with_shared_codes |= {platform, *matches}
+
+    self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index b0f7a70985..4a1011982c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,7 +1,8 @@
+import re
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
-from typing import Dict, List, Union
+from enum import Enum, IntFlag, StrEnum
+from typing import Dict, List, Set, Union
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -45,31 +46,22 @@ class ToyotaFlags(IntFlag):
   DISABLE_RADAR = 4
 
 
-class CAR:
+class CAR(StrEnum):
   # Toyota
   ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
-  ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021"
   AVALON = "TOYOTA AVALON 2016"
   AVALON_2019 = "TOYOTA AVALON 2019"
-  AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
   AVALON_TSS2 = "TOYOTA AVALON 2022"  # TSS 2.5
-  AVALONH_TSS2 = "TOYOTA AVALON HYBRID 2022"
   CAMRY = "TOYOTA CAMRY 2018"
-  CAMRYH = "TOYOTA CAMRY HYBRID 2018"
   CAMRY_TSS2 = "TOYOTA CAMRY 2021"  # TSS 2.5
-  CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021"
   CHR = "TOYOTA C-HR 2018"
   CHR_TSS2 = "TOYOTA C-HR 2021"
-  CHRH = "TOYOTA C-HR HYBRID 2018"
-  CHRH_TSS2 = "TOYOTA C-HR HYBRID 2022"
   COROLLA = "TOYOTA COROLLA 2017"
-  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
-  COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
+  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
-  HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
   PRIUS = "TOYOTA PRIUS 2017"
   PRIUS_V = "TOYOTA PRIUS v 2017"
   PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
@@ -78,9 +70,6 @@ class CAR:
   RAV4_TSS2 = "TOYOTA RAV4 2019"
   RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
   RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
-  RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
-  RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
-  RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
   MIRAI = "TOYOTA MIRAI 2021"  # TSS 2.5
   SIENNA = "TOYOTA SIENNA 2018"
 
@@ -89,18 +78,15 @@ class CAR:
   LEXUS_ES = "LEXUS ES 2018"
   LEXUS_ESH = "LEXUS ES HYBRID 2018"
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
-  LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019"
   LEXUS_IS = "LEXUS IS 2018"
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
   LEXUS_NX = "LEXUS NX 2018"
-  LEXUS_NXH = "LEXUS NX HYBRID 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
-  LEXUS_NXH_TSS2 = "LEXUS NX HYBRID 2020"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
-  LEXUS_RXH_TSS2 = "LEXUS RX HYBRID 2020"
+  LEXUS_GS_F = "LEXUS GS F 2016"
 
 
 class Footnote(Enum):
@@ -117,40 +103,55 @@ class ToyotaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   # Toyota
-  CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
-  CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
+  CAR.ALPHARD_TSS2: [
+    ToyotaCarInfo("Toyota Alphard 2019-20"),
+    ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
+  ],
   CAR.AVALON: [
     ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
     ToyotaCarInfo("Toyota Avalon 2017-18"),
   ],
-  CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"),
-  CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
-  CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
-  CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
-  CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
-  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
-  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
-  CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
-  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
-  CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
+  CAR.AVALON_2019: [
+    ToyotaCarInfo("Toyota Avalon 2019-21"),
+    ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
+  ],
+  CAR.AVALON_TSS2: [
+    ToyotaCarInfo("Toyota Avalon 2022"),
+    ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
+  ],
+  CAR.CAMRY: [
+    ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
+    ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
+  ],
+  CAR.CAMRY_TSS2: [
+    ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
+    ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
+  ],
+  CAR.CHR: [
+    ToyotaCarInfo("Toyota C-HR 2017-20"),
+    ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
+  ],
+  CAR.CHR_TSS2: [
+    ToyotaCarInfo("Toyota C-HR 2021"),
+    ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
+  ],
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
     ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-  ],
-  CAR.COROLLAH_TSS2: [
+    # Hybrid platforms
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
     ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
     ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
   ],
   CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
-  CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-23"),
+  CAR.HIGHLANDER_TSS2: [
+    ToyotaCarInfo("Toyota Highlander 2020-23"),
+    ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
+  ],
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
-  CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
   CAR.PRIUS: [
     ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@@ -169,12 +170,18 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
     ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
   ],
-  CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
-  CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
-  CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
-  CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
-  CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
-  CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
+  CAR.RAV4_TSS2: [
+    ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
+  ],
+  CAR.RAV4_TSS2_2022: [
+    ToyotaCarInfo("Toyota RAV4 2022"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
+  ],
+  CAR.RAV4_TSS2_2023: [
+    ToyotaCarInfo("Toyota RAV4 2023"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
+  ],
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
 
@@ -182,14 +189,21 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
   CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
   CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
-  CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
-  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+  CAR.LEXUS_ES_TSS2: [
+    ToyotaCarInfo("Lexus ES 2019-24"),
+    ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+  ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
-  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2023"),
-  CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
-  CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
-  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
-  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
+  CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"),
+  CAR.LEXUS_NX: [
+    ToyotaCarInfo("Lexus NX 2018-19"),
+    ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
+  ],
+  CAR.LEXUS_NX_TSS2: [
+    ToyotaCarInfo("Lexus NX 2020-21"),
+    ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+  ],
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
@@ -199,41 +213,152 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
   ],
-  CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
-  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
+  CAR.LEXUS_RX_TSS2: [
+    ToyotaCarInfo("Lexus RX 2020-22"),
+    ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
+  ],
 }
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
   (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
                                                                                                1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
   (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
   (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
   (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
   (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
            CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
   (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
           0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
   (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
   (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
   (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
+
+def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
+  # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
+  codes = defaultdict(set)  # Optional[part]-platform-major_version: set of sub_version
+  for fw in fw_versions:
+    # FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?)
+    #  and are prefixed with a byte that describes how many chunks of data there are.
+    # But FW returned from KWP requires querying of each sub-data id and does not have a length prefix.
+
+    length_code = 1
+    length_code_match = FW_LEN_CODE.search(fw)
+    if length_code_match is not None:
+      length_code = length_code_match.group()[0]
+      fw = fw[1:]
+
+    # fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length
+    if length_code * FW_CHUNK_LEN != len(fw):
+      continue
+
+    chunks = [fw[FW_CHUNK_LEN * i:FW_CHUNK_LEN * i + FW_CHUNK_LEN].strip(b'\x00 ') for i in range(length_code)]
+
+    # only first is considered for now since second is commonly shared (TODO: understand that)
+    first_chunk = chunks[0]
+    if len(first_chunk) == 8:
+      # TODO: no part number, but some short chunks have it in subsequent chunks
+      fw_match = SHORT_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        platform, major_version, sub_version = fw_match.groups()
+        codes[b'-'.join((platform, major_version))].add(sub_version)
+
+    elif len(first_chunk) == 10:
+      fw_match = MEDIUM_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        part, platform, major_version, sub_version = fw_match.groups()
+        codes[b'-'.join((part, platform, major_version))].add(sub_version)
+
+    elif len(first_chunk) == 12:
+      fw_match = LONG_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        part, platform, major_version, sub_version = fw_match.groups()
+        codes[b'-'.join((part, platform, major_version))].add(sub_version)
+
+  return dict(codes)
+
+
+def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+  candidates = set()
+
+  for candidate, fws in FW_VERSIONS.items():
+    # Keep track of ECUs which pass all checks (platform codes, within sub-version range)
+    valid_found_ecus = set()
+    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
+    for ecu, expected_versions in fws.items():
+      addr = ecu[1:]
+      # Only check ECUs expected to have platform codes
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      # Expected platform codes & versions
+      expected_platform_codes = get_platform_codes(expected_versions)
+
+      # Found platform codes & versions
+      found_platform_codes = get_platform_codes(live_fw_versions.get(addr, set()))
+
+      # Check part number + platform code + major version matches for any found versions
+      # Platform codes and major versions change for different physical parts, generation, API, etc.
+      # Sub-versions are incremented for minor recalls, do not need to be checked.
+      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
+        break
+
+      valid_found_ecus.add(addr)
+
+    # If all live ECUs pass all checks for candidate, add it as a match
+    if valid_expected_ecus.issubset(valid_found_ecus):
+      candidates.add(candidate)
+
+  return {str(c) for c in (candidates - FUZZY_EXCLUDED_PLATFORMS)}
+
+
+# Regex patterns for parsing more general platform-specific identifiers from FW versions.
+# - Part number: Toyota part number (usually last character needs to be ignored to find a match).
+#    Each ECU address has just one part number.
+# - Platform: usually multiple codes per an openpilot platform, however this is the least variable and
+#    is usually shared across ECUs and model years signifying this describes something about the specific platform.
+#    This describes more generational changes (TSS-P vs TSS2), or manufacture region.
+# - Major version: second least variable part of the FW version. Seen splitting cars by model year/API such as
+#    RAV4 2022/2023 and Avalon. Used to differentiate cars where API has changed slightly, but is not a generational change.
+#    It is important to note that these aren't always consecutive, for example:
+#    Avalon 2016-18's fwdCamera has these major versions: 01, 03 while 2019 has: 02
+# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering.
+#    Seen bumped in TSB FW updates, and describes other minor differences.
+SHORT_FW_PATTERN = re.compile(b'[A-Z0-9](?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
+MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{1})(?P<sub_version>[A-Z0-9]{2})')
+LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
+FW_LEN_CODE = re.compile(b'^[\x01-\x03]')  # highest seen is 3 chunks, 16 bytes each
+FW_CHUNK_LEN = 16
+
+# List of ECUs that are most unique across openpilot platforms
+# TODO: use hybrid ECU, splits similar ICE and hybrid variants
+# - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes
+#    when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2.
+#    On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping.
+# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception)
+# - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages
+PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps]
+
+# These platforms have at least one platform code for all ECUs shared with another platform.
+FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set()
+
 # Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
 # Toyota diagnostic software first gets the supported data ids, then queries them one by one.
 # For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
@@ -247,7 +372,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
       whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+                      Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
@@ -267,9 +392,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
   non_essential_ecus={
     # FIXME: On some models, abs can sometimes be missing
-    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
+    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC],
+    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
+                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
@@ -303,6 +429,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.combinationMeter, 0x7c0, None),
     (Ecu.hvac, 0x7c4, None),
   ],
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
 FW_VERSIONS = {
@@ -337,44 +464,26 @@ FW_VERSIONS = {
       b'F152607171\x00\x00\x00\x00\x00\x00',
       b'F152607110\x00\x00\x00\x00\x00\x00',
       b'F152607180\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510703200\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B41080\x00\x00\x00\x00\x00\x00',
-      b'8965B07010\x00\x00\x00\x00\x00\x00',
-      b'8965B41090\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630725200\x00\x00\x00\x00',
-      b'\x01896630725300\x00\x00\x00\x00',
-      b'\x01896630735100\x00\x00\x00\x00',
-      b'\x01896630738000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0702100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.AVALONH_2019: {
-    (Ecu.abs, 0x7b0, None): [
       b'F152641040\x00\x00\x00\x00\x00\x00',
       b'F152641061\x00\x00\x00\x00\x00\x00',
       b'F152641050\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881510703200\x00\x00\x00\x00',
       b'881510704200\x00\x00\x00\x00',
       b'881514107100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
+      b'8965B41080\x00\x00\x00\x00\x00\x00',
       b'8965B07010\x00\x00\x00\x00\x00\x00',
       b'8965B41090\x00\x00\x00\x00\x00\x00',
       b'8965B41070\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896630725200\x00\x00\x00\x00',
+      b'\x01896630725300\x00\x00\x00\x00',
+      b'\x01896630735100\x00\x00\x00\x00',
+      b'\x01896630738000\x00\x00\x00\x00',
       b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
@@ -391,6 +500,7 @@ FW_VERSIONS = {
       b'\x01F152607240\x00\x00\x00\x00\x00\x00',
       b'\x01F152607250\x00\x00\x00\x00\x00\x00',
       b'\x01F152607280\x00\x00\x00\x00\x00\x00',
+      b'F152641080\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B41110\x00\x00\x00\x00\x00\x00',
@@ -398,24 +508,6 @@ FW_VERSIONS = {
     (Ecu.engine, 0x700, None): [
       b'\x01896630742000\x00\x00\x00\x00',
       b'\x01896630743000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.AVALONH_TSS2: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152641080\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B41110\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
       b'\x018966306Q6000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -451,6 +543,27 @@ FW_VERSIONS = {
       b'\x018966333Q6300\x00\x00\x00\x00',
       b'\x018966333Q6500\x00\x00\x00\x00',
       b'\x018966333W6000\x00\x00\x00\x00',
+      b'\x018966306Q6000\x00\x00\x00\x00',
+      b'\x018966333N1100\x00\x00\x00\x00',
+      b'\x018966333N4300\x00\x00\x00\x00',
+      b'\x018966333X0000\x00\x00\x00\x00',
+      b'\x018966333X4000\x00\x00\x00\x00',
+      b'\x01896633T16000\x00\x00\x00\x00',
+      b'\x018966306L9000\x00\x00\x00\x00',
+      b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -466,6 +579,11 @@ FW_VERSIONS = {
       b'8821F0608000    ',
       b'8821F0608200    ',
       b'8821F0609100    ',
+      b'8821F0603400    ',
+      b'8821F0604000    ',
+      b'8821F0604200    ',
+      b'8821F0606200    ',
+      b'8821F0609000    ',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152606210\x00\x00\x00\x00\x00\x00',
@@ -476,6 +594,12 @@ FW_VERSIONS = {
       b'F152633540\x00\x00\x00\x00\x00\x00',
       b'F152633A10\x00\x00\x00\x00\x00\x00',
       b'F152633A20\x00\x00\x00\x00\x00\x00',
+      b'F152633214\x00\x00\x00\x00\x00\x00',
+      b'F152633660\x00\x00\x00\x00\x00\x00',
+      b'F152633712\x00\x00\x00\x00\x00\x00',
+      b'F152633713\x00\x00\x00\x00\x00\x00',
+      b'F152633B51\x00\x00\x00\x00\x00\x00',
+      b'F152633B60\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B33540\x00\x00\x00\x00\x00\x00',
@@ -483,6 +607,9 @@ FW_VERSIONS = {
       b'8965B33580\x00\x00\x00\x00\x00\x00',
       b'8965B33581\x00\x00\x00\x00\x00\x00',
       b'8965B33621\x00\x00\x00\x00\x00\x00',
+      b'8965B33550\x00\x00\x00\x00\x00\x00',
+      b'8965B33551\x00\x00\x00\x00\x00\x00',
+      b'8965B33611\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [  # Same as 0x791
       b'8821F0601200    ',
@@ -495,114 +622,40 @@ FW_VERSIONS = {
       b'8821F0608000    ',
       b'8821F0608200    ',
       b'8821F0609100    ',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0601200    ',
-      b'8646F0601300    ',
-      b'8646F0601400    ',
-      b'8646F0603400    ',
-      b'8646F0604100    ',
-      b'8646F0605000    ',
-      b'8646F0606000    ',
-      b'8646F0606100    ',
-      b'8646F0607100    ',
-    ],
-  },
-  CAR.CAMRYH: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306Q6000\x00\x00\x00\x00',
-      b'\x018966333N1100\x00\x00\x00\x00',
-      b'\x018966333N4300\x00\x00\x00\x00',
-      b'\x018966333X0000\x00\x00\x00\x00',
-      b'\x018966333X4000\x00\x00\x00\x00',
-      b'\x01896633T16000\x00\x00\x00\x00',
-      b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152633214\x00\x00\x00\x00\x00\x00',
-      b'F152633660\x00\x00\x00\x00\x00\x00',
-      b'F152633712\x00\x00\x00\x00\x00\x00',
-      b'F152633713\x00\x00\x00\x00\x00\x00',
-      b'F152633B51\x00\x00\x00\x00\x00\x00',
-      b'F152633B60\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'8821F0601200    ',
-      b'8821F0601300    ',
-      b'8821F0603400    ',
-      b'8821F0604000    ',
-      b'8821F0604100    ',
-      b'8821F0604200    ',
-      b'8821F0605200    ',
-      b'8821F0606200    ',
-      b'8821F0607200    ',
-      b'8821F0608000    ',
-      b'8821F0608200    ',
-      b'8821F0609000    ',
-      b'8821F0609100    ',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33540\x00\x00\x00\x00\x00\x00',
-      b'8965B33542\x00\x00\x00\x00\x00\x00',
-      b'8965B33550\x00\x00\x00\x00\x00\x00',
-      b'8965B33551\x00\x00\x00\x00\x00\x00',
-      b'8965B33580\x00\x00\x00\x00\x00\x00',
-      b'8965B33581\x00\x00\x00\x00\x00\x00',
-      b'8965B33611\x00\x00\x00\x00\x00\x00',
-      b'8965B33621\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [  # Same as 0x791
-      b'8821F0601200    ',
-      b'8821F0601300    ',
       b'8821F0603400    ',
       b'8821F0604000    ',
-      b'8821F0604100    ',
       b'8821F0604200    ',
-      b'8821F0605200    ',
       b'8821F0606200    ',
-      b'8821F0607200    ',
-      b'8821F0608000    ',
-      b'8821F0608200    ',
       b'8821F0609000    ',
-      b'8821F0609100    ',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F0601200    ',
       b'8646F0601300    ',
       b'8646F0601400    ',
       b'8646F0603400    ',
-      b'8646F0603500    ',
       b'8646F0604100    ',
       b'8646F0605000    ',
       b'8646F0606000    ',
       b'8646F0606100    ',
-      b'8646F0607000    ',
       b'8646F0607100    ',
+      b'8646F0603500    ',
+      b'8646F0607000    ',
     ],
   },
   CAR.CAMRY_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B33630\x00\x00\x00\x00\x00\x00',
       b'8965B33640\x00\x00\x00\x00\x00\x00',
+      b'8965B33650\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152606370\x00\x00\x00\x00\x00\x00',
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
       b'\x01F152606431\x00\x00\x00\x00\x00\x00',
+      b'F152633D00\x00\x00\x00\x00\x00\x00',
+      b'F152633D60\x00\x00\x00\x00\x00\x00',
+      b'F152633310\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x018966306Q5000\x00\x00\x00\x00',
@@ -613,10 +666,16 @@ FW_VERSIONS = {
       b'\x018966306T3200\x00\x00\x00\x00',
       b'\x018966306T4000\x00\x00\x00\x00',
       b'\x018966306T4100\x00\x00\x00\x00',
+      b'\x018966306Q6000\x00\x00\x00\x00',
+      b'\x018966306Q7000\x00\x00\x00\x00',
+      b'\x018966306T0000\x00\x00\x00\x00',
+      b'\x018966306V1000\x00\x00\x00\x00',
+      b'\x01896633T20000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
@@ -626,35 +685,7 @@ FW_VERSIONS = {
       b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.CAMRYH_TSS2: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33630\x00\x00\x00\x00\x00\x00',
-      b'8965B33650\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152633D00\x00\x00\x00\x00\x00\x00',
-      b'F152633D60\x00\x00\x00\x00\x00\x00',
-      b'F152633310\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306Q6000\x00\x00\x00\x00',
-      b'\x018966306Q7000\x00\x00\x00\x00',
-      b'\x018966306T0000\x00\x00\x00\x00',
-      b'\x018966306V1000\x00\x00\x00\x00',
-      b'\x01896633T20000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 15): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 109): [
-      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.CHR: {
@@ -664,6 +695,13 @@ FW_VERSIONS = {
       b'\x01896631017200\x00\x00\x00\x00',
       b'\x0189663F413100\x00\x00\x00\x00',
       b'\x0189663F414100\x00\x00\x00\x00',
+      b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0189663F438000\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'8821F0W01000    ',
@@ -674,6 +712,9 @@ FW_VERSIONS = {
       b'8821FF405100    ',
       b'8821FF406000    ',
       b'8821FF407100    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF405000    ',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152610020\x00\x00\x00\x00\x00\x00',
@@ -684,11 +725,21 @@ FW_VERSIONS = {
       b'F1526F4073\x00\x00\x00\x00\x00\x00',
       b'F1526F4121\x00\x00\x00\x00\x00\x00',
       b'F1526F4122\x00\x00\x00\x00\x00\x00',
+      b'F152610012\x00\x00\x00\x00\x00\x00',
+      b'F152610013\x00\x00\x00\x00\x00\x00',
+      b'F152610014\x00\x00\x00\x00\x00\x00',
+      b'F152610040\x00\x00\x00\x00\x00\x00',
+      b'F152610190\x00\x00\x00\x00\x00\x00',
+      b'F152610200\x00\x00\x00\x00\x00\x00',
+      b'F152610220\x00\x00\x00\x00\x00\x00',
+      b'F152610230\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B10011\x00\x00\x00\x00\x00\x00',
       b'8965B10040\x00\x00\x00\x00\x00\x00',
       b'8965B10070\x00\x00\x00\x00\x00\x00',
+      b'8965B10020\x00\x00\x00\x00\x00\x00',
+      b'8965B10050\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
@@ -708,6 +759,9 @@ FW_VERSIONS = {
       b'8821FF406000    ',
       b'8821FF407100    ',
       b'8821F0W01100    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF405000    ',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646FF401700    ',
@@ -715,19 +769,27 @@ FW_VERSIONS = {
       b'8646FF404000    ',
       b'8646FF406000    ',
       b'8646FF407000    ',
+      b'8646FF402100    ',
+      b'8646FF407100    ',
     ],
   },
   CAR.CHR_TSS2: {
     (Ecu.abs, 0x7b0, None): [
       b'F152610260\x00\x00\x00\x00\x00\x00',
       b'F1526F4270\x00\x00\x00\x00\x00\x00',
+      b'F152610041\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B10091\x00\x00\x00\x00\x00\x00',
       b'8965B10110\x00\x00\x00\x00\x00\x00',
+      b'8965B10092\x00\x00\x00\x00\x00\x00',
+      b'8965B10111\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x0189663F459000\x00\x00\x00\x00',
+      b'\x0189663F438000\x00\x00\x00\x00',
+      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
@@ -735,88 +797,12 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821FF410200\x00\x00\x00\x00',
       b'\x018821FF410300\x00\x00\x00\x00',
+      b'\x018821FF410500\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
       b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.CHRH: {
-    (Ecu.engine, 0x700, None): [
-      b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0189663F438000\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152610012\x00\x00\x00\x00\x00\x00',
-      b'F152610013\x00\x00\x00\x00\x00\x00',
-      b'F152610014\x00\x00\x00\x00\x00\x00',
-      b'F152610040\x00\x00\x00\x00\x00\x00',
-      b'F152610190\x00\x00\x00\x00\x00\x00',
-      b'F152610200\x00\x00\x00\x00\x00\x00',
-      b'F152610220\x00\x00\x00\x00\x00\x00',
-      b'F152610230\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'8821F0W01000    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405000    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B10011\x00\x00\x00\x00\x00\x00',
-      b'8965B10020\x00\x00\x00\x00\x00\x00',
-      b'8965B10040\x00\x00\x00\x00\x00\x00',
-      b'8965B10050\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F0W01000    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405000    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646FF401700    ',
-      b'8646FF402100    ',
-      b'8646FF404000    ',
-      b'8646FF406000    ',
-      b'8646FF407000    ',
-      b'8646FF407100    ',
-    ],
-  },
-  CAR.CHRH_TSS2: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B10092\x00\x00\x00\x00\x00\x00',
-      b'8965B10091\x00\x00\x00\x00\x00\x00',
-      b'8965B10111\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152610041\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x0189663F438000\x00\x00\x00\x00',
-      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 15): [
-      b'\x018821FF410500\x00\x00\x00\x00',
-      b'\x018821FF410300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 109): [
       b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
-      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
     ],
   },
   CAR.COROLLA: {
@@ -886,11 +872,39 @@ FW_VERSIONS = {
       b'\x018966312W3000\x00\x00\x00\x00',
       b'\x018966312W9000\x00\x00\x00\x00',
       b'\x01896637644000\x00\x00\x00\x00',
+      b'\x01896630ZJ1000\x00\x00\x00\x00',
+      b'\x01896630ZU8000\x00\x00\x00\x00',
+      b'\x01896637621000\x00\x00\x00\x00',
+      b'\x01896637623000\x00\x00\x00\x00',
+      b'\x01896637624000\x00\x00\x00\x00',
+      b'\x01896637626000\x00\x00\x00\x00',
+      b'\x01896637639000\x00\x00\x00\x00',
+      b'\x01896637648000\x00\x00\x00\x00',
+      b'\x01896637643000\x00\x00\x00\x00',
+      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
+      b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230A11000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZN4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZN5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x03312K7000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
       b'\x03312M3000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
       b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
@@ -917,13 +931,18 @@ FW_VERSIONS = {
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'\x018965B12510\x00\x00\x00\x00\x00\x00',
       b'\x018965B1256000\x00\x00\x00\x00',
+      b'8965B12451\x00\x00\x00\x00\x00\x00',
+      b'8965B16101\x00\x00\x00\x00\x00\x00',
+      b'8965B16170\x00\x00\x00\x00\x00\x00',
+      b'8965B76050\x00\x00\x00\x00\x00\x00',
+      b'8965B76091\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152602280\x00\x00\x00\x00\x00\x00',
       b'\x01F152602560\x00\x00\x00\x00\x00\x00',
       b'\x01F152602590\x00\x00\x00\x00\x00\x00',
       b'\x01F152602650\x00\x00\x00\x00\x00\x00',
-      b"\x01F15260A010\x00\x00\x00\x00\x00\x00",
+      b'\x01F15260A010\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
       b'\x01F152612641\x00\x00\x00\x00\x00\x00',
       b'\x01F152612651\x00\x00\x00\x00\x00\x00',
@@ -941,74 +960,7 @@ FW_VERSIONS = {
       b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
       b'\x01F152676250\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.COROLLAH_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630ZJ1000\x00\x00\x00\x00',
-      b'\x01896630ZU8000\x00\x00\x00\x00',
-      b'\x01896637621000\x00\x00\x00\x00',
-      b'\x01896637623000\x00\x00\x00\x00',
-      b'\x01896637624000\x00\x00\x00\x00',
-      b'\x01896637626000\x00\x00\x00\x00',
-      b'\x01896637639000\x00\x00\x00\x00',
-      b'\x01896637648000\x00\x00\x00\x00',
-      b'\x01896637643000\x00\x00\x00\x00',
-      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-      b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B12361\x00\x00\x00\x00\x00\x00',
-      b'8965B12451\x00\x00\x00\x00\x00\x00',
-      b'8965B16011\x00\x00\x00\x00\x00\x00',
-      b'8965B16101\x00\x00\x00\x00\x00\x00',
-      b'8965B16170\x00\x00\x00\x00\x00\x00',
-      b'8965B76012\x00\x00\x00\x00\x00\x00',
-      b'8965B76050\x00\x00\x00\x00\x00\x00',
-      b'8965B76091\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12350\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12470\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12490\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12500\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12520\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12530\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152602470\x00\x00\x00\x00\x00\x00',
       b'F152612590\x00\x00\x00\x00\x00\x00',
       b'F152612691\x00\x00\x00\x00\x00\x00',
       b'F152612692\x00\x00\x00\x00\x00\x00',
@@ -1042,14 +994,15 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00",
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
@@ -1135,6 +1088,18 @@ FW_VERSIONS = {
       b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E170\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E05300\x00\x00\x00\x00',
+      b'\x01F15264872300\x00\x00\x00\x00',
+      b'\x01F15264872400\x00\x00\x00\x00',
+      b'\x01F15264872500\x00\x00\x00\x00',
+      b'\x01F15264872600\x00\x00\x00\x00',
+      b'\x01F15264872700\x00\x00\x00\x00',
+      b'\x01F15264873500\x00\x00\x00\x00',
+      b'\x01F152648C6300\x00\x00\x00\x00',
+      b'\x01F152648J4000\x00\x00\x00\x00',
+      b'\x01F152648J5000\x00\x00\x00\x00',
+      b'\x01F152648J6000\x00\x00\x00\x00',
+      b'\x01F152648J7000\x00\x00\x00\x00',
+      b'\x01F152648L5000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x01896630E62100\x00\x00\x00\x00',
@@ -1155,44 +1120,13 @@ FW_VERSIONS = {
       b'\x01896630EE1100\x00\x00\x00\x00',
       b'\x01896630EG3000\x00\x00\x00\x00',
       b'\x01896630EG5000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.HIGHLANDERH_TSS2: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48241\x00\x00\x00\x00\x00\x00',
-      b'8965B48310\x00\x00\x00\x00\x00\x00',
-      b'8965B48400\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15264872300\x00\x00\x00\x00',
-      b'\x01F15264872400\x00\x00\x00\x00',
-      b'\x01F15264872500\x00\x00\x00\x00',
-      b'\x01F15264872600\x00\x00\x00\x00',
-      b'\x01F15264873500\x00\x00\x00\x00',
-      b'\x01F152648C6300\x00\x00\x00\x00',
-      b'\x01F152648J4000\x00\x00\x00\x00',
-      b'\x01F152648J5000\x00\x00\x00\x00',
-      b'\x01F152648J6000\x00\x00\x00\x00',
-      b'\x01F15264872700\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
       b'\x01896630E67000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00',
       b'\x01896630EE4000\x00\x00\x00\x00',
       b'\x01896630EE4100\x00\x00\x00\x00',
       b'\x01896630EE5000\x00\x00\x00\x00',
       b'\x01896630EE6000\x00\x00\x00\x00',
+      b'\x01896630EE7000\x00\x00\x00\x00',
       b'\x01896630EF8000\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@@ -1260,17 +1194,21 @@ FW_VERSIONS = {
   CAR.LEXUS_IS_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x018966353S1000\x00\x00\x00\x00',
+      b'\x018966353S2000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15265337200\x00\x00\x00\x00',
       b'\x01F15265342000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B53450\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
@@ -1441,150 +1379,65 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152642090\x00\x00\x00\x00\x00\x00',
-      b'F152642110\x00\x00\x00\x00\x00\x00',
-      b'F152642120\x00\x00\x00\x00\x00\x00',
-      b'F152642400\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514202200\x00\x00\x00\x00',
-      b'881514202300\x00\x00\x00\x00',
-      b'881514202400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4201100\x00\x00\x00\x00',
-      b'8646F4201200\x00\x00\x00\x00',
-      b'8646F4202001\x00\x00\x00\x00',
-      b'8646F4202100\x00\x00\x00\x00',
-      b'8646F4204000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630R58000\x00\x00\x00\x00',
-      b'\x01896630R58100\x00\x00\x00\x00',
-      b'\x018966342E2000\x00\x00\x00\x00',
-      b'\x018966342M8000\x00\x00\x00\x00',
-      b'\x018966342S9000\x00\x00\x00\x00',
-      b'\x018966342T1000\x00\x00\x00\x00',
-      b'\x018966342T6000\x00\x00\x00\x00',
-      b'\x018966342T9000\x00\x00\x00\x00',
-      b'\x018966342U4000\x00\x00\x00\x00',
-      b'\x018966342U4100\x00\x00\x00\x00',
-      b'\x018966342U5100\x00\x00\x00\x00',
-      b'\x018966342V0000\x00\x00\x00\x00',
-      b'\x018966342V3000\x00\x00\x00\x00',
-      b'\x018966342V3100\x00\x00\x00\x00',
-      b'\x018966342V3200\x00\x00\x00\x00',
-      b'\x01896634A05000\x00\x00\x00\x00',
-      b'\x01896634A19000\x00\x00\x00\x00',
-      b'\x01896634A19100\x00\x00\x00\x00',
-      b'\x01896634A20000\x00\x00\x00\x00',
-      b'\x01896634A20100\x00\x00\x00\x00',
-      b'\x01896634A22000\x00\x00\x00\x00',
-      b'\x01896634A22100\x00\x00\x00\x00',
-      b'\x01896634A30000\x00\x00\x00\x00',
-      b'\x01896634A44000\x00\x00\x00\x00',
-      b'\x01896634A45000\x00\x00\x00\x00',
-      b'\x01896634A46000\x00\x00\x00\x00',
-      b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00',
-      b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
-      b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
-      b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642561\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642601\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642710\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642711\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642750\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642751\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B42170\x00\x00\x00\x00\x00\x00',
-      b'8965B42171\x00\x00\x00\x00\x00\x00',
-      b'8965B42180\x00\x00\x00\x00\x00\x00',
-      b'8965B42181\x00\x00\x00\x00\x00\x00',
-      b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
-      b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
-      b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4_TSS2_2022: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896634AA0000\x00\x00\x00\x00',
-      b'\x01896634AA0100\x00\x00\x00\x00',
-      b'\x01896634AA1000\x00\x00\x00\x00',
-      b'\x01896634A88000\x00\x00\x00\x00',
-      b'\x01896634A89000\x00\x00\x00\x00',
-      b'\x01896634A89100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F0R01100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4_TSS2_2023: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
+      b'F152642110\x00\x00\x00\x00\x00\x00',
+      b'F152642120\x00\x00\x00\x00\x00\x00',
+      b'F152642400\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896634A88100\x00\x00\x00\x00',
-      b'\x01896634AJ2000\x00\x00\x00\x00',
+    (Ecu.dsu, 0x791, None): [
+      b'881514202200\x00\x00\x00\x00',
+      b'881514202300\x00\x00\x00\x00',
+      b'881514202400\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F0R03100\x00\x00\x00\x00',
+      b'8821F4702000\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+      b'8646F4201100\x00\x00\x00\x00',
+      b'8646F4201200\x00\x00\x00\x00',
+      b'8646F4202001\x00\x00\x00\x00',
+      b'8646F4202100\x00\x00\x00\x00',
+      b'8646F4204000\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4H_TSS2: {
+  CAR.RAV4_TSS2: {
     (Ecu.engine, 0x700, None): [
+      b'\x01896630R58000\x00\x00\x00\x00',
+      b'\x01896630R58100\x00\x00\x00\x00',
+      b'\x018966342E2000\x00\x00\x00\x00',
+      b'\x018966342M8000\x00\x00\x00\x00',
+      b'\x018966342S9000\x00\x00\x00\x00',
+      b'\x018966342T1000\x00\x00\x00\x00',
+      b'\x018966342T6000\x00\x00\x00\x00',
+      b'\x018966342T9000\x00\x00\x00\x00',
+      b'\x018966342U4000\x00\x00\x00\x00',
+      b'\x018966342U4100\x00\x00\x00\x00',
+      b'\x018966342U5100\x00\x00\x00\x00',
+      b'\x018966342V0000\x00\x00\x00\x00',
+      b'\x018966342V3000\x00\x00\x00\x00',
+      b'\x018966342V3100\x00\x00\x00\x00',
+      b'\x018966342V3200\x00\x00\x00\x00',
+      b'\x01896634A05000\x00\x00\x00\x00',
+      b'\x01896634A19000\x00\x00\x00\x00',
+      b'\x01896634A19100\x00\x00\x00\x00',
+      b'\x01896634A20000\x00\x00\x00\x00',
+      b'\x01896634A20100\x00\x00\x00\x00',
+      b'\x01896634A22000\x00\x00\x00\x00',
+      b'\x01896634A22100\x00\x00\x00\x00',
+      b'\x01896634A30000\x00\x00\x00\x00',
+      b'\x01896634A44000\x00\x00\x00\x00',
+      b'\x01896634A45000\x00\x00\x00\x00',
+      b'\x01896634A46000\x00\x00\x00\x00',
+      b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00',
+      b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
+      b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
+      b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
       b'\x01896634A15000\x00\x00\x00\x00',
       b'\x018966342M5000\x00\x00\x00\x00',
       b'\x018966342W8000\x00\x00\x00\x00',
@@ -1605,6 +1458,21 @@ FW_VERSIONS = {
       b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642561\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642601\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642710\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642711\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642750\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642751\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
       b'F152642291\x00\x00\x00\x00\x00\x00',
       b'F152642290\x00\x00\x00\x00\x00\x00',
       b'F152642322\x00\x00\x00\x00\x00\x00',
@@ -1642,8 +1510,10 @@ FW_VERSIONS = {
       b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4H_TSS2_2022: {
+  CAR.RAV4_TSS2_2022: {
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
       b'\x01F15264283100\x00\x00\x00\x00',
       b'\x01F15264286200\x00\x00\x00\x00',
       b'\x01F15264286100\x00\x00\x00\x00',
@@ -1655,6 +1525,12 @@ FW_VERSIONS = {
       b'8965B42172\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634AA0000\x00\x00\x00\x00',
+      b'\x01896634AA0100\x00\x00\x00\x00',
+      b'\x01896634AA1000\x00\x00\x00\x00',
+      b'\x01896634A88000\x00\x00\x00\x00',
+      b'\x01896634A89000\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
       b'\x01896634A02001\x00\x00\x00\x00',
       b'\x01896634A03000\x00\x00\x00\x00',
       b'\x01896634A08000\x00\x00\x00\x00',
@@ -1670,29 +1546,30 @@ FW_VERSIONS = {
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4H_TSS2_2023: {
+  CAR.RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
       b'\x01F15264283200\x00\x00\x00\x00',
       b'\x01F15264283300\x00\x00\x00\x00',
+      b'\x01F152642F1000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
       b'8965B42371\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634A88100\x00\x00\x00\x00',
+      b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
       b'\x01896634AE1001\x00\x00\x00\x00',
       b'\x01896634AF0000\x00\x00\x00\x00',
     ],
-    (Ecu.hybrid, 0x7d2, None): [
-      b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
-      b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
-      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+      b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
     ],
   },
   CAR.SIENNA: {
@@ -1751,42 +1628,10 @@ FW_VERSIONS = {
   CAR.LEXUS_ES_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x018966306U6000\x00\x00\x00\x00',
-      b'\x01896630EC9100\x00\x00\x00\x00',
       b'\x018966333T5000\x00\x00\x00\x00',
       b'\x018966333T5100\x00\x00\x00\x00',
       b'\x018966333X6000\x00\x00\x00\x00',
       b'\x01896633T07000\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152606281\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606340\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606461\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33252\x00\x00\x00\x00\x00\x00',
-      b'8965B33590\x00\x00\x00\x00\x00\x00',
-      b'8965B33690\x00\x00\x00\x00\x00\x00',
-      b'8965B33721\x00\x00\x00\x00\x00\x00',
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ESH_TSS2: {
-    (Ecu.engine, 0x700, None): [
       b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
@@ -1797,6 +1642,10 @@ FW_VERSIONS = {
       b'\x01896633T58000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F152606281\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606340\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606461\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260646200\x00\x00\x00\x00',
       b'F152633423\x00\x00\x00\x00\x00\x00',
       b'F152633680\x00\x00\x00\x00\x00\x00',
       b'F152633681\x00\x00\x00\x00\x00\x00',
@@ -1812,19 +1661,20 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_ES: {
@@ -1869,6 +1719,26 @@ FW_VERSIONS = {
         b'8646F3302200\x00\x00\x00\x00',
       ],
   },
+  CAR.LEXUS_GS_F: {
+    (Ecu.engine, 0x7E0, None): [
+      b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152630700\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881513016200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B30551\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F3002100\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_NX: {
     (Ecu.engine, 0x700, None): [
       b'\x01896637850000\x00\x00\x00\x00',
@@ -1877,17 +1747,30 @@ FW_VERSIONS = {
       b'\x01896637854000\x00\x00\x00\x00',
       b'\x01896637878000\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.abs, 0x7b0, None): [
       b'F152678130\x00\x00\x00\x00\x00\x00',
       b'F152678140\x00\x00\x00\x00\x00\x00',
+      b'F152678160\x00\x00\x00\x00\x00\x00',
+      b'F152678170\x00\x00\x00\x00\x00\x00',
+      b'F152678171\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881517803100\x00\x00\x00\x00',
       b'881517803300\x00\x00\x00\x00',
+      b'881517804300\x00\x00\x00\x00',
+      b'881517804100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B78060\x00\x00\x00\x00\x00\x00',
       b'8965B78080\x00\x00\x00\x00\x00\x00',
+      b'8965B78100\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702100\x00\x00\x00\x00',
@@ -1906,30 +1789,15 @@ FW_VERSIONS = {
       b'\x018966378G2000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
       b'\x018966378B2000\x00\x00\x00\x00',
+      b'\x018966378B3100\x00\x00\x00\x00',
     ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152678221\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78120\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b"\x018821F3301400\x00\x00\x00\x00",
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_NXH_TSS2: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F152678221\x00\x00\x00\x00\x00\x00',
       b'F152678210\x00\x00\x00\x00\x00\x00',
       b'F152678211\x00\x00\x00\x00\x00\x00',
     ],
@@ -1937,7 +1805,8 @@ FW_VERSIONS = {
       b'8965B78120\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
+      b"\x018821F3301400\x00\x00\x00\x00",
+      b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
@@ -1945,39 +1814,9 @@ FW_VERSIONS = {
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_NXH: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152678160\x00\x00\x00\x00\x00\x00',
-      b'F152678170\x00\x00\x00\x00\x00\x00',
-      b'F152678171\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881517804300\x00\x00\x00\x00',
-      b'881517804100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78060\x00\x00\x00\x00\x00\x00',
-      b'8965B78080\x00\x00\x00\x00\x00\x00',
-      b'8965B78100\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F7801300\x00\x00\x00\x00',
-      b'8646F7801100\x00\x00\x00\x00',
-    ],
-  },
   CAR.LEXUS_RC: {
     (Ecu.engine, 0x700, None): [
+      b'\x01896632461100\x00\x00\x00\x00',
       b'\x01896632478200\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -1988,17 +1827,20 @@ FW_VERSIONS = {
       b'F152624221\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881512404100\x00\x00\x00\x00',
       b'881512407000\x00\x00\x00\x00',
       b'881512409100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B24081\x00\x00\x00\x00\x00\x00',
+      b'8965B24240\x00\x00\x00\x00\x00\x00',
       b'8965B24320\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F2401100\x00\x00\x00\x00',
       b'8646F2401200\x00\x00\x00\x00',
       b'8646F2402200\x00\x00\x00\x00',
     ],
@@ -2108,6 +1950,7 @@ FW_VERSIONS = {
       b'\x01896630EA9000\x00\x00\x00\x00',
       b'\x01896630EB0000\x00\x00\x00\x00',
       b'\x01896630EC9000\x00\x00\x00\x00',
+      b'\x01896630EC9100\x00\x00\x00\x00',
       b'\x01896630ED0000\x00\x00\x00\x00',
       b'\x01896630ED0100\x00\x00\x00\x00',
       b'\x01896630ED6000\x00\x00\x00\x00',
@@ -2120,30 +1963,8 @@ FW_VERSIONS = {
       b'\x01896634D44000\x00\x00\x00\x00',
       b'\x018966348X0000\x00\x00\x00\x00',
       b'\x01896630ED5000\x00\x00\x00\x00',
+      b'\x018966348R9200\x00\x00\x00\x00',
     ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
-      b'\x01F152648781\x00\x00\x00\x00\x00\x00',
-      b'\x01F152648801\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48261\x00\x00\x00\x00\x00\x00',
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RXH_TSS2: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -2151,25 +1972,35 @@ FW_VERSIONS = {
       b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
+      b'\x01F152648781\x00\x00\x00\x00\x00\x00',
+      b'\x01F152648801\x00\x00\x00\x00\x00\x00',
       b'F152648831\x00\x00\x00\x00\x00\x00',
       b'F152648891\x00\x00\x00\x00\x00\x00',
       b'F152648D00\x00\x00\x00\x00\x00\x00',
       b'F152648D60\x00\x00\x00\x00\x00\x00',
       b'F152648811\x00\x00\x00\x00\x00\x00',
+      b'F152648C80\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B48261\x00\x00\x00\x00\x00\x00',
       b'8965B48271\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.PRIUS_TSS2: {
@@ -2217,34 +2048,22 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B58040\x00\x00\x00\x00\x00\x00',
-      b'8965B58052\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.ALPHARDH_TSS2: {
-    (Ecu.engine, 0x7e0, None): [
       b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B58040\x00\x00\x00\x00\x00\x00',
+      b'8965B58052\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152658341\x00\x00\x00\x00\x00\x00'
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
@@ -2262,74 +2081,53 @@ DBC = {
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
-  CAR.CHRH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
-  CAR.CHRH_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
-  CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.CAMRYH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
-  CAR.AVALONH_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-  CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
-  CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
-  CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_NXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
 }
 
 # These cars have non-standard EPS torque scale factors. All others are 73
 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2,
-            CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2,
-            CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2,
-            CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
+            CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2}
 
-NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
+NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
 
 # the DSU uses the AEB message for longitudinal on these cars
-UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
+UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F}
 
 # these cars have a radar which sends ACC messages instead of the camera
-RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
 
 # these cars use the Lane Tracing Assist (LTA) message for lateral control
-ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
-
-EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,
-                 CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
-                 CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
-                 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
+ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
 
 # no resume button press required
 NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/volkswagen/radar_interface.py
+++ b/selfdrive/car/volkswagen/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
old mode 100755
new mode 100644
index 36cb5ef534..c8e6daaef8
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,6 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -114,7 +114,7 @@ class CANBUS:
 # FW_VERSIONS for that existing CAR.
 # Exception: SEAT Leon and SEAT Ateca share a chassis code
 
-class CAR:
+class CAR(StrEnum):
   ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
   ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
   CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN"        # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
@@ -161,7 +161,7 @@ class Footnote(Enum):
     Column.MODEL)
   SKODA_HEATED_WINDSHIELD = CarFootnote(
     "Some Škoda vehicles are equipped with heated windshields, which are known " +
-    "to block GPS signal needed for some comma three functionality.",
+    "to block GPS signal needed for some comma 3X functionality.",
     Column.MODEL)
   VW_EXP_LONG = CarFootnote(
     "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
@@ -184,7 +184,7 @@ class VWCarInfo(CarInfo):
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
     if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
-      self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
 
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
@@ -196,7 +196,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   ],
   CAR.ATLAS_MK1: [
     VWCarInfo("Volkswagen Atlas 2018-23"),
-    VWCarInfo("Volkswagen Atlas Cross Sport 2021-22"),
+    VWCarInfo("Volkswagen Atlas Cross Sport 2020-22"),
     VWCarInfo("Volkswagen Teramont 2018-22"),
     VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
     VWCarInfo("Volkswagen Teramont X 2021-22"),
@@ -245,9 +245,9 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
   CAR.TRANSPORTER_T61: [
     VWCarInfo("Volkswagen Caravelle 2020"),
-    VWCarInfo("Volkswagen California 2021"),
+    VWCarInfo("Volkswagen California 2021-23"),
   ],
-  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]),
+  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]),
   CAR.AUDI_A3_MK3: [
     VWCarInfo("Audi A3 2014-19"),
     VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
@@ -259,13 +259,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
   CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
   CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
-  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
+  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
   CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"),
   CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
   CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
   CAR.SKODA_OCTAVIA_MK3: [
-    VWCarInfo("Škoda Octavia 2015, 2018-19"),
+    VWCarInfo("Škoda Octavia 2015-19"),
     VWCarInfo("Škoda Octavia RS 2016"),
   ],
 }
@@ -350,6 +350,7 @@ FW_VERSIONS = {
   CAR.ATLAS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703H906026AA\xf1\x899970',
+      b'\xf1\x8703H906026AG\xf1\x899973',
       b'\xf1\x8703H906026AJ\xf1\x890638',
       b'\xf1\x8703H906026AJ\xf1\x891017',
       b'\xf1\x8703H906026AT\xf1\x891922',
@@ -375,6 +376,7 @@ FW_VERSIONS = {
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200',
       b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900',
+      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900',
       b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900',
       b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00',
       b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00',
@@ -382,6 +384,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x712, None): [
       b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1',
       b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
+      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
     ],
@@ -396,6 +399,7 @@ FW_VERSIONS = {
   },
   CAR.CRAFTER_MK2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056BP\xf1\x894729',
       b'\xf1\x8704L906056EK\xf1\x896391',
       b'\xf1\x8705L906023BC\xf1\x892688',
     ],
@@ -403,15 +407,18 @@ FW_VERSIONS = {
     #(Ecu.transmission, 0x7e1, None): [
     #],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
       b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
       b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
       b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
       b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572J \xf1\x890156',
       b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
@@ -461,6 +468,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906259K \xf1\x890003',
       b'\xf1\x878V0906259P \xf1\x890001',
       b'\xf1\x878V0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259R \xf1\x890002',
       b'\xf1\x878V0906264F \xf1\x890003',
       b'\xf1\x878V0906264L \xf1\x890002',
       b'\xf1\x878V0906264M \xf1\x890001',
@@ -483,6 +491,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300047E \xf1\x895261',
       b'\xf1\x870CW300048J \xf1\x890611',
       b'\xf1\x870CW300049H \xf1\x890905',
+      b'\xf1\x870CW300050G \xf1\x891905',
       b'\xf1\x870D9300012  \xf1\x894904',
       b'\xf1\x870D9300012  \xf1\x894913',
       b'\xf1\x870D9300012  \xf1\x894937',
@@ -502,6 +511,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300012A \xf1\x891401',
       b'\xf1\x870GC300012A \xf1\x891403',
       b'\xf1\x870GC300014B \xf1\x892401',
+      b'\xf1\x870GC300014B \xf1\x892403',
       b'\xf1\x870GC300014B \xf1\x892405',
       b'\xf1\x870GC300020G \xf1\x892401',
       b'\xf1\x870GC300020G \xf1\x892403',
@@ -521,7 +531,9 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
       b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
@@ -547,6 +559,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
       b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
@@ -647,6 +660,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703N906026E \xf1\x892114',
       b'\xf1\x8704E906023AH\xf1\x893379',
+      b'\xf1\x8704E906023BM\xf1\x894522',
       b'\xf1\x8704L906026DP\xf1\x891538',
       b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026FP\xf1\x892012',
@@ -662,6 +676,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300014L \xf1\x895002',
       b'\xf1\x870D9300041A \xf1\x894801',
       b'\xf1\x870DD300045T \xf1\x891601',
+      b'\xf1\x870DD300046H \xf1\x891601',
       b'\xf1\x870DL300011H \xf1\x895201',
       b'\xf1\x870CW300042H \xf1\x891601',
       b'\xf1\x870CW300042H \xf1\x891607',
@@ -709,12 +724,14 @@ FW_VERSIONS = {
   CAR.PASSAT_NMS: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8706K906016C \xf1\x899609',
+      b'\xf1\x8706K906016E \xf1\x899830',
       b'\xf1\x8706K906016G \xf1\x891124',
       b'\xf1\x8706K906071BJ\xf1\x894891',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158AB\xf1\x893318',
       b'\xf1\x8709G927158BD\xf1\x893121',
+      b'\xf1\x8709G927158DK\xf1\x893594',
       b'\xf1\x8709G927158FQ\xf1\x893745',
     ],
     (Ecu.srs, 0x715, None): [
@@ -766,15 +783,18 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027NJ\xf1\x891445',
       b'\xf1\x8704E906027NP\xf1\x891286',
+      b'\xf1\x8705E906013BD\xf1\x892496',
       b'\xf1\x8705E906013E \xf1\x891624',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
+      b'\xf1\x8709S927158DN\xf1\x893946',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
       b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
     ],
     (Ecu.eps, 0x712, None): [
@@ -810,15 +830,19 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906027G \xf1\x899893',
+      b'\xf1\x8705E906018BS\xf1\x890914',
       b'\xf1\x875N0906259  \xf1\x890002',
       b'\xf1\x875NA906259H \xf1\x890002',
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA907115J \xf1\x890002',
       b'\xf1\x8783A907115B \xf1\x890005',
       b'\xf1\x8783A907115F \xf1\x890002',
       b'\xf1\x8783A907115G \xf1\x890001',
       b'\xf1\x8783A907115K \xf1\x890001',
+      b'\xf1\x8783A907115K \xf1\x890002',
       b'\xf1\x8704E906024AP\xf1\x891461',
+      b'\xf1\x8783A907115  \xf1\x890007',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158DT\xf1\x893698',
@@ -826,6 +850,7 @@ FW_VERSIONS = {
       b'\xf1\x8709G927158GC\xf1\x893821',
       b'\xf1\x8709G927158GD\xf1\x893820',
       b'\xf1\x8709G927158GM\xf1\x893936',
+      b'\xf1\x8709G927158GN\xf1\x893938',
       b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
@@ -836,12 +861,15 @@ FW_VERSIONS = {
       b'\xf1\x870DL300013G \xf1\x892120',
       b'\xf1\x870DL300014C \xf1\x893703',
       b'\xf1\x870DD300046K \xf1\x892302',
+      b'\xf1\x870GC300013P \xf1\x892401',
+      b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
@@ -849,6 +877,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
       b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
+      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
@@ -861,11 +890,14 @@ FW_VERSIONS = {
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM',
       b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
       b'\xf1\x872Q0907572J \xf1\x890156',
       b'\xf1\x872Q0907572M \xf1\x890233',
       b'\xf1\x872Q0907572Q \xf1\x890342',
@@ -902,12 +934,14 @@ FW_VERSIONS = {
       b'\xf1\x8704L906057AP\xf1\x891186',
       b'\xf1\x8704L906057N \xf1\x890413',
       b'\xf1\x8705L906023E \xf1\x891352',
+      b'\xf1\x8705L906023MR\xf1\x892582',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870BT300012G \xf1\x893102',
       b'\xf1\x870BT300012E \xf1\x893105',
       b'\xf1\x870BT300046R \xf1\x893102',
       b'\xf1\x870DV300012B \xf1\x893701',
+      b'\xf1\x870DV300012B \xf1\x893702',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
@@ -928,20 +962,29 @@ FW_VERSIONS = {
   CAR.TROC_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705E906018AT\xf1\x899640',
+      b'\xf1\x8705E906018CK\xf1\x890863',
+      b'\xf1\x8705E906018P \xf1\x896020',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300050J \xf1\x891911',
       b'\xf1\x870CW300051M \xf1\x891925',
+      b'\xf1\x870CW300051M \xf1\x891928',
+      b'\xf1\x870CW300041S \xf1\x891615',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
+      b'\xf1\x875Q0959655CF\xf1\x890421\xf1\x82\x1311110012333300314240021150119333613100',
+      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1111001111001105111111052900',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
+      b'\xf1\x875WA907144M \xf1\x891051\xf1\x82\x001T06081T7N',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521060403A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572T \xf1\x890383',
+      b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
   CAR.AUDI_A3_MK3: {
@@ -1049,10 +1092,14 @@ FW_VERSIONS = {
       b'\xf1\x8705L906022M \xf1\x890901',
       b'\xf1\x8783A906259  \xf1\x890001',
       b'\xf1\x8783A906259  \xf1\x890005',
+      b'\xf1\x8783A906259C \xf1\x890002',
+      b'\xf1\x8783A906259D \xf1\x890001',
       b'\xf1\x8783A906259F \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158CN\xf1\x893608',
+      b'\xf1\x8709G927158FL\xf1\x893758',
+      b'\xf1\x8709G927158GG\xf1\x893825',
       b'\xf1\x8709G927158GP\xf1\x893937',
       b'\xf1\x870GC300045D \xf1\x892802',
       b'\xf1\x870GC300046F \xf1\x892701',
@@ -1062,11 +1109,13 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
       b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
       b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
+      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218A219321532111',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
       b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
     ],
     (Ecu.fwdRadar, 0x757, None): [
@@ -1153,18 +1202,23 @@ FW_VERSIONS = {
   CAR.SKODA_KAMIQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705C906032M \xf1\x891333',
+      b'\xf1\x8705E906013CK\xf1\x892540',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300020  \xf1\x891906',
+      b'\xf1\x870CW300020T \xf1\x892204',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\0222221042111042121040404042E2711152H14',
+      b'\xf1\x872Q0959655BJ\xf1\x890412\xf1\x82\x132223042111042121040404042B251215391423',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x872Q1909144M \xf1\x896041',
+      b'\xf1\x872Q1909144AB\xf1\x896050',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572T \xf1\x890383',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.SKODA_KAROQ_MK1: {
@@ -1254,6 +1308,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027HD\xf1\x893742',
       b'\xf1\x8704E906027MH\xf1\x894786',
       b'\xf1\x8704L906021DT\xf1\x898127',
+      b'\xf1\x8704L906026BP\xf1\x897608',
       b'\xf1\x8704L906026BS\xf1\x891541',
       b'\xf1\x875G0906259C \xf1\x890002',
     ],
@@ -1263,11 +1318,13 @@ FW_VERSIONS = {
       b'\xf1\x870CW300043B \xf1\x891601',
       b'\xf1\x870CW300043P \xf1\x891605',
       b'\xf1\x870D9300041C \xf1\x894936',
+      b'\xf1\x870D9300041H \xf1\x895220',
       b'\xf1\x870D9300041J \xf1\x894902',
       b'\xf1\x870D9300041P \xf1\x894507',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
       b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
       b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
@@ -1279,13 +1336,15 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
-      b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
+      b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
       b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
@@ -1315,9 +1374,12 @@ FW_VERSIONS = {
   },
   CAR.SKODA_SUPERB_MK3: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027BS\xf1\x892887',
       b'\xf1\x8704E906027BT\xf1\x899042',
       b'\xf1\x8704L906026ET\xf1\x891343',
+      b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026FP\xf1\x891196',
+      b'\xf1\x8704L906026KA\xf1\x896014',
       b'\xf1\x8704L906026KB\xf1\x894071',
       b'\xf1\x8704L906026KD\xf1\x894798',
       b'\xf1\x8704L906026MT\xf1\x893076',
@@ -1328,13 +1390,16 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870CW300043B \xf1\x891603',
       b'\xf1\x870CW300049Q \xf1\x890906',
       b'\xf1\x870D9300011T \xf1\x894801',
       b'\xf1\x870D9300012  \xf1\x894940',
       b'\xf1\x870D9300013A \xf1\x894905',
       b'\xf1\x870D9300014K \xf1\x895006',
       b'\xf1\x870D9300041H \xf1\x894905',
+      b'\xf1\x870D9300042M \xf1\x895013',
       b'\xf1\x870D9300043F \xf1\x895202',
+      b'\xf1\x870GC300013K \xf1\x892403',
       b'\xf1\x870GC300014M \xf1\x892801',
       b'\xf1\x870GC300019G \xf1\x892803',
       b'\xf1\x870GC300043  \xf1\x892301',
@@ -1344,9 +1409,11 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
       b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
       b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
+      b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
     ],
@@ -1355,8 +1422,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
     ],
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8094030731..19ce407932 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -36,7 +36,6 @@ LANE_DEPARTURE_THRESHOLD = 0.1
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -57,37 +56,33 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 
 class Controls:
-  def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
+  def __init__(self, CI=None):
     config_realtime_process(4, Priority.CTRL_HIGH)
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
     self.branch = get_short_branch("")
 
     # Setup sockets
-    self.pm = pm
-    if self.pm is None:
-      self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
-                                     'carControl', 'carEvents', 'carParams'])
+    self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
+                                   'carControl', 'carEvents', 'carParams'])
 
+    self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
-    self.can_sock = can_sock
-    if can_sock is None:
-      can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
-      self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
+    can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
+    self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
 
     self.log_sock = messaging.sub_sock('androidLog')
 
     self.params = Params()
-    self.sm = sm
-    if self.sm is None:
-      ignore = ['testJoystick']
-      if SIMULATION:
-        ignore += ['driverCameraState', 'managerState']
-      self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                     'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
-                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
+    ignore = self.sensor_packets + ['testJoystick']
+    if SIMULATION:
+      ignore += ['driverCameraState', 'managerState']
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                   'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                   'testJoystick'] + self.camera_packets + self.sensor_packets,
+                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -126,6 +121,11 @@ class Controls:
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
+    # Write previous route's CarParams
+    prev_cp = self.params.get("CarParamsPersistent")
+    if prev_cp is not None:
+      self.params.put("CarParamsPrevRoute", prev_cp)
+
     # Write CarParams for radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
@@ -374,17 +374,20 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
-      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
-        self.events.add(EventName.sensorDataInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
+    if not self.sm['liveLocationKalman'].inputsOK:
+      self.events.add(EventName.locationdTemporaryError)
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      self.events.add(EventName.paramsdTemporaryError)
+
+    # conservative HW alert. if the data or frequency are off, locationd will throw an error
+    if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
+      self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
@@ -413,15 +416,12 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if not NOSENSOR:
-        if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
-          # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-          self.events.add(EventName.noGps)
+      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
+        # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
+        self.events.add(EventName.noGps)
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
-      if self.sm['liveLocationKalman'].excessiveResets:
-        self.events.add(EventName.localizerMalfunction)
 
   def data_sample(self):
     """Receive data from sockets and update carState"""
@@ -624,13 +624,20 @@ class Controls:
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:
+        # reset joystick if it hasn't been received in a while
+        should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
+        if not should_reset_joystick:
+          joystick_axes = self.sm['testJoystick'].axes
+        else:
+          joystick_axes = [0.0, 0.0]
+
         if CC.longActive:
-          actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
+          actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
 
         if CC.latActive:
-          steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
-          # max angle is 45 for angle-based cars
-          actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
+          steer = clip(joystick_axes[1], -1, 1)
+          # max angle is 45 for angle-based cars, max curvature is 0.02
+          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
 
         lac_log.active = self.active
         lac_log.steeringAngleDeg = CS.steeringAngleDeg
@@ -807,8 +814,6 @@ class Controls:
       controlsState.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
       controlsState.lateralControlState.torqueState = lac_log
-    elif lat_tuning == 'indi':
-      controlsState.lateralControlState.indiState = lac_log
 
     self.pm.send('controlsState', dat)
 
@@ -880,8 +885,8 @@ class Controls:
       self.prof.display()
 
 
-def main(sm=None, pm=None, logcan=None):
-  controls = Controls(sm, pm, logcan)
+def main():
+  controls = Controls()
   controls.controlsd_thread()
 
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 00916ddf78..b728f1114c 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -4,7 +4,7 @@ from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
@@ -177,7 +177,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
   # in high delay cases some corrections never even get commanded. So just use
   # psi to calculate a simple linearization of desired curvature
   current_curvature_desired = curvatures[0]
-  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
+  psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
   average_curvature_desired = psi / (v_ego * delay)
   desired_curvature = 2 * average_curvature_desired - current_curvature_desired
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 7c30effce5..79bead3ac8 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import math
 import os
 from enum import IntEnum
@@ -423,19 +424,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   # ********** events only containing alerts that display while engaged **********
 
-  # openpilot tries to learn certain parameters about your car by observing
-  # how the car behaves to steering inputs from both human and openpilot driving.
-  # This includes:
-  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
-  # - tire stiffness: how much grip your tires have
-  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
-  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
-  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
-  EventName.vehicleModelInvalid: {
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
-    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"),
-  },
-
   EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
       "Steering Temporarily Unavailable",
@@ -575,11 +563,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
   },
 
-  # When the GPS position and localizer diverge the localizer is reset to the
-  # current GPS position. This alert is thrown when the localizer is reset
-  # more often than expected.
-  EventName.localizerMalfunction: {
-    # ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"),
+  EventName.locationdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+  },
+
+  EventName.locationdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.paramsdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+  },
+
+  EventName.paramsdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
   },
 
   # ********** events that affect controls state transitions **********
@@ -677,7 +688,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "Sensor Data Invalid",
-      "Ensure device is mounted securely",
+      "Possible Hardware Issue",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
@@ -958,32 +969,28 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import service_list
-  from collections import defaultdict, OrderedDict
+  from cereal.services import SERVICE_LIST
+  from collections import defaultdict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
-  alerts_by_type: Dict[str, Dict[int, List[str]]] = defaultdict(lambda: defaultdict(list))
+  alerts_by_type: Dict[str, Dict[Priority, List[str]]] = defaultdict(lambda: defaultdict(list))
 
   CP = car.CarParams.new_message()
   CS = car.CarState.new_message()
-  sm = messaging.SubMaster(list(service_list.keys()))
+  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
       if callable(alert):
         alert = alert(CP, CS, sm, False, 1)
-      priority = alert.priority
-      alerts_by_type[et][priority].append(event_names[i])
+      alerts_by_type[et][alert.priority].append(event_names[i])
 
-  all_alerts = {}
+  all_alerts: Dict[str, List[tuple[Priority, List[str]]]] = {}
   for et, priority_alerts in alerts_by_type.items():
-    all_alerts[et] = OrderedDict([
-      (str(priority), l)
-      for priority, l in sorted(priority_alerts.items(), key=lambda x: -int(x[0]))
-    ])
+    all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)
 
   for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
     print(f"**** {status} ****")
-    for p, alert_list in evs.items():
-      print(f"  {p}:")
+    for p, alert_list in evs:
+      print(f"  {repr(p)}:")
       print("   ", ', '.join(alert_list), "\n")
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index 5e6f884df4..83ec3b3a13 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -5,7 +5,7 @@ import numpy as np
 
 from casadi import SX, vertcat, sin, cos
 # WARNING: imports outside of constants will not trigger a rebuild
-from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
@@ -66,7 +66,7 @@ def gen_lat_ocp():
   ocp = AcadosOcp()
   ocp.model = gen_lat_model()
 
-  Tf = np.array(T_IDXS)[N]
+  Tf = np.array(ModelConstants.T_IDXS)[N]
 
   # set dimensions
   ocp.dims.N = N
@@ -122,7 +122,7 @@ def gen_lat_ocp():
 
   # set prediction horizon
   ocp.solver_options.tf = Tf
-  ocp.solver_options.shooting_nodes = np.array(T_IDXS)[:N+1]
+  ocp.solver_options.shooting_nodes = np.array(ModelConstants.T_IDXS)[:N+1]
 
   ocp.code_export_directory = EXPORT_DIR
   return ocp
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 92786f73d8..2417eb3c68 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -1,10 +1,4 @@
-import time
 import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.numpy_fast import interp
-from openpilot.system.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
@@ -13,18 +7,6 @@ from cereal import log
 TRAJECTORY_SIZE = 33
 CAMERA_OFFSET = 0.04
 
-
-PATH_COST = 1.0
-LATERAL_MOTION_COST = 0.11
-LATERAL_ACCEL_COST = 0.0
-LATERAL_JERK_COST = 0.04
-# Extreme steering rate is unpleasant, even
-# when it does not cause bad jerk.
-# TODO this cost should be lowered when low
-# speed lateral control is stable on all cars
-STEERING_RATE_COST = 700.0
-
-
 class LateralPlanner:
   def __init__(self, CP, debug=False):
     self.DH = DesireHelper()
@@ -37,42 +19,26 @@ class LateralPlanner:
 
     self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
     self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3))
-    self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
-    self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,))
-    self.t_idxs = np.arange(TRAJECTORY_SIZE)
-    self.y_pts = np.zeros((TRAJECTORY_SIZE,))
     self.v_plan = np.zeros((TRAJECTORY_SIZE,))
-    self.v_ego = 0.0
+    self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32)
+    self.v_ego = MIN_SPEED
     self.l_lane_change_prob = 0.0
     self.r_lane_change_prob = 0.0
 
     self.debug_mode = debug
 
-    self.lat_mpc = LateralMpc()
-    self.reset_mpc(np.zeros(4))
-
-  def reset_mpc(self, x0=None):
-    if x0 is None:
-      x0 = np.zeros(4)
-    self.x0 = x0
-    self.lat_mpc.reset(x0=self.x0)
-
   def update(self, sm):
-    # clip speed , lateral planning is not possible at 0 speed
-    measured_curvature = sm['controlsState'].curvature
     v_ego_car = sm['carState'].vEgo
 
     # Parse model predictions
     md = sm['modelV2']
-    if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
+    if len(md.position.x) == TRAJECTORY_SIZE and len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE:
       self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
-      self.t_idxs = np.array(md.position.t)
-      self.plan_yaw = np.array(md.orientation.z)
-      self.plan_yaw_rate = np.array(md.orientationRate.z)
       self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
       car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
       self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
       self.v_ego = self.v_plan[0]
+      self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate])
 
     # Lane change logic
     desire_state = md.meta.desireState
@@ -82,66 +48,23 @@ class LateralPlanner:
     lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob
     self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
 
-    self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
-                             LATERAL_ACCEL_COST, LATERAL_JERK_COST,
-                             STEERING_RATE_COST)
-
-    y_pts = self.path_xyz[:LAT_MPC_N+1, 1]
-    heading_pts = self.plan_yaw[:LAT_MPC_N+1]
-    yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1]
-    self.y_pts = y_pts
-
-    assert len(y_pts) == LAT_MPC_N + 1
-    assert len(heading_pts) == LAT_MPC_N + 1
-    assert len(yaw_rate_pts) == LAT_MPC_N + 1
-    lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf)
-    p = np.column_stack([self.v_plan, lateral_factor])
-    self.lat_mpc.run(self.x0,
-                     p,
-                     y_pts,
-                     heading_pts,
-                     yaw_rate_pts)
-    # init state for next iteration
-    # mpc.u_sol is the desired second derivative of psi given x0 curv state.
-    # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate.
-    # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control.
-    self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
-
-    #  Check for infeasible MPC solution
-    mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
-    t = time.monotonic()
-    if mpc_nans or self.lat_mpc.solution_status != 0:
-      self.reset_mpc()
-      self.x0[3] = measured_curvature * self.v_ego
-      if t > self.last_cloudlog_t + 5.0:
-        self.last_cloudlog_t = t
-        cloudlog.warning("Lateral mpc - nan: True")
-
-    if self.lat_mpc.cost > 1e6 or mpc_nans:
-      self.solution_invalid_cnt += 1
-    else:
-      self.solution_invalid_cnt = 0
-
   def publish(self, sm, pm):
-    plan_solution_valid = self.solution_invalid_cnt < 2
     plan_send = messaging.new_message('lateralPlan')
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
 
     lateralPlan = plan_send.lateralPlan
     lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
-    lateralPlan.dPathPoints = self.y_pts.tolist()
-    lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
+    lateralPlan.dPathPoints = self.path_xyz[:,1].tolist()
+    lateralPlan.psis = self.x_sol[0:CONTROL_N, 2].tolist()
 
-    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
-    lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
+    lateralPlan.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
+    lateralPlan.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] # TODO: unused
 
-    lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
-    lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
+    lateralPlan.mpcSolutionValid = bool(1)
+    lateralPlan.solverExecutionTime = 0.0
     if self.debug_mode:
-      lateralPlan.solverCost = self.lat_mpc.cost
       lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
-      lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist()
-      lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
+      lateralPlan.solverState.x = self.x_sol.tolist()
 
     lateralPlan.desire = self.DH.desire
     lateralPlan.useLaneLines = False
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 61c150aadc..ee65c4a69e 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -3,7 +3,7 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
 from openpilot.selfdrive.controls.lib.pid import PIDController
-from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -70,19 +70,19 @@ class LongControl:
     # Interp control trajectory
     speeds = long_plan.speeds
     if len(speeds) == CONTROL_N:
-      v_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
-      a_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
+      v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels)
 
-      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
+      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
       a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
 
-      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
+      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
       a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
 
       v_target = min(v_target_lower, v_target_upper)
       a_target = min(a_target_lower, a_target_upper)
 
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds)
+      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds)
     else:
       v_target = 0.0
       v_target_now = 0.0
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 5ce47eab1c..79afa1d918 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging_python')
+Import('env', 'envCython', 'arch', 'messaging_python', 'common_python')
 
 gen = "c_generated_code"
 
@@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, messaging_python)
+lenv.Depends(generated_long, [messaging_python, common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
old mode 100644
new mode 100755
index eaa782efee..a23ba1eaf6
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -290,7 +290,7 @@ class LongitudinalMpc:
     self.x0[1] = v
     self.x0[2] = a
     if abs(v_prev - v) > 2.:  # probably only helps if v < v_prev
-      for i in range(0, N+1):
+      for i in range(N+1):
         self.solver.set(i, 'x', self.x0)
 
   @staticmethod
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c1e782fa5c..b1eff5302f 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -9,7 +9,7 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
@@ -76,9 +76,9 @@ class LongitudinalPlanner:
     if (len(model_msg.position.x) == 33 and
        len(model_msg.velocity.x) == 33 and
        len(model_msg.acceleration.x) == 33):
-      x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
-      v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) - model_error
-      a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x)
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
       j = np.zeros(len(T_IDXS_MPC))
     else:
       x = np.zeros(len(T_IDXS_MPC))
@@ -135,11 +135,11 @@ class LongitudinalPlanner:
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
 
-    self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
-    self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
+    self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
     self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
     self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
-    self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
+    self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
     self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
@@ -148,7 +148,7 @@ class LongitudinalPlanner:
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 2b23a0440e..15dbd4c5e2 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -5,7 +5,7 @@ from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.system.swaglog import cloudlog
-from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
@@ -14,20 +14,20 @@ def cumtrapz(x, t):
   return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
 
 def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
-  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
-  model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)
+  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS)
+  model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS)
 
   ui_send = messaging.new_message('uiPlan')
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
   uiPlan = ui_send.uiPlan
   uiPlan.frameId = sm['modelV2'].frameId
-  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
-  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
+  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist()
+  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist()
   uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
   uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
   pm.send('uiPlan', ui_send)
 
-def plannerd_thread(sm=None, pm=None):
+def plannerd_thread():
   config_realtime_process(5, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
@@ -41,12 +41,9 @@ def plannerd_thread(sm=None, pm=None):
   longitudinal_planner = LongitudinalPlanner(CP)
   lateral_planner = LateralPlanner(CP, debug=debug_mode)
 
-  if sm is None:
-    sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
-                             poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
+                           poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
   while True:
     sm.update()
@@ -58,8 +55,8 @@ def plannerd_thread(sm=None, pm=None):
       longitudinal_planner.publish(sm, pm)
       publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
 
-def main(sm=None, pm=None):
-  plannerd_thread(sm, pm)
+def main():
+  plannerd_thread()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 8a21fdd8ab..ec42ae66f2 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -50,7 +50,8 @@ class KalmanParams:
 
 
 class Track:
-  def __init__(self, v_lead: float, kalman_params: KalmanParams):
+  def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
+    self.identifier = identifier
     self.cnt = 0
     self.aLeadTau = _LEAD_ACCEL_TAU
     self.K_A = kalman_params.A
@@ -98,11 +99,12 @@ class Track:
       "vLead": float(self.vLead),
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
+      "aLeadTau": float(self.aLeadTau),
       "status": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
       "radar": True,
-      "aLeadTau": float(self.aLeadTau)
+      "radarTrackId": self.identifier,
     }
 
   def potential_low_speed_lead(self, v_ego: float):
@@ -158,8 +160,9 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),
+    "status": True,
     "radar": False,
-    "status": True
+    "radarTrackId": -1,
   }
 
 
@@ -237,7 +240,7 @@ class RadarD:
 
       # create the track if it doesn't exist or it's a new track
       if ids not in self.tracks:
-        self.tracks[ids] = Track(v_lead, self.kalman_params)
+        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     # *** publish radarState ***
diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py
index 1d43b49ccf..76a2222e85 100755
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import itertools
 import numpy as np
 import unittest
 
@@ -31,21 +32,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
   return output[-1, 3]
 
 
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      log.LongitudinalPersonality.schema.enumerants, # personality
+                      [5,35])) # speed
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
     params = Params()
-    personalities = [log.LongitudinalPersonality.relaxed,
-                     log.LongitudinalPersonality.standard,
-                     log.LongitudinalPersonality.aggressive]
-    for personality in personalities:
-      params.put("LongitudinalPersonality", str(personality))
-      for e2e in [False, True]:
-        for speed in [5,35]:
-          print(f'Testing {speed} m/s')
-          cruise_speed = float(speed)
-
-          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
-          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
+    params.put("LongitudinalPersonality", str(self.personality))
+    print(f'Testing {self.speed} m/s')
+    cruise_speed = float(self.speed)
+
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
+    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 
 # TODO: test pcmCruise
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
old mode 100644
new mode 100755
index be949764c5..3b31632721
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
 import unittest
+import itertools
+from parameterized import parameterized_class
+
 from openpilot.common.params import Params
 from cereal import log
 
@@ -23,22 +26,21 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
   return output[-1,2] - output[-1,1]
 
 
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      [log.LongitudinalPersonality.relaxed, # personality
+                       log.LongitudinalPersonality.standard,
+                       log.LongitudinalPersonality.aggressive],
+                      [0,10,35])) # speed
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
     params = Params()
-    personalities = [log.LongitudinalPersonality.relaxed,
-                     log.LongitudinalPersonality.standard,
-                     log.LongitudinalPersonality.aggressive]
-    for personality in personalities:
-      params.put("LongitudinalPersonality", str(personality))
-      for e2e in [False, True]:
-        for speed in [0,10,35]:
-          print(f'Testing {speed} m/s')
-          v_lead = float(speed)
-          simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
-          correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality))
-          err_ratio = 0.2 if e2e else 0.1
-          self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+    params.put("LongitudinalPersonality", str(self.personality))
+    v_lead = float(self.speed)
+    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e)
+    correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
+    err_ratio = 0.2 if self.e2e else 0.1
+    self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
old mode 100644
new mode 100755
index bd8baf096e..268d9c47a7
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -3,8 +3,8 @@ import unittest
 
 import cereal.messaging as messaging
 
-from selfdrive.test.process_replay import replay_process_with_name
-from selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.test.process_replay import replay_process_with_name
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 
 
 class TestLeads(unittest.TestCase):
diff --git a/selfdrive/debug/auto_fingerprint.py b/selfdrive/debug/auto_fingerprint.py
new file mode 100755
index 0000000000..78b109b0bd
--- /dev/null
+++ b/selfdrive/debug/auto_fingerprint.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import argparse
+from openpilot.common.basedir import BASEDIR
+
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.selfdrive.car.fw_versions import match_fw_to_car
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+
+
+ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
+ALL_CARS = get_interface_attr("CAR")
+
+PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
+BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
+PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
+
+def add_fw_versions(brand, platform, new_fw_versions):
+  filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py"
+  with open(filename, "r") as f:
+    values_py = f.read()
+
+  for key in new_fw_versions.keys():
+    ecu, addr, subAddr = key
+    fw_version = new_fw_versions[key]
+
+    platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
+
+    start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
+
+    try:
+      end_str = "],\n"
+      end = values_py.index(end_str, start)
+    except ValueError:
+      end_str = "]\n"
+      end = values_py.index(end_str, start)
+
+    values_py = values_py[:end] + f"  {fw_version},\n    " + values_py[end:]
+
+  with open(filename, "w") as f:
+    f.write(values_py)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
+  args = parser.parse_args()
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.qlog_paths())
+
+  carFw = None
+  carVin = None
+  carPlatform = None
+
+  for msg in lr:
+    if msg.which() == "carParams":
+      carFw = msg.carParams.carFw
+      carVin = msg.carParams.carVin
+      carPlatform = msg.carParams.carFingerprint
+      break
+
+  if carFw is None:
+    raise Exception("No fw versions in the provided route...")
+
+  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
+    _, possible_platforms = match_fw_to_car(carFw, log=False)
+
+    if len(possible_platforms) != 1:
+      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
+
+      if carPlatform != "mock":
+        print("Using platform from route")
+        platform = carPlatform
+      else:
+        raise Exception("unable to determine platform, try manually specifying the fingerprint.")
+    else:
+      platform = list(possible_platforms)[0]
+
+  else:
+    platform = args.platform
+
+  print("Attempting to add fw version for: ", platform)
+
+  brand = PLATFORM_TO_BRAND[platform]
+
+  new_fw_versions = {}
+
+  for fw in carFw:
+    if fw.brand == brand:
+      addr = fw.address
+      subAddr = None if fw.subAddress == 0 else fw.subAddress
+      key = (fw.ecu.raw, addr, subAddr)
+
+      if key in ALL_FW_VERSIONS[brand][platform]:
+        fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
+        if fw.fwVersion not in fw_versions:
+          new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
+
+  if not new_fw_versions:
+    print("No new fw versions found...")
+
+  add_fw_versions(brand, platform, new_fw_versions)
\ No newline at end of file
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
index 141156db91..72d11d6eda 100755
--- a/selfdrive/debug/check_lag.py
+++ b/selfdrive/debug/check_lag.py
@@ -2,7 +2,7 @@
 from typing import Dict
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 TO_CHECK = ['carState']
 
@@ -20,7 +20,7 @@ if __name__ == "__main__":
         t = sm.logMonoTime[s] / 1e9
 
         if s in prev_t:
-          expected = 1.0 / (service_list[s].frequency)
+          expected = 1.0 / (SERVICE_LIST[s].frequency)
           dt = t - prev_t[s]
           if dt > 10 * expected:
             print(t, s, dt)
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index a8af5e6fe9..a148996d94 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -7,7 +7,7 @@ from pprint import pprint
 from tqdm import tqdm
 from typing import List, Tuple, cast
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
 
@@ -17,7 +17,7 @@ if __name__ == "__main__":
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
-  cams = [s for s in service_list if s.endswith('CameraState')]
+  cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
   alerts: List[Tuple[float, str]] = []
@@ -62,7 +62,7 @@ if __name__ == "__main__":
   print("\n")
   print("Cameras")
   for k, v in cnt_cameras.items():
-    s = service_list[k]
+    s = SERVICE_LIST[k]
     expected_frames = int(s.frequency * duration / cast(float, s.decimation))
     print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
 
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 5037208643..fcecb3d9d3 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -25,7 +25,8 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.buttonCancel, ET.USER_DISABLE),
     (EventName.wrongGear, ET.NO_ENTRY),
 
-    (EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
+    (EventName.locationdTemporaryError, ET.SOFT_DISABLE),
+    (EventName.paramsdTemporaryError, ET.SOFT_DISABLE),
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index 8436fbd0b0..db18f4c622 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 
 from hexdump import hexdump
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
@@ -31,7 +31,7 @@ if __name__ == "__main__":
 
   poller = messaging.Poller()
 
-  for m in args.socket if len(args.socket) > 0 else service_list:
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
     messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index ac3651bf2f..7735391f4f 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -62,6 +62,10 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 K5 HEV
+  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":
diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 9b7f369525..b51cb3af2f 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -5,7 +5,7 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route
 
@@ -49,7 +49,7 @@ if __name__ == "__main__":
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
   qlog_by_type = defaultdict(list)
-  for name, service in service_list.items():
+  for name, service in SERVICE_LIST.items():
     if service.decimation is None:
       continue
 
diff --git a/selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf b/selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf
deleted file mode 100755
index 4df1f31fcd..0000000000
Binary files a/selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf and /dev/null differ
diff --git a/selfdrive/debug/profiling/simpleperf/eon_perf.sh b/selfdrive/debug/profiling/simpleperf/eon_perf.sh
deleted file mode 100755
index 385af26ba3..0000000000
--- a/selfdrive/debug/profiling/simpleperf/eon_perf.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-set -e
-
-cd "$( dirname "${BASH_SOURCE[0]}" )"
-
-ssh "$1" '$HOME/one/external/simpleperf/bin/android/arm64/simpleperf record --call-graph fp -a --duration 10 -o /tmp/perf.data'
-scp "$1":/tmp/perf.data /tmp/perf.data
-python2 report_html.py -i /tmp/perf.data -o /tmp/report.html
diff --git a/selfdrive/debug/profiling/simpleperf/get.txt b/selfdrive/debug/profiling/simpleperf/get.txt
deleted file mode 100644
index 8e57e6e6ce..0000000000
--- a/selfdrive/debug/profiling/simpleperf/get.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-git clone https://android.googlesource.com/platform/prebuilts/simpleperf
-git reset --hard 311a9d2cd27841498fc90a0b26a755deb47e7ebd
-cp -r report_html.* simpleperf_report_lib.py utils.py inferno lib ~/one/external/simpleperf/
diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/selfdrive/debug/profiling/snapdragon/.gitignore
index 5d3033efb3..80078842a0 100644
--- a/selfdrive/debug/profiling/snapdragon/.gitignore
+++ b/selfdrive/debug/profiling/snapdragon/.gitignore
@@ -1 +1 @@
-SnapdragonProfiler/
+SnapdragonProfiler/
\ No newline at end of file
diff --git a/selfdrive/debug/profiling/snapdragon/README b/selfdrive/debug/profiling/snapdragon/README
deleted file mode 100644
index ee826b413a..0000000000
--- a/selfdrive/debug/profiling/snapdragon/README
+++ /dev/null
@@ -1,7 +0,0 @@
-snapdragon profiler
---------
-
-* download from https://developer.qualcomm.com/software/snapdragon-profiler
-* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
-* run ./setup-agnos.sh
-* run selfdrive/debug/adb.sh on device
diff --git a/selfdrive/debug/profiling/snapdragon/README.md b/selfdrive/debug/profiling/snapdragon/README.md
new file mode 100644
index 0000000000..664814b611
--- /dev/null
+++ b/selfdrive/debug/profiling/snapdragon/README.md
@@ -0,0 +1,13 @@
+snapdragon profiler
+--------
+
+
+* download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
+  * choose v2021.5 (verified working with 20.04 dev environment)
+* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
+* run ```./setup-profiler.sh```
+* run ```./setup-agnos.sh```
+* run ```selfdrive/debug/adb.sh``` on device
+* run the ```adb connect xxx``` command that was given to you on local pc
+* cd to SnapdragonProfiler and run ```./run_sdp.sh```
+* connect to device -> choose device you just setup
diff --git a/selfdrive/debug/profiling/snapdragon/setup-profiler.sh b/selfdrive/debug/profiling/snapdragon/setup-profiler.sh
new file mode 100755
index 0000000000..aaec1bf756
--- /dev/null
+++ b/selfdrive/debug/profiling/snapdragon/setup-profiler.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+# install depends
+sudo apt update
+sudo apt-get install libc++1 libc++abi1 default-jre android-tools-adb gtk-sharp2
+
+# setup mono
+sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 3FA7E0328081BFF6A14DA29AA6A19B38D3D831EF
+sudo apt install apt-transport-https ca-certificates
+echo "deb https://download.mono-project.com/repo/ubuntu stable-xenial main" | sudo tee /etc/apt/sources.list.d/mono-official-stable.list
+sudo apt update
+sudo apt-get install -y mono-complete
+
+echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh"
\ No newline at end of file
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 6b5ec36935..75409e3f87 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -144,6 +144,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
       quit()
 
     try:
diff --git a/selfdrive/hardware b/selfdrive/hardware
deleted file mode 120000
index 02a42c502f..0000000000
--- a/selfdrive/hardware
+++ /dev/null
@@ -1 +0,0 @@
-../system/hardware/
\ No newline at end of file
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index 740f827a49..07555a6087 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -1,14 +1,37 @@
-Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
+Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations')
 
-loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl']
+
+# build ekf models
+rednose_gen_dir = 'models/generated'
+rednose_gen_deps = [
+  "models/constants.py",
+]
+live_ekf = env.RednoseCompileFilter(
+  target='live',
+  filter_gen_script='models/live_kf.py',
+  output_dir=rednose_gen_dir,
+  extra_gen_artifacts=['live_kf_constants.h'],
+  gen_script_deps=rednose_gen_deps,
+)
+car_ekf = env.RednoseCompileFilter(
+  target='car',
+  filter_gen_script='models/car_kf.py',
+  output_dir=rednose_gen_dir,
+  extra_gen_artifacts=[],
+  gen_script_deps=rednose_gen_deps,
+)
+
+# locationd build
+locationd_sources = ["locationd.cc", "models/live_kf.cc"]
 
-ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
-locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
 lenv = env.Clone()
-lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
-locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
-lenv.Depends(locationd, libkf)
+# ekf filter libraries need to be linked, even if no symbols are used
+if arch != "Darwin":
+  lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
 
-if File("liblocationd.cc").exists():
-  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
\ No newline at end of file
+lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
+lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)
+locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations)
+lenv.Depends(locationd, rednose)
+lenv.Depends(locationd, live_ekf)
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 6469ece402..566373d7b8 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -31,7 +31,8 @@ SMOOTH_CYCLES = 10
 BLOCK_SIZE = 100
 INPUTS_NEEDED = 5   # Minimum blocks needed for valid calibration
 INPUTS_WANTED = 50   # We want a little bit more than we need for stability
-MAX_ALLOWED_SPREAD = np.radians(2)
+MAX_ALLOWED_YAW_SPREAD = np.radians(2)
+MAX_ALLOWED_PITCH_SPREAD = np.radians(4)
 RPY_INIT = np.array([0.0,0.0,0.0])
 WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
 HEIGHT_INIT = np.array([1.22])
@@ -156,7 +157,8 @@ class Calibrator:
     # If spread is too high, assume mounting was changed and reset to last block.
     # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
     # TODO: add height spread check with smooth transition too
-    if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated:
+    spread_too_high = self.calib_spread[1] > MAX_ALLOWED_PITCH_SPREAD or self.calib_spread[2] > MAX_ALLOWED_YAW_SPREAD
+    if spread_too_high and self.cal_status == log.LiveCalibrationData.Status.calibrated:
       self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
       self.cal_status = log.LiveCalibrationData.Status.recalibrating
 
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
new file mode 100644
index 0000000000..bde21f7879
--- /dev/null
+++ b/selfdrive/locationd/helpers.py
@@ -0,0 +1,77 @@
+import numpy as np
+import signal
+import sys
+from typing import List, Optional, Tuple, Any
+
+from cereal import log
+from openpilot.common.params import Params
+from openpilot.system.swaglog import cloudlog
+
+
+class NPQueue:
+  def __init__(self, maxlen: int, rowsize: int) -> None:
+    self.maxlen = maxlen
+    self.arr = np.empty((0, rowsize))
+
+  def __len__(self) -> int:
+    return len(self.arr)
+
+  def append(self, pt: List[float]) -> None:
+    if len(self.arr) < self.maxlen:
+      self.arr = np.append(self.arr, [pt], axis=0)
+    else:
+      self.arr[:-1] = self.arr[1:]
+      self.arr[-1] = pt
+
+
+class PointBuckets:
+  def __init__(self, x_bounds: List[Tuple[float, float]], min_points: List[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+    self.x_bounds = x_bounds
+    self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
+    self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
+    self.min_points_total = min_points_total
+
+  def bucket_lengths(self) -> List[int]:
+    return [len(v) for v in self.buckets.values()]
+
+  def __len__(self) -> int:
+    return sum(self.bucket_lengths())
+
+  def is_valid(self) -> bool:
+    individual_buckets_valid = all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True))
+    total_points_valid = self.__len__() >= self.min_points_total
+    return individual_buckets_valid and total_points_valid
+
+  def add_point(self, x: float, y: float, bucket_val: float) -> None:
+    raise NotImplementedError
+
+  def get_points(self, num_points: Optional[int] = None) -> Any:
+    points = np.vstack([x.arr for x in self.buckets.values()])
+    if num_points is None:
+      return points
+    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
+
+  def load_points(self, points: List[List[float]]) -> None:
+    for point in points:
+      self.add_point(*point)
+
+
+class ParameterEstimator:
+  """ Base class for parameter estimators """
+  def reset(self) -> None:
+    raise NotImplementedError
+
+  def handle_log(self, t: int, which: str, msg: log.Event) -> None:
+    raise NotImplementedError
+
+  def get_msg(self, valid: bool, with_points: bool) -> log.Event:
+    raise NotImplementedError
+
+
+def cache_points_onexit(param_name, estimator, sig, frame):
+  signal.signal(sig, signal.SIG_DFL)
+  cloudlog.warning(f"Caching {param_name} param")
+  params = Params()
+  msg = estimator.get_msg(valid=True, with_points=True)
+  params.put(param_name, msg.to_bytes())
+  sys.exit(0)
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
deleted file mode 100755
index 3d190fb00a..0000000000
--- a/selfdrive/locationd/laikad.py
+++ /dev/null
@@ -1,469 +0,0 @@
-#!/usr/bin/env python3
-import math
-import os
-import time
-import shutil
-from collections import defaultdict
-from concurrent.futures import Future, ProcessPoolExecutor
-from enum import IntEnum
-from typing import List, Optional, Dict, Any
-
-import numpy as np
-
-from cereal import log, messaging
-from openpilot.common.params import Params, put_nonblocking
-from laika import AstroDog
-from laika.constants import SECS_IN_HR, SECS_IN_MIN
-from laika.downloader import DownloadFailed
-from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem
-from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId, get_sv_id
-from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
-from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports
-from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
-from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
-from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
-from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
-from openpilot.system.swaglog import cloudlog
-
-MAX_TIME_GAP = 10
-EPHEMERIS_CACHE = 'LaikadEphemerisV3'
-DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
-CACHE_VERSION = 0.2
-POS_FIX_RESIDUAL_THRESHOLD = 100.0
-
-
-class LogEphemerisType(IntEnum):
-  nav = 0
-  nasaUltraRapid = 1
-  glonassIacUltraRapid = 2
-  qcom = 3
-
-class EphemerisSource(IntEnum):
-  gnssChip = 0
-  internet = 1
-  cache = 2
-  unknown = 3
-
-def get_log_eph_type(ephem):
-  if ephem.eph_type == EphemerisType.NAV:
-    source_type = LogEphemerisType.nav
-  elif ephem.eph_type == EphemerisType.QCOM_POLY:
-    source_type = LogEphemerisType.qcom
-  else:
-    assert ephem.file_epoch is not None
-    file_src = ephem.file_source
-    if file_src == 'igu':  # example nasa: '2214/igu22144_00.sp3.Z'
-      source_type = LogEphemerisType.nasaUltraRapid
-    elif file_src == 'Sta':  # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
-      source_type = LogEphemerisType.glonassIacUltraRapid
-    else:
-      raise Exception(f"Didn't expect file source {file_src}")
-  return source_type
-
-def get_log_eph_source(ephem):
-  if ephem.file_name == 'qcom' or ephem.file_name == 'ublox':
-    source = EphemerisSource.gnssChip
-  elif ephem.file_name == EPHEMERIS_CACHE:
-    source = EphemerisSource.cache
-  else:
-    source = EphemerisSource.internet
-  return source
-
-
-class Laikad:
-  def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False,
-               valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY),
-               save_ephemeris=False, use_qcom=False):
-    """
-    valid_const: GNSS constellation which can be used
-    auto_fetch_navs: If true fetch navs from internet when needed
-    auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere.
-    valid_ephem_types: Valid ephemeris types to be used by AstroDog
-    save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
-    """
-    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
-                              clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
-    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
-
-    self.auto_fetch_navs = auto_fetch_navs
-    self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
-    self.orbit_fetch_future: Optional[Future] = None
-
-    self.last_report_time = GPSTime(0, 0)
-    self.last_fetch_navs_t = GPSTime(0, 0)
-    self.last_cached_t = GPSTime(0, 0)
-    self.save_ephemeris = save_ephemeris
-    self.load_cache()
-
-    self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
-    self.velfix_function = get_velfix_sympy_func()
-    self.last_fix_pos = None
-    self.last_fix_t = None
-    self.use_qcom = use_qcom
-    self.first_log_time = None
-    self.ttff = -1
-    self.measurement_lag = 0.630 if self.use_qcom else 0.095
-
-    # qcom specific stuff
-    self.qcom_reports_received = 4
-    self.qcom_reports = []
-
-  def load_cache(self):
-    if not self.save_ephemeris:
-      return
-
-    cache_bytes = Params().get(EPHEMERIS_CACHE)
-    if not cache_bytes:
-      return
-
-    nav_dict = {}
-    try:
-      with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache:
-        glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
-        gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
-      for e in sum([glonass_navs, gps_navs], []):
-        if e.prn not in nav_dict:
-          nav_dict[e.prn] = []
-        nav_dict[e.prn].append(e)
-      self.astro_dog.add_navs(nav_dict)
-    except Exception:
-      cloudlog.exception("Error parsing cache")
-    cloudlog.debug(
-      f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ")
-
-  def cache_ephemeris(self):
-
-    if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN):
-      nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
-      #TODO this only saves currently valid ephems, when we download future ephems we should save them too
-      valid_navs = [e for e in nav_list if e.valid(self.last_report_time)]
-      if len(valid_navs) > 0:
-        ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'],
-                                                       gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G'])
-        put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
-        cloudlog.debug("Cache saved")
-      self.last_cached_t = self.last_report_time
-
-  def create_ephem_statuses(self):
-    ephemeris_statuses = []
-    eph_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + sum([v for k,v in self.astro_dog.qcom_polys.items()], [])
-    for eph in eph_list:
-      status = log.GnssMeasurements.EphemerisStatus.new_message()
-      status.constellationId = ConstellationId.from_rinex_char(eph.prn[0]).value
-      status.svId = get_sv_id(eph.prn)
-      status.type = get_log_eph_type(eph).value
-      status.source = get_log_eph_source(eph).value
-      status.tow = eph.epoch.tow
-      status.gpsWeek = eph.epoch.week
-      ephemeris_statuses.append(status)
-    return ephemeris_statuses
-
-
-  def get_lsq_fix(self, t, measurements):
-    if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
-      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4
-
-      position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
-      if len(position_solution) < 3:
-        return None
-      position_estimate = position_solution[:3]
-      position_std = pos_std[:3]
-
-      velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
-      if len(velocity_solution) < 3:
-        return None
-      velocity_estimate = velocity_solution[:3]
-      velocity_std = vel_std[:3]
-
-      return position_estimate, position_std, velocity_estimate, velocity_std
-
-  def is_good_report(self, gnss_msg):
-    if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom:
-      # TODO: Understand and use remaining unknown constellations
-      try:
-        if gnss_msg.which() == 'drMeasurementReport':
-          constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
-        else:
-          constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source)
-        good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
-        report_time = gps_time_from_qcom_report(gnss_msg)
-      except NotImplementedError:
-        return False
-      # Garbage timestamps with week > 32767 are sometimes sent by module.
-      # This is an issue with gpsTime and GLONASS time.
-      good_week = report_time.week < np.iinfo(np.int16).max
-      return good_constellation and good_week
-    elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
-      return True
-    else:
-      return False
-
-  def read_report(self, gnss_msg):
-    if self.use_qcom:
-      # QCOM reports are per constellation, so we need to aggregate them
-      # Additionally, the pseudoranges are broken in the measurementReports
-      # and the doppler filteredSpeed is broken in the drMeasurementReports
-      report_time = gps_time_from_qcom_report(gnss_msg)
-      if report_time - self.last_report_time == 0:
-        self.qcom_reports.append(gnss_msg)
-        self.last_report_time = report_time
-      elif report_time - self.last_report_time > 0:
-        self.qcom_reports_received = max(1, len(self.qcom_reports))
-        self.qcom_reports = [gnss_msg]
-        self.last_report_time = report_time
-      else:
-        # Sometimes DR reports get sent one iteration late (1second), they need to be ignored
-        cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}")
-
-      if len(self.qcom_reports) == self.qcom_reports_received:
-        new_meas = get_measurements_from_qcom_reports(self.qcom_reports)
-      else:
-        new_meas = []
-    else:
-      report = gnss_msg.measurementReport
-      self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow)
-      new_meas = read_raw_ublox(report)
-    return self.last_report_time, new_meas
-
-  def is_ephemeris(self, gnss_msg):
-    if self.use_qcom:
-      return gnss_msg.which() == 'drSvPoly'
-    else:
-      return gnss_msg.which() in ('ephemeris', 'glonassEphemeris')
-
-  def read_ephemeris(self, gnss_msg):
-    if self.use_qcom:
-      try:
-        ephem = parse_qcom_ephem(gnss_msg.drSvPoly)
-        self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
-      except Exception:
-        cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module")
-        return
-
-    else:
-      if gnss_msg.which() == 'ephemeris':
-        data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
-        try:
-          ephem = GPSEphemeris(data_struct, file_name='ublox')
-        except Exception:
-          cloudlog.exception("Error parsing GPS ephemeris from ublox")
-          return
-      elif gnss_msg.which() == 'glonassEphemeris':
-        data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict())
-        try:
-          ephem = GLONASSEphemeris(data_struct, file_name='ublox')
-        except Exception:
-          cloudlog.exception("Error parsing GLONASS ephemeris from ublox")
-          return
-      else:
-        cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}")
-        return
-      self.astro_dog.add_navs({ephem.prn: [ephem]})
-    self.cache_ephemeris()
-
-  def process_report(self, new_meas, t):
-    # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
-    new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
-    processed_measurements = process_measurements(new_meas, self.astro_dog)
-    if self.last_fix_pos is not None:
-      est_pos = self.last_fix_pos
-      correct_delay = True
-    else:
-      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
-      correct_delay = False
-    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay)
-    # If many measurements weren't corrected, position may be garbage, so reset
-    if len(processed_measurements) >= 8 and len(corrected_measurements) < 5:
-      cloudlog.error("Didn't correct enough measurements, resetting estimate position")
-      self.last_fix_pos = None
-      self.last_fix_t = None
-    return corrected_measurements
-
-  def calc_fix(self, t, measurements):
-    instant_fix = self.get_lsq_fix(t, measurements)
-    if instant_fix is None:
-      return None
-    else:
-      position_estimate, position_std, velocity_estimate, velocity_std = instant_fix
-      self.last_fix_t = t
-      self.last_fix_pos = position_estimate
-      self.lat_fix_pos_std = position_std
-      return position_estimate, position_std, velocity_estimate, velocity_std
-
-  def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
-    out_msg = messaging.new_message("gnssMeasurements")
-    t = gnss_mono_time * 1e-9
-    msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)}
-    if self.first_log_time is None:
-      self.first_log_time = 1e-9 * gnss_mono_time
-    if self.is_ephemeris(gnss_msg):
-      self.read_ephemeris(gnss_msg)
-    elif self.is_good_report(gnss_msg):
-      report_t, new_meas = self.read_report(gnss_msg)
-      if report_t.week > 0:
-        if self.auto_fetch_navs:
-          self.fetch_navs(report_t, block)
-
-      corrected_measurements = self.process_report(new_meas, t)
-      msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
-
-      fix = self.calc_fix(t, corrected_measurements)
-      measurement_msg = log.LiveLocationKalman.Measurement.new_message
-      if fix is not None:
-        position_estimate, position_std, velocity_estimate, velocity_std = fix
-        if self.ttff <= 0:
-          self.ttff = max(1e-3, t - self.first_log_time)
-        msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t))
-        msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t))
-
-      self.update_localizer(self.last_fix_pos, t, corrected_measurements)
-      P_diag = self.gnss_kf.P.diagonal()
-      kf_valid = all(self.kf_valid(t))
-      msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
-                                        std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(),
-                                        valid=kf_valid)
-      msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
-                                        std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(),
-                                        valid=kf_valid)
-
-    msg_dict['gpsWeek'] = self.last_report_time.week
-    msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow
-    msg_dict['timeToFirstFix'] = self.ttff
-    msg_dict['ephemerisStatuses'] = self.create_ephem_statuses()
-    out_msg.gnssMeasurements = msg_dict
-    return out_msg
-
-  def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
-    # Check time and outputs are valid
-    valid = self.kf_valid(t)
-    if not all(valid):
-      if not valid[0]:  # Filter not initialized
-        pass
-      elif not valid[1]:
-        cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
-      elif not valid[2]:
-        cloudlog.error("Gnss kalman filter state is nan")
-      if est_pos is not None and len(est_pos) > 0:
-        cloudlog.info(f"Reset kalman filter with {est_pos}")
-        self.init_gnss_localizer(est_pos)
-      else:
-        return
-    if len(measurements) > 0:
-      kf_add_observations(self.gnss_kf, t, measurements)
-    else:
-      # Ensure gnss filter is updated even with no new measurements
-      self.gnss_kf.predict(t)
-
-  def kf_valid(self, t: float) -> List[bool]:
-    filter_time = self.gnss_kf.filter.get_filter_time()
-    return [not math.isnan(filter_time),
-            abs(t - filter_time) < MAX_TIME_GAP,
-            all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
-
-  def init_gnss_localizer(self, est_pos):
-    x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial))
-    x_initial[GStates.ECEF_POS] = est_pos
-    p_initial_diag[GStates.ECEF_POS] = 1000 ** 2
-    self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
-
-  def fetch_navs(self, t: GPSTime, block):
-    # Download new navs if 1 hour of navs data left
-    if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
-      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
-      ret = None
-
-      if block:  # Used for testing purposes
-        ret = get_orbit_data(t, *astro_dog_vars)
-      elif self.orbit_fetch_future is None:
-        self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1)
-        self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
-      elif self.orbit_fetch_future.done():
-        ret = self.orbit_fetch_future.result()
-        self.orbit_fetch_executor = self.orbit_fetch_future = None
-
-      if ret is not None:
-        if ret[0] is None:
-          self.last_fetch_navs_t = ret[2]
-        else:
-          self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret
-          self.cache_ephemeris()
-
-
-def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
-  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir)
-  cloudlog.info(f"Start to download/parse navs for time {t.as_datetime()}")
-  start_time = time.monotonic()
-  try:
-    astro_dog.get_navs(t)
-    cloudlog.info(f"Done parsing navs. Took {time.monotonic() - start_time:.1f}s")
-    cloudlog.debug(f"Downloaded navs ({sum([len(v) for v in astro_dog.navs])}): {list(astro_dog.navs.keys())}" +
-                   f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}")
-    return astro_dog.navs, astro_dog.navs_fetched_times, t
-  except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
-    cloudlog.warning(f"No orbit data found or parsing failure: {e}")
-  return None, None, t
-
-
-def create_measurement_msg(meas: GNSSMeasurement):
-  c = log.GnssMeasurements.CorrectedMeasurement.new_message()
-  c.constellationId = meas.constellation_id.value
-  c.svId = meas.sv_id
-  c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0
-  c.pseudorange = float(meas.observables_final['C1C'])
-  c.pseudorangeStd = float(meas.observables_std['C1C'])
-  c.pseudorangeRate = float(meas.observables_final['D1C'])
-  c.pseudorangeRateStd = float(meas.observables_std['D1C'])
-  c.satPos = meas.sat_pos_final.tolist()
-  c.satVel = meas.sat_vel.tolist()
-  c.satVel = meas.sat_vel.tolist()
-  return c
-
-def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]):
-  ekf_data = defaultdict(list)
-  for m in measurements:
-    m_arr = m.as_array()
-    if m.constellation_id == ConstellationId.GPS:
-      ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr)
-    elif m.constellation_id == ConstellationId.GLONASS:
-      ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr)
-  ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS]
-  ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS]
-  for kind, data in ekf_data.items():
-    if len(data) > 0:
-      gnss_kf.predict_and_observe(t, kind, data)
-
-
-def clear_tmp_cache():
-  if os.path.exists(DOWNLOADS_CACHE_FOLDER):
-    shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
-  os.mkdir(DOWNLOADS_CACHE_FOLDER)
-
-
-def main(sm=None, pm=None):
-  #clear_tmp_cache()
-
-  use_qcom = not Params().get_bool("UbloxAvailable")
-  if use_qcom:
-    raw_name = "qcomGnss"
-  else:
-    raw_name = "ubloxGnss"
-  raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
-  if pm is None:
-    pm = messaging.PubMaster(['gnssMeasurements'])
-
-  # disable until set as main gps source, to better analyze startup time
-  # TODO ensure low CPU usage before enabling
-  use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
-
-  replay = "REPLAY" in os.environ
-  laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
-
-  while True:
-    for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True):
-      out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
-      pm.send('gnssMeasurements', out_msg)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc
deleted file mode 100755
index e2b85d93a1..0000000000
--- a/selfdrive/locationd/liblocationd.cc
+++ /dev/null
@@ -1,41 +0,0 @@
-#include "selfdrive/locationd/locationd.h"
-
-extern "C" {
-  typedef Localizer* Localizer_t;
-
-  Localizer *localizer_init(bool has_ublox) {
-    return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
-  }
-
-  void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
-                                   char *buff, size_t buff_size) {
-    MessageBuilder msg_builder;
-    kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
-    assert(buff_size >= arr.size());
-    memcpy(buff, arr.begin(), arr.size());
-  }
-
-  void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
-    localizer->handle_msg_bytes(data, size);
-  }
-
-  void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
-    Eigen::VectorXd state = localizer->get_state();
-    memcpy(state_buff, state.data(), sizeof(double) * state.size());
-    Eigen::VectorXd stdev = localizer->get_stdev();
-    memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
-  }
-
-  bool is_gps_ok(Localizer *localizer){
-    return localizer->is_gps_ok();
-  }
-
-  bool are_inputs_ok(Localizer *localizer){
-    return localizer->are_inputs_ok();
-  }
-
-  void observation_timings_invalid_reset(Localizer *localizer){
-    localizer->observation_timings_invalid_reset();
-  }
-
-}
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
old mode 100755
new mode 100644
index 401de0cfdd..80882fc951
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -21,9 +21,11 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s
 const double VALID_POS_STD = 50.0; // m
 const double MAX_RESET_TRACKER = 5.0;
 const double SANE_GPS_UNCERTAINTY = 1500.0; // m
-const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
-const double DECAY = 0.99995; // same as reset tracker
+const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
+const double RESET_TRACKER_DECAY = 0.99995;
+const double DECAY = 0.9993; // ~10 secs to resume after a bad input
 const double MAX_FILTER_REWIND_TIME = 0.8; // s
+const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
 
 // TODO: GPS sensor time offsets are empirically calculated
 // They should be replaced with synced time from a real clock
@@ -256,7 +258,13 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
     auto v = log.getGyroUncalibrated().getV();
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
-    if (meas.norm() < ROTATION_SANITY_CHECK) {
+
+    VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
+    float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
+    float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
+    bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
+
+    if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
       this->observation_values_invalid["gyroscope"] *= DECAY;
     } else {
@@ -483,6 +491,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
   this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
     { trans_device }, { trans_device_cov });
   this->observation_values_invalid["cameraOdometry"] *= DECAY;
+  this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
 }
 
 void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
@@ -538,7 +547,7 @@ void Localizer::time_check(double current_time) {
 void Localizer::update_reset_tracker() {
   // reset tracker is tuned to trigger when over 1reset/10s over 2min period
   if (this->is_gps_ok()) {
-    this->reset_tracker *= DECAY;
+    this->reset_tracker *= RESET_TRACKER_DECAY;
   } else {
     this->reset_tracker = 0.0;
   }
@@ -711,7 +720,7 @@ int Localizer::locationd_thread() {
     // 100Hz publish for notcars, 20Hz for cars
     const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry";
     if (sm.updated(trigger_msg)) {
-      bool inputsOK = sm.allAliveAndValid() && this->are_inputs_ok();
+      bool inputsOK = sm.allValid() && this->are_inputs_ok();
       bool gpsOK = this->is_gps_ok();
       bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"});
 
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
old mode 100755
new mode 100644
index f3069048cd..47c8bf5627
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -94,6 +94,7 @@ private:
   float gps_variance_factor;
   float gps_vertical_variance_factor;
   double gps_time_offset;
+  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
 
   void configure_gnss_source(const LocalizerGnssSource &source);
 };
diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py
deleted file mode 100644
index b6c1771ec6..0000000000
--- a/selfdrive/locationd/models/gnss_helpers.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import numpy as np
-from laika.raw_gnss import GNSSMeasurement
-
-def parse_prr(m):
-  sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
-                                  m[GNSSMeasurement.SAT_VEL]))
-  R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2)
-  z_i = m[GNSSMeasurement.PRR]
-  return z_i, R_i, sat_pos_vel_i
-
-def parse_pr(m):
-  pseudorange = m[GNSSMeasurement.PR]
-  pseudorange_stdev = m[GNSSMeasurement.PR_STD]
-  sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
-                                   np.array([m[GNSSMeasurement.GLONASS_FREQ]])))
-  z_i = np.atleast_1d(pseudorange)
-  R_i = np.atleast_2d(pseudorange_stdev**2)
-  return z_i, R_i, sat_pos_freq_i
-
diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py
deleted file mode 100755
index c4f3b2e210..0000000000
--- a/selfdrive/locationd/models/gnss_kf.py
+++ /dev/null
@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-import sys
-from typing import List
-
-import numpy as np
-
-from openpilot.selfdrive.locationd.models.constants import ObservationKind
-from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
-
-if __name__ == '__main__':  # Generating sympy
-  import sympy as sp
-  from rednose.helpers.ekf_sym import gen_code
-else:
-  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
-  from rednose.helpers.ekf_sym import EKF_sym
-
-
-class States():
-  ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
-  ECEF_VELOCITY = slice(3, 6)
-  CLOCK_BIAS = slice(6, 7)  # clock bias in light-meters,
-  CLOCK_DRIFT = slice(7, 8)  # clock drift in light-meters/s,
-  CLOCK_ACCELERATION = slice(8, 9)  # clock acceleration in light-meters/s**2
-  GLONASS_BIAS = slice(9, 10)  # clock drift in light-meters/s,
-  GLONASS_FREQ_SLOPE = slice(10, 11)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
-
-
-class GNSSKalman():
-  name = 'gnss'
-
-  x_initial = np.array([-2712700.6008, -4281600.6679, 3859300.1830,
-                        0, 0, 0,
-                        0, 0, 0,
-                        0, 0])
-
-  # state covariance
-  P_initial = np.diag([1e16, 1e16, 1e16,
-                       10**2, 10**2, 10**2,
-                       1e14, (100)**2, (0.2)**2,
-                       (10)**2, (1)**2])
-
-  maha_test_kinds: List[int] = []  # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS]
-
-  @staticmethod
-  def generate_code(generated_dir):
-    dim_state = GNSSKalman.x_initial.shape[0]
-    name = GNSSKalman.name
-    maha_test_kinds = GNSSKalman.maha_test_kinds
-
-    # make functions and jacobians with sympy
-    # state variables
-    state_sym = sp.MatrixSymbol('state', dim_state, 1)
-    state = sp.Matrix(state_sym)
-    x, y, z = state[0:3, :]
-    v = state[3:6, :]
-    vx, vy, vz = v
-    cb, cd, ca = state[6:9, :]
-    glonass_bias, glonass_freq_slope = state[9:11, :]
-
-    dt = sp.Symbol('dt')
-
-    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
-    state_dot[:3, :] = v
-    state_dot[6, 0] = cd
-    state_dot[7, 0] = ca
-
-    # Basic descretization, 1st order integrator
-    # Can be pretty bad if dt is big
-    f_sym = state + dt * state_dot
-
-    #
-    # Observation functions
-    #
-
-    # extra args
-    sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
-    sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
-    # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
-    # orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
-
-    # expand extra args
-    sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
-    sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
-    # los_x, los_y, los_z = sat_los_sym
-    # orb_x, orb_y, orb_z = orb_epos_sym
-
-    h_pseudorange_sym = sp.Matrix([
-      sp.sqrt(
-        (x - sat_x)**2 +
-        (y - sat_y)**2 +
-        (z - sat_z)**2
-      ) + cb
-    ])
-
-    h_pseudorange_glonass_sym = sp.Matrix([
-      sp.sqrt(
-        (x - sat_x)**2 +
-        (y - sat_y)**2 +
-        (z - sat_z)**2
-      ) + cb + glonass_bias + glonass_freq_slope * glonass_freq
-    ])
-
-    los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z]))
-    los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2)
-    h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) +
-                                        los_vector[1] * (sat_vy - vy) +
-                                        los_vector[2] * (sat_vz - vz) +
-                                        cd])
-
-    obs_eqs = [[h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym],
-               [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym],
-               [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym],
-               [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym]]
-
-    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds)
-
-  def __init__(self, generated_dir, cython=False, erratic_clock=False):
-    # process noise
-    clock_error_drift = 100.0 if erratic_clock else 0.1
-    self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
-                      3**2, 3**2, 3**2,
-                      (clock_error_drift)**2, (0)**2, (0.005)**2,
-                      .1**2, (.01)**2])
-
-    self.dim_state = self.x_initial.shape[0]
-
-    # init filter
-    filter_cls = EKF_sym_pyx if cython else EKF_sym
-    self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
-                             self.dim_state, maha_test_kinds=self.maha_test_kinds)
-    self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
-
-  @property
-  def x(self):
-    return self.filter.state()
-
-  @property
-  def P(self):
-    return self.filter.covs()
-
-  def predict(self, t):
-    return self.filter.predict(t)
-
-  def rts_smooth(self, estimates):
-    return self.filter.rts_smooth(estimates, norm_quats=False)
-
-  def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
-    if covs_diag is not None:
-      P = np.diag(covs_diag)
-    elif covs is not None:
-      P = covs
-    else:
-      P = self.filter.covs()
-    self.filter.init_state(state, P, filter_time)
-
-  def predict_and_observe(self, t, kind, data):
-    if len(data) > 0:
-      data = np.atleast_2d(data)
-    if kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS:
-      r = self.predict_and_update_pseudorange(data, t, kind)
-    elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS:
-      r = self.predict_and_update_pseudorange_rate(data, t, kind)
-    return r
-
-  def predict_and_update_pseudorange(self, meas, t, kind):
-    R = np.zeros((len(meas), 1, 1))
-    sat_pos_freq = np.zeros((len(meas), 4))
-    z = np.zeros((len(meas), 1))
-    for i, m in enumerate(meas):
-      z_i, R_i, sat_pos_freq_i = parse_pr(m)
-      sat_pos_freq[i, :] = sat_pos_freq_i
-      z[i, :] = z_i
-      R[i, :, :] = R_i
-    return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq)
-
-  def predict_and_update_pseudorange_rate(self, meas, t, kind):
-    R = np.zeros((len(meas), 1, 1))
-    z = np.zeros((len(meas), 1))
-    sat_pos_vel = np.zeros((len(meas), 6))
-    for i, m in enumerate(meas):
-      z_i, R_i, sat_pos_vel_i = parse_prr(m)
-      sat_pos_vel[i] = sat_pos_vel_i
-      R[i, :, :] = R_i
-      z[i, :] = z_i
-    return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel)
-
-
-if __name__ == "__main__":
-  generated_dir = sys.argv[2]
-  GNSSKalman.generate_code(generated_dir)
diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py
deleted file mode 100755
index e8fa999956..0000000000
--- a/selfdrive/locationd/models/lane_kf.py
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import numpy as np
-import sympy as sp
-
-from openpilot.selfdrive.locationd.models.constants import ObservationKind
-from rednose.helpers.ekf_sym import gen_code, EKF_sym
-
-
-class LaneKalman():
-  name = 'lane'
-
-  @staticmethod
-  def generate_code(generated_dir):
-    # make functions and jacobians with sympy
-    #  state variables
-    dim = 6
-    state = sp.MatrixSymbol('state', dim, 1)
-
-    dd = sp.Symbol('dd')  # WARNING: NOT TIME
-
-    # Time derivative of the state as a function of state
-    state_dot = sp.Matrix(np.zeros((dim, 1)))
-    state_dot[:3,0] = sp.Matrix(state[3:6,0])
-
-    # Basic descretization, 1st order intergrator
-    # Can be pretty bad if dt is big
-    f_sym = sp.Matrix(state) + dd*state_dot
-
-    #
-    # Observation functions
-    #
-    h_lane_sym = sp.Matrix(state[:3,0])
-    obs_eqs = [[h_lane_sym, ObservationKind.LANE_PT, None]]
-    gen_code(generated_dir, LaneKalman.name, f_sym, dd, state, obs_eqs, dim, dim)
-
-  def __init__(self, generated_dir, pt_std=5):
-    # state
-    # left and right lane centers in ecef
-    # WARNING: this is not a temporal model
-    # the 'time' in this kalman filter is
-    # the distance traveled by the vehicle,
-    # which should approximately be the
-    # distance along the lane path
-    # a more logical parametrization
-    # states 0-2 are ecef coordinates distance d
-    # states 3-5  is the 3d "velocity" of the
-    # lane in ecef (m/m).
-    x_initial = np.array([0,0,0,
-                          0,0,0])
-
-    # state covariance
-    P_initial = np.diag([1e16, 1e16, 1e16,
-                         1**2, 1**2, 1**2])
-
-    # process noise
-    Q = np.diag([0.1**2, 0.1**2, 0.1**2,
-                 0.1**2, 0.1**2, 0.1*2])
-
-    self.dim_state = len(x_initial)
-
-    # init filter
-    self.filter = EKF_sym(generated_dir, self.name, Q, x_initial, P_initial, x_initial.shape[0], P_initial.shape[0])
-    self.obs_noise = {ObservationKind.LANE_PT: np.diag([pt_std**2]*3)}
-
-  @property
-  def x(self):
-    return self.filter.state()
-
-  @property
-  def P(self):
-    return self.filter.covs()
-
-  def predict(self, t):
-    return self.filter.predict(t)
-
-  def rts_smooth(self, estimates):
-    return self.filter.rts_smooth(estimates, norm_quats=False)
-
-
-  def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
-    if covs_diag is not None:
-      P = np.diag(covs_diag)
-    elif covs is not None:
-      P = covs
-    else:
-      P = self.filter.covs()
-    self.filter.init_state(state, P, filter_time)
-
-  def predict_and_observe(self, t, kind, data):
-    data = np.atleast_2d(data)
-    return self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data)))
-
-  def get_R(self, kind, n):
-    obs_noise = self.obs_noise[kind]
-    dim = obs_noise.shape[0]
-    R = np.zeros((n, dim, dim))
-    for i in range(n):
-      R[i,:,:] = obs_noise
-    return R
-
-
-if __name__ == "__main__":
-  generated_dir = sys.argv[2]
-  LaneKalman.generate_code(generated_dir)
diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc
old mode 100755
new mode 100644
diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h
old mode 100755
new mode 100644
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
deleted file mode 100755
index 8bd317bd58..0000000000
--- a/selfdrive/locationd/models/loc_kf.py
+++ /dev/null
@@ -1,565 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-
-import numpy as np
-import sympy as sp
-
-from rednose.helpers.ekf_sym import EKF_sym, gen_code
-from rednose.helpers.lst_sq_computer import LstSqComputer
-from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
-
-from openpilot.selfdrive.locationd.models.constants import ObservationKind
-from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
-
-EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
-
-class States():
-  ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
-  ECEF_ORIENTATION = slice(3, 7)  # quat for orientation of phone in ecef
-  ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
-  ANGULAR_VELOCITY = slice(10, 13)  # roll, pitch and yaw rates in device frame in radians/s
-  CLOCK_BIAS = slice(13, 14)  # clock bias in light-meters,
-  CLOCK_DRIFT = slice(14, 15)  # clock drift in light-meters/s,
-  GYRO_BIAS = slice(15, 18)  # roll, pitch and yaw biases
-  ODO_SCALE_UNUSED = slice(18, 19)  # odometer scale
-  ACCELERATION = slice(19, 22)  # Acceleration in device frame in m/s**2
-  FOCAL_SCALE_UNUSED = slice(22, 23)  # focal length scale
-  IMU_FROM_DEVICE_EULER = slice(23, 26)  # imu offset angles in radians
-  GLONASS_BIAS = slice(26, 27)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
-  GLONASS_FREQ_SLOPE = slice(27, 28)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
-  CLOCK_ACCELERATION = slice(28, 29)  # clock acceleration in light-meters/s**2,
-  ACCELEROMETER_SCALE_UNUSED = slice(29, 30)  # scale of mems accelerometer
-  ACCELEROMETER_BIAS = slice(30, 33)  # bias of mems accelerometer
-  # TODO the offset is likely a translation of the sensor, not a rotation of the camera
-  WIDE_FROM_DEVICE_EULER = slice(33, 36)  # wide camera offset angles in radians (tici only)
-  # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables
-  # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
-  # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
-
-  # Error-state has different slices because it is an ESKF
-  ECEF_POS_ERR = slice(0, 3)
-  ECEF_ORIENTATION_ERR = slice(3, 6)  # euler angles for orientation error
-  ECEF_VELOCITY_ERR = slice(6, 9)
-  ANGULAR_VELOCITY_ERR = slice(9, 12)
-  CLOCK_BIAS_ERR = slice(12, 13)
-  CLOCK_DRIFT_ERR = slice(13, 14)
-  GYRO_BIAS_ERR = slice(14, 17)
-  ODO_SCALE_ERR_UNUSED = slice(17, 18)
-  ACCELERATION_ERR = slice(18, 21)
-  FOCAL_SCALE_ERR_UNUSED = slice(21, 22)
-  IMU_FROM_DEVICE_EULER_ERR = slice(22, 25)
-  GLONASS_BIAS_ERR = slice(25, 26)
-  GLONASS_FREQ_SLOPE_ERR = slice(26, 27)
-  CLOCK_ACCELERATION_ERR = slice(27, 28)
-  ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29)
-  ACCELEROMETER_BIAS_ERR = slice(29, 32)
-  WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35)
-
-
-class LocKalman():
-  name = "loc"
-  x_initial = np.array([0, 0, 0,
-                        1, 0, 0, 0,
-                        0, 0, 0,
-                        0, 0, 0,
-                        0, 0,
-                        0, 0, 0,
-                        1,
-                        0, 0, 0,
-                        1,
-                        0, 0, 0,
-                        0, 0,
-                        0,
-                        1,
-                        0, 0, 0,
-                        0, 0, 0], dtype=np.float64)
-
-  # state covariance
-  P_initial = np.diag([1e16, 1e16, 1e16,
-                       10**2, 10**2, 10**2,
-                       10**2, 10**2, 10**2,
-                       1**2, 1**2, 1**2,
-                       1e14, (100)**2,
-                       0.05**2, 0.05**2, 0.05**2,
-                       0.02**2,
-                       2**2, 2**2, 2**2,
-                       0.01**2,
-                       0.01**2, 0.01**2, 0.01**2,
-                       10**2, 1**2,
-                       0.2**2,
-                       0.05**2,
-                       0.05**2, 0.05**2, 0.05**2,
-                       0.01**2, 0.01**2, 0.01**2])
-
-
-  # measurements that need to pass mahalanobis distance outlier rejector
-  maha_test_kinds = [ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]  # , ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_RATE]
-  dim_augment = 7
-  dim_augment_err = 6
-
-  @staticmethod
-  def generate_code(generated_dir, N=4):
-    dim_augment = LocKalman.dim_augment
-    dim_augment_err = LocKalman.dim_augment_err
-
-    dim_main = LocKalman.x_initial.shape[0]
-    dim_main_err = LocKalman.P_initial.shape[0]
-    dim_state = dim_main + dim_augment * N
-    dim_state_err = dim_main_err + dim_augment_err * N
-    maha_test_kinds = LocKalman.maha_test_kinds
-
-    name = f"{LocKalman.name}_{N}"
-
-    # make functions and jacobians with sympy
-    # state variables
-    state_sym = sp.MatrixSymbol('state', dim_state, 1)
-    state = sp.Matrix(state_sym)
-    x, y, z = state[States.ECEF_POS, :]
-    q = state[States.ECEF_ORIENTATION, :]
-    v = state[States.ECEF_VELOCITY, :]
-    vx, vy, vz = v
-    omega = state[States.ANGULAR_VELOCITY, :]
-    vroll, vpitch, vyaw = omega
-    cb = state[States.CLOCK_BIAS, :]
-    cd = state[States.CLOCK_DRIFT, :]
-    roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
-    acceleration = state[States.ACCELERATION, :]
-    imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :]
-    imu_from_device_euler[0, 0] = 0  # not observable enough
-    imu_from_device_euler[2, 0] = 0  # not observable enough
-    glonass_bias = state[States.GLONASS_BIAS, :]
-    glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :]
-    ca = state[States.CLOCK_ACCELERATION, :]
-    accel_bias = state[States.ACCELEROMETER_BIAS, :]
-    wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :]
-    wide_from_device_euler[0, 0] = 0  # not observable enough
-
-    dt = sp.Symbol('dt')
-
-    # calibration and attitude rotation matrices
-    quat_rot = quat_rotate(*q)
-
-    # Got the quat predict equations from here
-    # A New Quaternion-Based Kalman Filter for
-    # Real-Time Attitude Estimation Using the Two-Step
-    # Geometrically-Intuitive Correction Algorithm
-    A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw],
-                         [vroll, 0, vyaw, -vpitch],
-                         [vpitch, -vyaw, 0, vroll],
-                         [vyaw, vpitch, -vroll, 0]])
-    q_dot = A * q
-
-    # Time derivative of the state as a function of state
-    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
-    state_dot[States.ECEF_POS, :] = v
-    state_dot[States.ECEF_ORIENTATION, :] = q_dot
-    state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration
-    state_dot[States.CLOCK_BIAS, :] = cd
-    state_dot[States.CLOCK_DRIFT, :] = ca
-
-    # Basic descretization, 1st order intergrator
-    # Can be pretty bad if dt is big
-    f_sym = state + dt * state_dot
-
-    state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1)
-    state_err = sp.Matrix(state_err_sym)
-    quat_err = state_err[States.ECEF_ORIENTATION_ERR, :]
-    v_err = state_err[States.ECEF_VELOCITY_ERR, :]
-    omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :]
-    cd_err = state_err[States.CLOCK_DRIFT_ERR, :]
-    acceleration_err = state_err[States.ACCELERATION_ERR, :]
-    ca_err = state_err[States.CLOCK_ACCELERATION_ERR, :]
-
-    # Time derivative of the state error as a function of state error and state
-    quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2])
-    q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err)
-    state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1)))
-    state_err_dot[States.ECEF_POS_ERR, :] = v_err
-    state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot
-    state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
-    state_err_dot[States.CLOCK_BIAS_ERR, :] = cd_err
-    state_err_dot[States.CLOCK_DRIFT_ERR, :] = ca_err
-    f_err_sym = state_err + dt * state_err_dot
-
-    # convenient indexing
-    # q idxs are for quats and p idxs are for other
-    q_idxs = [[3, dim_augment]] + [[dim_main + n * dim_augment + 3, dim_main + (n + 1) * dim_augment] for n in range(N)]
-    q_err_idxs = [[3, dim_augment_err]] + [[dim_main_err + n * dim_augment_err + 3, dim_main_err + (n + 1) * dim_augment_err] for n in range(N)]
-    p_idxs = [[0, 3]] + [[dim_augment, dim_main]] + [[dim_main + n * dim_augment, dim_main + n * dim_augment + 3] for n in range(N)]
-    p_err_idxs = [[0, 3]] + [[dim_augment_err, dim_main_err]] + [[dim_main_err + n * dim_augment_err, dim_main_err + n * dim_augment_err + 3] for n in range(N)]
-
-    # Observation matrix modifier
-    H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
-    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True):
-      H_mod_sym[p_idx[0]:p_idx[1], p_err_idx[0]:p_err_idx[1]] = np.eye(p_idx[1] - p_idx[0])
-    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True):
-      H_mod_sym[q_idx[0]:q_idx[1], q_err_idx[0]:q_err_idx[1]] = 0.5 * quat_matrix_r(state[q_idx[0]:q_idx[1]])[:, 1:]
-
-    # these error functions are defined so that say there
-    # is a nominal x and true x:
-    # true x = err_function(nominal x, delta x)
-    # delta x = inv_err_function(nominal x, true x)
-    nom_x = sp.MatrixSymbol('nom_x', dim_state, 1)
-    true_x = sp.MatrixSymbol('true_x', dim_state, 1)
-    delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
-
-    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
-    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True):
-      delta_quat = sp.Matrix(np.ones(4))
-      delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :])
-      err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat
-    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True):
-      err_function_sym[p_idx[0]:p_idx[1], :] = sp.Matrix(nom_x[p_idx[0]:p_idx[1], :] + delta_x[p_err_idx[0]:p_err_idx[1], :])
-
-    inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
-    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True):
-      inv_err_function_sym[p_err_idx[0]:p_err_idx[1], 0] = sp.Matrix(-nom_x[p_idx[0]:p_idx[1], 0] + true_x[p_idx[0]:p_idx[1], 0])
-    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True):
-      delta_quat = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]).T * true_x[q_idx[0]:q_idx[1], 0]
-      inv_err_function_sym[q_err_idx[0]:q_err_idx[1], 0] = sp.Matrix(2 * delta_quat[1:])
-
-    eskf_params = [[err_function_sym, nom_x, delta_x],
-                   [inv_err_function_sym, nom_x, true_x],
-                   H_mod_sym, f_err_sym, state_err_sym]
-    #
-    # Observation functions
-    #
-
-    # extra args
-    sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
-    sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
-    # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
-
-    # expand extra args
-    sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
-    sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
-
-    h_pseudorange_sym = sp.Matrix([
-      sp.sqrt(
-        (x - sat_x)**2 +
-        (y - sat_y)**2 +
-        (z - sat_z)**2
-      ) + cb[0]
-    ])
-
-    h_pseudorange_glonass_sym = sp.Matrix([
-      sp.sqrt(
-        (x - sat_x)**2 +
-        (y - sat_y)**2 +
-        (z - sat_z)**2
-      ) + cb[0] + glonass_bias[0] + glonass_freq_slope[0] * glonass_freq
-    ])
-
-    los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z]))
-    los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2)
-    h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) +
-                                        los_vector[1] * (sat_vy - vy) +
-                                        los_vector[2] * (sat_vz - vz) +
-                                        cd[0]])
-
-    imu_from_device = euler_rotate(*imu_from_device_euler)
-    h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias,
-                                      vpitch + pitch_bias,
-                                      vyaw + yaw_bias])
-
-    pos = sp.Matrix([x, y, z])
-    # add 1 for stability, prevent division by 0
-    gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos)
-    h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias)
-    h_acc_stationary_sym = acceleration
-    h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
-    h_relative_motion = sp.Matrix(quat_rot.T * v)
-
-    obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None],
-               [h_phone_rot_sym, ObservationKind.NO_ROT, None],
-               [h_acc_sym, ObservationKind.PHONE_ACCEL, None],
-               [h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym],
-               [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym],
-               [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym],
-               [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym],
-               [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
-               [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
-               [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
-
-    wide_from_device = euler_rotate(*wide_from_device_euler)
-    # MSCKF configuration
-    if N > 0:
-      # experimentally found this is correct value for imx298 with 910 focal length
-      # this is a variable so it can change with focus, but we disregard that for now
-      # TODO: this isn't correct for tici
-      focal_scale = 1.01
-      # Add observation functions for orb feature tracks
-      track_epos_sym = sp.MatrixSymbol('track_epos_sym', 3, 1)
-      track_x, track_y, track_z = track_epos_sym
-      h_track_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1)))
-      h_track_wide_cam_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1)))
-
-      track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
-      track_pos_rot_sym = quat_rot.T * track_pos_sym
-      track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
-      h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
-                                       focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
-      h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),
-                                                focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])])
-
-      h_msckf_test_sym = sp.Matrix(np.zeros(((1 + N) * 3, 1)))
-      h_msckf_test_sym[-3:, :] = track_pos_sym
-
-      for n in range(N):
-        idx = dim_main + n * dim_augment
-        # err_idx = dim_main_err + n * dim_augment_err  # FIXME: Why is this not used?
-        x, y, z = state[idx:idx + 3]
-        q = state[idx + 3:idx + 7]
-        quat_rot = quat_rotate(*q)
-        track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
-        track_pos_rot_sym = quat_rot.T * track_pos_sym
-        track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
-        h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
-                                                     focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
-        h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),
-                                                               focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])])
-        h_msckf_test_sym[n * 3:n * 3 + 3, :] = track_pos_sym
-
-      obs_eqs.append([h_msckf_test_sym, ObservationKind.MSCKF_TEST, track_epos_sym])
-      obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym])
-      obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym])
-      obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym])
-      msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N,
-                      [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
-    else:
-      msckf_params = None
-    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)
-
-  def __init__(self, generated_dir, N=4, erratic_clock=False):
-    name = f"{self.name}_{N}"
-
-
-    # process noise
-    q_clock_error = 100.0 if erratic_clock else 0.1
-    q_clock_error_rate = 10 if erratic_clock else 0.0
-    self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
-                      0.0**2, 0.0**2, 0.0**2,
-                      0.0**2, 0.0**2, 0.0**2,
-                      0.1**2, 0.1**2, 0.1**2,
-                      (q_clock_error)**2, (q_clock_error_rate)**2,
-                      (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-                      (0.02 / 100)**2,
-                      3**2, 3**2, 3**2,
-                      0.001**2,
-                      (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2,
-                      (.1)**2, (.01)**2,
-                      0.005**2,
-                      (0.02 / 100)**2,
-                      (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-                      (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2])
-
-
-    self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2),
-                      ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-                      ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
-                      ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]),
-                      ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]),
-                      ObservationKind.NO_ROT: np.diag([0.0025**2, 0.0025**2, 0.0025**2]),
-                      ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2]),
-                      ObservationKind.NO_ACCEL: np.diag([0.0025**2, 0.0025**2, 0.0025**2])}
-
-    # MSCKF stuff
-    self.N = N
-    self.dim_main = LocKalman.x_initial.shape[0]
-    self.dim_main_err = LocKalman.P_initial.shape[0]
-    self.dim_state = self.dim_main + self.dim_augment * self.N
-    self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
-
-    if self.N > 0:
-      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment]
-      self.computer = LstSqComputer(generated_dir, N)
-
-    self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)]
-
-    # init filter
-    self.filter = EKF_sym(generated_dir, name, Q, x_initial, P_initial, self.dim_main, self.dim_main_err,
-                          N, self.dim_augment, self.dim_augment_err, self.maha_test_kinds, self.quaternion_idxs)
-
-  @property
-  def x(self):
-    return self.filter.state()
-
-  @property
-  def t(self):
-    return self.filter.get_filter_time()
-
-  @property
-  def P(self):
-    return self.filter.covs()
-
-  def predict(self, t):
-    return self.filter.predict(t)
-
-  def rts_smooth(self, estimates):
-    return self.filter.rts_smooth(estimates, norm_quats=True)
-
-  def pad_augmented(self, x, P, Q=None):
-    if x.shape[0] == self.dim_main and self.N > 0:
-      x = np.pad(x, (0, self.N * self.dim_augment), mode='constant')
-      x[self.dim_main + 3::7] = 1
-    if P.shape[0] == self.dim_main_err and self.N > 0:
-      P = np.pad(P, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant')
-      P[self.dim_main_err:, self.dim_main_err:] = 10e20 * np.eye(self.dim_augment_err * self.N)
-    if Q is None:
-      return x, P
-    else:
-      Q = np.pad(Q, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant')
-      return x, P, Q
-
-  def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
-    if covs_diag is not None:
-      P = np.diag(covs_diag)
-    elif covs is not None:
-      P = covs
-    else:
-      P = self.filter.covs()
-    state, P = self.pad_augmented(state, P)
-    self.filter.init_state(state, P, filter_time)
-
-  def predict_and_observe(self, t, kind, data):
-    if len(data) > 0:
-      data = np.atleast_2d(data)
-    if kind == ObservationKind.CAMERA_ODO_TRANSLATION:
-      r = self.predict_and_update_odo_trans(data, t, kind)
-    elif kind == ObservationKind.CAMERA_ODO_ROTATION:
-      r = self.predict_and_update_odo_rot(data, t, kind)
-    elif kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS:
-      r = self.predict_and_update_pseudorange(data, t, kind)
-    elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS:
-      r = self.predict_and_update_pseudorange_rate(data, t, kind)
-    elif kind == ObservationKind.ORB_FEATURES or kind == ObservationKind.ORB_FEATURES_WIDE:
-      r = self.predict_and_update_orb_features(data, t, kind)
-    elif kind == ObservationKind.MSCKF_TEST:
-      r = self.predict_and_update_msckf_test(data, t, kind)
-    else:
-      r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data)))
-    # Normalize quats
-    quat_norm = np.linalg.norm(self.filter.state()[3:7])
-    # Should not continue if the quats behave this weirdly
-    if not 0.1 < quat_norm < 10:
-      raise RuntimeError("Sir! The filter's gone all wobbly!")
-    return r
-
-  def get_R(self, kind, n):
-    obs_noise = self.obs_noise[kind]
-    dim = obs_noise.shape[0]
-    R = np.zeros((n, dim, dim))
-    for i in range(n):
-      R[i, :, :] = obs_noise
-    return R
-
-  def predict_and_update_pseudorange(self, meas, t, kind):
-    R = np.zeros((len(meas), 1, 1))
-    sat_pos_freq = np.zeros((len(meas), 4))
-    z = np.zeros((len(meas), 1))
-    for i, m in enumerate(meas):
-      z_i, R_i, sat_pos_freq_i = parse_pr(m)
-      sat_pos_freq[i, :] = sat_pos_freq_i
-      z[i, :] = z_i
-      R[i, :, :] = R_i
-    return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq)
-
-  def predict_and_update_pseudorange_rate(self, meas, t, kind):
-    R = np.zeros((len(meas), 1, 1))
-    z = np.zeros((len(meas), 1))
-    sat_pos_vel = np.zeros((len(meas), 6))
-    for i, m in enumerate(meas):
-      z_i, R_i, sat_pos_vel_i = parse_prr(m)
-      sat_pos_vel[i] = sat_pos_vel_i
-      R[i, :, :] = R_i
-      z[i, :] = z_i
-    return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel)
-
-  def predict_and_update_odo_trans(self, trans, t, kind):
-    z = trans[:, :3]
-    R = np.zeros((len(trans), 3, 3))
-    for i, _ in enumerate(z):
-      R[i, :, :] = np.diag(trans[i, 3:]**2)
-    return self.filter.predict_and_update_batch(t, kind, z, R)
-
-  def predict_and_update_odo_rot(self, rot, t, kind):
-    z = rot[:, :3]
-    R = np.zeros((len(rot), 3, 3))
-    for i, _ in enumerate(z):
-      R[i, :, :] = np.diag(rot[i, 3:]**2)
-    return self.filter.predict_and_update_batch(t, kind, z, R)
-
-  def predict_and_update_orb_features(self, tracks, t, kind):
-    k = 2 * (self.N + 1)
-    R = np.zeros((len(tracks), k, k))
-    z = np.zeros((len(tracks), k))
-    ecef_pos = np.zeros((len(tracks), 3))
-    ecef_pos[:] = np.nan
-    poses = self.x[self.dim_main:].reshape((-1, 7))
-    times = tracks.reshape((len(tracks), self.N + 1, 4))[:, :, 0]
-    if kind==ObservationKind.ORB_FEATURES:
-      pt_std = 0.005
-    else:
-      pt_std = 0.02
-    if times.any():
-      assert np.allclose(times[0, :-1], self.filter.get_augment_times(), atol=1e-7, rtol=0.0)
-      for i, track in enumerate(tracks):
-        img_positions = track.reshape((self.N + 1, 4))[:, 2:]
-
-        # TODO not perfect as last pose not used
-        # img_positions = unroll_shutter(img_positions, poses, self.filter.state()[7:10], self.filter.state()[10:13], ecef_pos[i])
-
-        ecef_pos[i] = self.computer.compute_pos(poses, img_positions[:-1])
-        z[i] = img_positions.flatten()
-        R[i, :, :] = np.diag([pt_std**2] * (k))
-
-    good_idxs = np.all(np.isfinite(ecef_pos), axis=1)
-
-    # This code relies on wide and narrow orb features being captured at the same time,
-    # and wide features to be processed first.
-    ret = self.filter.predict_and_update_batch(t, kind, z[good_idxs], R[good_idxs], ecef_pos[good_idxs],
-                                               augment=kind==ObservationKind.ORB_FEATURES)
-    if ret is None:
-      return
-
-    # have to do some weird stuff here to keep
-    # to have the observations input from mesh3d
-    # consistent with the outputs of the filter
-    # Probably should be replaced, not sure how.
-    y_full = np.zeros((z.shape[0], z.shape[1] - 3))
-    if sum(good_idxs) > 0:
-      y_full[good_idxs] = np.array(ret[6])
-    ret = ret[:6] + (y_full, z, ecef_pos)
-    return ret
-
-  def predict_and_update_msckf_test(self, test_data, t, kind):
-    assert self.N > 0
-    z = test_data
-    R = np.zeros((len(test_data), len(z[0]), len(z[0])))
-    ecef_pos = [self.x[:3]]
-    for i, _ in enumerate(z):
-      R[i, :, :] = np.diag([0.1**2] * len(z[0]))
-    ret = self.filter.predict_and_update_batch(t, kind, z, R, ecef_pos)
-    self.filter.augment()
-    return ret
-
-  def maha_test_pseudorange(self, x, P, meas, kind, maha_thresh=.3):
-    bools = []
-    for m in meas:
-      z, R, sat_pos_freq = parse_pr(m)
-      bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_freq, maha_thresh=maha_thresh))
-    return np.array(bools)
-
-  def maha_test_pseudorange_rate(self, x, P, meas, kind, maha_thresh=.999):
-    bools = []
-    for m in meas:
-      z, R, sat_pos_vel = parse_prr(m)
-      bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_vel, maha_thresh=maha_thresh))
-    return np.array(bools)
-
-
-if __name__ == "__main__":
-  N = int(sys.argv[1].split("_")[-1])
-  generated_dir = sys.argv[2]
-  LocKalman.generate_code(generated_dir, N=N)
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 55ad62145e..0e779c9e3e 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -23,6 +23,8 @@ ROLL_STD_MAX = math.radians(1.5)
 LATERAL_ACC_SENSOR_THRESHOLD = 4.0
 OFFSET_MAX = 10.0
 OFFSET_LOWERED_MAX = 8.0
+MIN_ACTIVE_SPEED = 1.0
+LOW_ACTIVE_SPEED = 10.0
 
 
 class ParamsLearner:
@@ -95,7 +97,7 @@ class ParamsLearner:
       self.speed = msg.vEgo
 
       in_linear_region = abs(self.steering_angle) < 45
-      self.active = self.speed > 1 and in_linear_region
+      self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region
 
       if self.active:
         self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]]))
@@ -115,16 +117,14 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
   return current_valid
 
 
-def main(sm=None, pm=None):
+def main():
   config_realtime_process([0, 1, 2, 3], 5)
 
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
-  if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
-  if pm is None:
-    pm = messaging.PubMaster(['liveParameters'])
+  pm = messaging.PubMaster(['liveParameters'])
+  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
 
   params_reader = Params()
   # wait for stats about the car to come in from controls
@@ -204,8 +204,12 @@ def main(sm=None, pm=None):
                           angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
       roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
       roll_std = float(P[States.ROAD_ROLL].item())
-      # Account for the opposite signs of the yaw rates
-      sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      if learner.active and learner.speed > LOW_ACTIVE_SPEED:
+        # Account for the opposite signs of the yaw rates
+        # At low speeds, bumping into a curb can cause the yaw rate to be very high
+        sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      else:
+        sensors_valid = True
       avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX)
       total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
       roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX)
diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py
deleted file mode 100755
index bf4fcbdbe9..0000000000
--- a/selfdrive/locationd/test/_test_locationd_lib.py
+++ /dev/null
@@ -1,109 +0,0 @@
-#!/usr/bin/env python3
-"""This test can't be run together with other locationd tests.
-cffi.dlopen breaks the list of registered filters."""
-import os
-import random
-import unittest
-
-from cffi import FFI
-
-import cereal.messaging as messaging
-from cereal import log
-
-from openpilot.common.ffi_wrapper import suffix
-
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init(bool has_ublox);
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init(True) # default to ublox
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
-      return log_evt
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
-if __name__ == "__main__":
-  unittest.main()
-
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index a5eedaf99a..e2db094397 100755
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -8,8 +8,28 @@ import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.params import Params
 from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
-                                                         MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
-
+                                                         MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT, MAX_ALLOWED_PITCH_SPREAD, MAX_ALLOWED_YAW_SPREAD
+
+
+def process_messages(c, cam_odo_calib, cycles,
+                     cam_odo_speed=MIN_SPEED_FILTER + 1,
+                     carstate_speed=MIN_SPEED_FILTER + 1,
+                     cam_odo_yr=0.0,
+                     cam_odo_speed_std=1e-3,
+                     cam_odo_height_std=1e-3):
+  old_rpy_weight_prev = 0.0
+  for _ in range(cycles):
+    assert (old_rpy_weight_prev - c.old_rpy_weight < 1/SMOOTH_CYCLES + 1e-3)
+    old_rpy_weight_prev = c.old_rpy_weight
+    c.handle_v_ego(carstate_speed)
+    c.handle_cam_odom([cam_odo_speed,
+                       np.sin(cam_odo_calib[2]) * cam_odo_speed,
+                       -np.sin(cam_odo_calib[1]) * cam_odo_speed],
+                        [0.0, 0.0, cam_odo_yr],
+                        [0.0, 0.0, 0.0],
+                        [cam_odo_speed_std, cam_odo_speed_std, cam_odo_speed_std],
+                        [0.0, 0.0, HEIGHT_INIT.item()],
+                        [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std])
 
 class TestCalibrationd(unittest.TestCase):
 
@@ -28,14 +48,7 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_basics(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED)
     self.assertEqual(c.valid_blocks, INPUTS_WANTED)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
@@ -44,22 +57,8 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_low_speed_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER - 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed=MIN_SPEED_FILTER - 1)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, carstate_speed=MIN_SPEED_FILTER - 1)
     self.assertEqual(c.valid_blocks, 0)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
@@ -67,14 +66,7 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_yaw_rate_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, MAX_YAW_RATE_FILTER ],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_yr=MAX_YAW_RATE_FILTER)
     self.assertEqual(c.valid_blocks, 0)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
@@ -82,58 +74,44 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_speed_std_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e3, 1e3, 1e3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed_std=1e3)
     self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
 
 
   def test_calibration_speed_std_height_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e3, 1e3, 1e3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_height_std=1e3)
     self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
 
 
   def test_calibration_auto_reset(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
-    self.assertEqual(c.valid_blocks, INPUTS_WANTED)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3)
+    process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED + 1)
+    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.calibrated)
+
+    c = Calibrator(param_put=False)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
+    process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10)
+    self.assertEqual(c.valid_blocks, 1)
+    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
+    np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2)
+
+    c = Calibrator(param_put=False)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
-    old_rpy_weight_prev = 0.0
-    for _ in range(BLOCK_SIZE + 10):
-      self.assertLess(old_rpy_weight_prev - c.old_rpy_weight, 1/SMOOTH_CYCLES + 1e-3)
-      old_rpy_weight_prev = c.old_rpy_weight
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10)
     self.assertEqual(c.valid_blocks, 1)
     self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
-    np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
deleted file mode 100755
index a8d69502cf..0000000000
--- a/selfdrive/locationd/test/test_laikad.py
+++ /dev/null
@@ -1,317 +0,0 @@
-#!/usr/bin/env python3
-import time
-import unittest
-from cereal import log
-from openpilot.common.params import Params
-from datetime import datetime
-from unittest import mock
-
-
-from laika.constants import SECS_IN_DAY
-from laika.downloader import DownloadFailed
-from laika.ephemeris import EphemerisType
-from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
-from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
-from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad
-from openpilot.selfdrive.test.openpilotci import get_url
-from openpilot.tools.lib.logreader import LogReader
-
-from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-
-GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
-UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
-QCOM_TEST_ROUTE = "616dc83ca1f7f11e|2023-07-11--10-52-31"
-
-
-def get_log_ublox():
-  logs = LogReader(get_url(UBLOX_TEST_ROUTE, 0))
-
-  ublox_cfg = get_process_config("ubloxd")
-  all_logs = replay_process(ublox_cfg, logs)
-  low_gnss = []
-  for m in all_logs:
-    if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport':
-      continue
-
-    MAX_MEAS = 7
-    if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS:
-      mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict())
-      mb.logMonoTime = m.logMonoTime
-      mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS
-      mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS]
-      mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000
-      low_gnss.append(mb.as_reader())
-    else:
-      low_gnss.append(m)
-  return all_logs, low_gnss
-
-
-def get_log_qcom():
-  logs = LogReader(get_url(QCOM_TEST_ROUTE, 0))
-  all_logs = [m for m in logs if m.which() == 'qcomGnss']
-  return all_logs
-
-
-def verify_messages(lr, laikad, return_one_success=False):
-  good_msgs = []
-  for m in lr:
-    if m.which() == 'ubloxGnss':
-      gnss_msg = m.ubloxGnss
-    elif m.which() == 'qcomGnss':
-      gnss_msg = m.qcomGnss
-    else:
-      continue
-    msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
-    if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
-      good_msgs.append(msg)
-      if return_one_success:
-        return msg
-  return good_msgs
-
-
-def get_first_gps_time(logs):
-  for m in logs:
-    if m.which() == 'ubloxGnss':
-      if m.ubloxGnss.which == 'measurementReport':
-        new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
-        if len(new_meas) > 0:
-          return new_meas[0].recv_time
-    elif m.which() == "qcomGnss":
-      if m.qcomGnss.which == 'measurementReport':
-        new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
-        if len(new_meas) > 0:
-          return new_meas[0].recv_time
-
-
-def get_measurement_mock(gpstime, sat_ephemeris):
-  meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
-  # Fake measurement being processed
-  meas.observables_final = meas.observables
-  meas.sat_ephemeris = sat_ephemeris
-  return meas
-
-
-class TestLaikad(unittest.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    logs, low_gnss = get_log_ublox()
-    cls.logs = logs
-    cls.low_gnss = low_gnss
-    cls.logs_qcom = get_log_qcom()
-    first_gps_time = get_first_gps_time(logs)
-    cls.first_gps_time = first_gps_time
-
-  def setUp(self):
-    Params().remove(EPHEMERIS_CACHE)
-
-  def test_fetch_navs_non_blocking(self):
-    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
-    laikad = Laikad()
-    laikad.fetch_navs(gpstime, block=False)
-    laikad.orbit_fetch_future.result(30)
-
-    # Get results and save orbits to laikad:
-    laikad.fetch_navs(gpstime, block=False)
-    ephem = laikad.astro_dog.navs['G01'][0]
-    self.assertIsNotNone(ephem)
-
-    laikad.fetch_navs(gpstime+2*SECS_IN_DAY, block=False)
-    laikad.orbit_fetch_future.result(30)
-    # Get results and save orbits to laikad:
-    laikad.fetch_navs(gpstime + 2 * SECS_IN_DAY, block=False)
-
-    ephem2 = laikad.astro_dog.navs['G01'][0]
-    self.assertIsNotNone(ephem)
-    self.assertNotEqual(ephem, ephem2)
-
-
-  def test_fetch_navs_with_wrong_clocks(self):
-    laikad = Laikad()
-
-    def check_has_navs():
-      self.assertGreater(len(laikad.astro_dog.navs), 0)
-      ephem = laikad.astro_dog.navs['G01'][0]
-      self.assertIsNotNone(ephem)
-    real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
-    wrong_future_clock_time = real_current_time + SECS_IN_DAY
-
-    laikad.fetch_navs(wrong_future_clock_time, block=True)
-    check_has_navs()
-    self.assertEqual(laikad.last_fetch_navs_t, wrong_future_clock_time)
-
-    # Test fetching orbits with earlier time
-    assert real_current_time < laikad.last_fetch_navs_t
-
-    laikad.astro_dog.orbits = {}
-    laikad.fetch_navs(real_current_time, block=True)
-    check_has_navs()
-    self.assertEqual(laikad.last_fetch_navs_t, real_current_time)
-
-  def test_laika_online(self):
-    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
-    correct_msgs = verify_messages(self.logs, laikad)
-
-    correct_msgs_expected = 560
-    self.assertEqual(correct_msgs_expected, len(correct_msgs))
-    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
-
-  def test_kf_becomes_valid(self):
-    laikad = Laikad(auto_update=False)
-    m = self.logs[0]
-    self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
-    kf_valid = False
-    for m in self.logs:
-      if m.which() != 'ubloxGnss':
-        continue
-
-      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
-      kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
-      if kf_valid:
-        break
-    self.assertTrue(kf_valid)
-
-  def test_laika_online_nav_only(self):
-    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
-      laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
-      # Disable fetch_orbits to test NAV only
-      correct_msgs = verify_messages(logs, laikad)
-      correct_msgs_expected = 55 if use_qcom else 560
-      valid_fix_expected = 55 if use_qcom else 560
-
-      self.assertEqual(correct_msgs_expected, len(correct_msgs))
-      self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
-
-  @mock.patch('laika.downloader.download_and_cache_file')
-  def test_laika_offline(self, downloader_mock):
-    downloader_mock.side_effect = DownloadFailed("Mock download failed")
-    laikad = Laikad(auto_update=False)
-    laikad.fetch_navs(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
-
-  @mock.patch('laika.downloader.download_and_cache_file')
-  def test_download_failed_russian_source(self, downloader_mock):
-    downloader_mock.side_effect = DownloadFailed
-    laikad = Laikad(auto_update=False)
-    correct_msgs = verify_messages(self.logs, laikad)
-    expected_msgs = 376
-    self.assertEqual(expected_msgs, len(correct_msgs))
-    self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
-
-  def test_laika_get_orbits(self):
-    laikad = Laikad(auto_update=False)
-    # Pretend process has loaded the orbits on startup by using the time of the first gps message.
-    laikad.fetch_navs(self.first_gps_time, block=True)
-    self.dict_has_values(laikad.astro_dog.navs)
-
-  @unittest.skip("Use to debug live data")
-  def test_laika_get_navs_now(self):
-    laikad = Laikad(auto_update=False)
-    laikad.fetch_navs(GPSTime.from_datetime(datetime.utcnow()), block=True)
-    prn = "G01"
-    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
-    prn = "R01"
-    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
-
-  def test_get_navs_in_process(self):
-    for auto_fetch_navs in [True, False]:
-      for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
-        laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs)
-        has_navs = False
-        has_fix = False
-        seen_chip_eph = False
-        seen_internet_eph = False
-
-        for m in logs:
-          if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss':
-            continue
-
-          gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
-          out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False)
-          if laikad.orbit_fetch_future is not None:
-            laikad.orbit_fetch_future.result()
-          vals = laikad.astro_dog.navs.values()
-          has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
-          vals = laikad.astro_dog.qcom_polys.values()
-          has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
-          has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
-          if len(out_msg.gnssMeasurements.ephemerisStatuses):
-            seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses)
-            seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses)
-
-        self.assertTrue(has_navs or has_polys)
-        self.assertTrue(has_fix)
-        self.assertTrue(seen_chip_eph or auto_fetch_navs)
-        self.assertTrue(seen_internet_eph or not auto_fetch_navs)
-        self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
-        self.assertEqual(None, laikad.orbit_fetch_future)
-
-  def test_cache(self):
-    use_qcom = True
-    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
-      Params().remove(EPHEMERIS_CACHE)
-      laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
-      def wait_for_cache():
-        max_time = 2
-        while Params().get(EPHEMERIS_CACHE) is None:
-          time.sleep(0.1)
-          max_time -= 0.1
-          if max_time < 0:
-            self.fail("Cache has not been written after 2 seconds")
-
-      # Test cache with no ephemeris
-      laikad.last_report_time = GPSTime(1,0)
-      laikad.cache_ephemeris()
-      if Params().get(EPHEMERIS_CACHE) is not None:
-        self.fail("Cache should not have been written without valid ephem")
-
-      #laikad.astro_dog.get_navs(self.first_gps_time)
-      msg = verify_messages(logs, laikad, return_one_success=True)
-      laikad.cache_ephemeris()
-      wait_for_cache()
-
-      # Check both nav and orbits separate
-      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV,
-                      save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False)
-      # Verify navs are loaded from cache
-      self.dict_has_values(laikad.astro_dog.navs)
-      # Verify cache is working for only nav by running a segment
-      msg = verify_messages(logs, laikad, return_one_success=True)
-      self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses))
-      self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses))
-      self.assertIsNotNone(msg)
-
-      #TODO test cache with only orbits
-      #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
-      #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
-      #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
-      #  laikad.fetch_navs(self.first_gps_time, block=False)
-      #  mock_method.assert_not_called()
-
-      #  # Verify cache is working for only orbits by running a segment
-      #  laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
-      #  msg = verify_messages(self.logs, laikad, return_one_success=True)
-      #  self.assertIsNotNone(msg)
-      #  # Verify orbit data is not downloaded
-      #  mock_method.assert_not_called()
-      #break
-
-  def test_low_gnss_meas(self):
-    cnt = 0
-    laikad = Laikad()
-    for m in self.low_gnss:
-      msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
-      if msg is None:
-        continue
-      gm = msg.gnssMeasurements
-      if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
-        cnt += 1
-    self.assertEqual(cnt, 560)
-
-  def dict_has_values(self, dct):
-    self.assertGreater(len(dct), 0)
-    self.assertGreater(min([len(v) for v in dct.values()]), 0)
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 6c6ac33431..707fdd743f 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -6,7 +6,7 @@ import time
 import capnp
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.params import Params
 from openpilot.common.transformations.coordinates import ecef2geodetic
 
@@ -74,13 +74,13 @@ class TestLocationdProc(unittest.TestCase):
     msgs = []
     for sec in range(65):
       for name in self.LLD_MSGS:
-        for j in range(int(service_list[name].frequency)):
-          msgs.append(self.get_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
+        for j in range(int(SERVICE_LIST[name].frequency)):
+          msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
 
     for msg in sorted(msgs, key=lambda x: x.logMonoTime):
       self.pm.send(msg.which(), msg)
       if msg.which() == "cameraOdometry":
-        self.pm.wait_for_readers_to_update(msg.which(), 0.1)
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
     time.sleep(1)  # wait for async params write
 
     lastGPS = json.loads(self.params.get('LastGPSPosition'))
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
new file mode 100755
index 0000000000..b1792e0fd8
--- /dev/null
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -0,0 +1,229 @@
+#!/usr/bin/env python3
+import pytest
+import unittest
+import numpy as np
+from collections import defaultdict
+from enum import Enum
+
+
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
+
+TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4
+GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation']
+SELECT_COMPARE_FIELDS = {
+  'yaw_rate': ['angularVelocityCalibrated', 'value', 2],
+  'roll': ['orientationNED', 'value', 0],
+  'gps_flag': ['gpsOK'],
+  'inputs_flag': ['inputsOK'],
+  'sensors_flag': ['sensorsOK'],
+}
+JUNK_IDX = 100
+
+
+class Scenario(Enum):
+  BASE = 'base'
+  GPS_OFF = 'gps_off'
+  GPS_OFF_MIDWAY = 'gps_off_midway'
+  GPS_ON_MIDWAY = 'gps_on_midway'
+  GPS_TUNNEL = 'gps_tunnel'
+  GYRO_OFF = 'gyro_off'
+  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  ACCEL_OFF = 'accel_off'
+  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+
+
+def get_select_fields_data(logs):
+  def get_nested_keys(msg, keys):
+    val = None
+    for key in keys:
+      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+    return val
+  llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman']
+  data = defaultdict(list)
+  for msg in llk:
+    for key, fields in SELECT_COMPARE_FIELDS.items():
+      data[key].append(get_nested_keys(msg, fields))
+  for key in data:
+    data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+  return data
+
+
+def run_scenarios(scenario, logs):
+  if scenario == Scenario.BASE:
+    pass
+
+  elif scenario == Scenario.GPS_OFF:
+    logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_OFF_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_ON_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_TUNNEL:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_OFF:
+    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+    non_gyro = [x for x in logs if x.which() not in 'gyroscope']
+    gyro = [x for x in logs if x.which() in 'gyroscope']
+    temp = gyro[len(gyro) // 2].as_builder()
+    temp.gyroscope.gyroUncalibrated.v[0] += 3.0
+    gyro[len(gyro) // 2] = temp.as_reader()
+    logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_OFF:
+    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+    non_accel = [x for x in logs if x.which() not in 'accelerometer']
+    accel = [x for x in logs if x.which() in 'accelerometer']
+    temp = accel[len(accel) // 2].as_builder()
+    temp.accelerometer.acceleration.v[0] += 10.0
+    accel[len(accel) // 2] = temp.as_reader()
+    logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)
+
+  replayed_logs = replay_process_with_name(name='locationd', lr=logs)
+  return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
+
+
+@pytest.mark.xdist_group("test_locationd_scenarios")
+class TestLocationdScenarios(unittest.TestCase):
+  """
+  Test locationd with different scenarios. In all these scenarios, we expect the following:
+    - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
+    - faulty values should be ignored, with appropriate flags set
+  """
+
+  @classmethod
+  def setUpClass(cls):
+    cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
+
+  def test_base(self):
+    """
+    Test: unchanged log
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+  def test_gps_off(self):
+    """
+    Test: no GPS message for the entire segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0))
+
+  def test_gps_off_midway(self):
+    """
+    Test: no GPS message for the second half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: True for the first half, False for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0)
+
+  def test_gps_on_midway(self):
+    """
+    Test: no GPS message for the first half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the first half, True for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0)
+
+  def test_gps_tunnel(self):
+    """
+    Test: no GPS message for the middle section of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the middle section, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0)
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0)
+
+  def test_gyro_off(self):
+    """
+    Test: no gyroscope message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_gyro_spikes(self):
+    """
+    Test: a gyroscope spike in the middle of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+      - inputsOK: False for some time after the spike, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0)
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0)
+
+  def test_accel_off(self):
+    """
+    Test: no accelerometer message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_accel_spikes(self):
+    """
+    ToDo:
+    Test: an accelerometer spike in the middle of the segment
+    Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index ddb95e944c..ff1fac2c22 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 import os
-import sys
 import signal
 import numpy as np
 from collections import deque, defaultdict
+from functools import partial
 
 import cereal.messaging as messaging
 from cereal import car, log
@@ -12,6 +12,7 @@ from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points_onexit
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -43,57 +44,15 @@ def slope2rot(slope):
   return np.array([[cos, -sin], [sin, cos]])
 
 
-class NPQueue:
-  def __init__(self, maxlen, rowsize):
-    self.maxlen = maxlen
-    self.arr = np.empty((0, rowsize))
-
-  def __len__(self):
-    return len(self.arr)
-
-  def append(self, pt):
-    if len(self.arr) < self.maxlen:
-      self.arr = np.append(self.arr, [pt], axis=0)
-    else:
-      self.arr[:-1] = self.arr[1:]
-      self.arr[-1] = pt
-
-
-class PointBuckets:
-  def __init__(self, x_bounds, min_points, min_points_total):
-    self.x_bounds = x_bounds
-    self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds}
-    self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
-    self.min_points_total = min_points_total
-
-  def bucket_lengths(self):
-    return [len(v) for v in self.buckets.values()]
-
-  def __len__(self):
-    return sum(self.bucket_lengths())
-
-  def is_valid(self):
-    return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)) \
-                                                                                and (self.__len__() >= self.min_points_total)
-
+class TorqueBuckets(PointBuckets):
   def add_point(self, x, y):
     for bound_min, bound_max in self.x_bounds:
       if (x >= bound_min) and (x < bound_max):
         self.buckets[(bound_min, bound_max)].append([x, 1.0, y])
         break
 
-  def get_points(self, num_points=None):
-    points = np.vstack([x.arr for x in self.buckets.values()])
-    if num_points is None:
-      return points
-    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
-
-  def load_points(self, points):
-    for x, y in points:
-      self.add_point(x, y)
 
-
-class TorqueEstimator:
+class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False):
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = CP.steerActuatorDelay + .2   # from controlsd
@@ -114,7 +73,7 @@ class TorqueEstimator:
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS
+    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction
@@ -136,7 +95,7 @@ class TorqueEstimator:
 
     # try to restore cached params
     params = Params()
-    params_cache = params.get("LiveTorqueCarParams")
+    params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
       try:
@@ -157,7 +116,6 @@ class TorqueEstimator:
           cloudlog.info("restored torque params from cache")
       except Exception:
         cloudlog.exception("failed to restore cached torque params")
-        params.remove("LiveTorqueCarParams")
         params.remove("LiveTorqueParameters")
 
     self.filtered_params = {}
@@ -175,7 +133,11 @@ class TorqueEstimator:
     self.resets += 1.0
     self.decay = MIN_FILTER_DECAY
     self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len))
-    self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=self.min_bucket_points, min_points_total=self.min_points_total)
+    self.filtered_points = TorqueBuckets(x_bounds=STEER_BUCKET_BOUNDS,
+                                         min_points=self.min_bucket_points,
+                                         min_points_total=self.min_points_total,
+                                         points_per_bucket=POINTS_PER_BUCKET,
+                                         rowsize=3)
 
   def estimate_params(self):
     points = self.filtered_points.get_points(self.fit_points)
@@ -255,32 +217,18 @@ class TorqueEstimator:
     return msg
 
 
-def main(sm=None, pm=None):
+def main():
   config_realtime_process([0, 1, 2, 3], 5)
 
-  if sm is None:
-    sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['liveTorqueParameters'])
+  pm = messaging.PubMaster(['liveTorqueParameters'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
 
   params = Params()
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
     estimator = TorqueEstimator(CP)
 
-  def cache_params(sig, frame):
-    signal.signal(sig, signal.SIG_DFL)
-    cloudlog.warning("caching torque params")
-
-    params = Params()
-    params.put("LiveTorqueCarParams", CP.as_builder().to_bytes())
-
-    msg = estimator.get_msg(with_points=True)
-    params.put("LiveTorqueParameters", msg.to_bytes())
-
-    sys.exit(0)
   if "REPLAY" not in os.environ:
-    signal.signal(signal.SIGINT, cache_params)
+    signal.signal(signal.SIGINT, partial(cache_points_onexit, "LiveTorqueParameters", estimator))
 
   while True:
     sm.update()
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index be37b3e7e4..247f3c8fb8 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -19,19 +19,21 @@ TOTAL_SCONS_NODES = 2560
 MAX_BUILD_PROGRESS = 100
 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
-def build(spinner: Spinner, dirty: bool = False) -> None:
+def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
   env = os.environ.copy()
   env['SCONS_PROGRESS'] = "1"
   nproc = os.cpu_count()
   if nproc is None:
     nproc = 2
 
+  extra_args = ["--minimal"] if minimal else []
+
   # building with all cores can result in using too
   # much memory, so retry with less parallelism
   compile_output: List[bytes] = []
   for n in (nproc, nproc/2, 1):
     compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", "--minimal"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
     assert scons.stderr is not None
 
     # Read progress from stderr and update spinner
@@ -86,4 +88,4 @@ def build(spinner: Spinner, dirty: bool = False) -> None:
 if __name__ == "__main__" and not PREBUILT:
   spinner = Spinner()
   spinner.update_progress(0, 100)
-  build(spinner, is_dirty())
+  build(spinner, is_dirty(), minimal = AGNOS)
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 50e684fcb5..6f974b0687 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -45,20 +45,19 @@ procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
-  NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
 
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
-  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
+  PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
@@ -69,8 +68,7 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
-  PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad),
-  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI),
+  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index 89ad483744..0fa186baff 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import signal
 import time
 import unittest
@@ -17,6 +18,7 @@ MAX_STARTUP_TIME = 3
 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
+@pytest.mark.tici
 class TestManager(unittest.TestCase):
   def setUp(self):
     os.environ['PASSIVE'] = '0'
@@ -66,10 +68,6 @@ class TestManager(unittest.TestCase):
 
         self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
 
-        # TODO: mapsd should exit cleanly
-        if p.name == "mapsd":
-          continue
-
         self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
 
         # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 10718c696b..2d15223d1e 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,17 +1,14 @@
-import os
-
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
 lenv = env.Clone()
 lenvCython = envCython.Clone()
 
-libs = [cereal, messaging, common, visionipc, gpucommon,
-        'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
+libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread']
+frameworks = []
 
 common_src = [
   "models/commonmodel.cc",
-  "runners/snpemodel.cc",
   "transforms/loadyuv.cc",
-  "transforms/transform.cc"
+  "transforms/transform.cc",
 ]
 
 thneed_src_common = [
@@ -23,76 +20,49 @@ thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
 thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
 thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
 
-if arch == "larch64":
-  libs += ['gsl', 'CB', 'pthread', 'dl']
-else:
-  libs += ['pthread']
-
-  if not GetOption('snpe'):
-    # for onnx support
-    common_src += ['runners/onnxmodel.cc']
-
-    # tell runners to use onnx
-    lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
-    lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
+# SNPE except on Mac and ARM Linux
+snpe_lib = []
+if arch != "Darwin" and arch != "aarch64":
+  common_src += ['runners/snpemodel.cc']
+  snpe_lib += ['SNPE']
 
-  if arch == "Darwin":
-    # fix OpenCL
-    del libs[libs.index('OpenCL')]
-    lenv['FRAMEWORKS'] = ['OpenCL']
-
-  if arch == "Darwin" or arch == "aarch64":
-    # no SNPE on Mac and ARM Linux
-    del libs[libs.index('SNPE')]
-    del common_src[common_src.index('runners/snpemodel.cc')]
+# OpenCL is a framework on Mac
+if arch == "Darwin":
+  frameworks += ['OpenCL']
+else:
+  libs += ['OpenCL']
 
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
+# Set path definitions
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
   for xenv in (lenv, lenvCython):
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
-if arch == "larch64" or GetOption('pc_thneed'):
-  lenvCython['CFLAGS'].append("-DUSE_THNEED")
-  lenvCython['CXXFLAGS'].append("-DUSE_THNEED")
-
-common_frameworks = []
-common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq']
-if arch == "Darwin":
-  common_frameworks.append('OpenCL')
-else:
-  common_libs.append('OpenCL')
+# Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
 
-onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
+cython_libs = envCython["LIBS"] + libs
 snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
-driving_lib = lenv.Library('driving', ['models/driving.cc'])
 
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=common_libs, FRAMEWORKS=common_frameworks)
-lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
-lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, cereal, messaging, *common_libs, 'capnp', 'kj'] + transformations, FRAMEWORKS=common_frameworks)
+lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
+lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
+lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
-common_model = lenv.Object(common_src)
+# Get model metadata
+fn = File("models/supercombo").abspath
+cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.endswith("get_model_metadata.py")], [])
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"]+files, cmd)
 
-lenv.Program('_dmonitoringmodeld', [
-    "dmonitoringmodeld.cc",
-    "models/dmonitoring.cc",
-  ]+common_model, LIBS=libs)
-
-lenv.Program('_navmodeld', [
-    "navmodeld.cc",
-    "models/nav.cc",
-  ]+common_model, LIBS=libs)
-
-# build thneed model
+# Build thneed model
 if arch == "larch64" or GetOption('pc_thneed'):
-  fn = File("models/supercombo").abspath
-
-  tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
+  tinygrad_opts = []
   if not GetOption('pc_thneed'):
     # use FLOAT16 on device for speed + don't cache the CL kernels for space
     tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
 
   tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
   lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 125864b98b..4d3af51635 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -1,7 +1,82 @@
-IDX_N = 33
+import numpy as np
 
 def index_function(idx, max_val=192, max_idx=32):
   return (max_val) * ((idx/max_idx)**2)
 
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
 
-T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  # model inputs constants
+  MODEL_FREQ = 20
+  FEATURE_LEN = 512
+  HISTORY_BUFFER_LEN = 99
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  NAV_FEATURE_LEN = 256
+  NAV_INSTRUCTION_LEN = 150
+  DRIVING_STYLE_LEN = 12
+  LAT_PLANNER_STATE_LEN = 4
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  SIM_POSE_WIDTH = 6
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
deleted file mode 100755
index fc007470b2..0000000000
--- a/selfdrive/modeld/dmonitoringmodeld
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-if [ -f /TICI ]; then
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
-  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
-else
-  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
-fi
-exec ./_dmonitoringmodeld
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
deleted file mode 100644
index 2890b44fe0..0000000000
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <sys/resource.h>
-#include <limits.h>
-
-#include <cstdio>
-#include <cstdlib>
-
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/dmonitoring.h"
-
-ExitHandler do_exit;
-
-void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
-  PubMaster pm({"driverStateV2"});
-  SubMaster sm({"liveCalibration"});
-  float calib[CALIB_LEN] = {0};
-  // double last = 0;
-
-  while (!do_exit) {
-    VisionIpcBufExtra extra = {};
-    VisionBuf *buf = vipc_client.recv(&extra);
-    if (buf == nullptr) continue;
-
-    sm.update(0);
-    if (sm.updated("liveCalibration")) {
-      auto calib_msg = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
-      for (int i = 0; i < CALIB_LEN; i++) {
-        calib[i] = calib_msg[i];
-      }
-    }
-
-    double t1 = millis_since_boot();
-    DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
-    double t2 = millis_since_boot();
-
-    // send dm packet
-    dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
-
-    // printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
-    // last = t1;
-  }
-}
-
-int main(int argc, char **argv) {
-  setpriority(PRIO_PROCESS, 0, -15);
-
-  // init the models
-  DMonitoringModelState model;
-  dmonitoring_init(&model);
-
-  Params().putBool("DmModelInitialized", true);
-
-  LOGW("connecting to driver stream");
-  VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
-  while (!do_exit && !vipc_client.connect(false)) {
-    util::sleep_for(100);
-  }
-
-  // run the models
-  if (vipc_client.connected) {
-    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
-    run_model(model, vipc_client);
-  }
-
-  dmonitoring_free(&model);
-  return 0;
-}
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
new file mode 100755
index 0000000000..53c0af0ff3
--- /dev/null
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -0,0 +1,157 @@
+#!/usr/bin/env python3
+import os
+import gc
+import math
+import time
+import ctypes
+import numpy as np
+from pathlib import Path
+from typing import Tuple, Dict
+
+from cereal import messaging
+from cereal.messaging import PubMaster, SubMaster
+from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_realtime_priority
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
+
+CALIB_LEN = 3
+REG_SCALE = 0.25
+MODEL_WIDTH = 1440
+MODEL_HEIGHT = 960
+OUTPUT_SIZE = 84
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+MODEL_PATHS = {
+  ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
+
+class DriverStateResult(ctypes.Structure):
+  _fields_ = [
+    ("face_orientation", ctypes.c_float*3),
+    ("face_position", ctypes.c_float*3),
+    ("face_orientation_std", ctypes.c_float*3),
+    ("face_position_std", ctypes.c_float*3),
+    ("face_prob", ctypes.c_float),
+    ("_unused_a", ctypes.c_float*8),
+    ("left_eye_prob", ctypes.c_float),
+    ("_unused_b", ctypes.c_float*8),
+    ("right_eye_prob", ctypes.c_float),
+    ("left_blink_prob", ctypes.c_float),
+    ("right_blink_prob", ctypes.c_float),
+    ("sunglasses_prob", ctypes.c_float),
+    ("occluded_prob", ctypes.c_float),
+    ("ready_prob", ctypes.c_float*4),
+    ("not_ready_prob", ctypes.c_float*2)]
+
+class DMonitoringModelResult(ctypes.Structure):
+  _fields_ = [
+    ("driver_state_lhd", DriverStateResult),
+    ("driver_state_rhd", DriverStateResult),
+    ("poor_vision_prob", ctypes.c_float),
+    ("wheel_on_right_prob", ctypes.c_float)]
+
+class ModelState:
+  inputs: Dict[str, np.ndarray]
+  output: np.ndarray
+  model: ModelRunner
+
+  def __init__(self):
+    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
+    self.inputs = {
+      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
+      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
+
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
+    self.model.addInput("input_img", None)
+    self.model.addInput("calib", self.inputs['calib'])
+
+  def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]:
+    self.inputs['calib'][:] = calib
+
+    v_offset = buf.height - MODEL_HEIGHT
+    h_offset = (buf.width - MODEL_WIDTH) // 2
+    buf_data = buf.data.reshape(-1, buf.stride)
+    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
+    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
+
+    t1 = time.perf_counter()
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
+    self.model.execute()
+    t2 = time.perf_counter()
+    return self.output, t2 - t1
+
+
+def fill_driver_state(msg, ds_result: DriverStateResult):
+  msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation]
+  msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
+  msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
+  msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
+  msg.faceProb = sigmoid(ds_result.face_prob)
+  msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
+  msg.rightEyeProb = sigmoid(ds_result.right_eye_prob)
+  msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob)
+  msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob)
+  msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob)
+  msg.occludedProb = sigmoid(ds_result.occluded_prob)
+  msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob]
+  msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob]
+
+def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
+  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
+  msg = messaging.new_message('driverStateV2')
+  ds = msg.driverStateV2
+  ds.frameId = frame_id
+  ds.modelExecutionTime = execution_time
+  ds.dspExecutionTime = dsp_execution_time
+  ds.poorVisionProb = sigmoid(model_result.poor_vision_prob)
+  ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob)
+  ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
+  fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
+  fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
+  return msg
+
+
+def main():
+  gc.disable()
+  set_realtime_priority(1)
+
+  model = ModelState()
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+  Params().put_bool("DmModelInitialized", True)
+
+  cloudlog.warning("connecting to driver stream")
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
+  while not vipc_client.connect(False):
+    time.sleep(0.1)
+  assert vipc_client.is_connected()
+  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
+
+  sm = SubMaster(["liveCalibration"])
+  pm = PubMaster(["driverStateV2"])
+
+  calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  # last = 0
+
+  while True:
+    buf = vipc_client.recv()
+    if buf is None:
+      continue
+
+    sm.update(0)
+    if sm.updated["liveCalibration"]:
+      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
+
+    t1 = time.perf_counter()
+    model_output, dsp_execution_time = model.run(buf, calib)
+    t2 = time.perf_counter()
+
+    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
+    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
+    # last = t1
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
new file mode 100644
index 0000000000..7434e94287
--- /dev/null
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -0,0 +1,193 @@
+import os
+import capnp
+import numpy as np
+from typing import Dict
+from cereal import log
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+ConfidenceClass = log.ModelDataV2.ConfidenceClass
+
+class PublishState:
+  def __init__(self):
+    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
+    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
+    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
+
+def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.z = z.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if z_std is not None:
+    builder.zStd = z_std.tolist()
+
+def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
+  builder.t = t
+  builder.x = x.tolist()
+  builder.y = y.tolist()
+  builder.v = v.tolist()
+  builder.a = a.tolist()
+  if x_std is not None:
+    builder.xStd = x_std.tolist()
+  if y_std is not None:
+    builder.yStd = y_std.tolist()
+  if v_std is not None:
+    builder.vStd = v_std.tolist()
+  if a_std is not None:
+    builder.aStd = a_std.tolist()
+
+def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState,
+                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
+                   timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
+                   nav_enabled: bool, valid: bool) -> None:
+  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  msg.valid = valid
+
+  modelV2 = msg.modelV2
+  modelV2.frameId = vipc_frame_id
+  modelV2.frameIdExtra = vipc_frame_id_extra
+  modelV2.frameAge = frame_age
+  modelV2.frameDropPerc = frame_drop * 100
+  modelV2.timestampEof = timestamp_eof
+  modelV2.locationMonoTime = timestamp_llk
+  modelV2.modelExecutionTime = model_execution_time
+  modelV2.navEnabled = nav_enabled
+
+  # plan
+  position = modelV2.position
+  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  velocity = modelV2.velocity
+  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  acceleration = modelV2.acceleration
+  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  orientation = modelV2.orientation
+  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  orientation_rate = modelV2.orientationRate
+  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+
+  # lateral planning
+  solution = modelV2.lateralPlannerSolution
+  solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
+  solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]
+
+  # times at X_IDXS according to model plan
+  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
+  PLAN_T_IDXS[0] = 0.0
+  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
+  for xidx in range(1, ModelConstants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == ModelConstants.IDX_N - 1:
+      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx+1]
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
+    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+
+  # lane lines
+  modelV2.init('laneLines', 4)
+  for i in range(4):
+    lane_line = modelV2.laneLines[i]
+    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
+  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
+
+  # road edges
+  modelV2.init('roadEdges', 2)
+  for i in range(2):
+    road_edge = modelV2.roadEdges[i]
+    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
+
+  # leads
+  modelV2.init('leadsV3', 3)
+  for i in range(3):
+    lead = modelV2.leadsV3[i]
+    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
+    lead.prob = net_output_data['lead_prob'][0,i].tolist()
+    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
+
+  # meta
+  meta = modelV2.meta
+  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
+  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
+  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
+  meta.init('disengagePredictions')
+  disengage_predictions = meta.disengagePredictions
+  disengage_predictions.t = ModelConstants.META_T_IDXS
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
+
+  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
+  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
+    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
+  meta.hardBrakePredicted = hard_brake_predicted.item()
+
+  # temporal pose
+  temporal_pose = modelV2.temporalPose
+  temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
+  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
+  temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
+  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
+
+  # confidence
+  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+    # any disengage prob
+    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
+    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
+    # independent disengage prob for each 2s slice
+    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
+    # rolling buf for 2, 4, 6, 8, 10s
+    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
+    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
+
+  score = 0.
+  for i in range(ModelConstants.DISENGAGE_WIDTH):
+    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
+  if score < ModelConstants.RYG_GREEN:
+    modelV2.confidence = ConfidenceClass.green
+  elif score < ModelConstants.RYG_YELLOW:
+    modelV2.confidence = ConfidenceClass.yellow
+  else:
+    modelV2.confidence = ConfidenceClass.red
+
+  # raw prediction if enabled
+  if SEND_RAW_PRED:
+    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
+
+def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray],
+                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
+  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
+  cameraOdometry = msg.cameraOdometry
+
+  cameraOdometry.frameId = vipc_frame_id
+  cameraOdometry.timestampEof = timestamp_eof
+
+  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
+  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
+  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
+  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
+  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
+  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
+  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
new file mode 100755
index 0000000000..187f83399b
--- /dev/null
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+import sys
+import pathlib
+import onnx
+import codecs
+import pickle
+from typing import Tuple
+
+def get_name_and_shape(value_info:onnx.ValueInfoProto) -> Tuple[str, Tuple[int,...]]:
+  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
+  name = value_info.name
+  return name, shape
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  model = onnx.load(str(model_path))
+  i = [x.key for x in model.metadata_props].index('output_slices')
+  output_slices = model.metadata_props[i].value
+
+  metadata = {}
+  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
+  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
+  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(metadata, f)
+
+  print(f'saved metadata to {metadata_path}')
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 61edcfb006..2b211b22e6 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,46 +1,36 @@
 #!/usr/bin/env python3
 import os
-import sys
 import time
+import pickle
 import numpy as np
+import cereal.messaging as messaging
 from pathlib import Path
 from typing import Dict, Optional
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.system.hardware import PC, TICI
 from openpilot.system.swaglog import cloudlog
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.numpy_fast import interp
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime
-from openpilot.selfdrive.modeld.models.driving_pyx import (
-  PublishState, create_model_msg, create_pose_msg, update_calibration,
-  FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,
-  OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ)
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-if USE_THNEED:
-  from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner
-else:
-  from selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as ModelRunner
-
-MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}")
-
-# NOTE: numpy matmuls don't seem to perfectly match eigen matmuls so the ref test fails, but we should switch to the np version after checking compare_runtime
-# from common.transformations.orientation import rot_from_euler
-# from common.transformations.model import medmodel_frame_from_calib_frame, sbigmodel_frame_from_calib_frame
-# from common.transformations.camera import view_frame_from_device_frame, tici_fcam_intrinsics, tici_ecam_intrinsics
-# calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
-# calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
-#
-# def update_calibration(device_from_calib_euler: np.ndarray, wide_camera: bool, bigmodel_frame: bool) -> np.ndarray:
-#   cam_intrinsics = tici_ecam_intrinsics if wide_camera else tici_fcam_intrinsics
-#   calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
-#   device_from_calib = rot_from_euler(device_from_calib_euler)
-#   camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
-#   warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
-#   return warp_matrix
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.selfdrive import sentry
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.parse_model_outputs import Parser
+from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+
+PROCESS_NAME = "selfdrive.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
+
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
 class FrameMeta:
   frame_id: int = 0
@@ -62,29 +52,43 @@ class ModelState:
   def __init__(self, context: CLContext):
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
-    self.prev_desire = np.zeros(DESIRE_LEN, dtype=np.float32)
-    self.output = np.zeros(NET_OUTPUT_SIZE, dtype=np.float32)
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.inputs = {
-      'desire_pulse': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'nav_features': np.zeros(NAV_FEATURE_LEN, dtype=np.float32),
-      'nav_instructions': np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32),
-      'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32),
+      'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
+      'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
+      'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
 
-    self.model = ModelRunner(MODEL_PATH, self.output, Runtime.GPU, False, context)
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+
+    self.output_slices = model_metadata['output_slices']
+    net_output_size = model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
+    self.parser = Parser()
+
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
     self.model.addInput("input_imgs", None)
     self.model.addInput("big_input_imgs", None)
     for k,v in self.inputs.items():
       self.model.addInput(k, v)
 
+  def slice_outputs(self, model_outputs: np.ndarray) -> Dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_model_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_model_outputs
+
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[np.ndarray]:
+                inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[Dict[str, np.ndarray]]:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    self.inputs['desire_pulse'][:-DESIRE_LEN] = self.inputs['desire_pulse'][DESIRE_LEN:]
-    self.inputs['desire_pulse'][-DESIRE_LEN:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
+    inputs['desire'][0] = 0
+    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
+    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['nav_features'][:] = inputs['nav_features']
@@ -100,16 +104,20 @@ class ModelState:
       return None
 
     self.model.execute()
-    self.inputs['feature_buffer'][:-FEATURE_LEN] = self.inputs['feature_buffer'][FEATURE_LEN:]
-    self.inputs['feature_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN]
-    return self.output
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+
+    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
+    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
+    self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
+    self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
+    return outputs
 
 
 def main():
-  cloudlog.bind(daemon="selfdrive.modeld.modeld")
-  setproctitle("selfdrive.modeld.modeld")
-  if not PC:
-    config_realtime_process(7, 54)
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
+  config_realtime_process(7, 54)
 
   cl_context = CLContext()
   model = ModelState(cl_context)
@@ -131,7 +139,7 @@ def main():
 
   while not vipc_client_main.connect(False):
     time.sleep(0.1)
-  while not vipc_client_extra.connect(False):
+  while use_extra_client and not vipc_client_extra.connect(False):
     time.sleep(0.1)
 
   cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
@@ -142,22 +150,21 @@ def main():
   pm = PubMaster(["modelV2", "cameraOdometry"])
   sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"])
 
-  state = PublishState()
+  publish_state = PublishState()
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
-  # last = 0.0
 
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
   driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
-  nav_features = np.zeros(NAV_FEATURE_LEN, dtype=np.float32)
-  nav_instructions = np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32)
+  nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
+  nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
@@ -203,15 +210,15 @@ def main():
     frame_id = sm["roadCameraState"].frameId
     if sm.updated["liveCalibration"]:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, False)
-      model_transform_extra = update_calibration(device_from_calib_euler, True, True)
+      model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
     traffic_convention[int(is_rhd)] = 1
 
-    vec_desire = np.zeros(DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < DESIRE_LEN:
+    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
       vec_desire[desire] = 1
 
     # Enable/disable nav features
@@ -252,7 +259,7 @@ def main():
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
     inputs:Dict[str, np.ndarray] = {
-      'desire_pulse': vec_desire,
+      'desire': vec_desire,
       'traffic_convention': traffic_convention,
       'driving_style': driving_style,
       'nav_features': nav_features,
@@ -264,13 +271,15 @@ def main():
     model_execution_time = mt2 - mt1
 
     if model_output is not None:
-      pm.send("modelV2", create_model_msg(model_output, state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
-                                          meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen))
-      pm.send("cameraOdometry", create_pose_msg(model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen))
+      modelv2_send = messaging.new_message('modelV2')
+      posenet_send = messaging.new_message('cameraOdometry')
+      fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
+                      meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
+
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      pm.send('modelV2', modelv2_send)
+      pm.send('cameraOdometry', posenet_send)
 
-    # print("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f" %
-    #   ((mt2 - mt1)*1000, (mt1 - last)*1000, meta_extra.frame_id, frame_id, frame_drop_ratio))
-    # last = mt1
     last_vipc_frame_id = meta_main.frame_id
 
 
@@ -278,4 +287,7 @@ if __name__ == "__main__":
   try:
     main()
   except KeyboardInterrupt:
-    sys.exit()
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index 11808ef552..ff5c91fe0c 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -20,7 +20,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
 * **traffic convention**
   * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
 * **feature buffer**
-  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
+* **nav features**
+  * 1 * 150
+* **nav instructions**
+  * 1 * 256
 
 
 ### Supercombo output format (Full size: XXX x float32)
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
index d313dbef90..57b79aeafb 100644
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -12,12 +12,9 @@ cdef extern from "common/clutil.h":
   cl_context cl_create_context(cl_device_id)
 
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
+  float sigmoid(float)
+
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
     float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
-
-cdef extern from "selfdrive/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index c5576a5acb..e33d301aff 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -8,13 +8,10 @@ from libc.string cimport memcpy
 from cereal.visionipc.visionipc cimport cl_mem
 from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame
+from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame
 
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
+def sigmoid(x):
+  return cppSigmoid(x)
 
 cdef class CLContext(BaseCLContext):
   def __cinit__(self):
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
deleted file mode 100644
index eb5239bef0..0000000000
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ /dev/null
@@ -1,133 +0,0 @@
-#include <cstring>
-
-#include "common/mat.h"
-#include "common/modeldata.h"
-#include "common/params.h"
-#include "common/timing.h"
-#include "system/hardware/hw.h"
-
-#include "selfdrive/modeld/models/dmonitoring.h"
-
-constexpr int MODEL_WIDTH = 1440;
-constexpr int MODEL_HEIGHT = 960;
-
-template <class T>
-static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
-  if (buf.size() < size) buf.resize(size);
-  return buf.data();
-}
-
-void dmonitoring_init(DMonitoringModelState* s) {
-
-#ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-#else
-  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-#endif
-
-  s->m->addInput("input_imgs", NULL, 0);
-  s->m->addInput("calib", s->calib, CALIB_LEN);
-}
-
-void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
-  for (int i = 0; i < 3; ++i) {
-    ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE;
-    ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
-    ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
-  }
-  for (int i = 0; i < 4; ++i) {
-    ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
-  }
-  ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
-  ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
-  ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
-  ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
-  ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
-  ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
-  ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
-}
-
-void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) {
-  ddata.setFaceOrientation(ds_res.face_orientation);
-  ddata.setFaceOrientationStd(ds_res.face_orientation_std);
-  ddata.setFacePosition(ds_res.face_position);
-  ddata.setFacePositionStd(ds_res.face_position_std);
-  ddata.setFaceProb(ds_res.face_prob);
-  ddata.setLeftEyeProb(ds_res.left_eye_prob);
-  ddata.setRightEyeProb(ds_res.right_eye_prob);
-  ddata.setLeftBlinkProb(ds_res.left_blink_prob);
-  ddata.setRightBlinkProb(ds_res.right_blink_prob);
-  ddata.setSunglassesProb(ds_res.sunglasses_prob);
-  ddata.setOccludedProb(ds_res.occluded_prob);
-  ddata.setReadyProb(ds_res.ready_prob);
-  ddata.setNotReadyProb(ds_res.not_ready_prob);
-}
-
-DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
-  int v_off = height - MODEL_HEIGHT;
-  int h_off = (width - MODEL_WIDTH) / 2;
-  int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT;
-
-  uint8_t *raw_buf = (uint8_t *) stream_buf;
-  // vertical crop free
-  uint8_t *raw_y_start = raw_buf + stride * v_off;
-
-  uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
-
-  // here makes a uint8 copy
-  for (int r = 0; r < MODEL_HEIGHT; ++r) {
-    memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH);
-  }
-
-  // printf("preprocess completed. %d \n", yuv_buf_len);
-  // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
-  // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
-  // fclose(dump_yuv_file);
-
-  double t1 = millis_since_boot();
-  s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float));
-  for (int i = 0; i < CALIB_LEN; i++) {
-    s->calib[i] = calib[i];
-  }
-  s->m->execute();
-  double t2 = millis_since_boot();
-
-  DMonitoringModelResult model_res = {0};
-  parse_driver_data(model_res.driver_state_lhd, s, 0);
-  parse_driver_data(model_res.driver_state_rhd, s, 41);
-  model_res.poor_vision_prob = sigmoid(s->output[82]);
-  model_res.wheel_on_right_prob = sigmoid(s->output[83]);
-  model_res.dsp_execution_time = (t2 - t1) / 1000.;
-
-  return model_res;
-}
-
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
-  // make msg
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverStateV2();
-  framed.setFrameId(frame_id);
-  framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(model_res.dsp_execution_time);
-
-  framed.setPoorVisionProb(model_res.poor_vision_prob);
-  framed.setWheelOnRightProb(model_res.wheel_on_right_prob);
-  fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd);
-  fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd);
-
-  if (send_raw_pred) {
-    framed.setRawPredictions(raw_pred.asBytes());
-  }
-
-  pm.send("driverStateV2", msg);
-}
-
-void dmonitoring_free(DMonitoringModelState* s) {
-  delete s->m;
-}
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
deleted file mode 100644
index ae2bf05394..0000000000
--- a/selfdrive/modeld/models/dmonitoring.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include <vector>
-
-#include "cereal/messaging/messaging.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/commonmodel.h"
-#include "selfdrive/modeld/runners/run.h"
-
-#define CALIB_LEN 3
-
-#define OUTPUT_SIZE 84
-#define REG_SCALE 0.25f
-
-typedef struct DriverStateResult {
-  float face_orientation[3];
-  float face_orientation_std[3];
-  float face_position[2];
-  float face_position_std[2];
-  float face_prob;
-  float left_eye_prob;
-  float right_eye_prob;
-  float left_blink_prob;
-  float right_blink_prob;
-  float sunglasses_prob;
-  float occluded_prob;
-  float ready_prob[4];
-  float not_ready_prob[2];
-} DriverStateResult;
-
-typedef struct DMonitoringModelResult {
-  DriverStateResult driver_state_lhd;
-  DriverStateResult driver_state_rhd;
-  float poor_vision_prob;
-  float wheel_on_right_prob;
-  float dsp_execution_time;
-} DMonitoringModelResult;
-
-typedef struct DMonitoringModelState {
-  RunModel *m;
-  float output[OUTPUT_SIZE];
-  std::vector<uint8_t> net_input_buf;
-  float calib[CALIB_LEN];
-} DMonitoringModelState;
-
-void dmonitoring_init(DMonitoringModelState* s);
-DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
-void dmonitoring_free(DMonitoringModelState* s);
-
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
deleted file mode 100644
index b4b15c2970..0000000000
--- a/selfdrive/modeld/models/driving.cc
+++ /dev/null
@@ -1,382 +0,0 @@
-#include "selfdrive/modeld/models/driving.h"
-
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cstring>
-
-#include <eigen3/Eigen/Dense>
-
-#include "common/clutil.h"
-#include "common/params.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "common/transformations/orientation.hpp"
-
-
-mat3 update_calibration(float *device_from_calib_euler, bool wide_camera, bool bigmodel_frame) {
-  /*
-     import numpy as np
-     from common.transformations.model import medmodel_frame_from_calib_frame
-     medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3]
-     calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame)
-  */
-  static const auto calib_from_medmodel = (Eigen::Matrix<float, 3, 3>() <<
-     0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
-     1.09890110e-03, 0.00000000e+00, -2.81318681e-01,
-    -2.25466395e-20, 1.09890110e-03, -5.23076923e-02).finished();
-
-  static const auto calib_from_sbigmodel = (Eigen::Matrix<float, 3, 3>() <<
-     0.00000000e+00,  7.31372216e-19,  1.00000000e+00,
-     2.19780220e-03,  4.11497335e-19, -5.62637363e-01,
-    -6.66298828e-20,  2.19780220e-03, -3.33626374e-01).finished();
-
-  static const auto view_from_device = (Eigen::Matrix<float, 3, 3>() <<
-     0.0,  1.0,  0.0,
-     0.0,  0.0,  1.0,
-     1.0,  0.0,  0.0).finished();
-
-  Eigen::Vector3d device_from_calib_euler_vec;
-  for (int i=0; i<3; i++) {
-    device_from_calib_euler_vec(i) = device_from_calib_euler[i];
-  }
-
-  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v);
-  Eigen::Matrix<float, 3, 3, Eigen::RowMajor>  device_from_calib = euler2rot(device_from_calib_euler_vec).cast <float> ();
-  auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel;
-  auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib;
-  auto warp_matrix = camera_from_calib * calib_from_model;
-
-  mat3 transform = {};
-  for (int i=0; i<3*3; i++) {
-    transform.v[i] = warp_matrix(i / 3, i % 3);
-  }
-  return transform;
-}
-
-void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputLeads &leads, int t_idx, float prob_t) {
-  std::array<float, LEAD_TRAJ_LEN> lead_t = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0};
-  const auto &best_prediction = leads.get_best_prediction(t_idx);
-  lead.setProb(sigmoid(leads.prob[t_idx]));
-  lead.setProbTime(prob_t);
-  std::array<float, LEAD_TRAJ_LEN> lead_x, lead_y, lead_v, lead_a;
-  std::array<float, LEAD_TRAJ_LEN> lead_x_std, lead_y_std, lead_v_std, lead_a_std;
-  for (int i=0; i<LEAD_TRAJ_LEN; i++) {
-    lead_x[i] = best_prediction.mean[i].x;
-    lead_y[i] = best_prediction.mean[i].y;
-    lead_v[i] = best_prediction.mean[i].velocity;
-    lead_a[i] = best_prediction.mean[i].acceleration;
-    lead_x_std[i] = exp(best_prediction.std[i].x);
-    lead_y_std[i] = exp(best_prediction.std[i].y);
-    lead_v_std[i] = exp(best_prediction.std[i].velocity);
-    lead_a_std[i] = exp(best_prediction.std[i].acceleration);
-  }
-  lead.setT(to_kj_array_ptr(lead_t));
-  lead.setX(to_kj_array_ptr(lead_x));
-  lead.setY(to_kj_array_ptr(lead_y));
-  lead.setV(to_kj_array_ptr(lead_v));
-  lead.setA(to_kj_array_ptr(lead_a));
-  lead.setXStd(to_kj_array_ptr(lead_x_std));
-  lead.setYStd(to_kj_array_ptr(lead_y_std));
-  lead.setVStd(to_kj_array_ptr(lead_v_std));
-  lead.setAStd(to_kj_array_ptr(lead_a_std));
-}
-
-void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data, PublishState &ps) {
-  std::array<float, DESIRE_LEN> desire_state_softmax;
-  softmax(meta_data.desire_state_prob.array.data(), desire_state_softmax.data(), DESIRE_LEN);
-
-  std::array<float, DESIRE_PRED_LEN * DESIRE_LEN> desire_pred_softmax;
-  for (int i=0; i<DESIRE_PRED_LEN; i++) {
-    softmax(meta_data.desire_pred_prob[i].array.data(), desire_pred_softmax.data() + (i * DESIRE_LEN), DESIRE_LEN);
-  }
-
-  std::array<float, DISENGAGE_LEN> lat_long_t = {2, 4, 6, 8, 10};
-  std::array<float, DISENGAGE_LEN> gas_disengage_sigmoid, brake_disengage_sigmoid, steer_override_sigmoid,
-                                   brake_3ms2_sigmoid, brake_4ms2_sigmoid, brake_5ms2_sigmoid;
-  for (int i=0; i<DISENGAGE_LEN; i++) {
-    gas_disengage_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].gas_disengage);
-    brake_disengage_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].brake_disengage);
-    steer_override_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].steer_override);
-    brake_3ms2_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].brake_3ms2);
-    brake_4ms2_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].brake_4ms2);
-    brake_5ms2_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].brake_5ms2);
-    //gas_pressed_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].gas_pressed);
-  }
-
-  std::memmove(ps.prev_brake_5ms2_probs.data(), &ps.prev_brake_5ms2_probs[1], 4*sizeof(float));
-  std::memmove(ps.prev_brake_3ms2_probs.data(), &ps.prev_brake_3ms2_probs[1], 2*sizeof(float));
-  ps.prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0];
-  ps.prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0];
-
-  bool above_fcw_threshold = true;
-  for (int i=0; i<ps.prev_brake_5ms2_probs.size(); i++) {
-    float threshold = i < 2 ? FCW_THRESHOLD_5MS2_LOW : FCW_THRESHOLD_5MS2_HIGH;
-    above_fcw_threshold = above_fcw_threshold && ps.prev_brake_5ms2_probs[i] > threshold;
-  }
-  for (int i=0; i<ps.prev_brake_3ms2_probs.size(); i++) {
-    above_fcw_threshold = above_fcw_threshold && ps.prev_brake_3ms2_probs[i] > FCW_THRESHOLD_3MS2;
-  }
-
-  auto disengage = meta.initDisengagePredictions();
-  disengage.setT(to_kj_array_ptr(lat_long_t));
-  disengage.setGasDisengageProbs(to_kj_array_ptr(gas_disengage_sigmoid));
-  disengage.setBrakeDisengageProbs(to_kj_array_ptr(brake_disengage_sigmoid));
-  disengage.setSteerOverrideProbs(to_kj_array_ptr(steer_override_sigmoid));
-  disengage.setBrake3MetersPerSecondSquaredProbs(to_kj_array_ptr(brake_3ms2_sigmoid));
-  disengage.setBrake4MetersPerSecondSquaredProbs(to_kj_array_ptr(brake_4ms2_sigmoid));
-  disengage.setBrake5MetersPerSecondSquaredProbs(to_kj_array_ptr(brake_5ms2_sigmoid));
-
-  meta.setEngagedProb(sigmoid(meta_data.engaged_prob));
-  meta.setDesirePrediction(to_kj_array_ptr(desire_pred_softmax));
-  meta.setDesireState(to_kj_array_ptr(desire_state_softmax));
-  meta.setHardBrakePredicted(above_fcw_threshold);
-}
-
-void fill_confidence(cereal::ModelDataV2::Builder &framed, PublishState &ps) {
-  if (framed.getFrameId() % (2*MODEL_FREQ) == 0) {
-    // update every 2s to match predictions interval
-    auto dbps = framed.getMeta().getDisengagePredictions().getBrakeDisengageProbs();
-    auto dgps = framed.getMeta().getDisengagePredictions().getGasDisengageProbs();
-    auto dsps = framed.getMeta().getDisengagePredictions().getSteerOverrideProbs();
-
-    float any_dp[DISENGAGE_LEN];
-    float dp_ind[DISENGAGE_LEN];
-
-    for (int i = 0; i < DISENGAGE_LEN; i++) {
-      any_dp[i] = 1 - ((1-dbps[i])*(1-dgps[i])*(1-dsps[i])); // any disengage prob
-    }
-
-    dp_ind[0] = any_dp[0];
-    for (int i = 0; i < DISENGAGE_LEN-1; i++) {
-      dp_ind[i+1] = (any_dp[i+1] - any_dp[i]) / (1 - any_dp[i]); // independent disengage prob for each 2s slice
-    }
-
-    // rolling buf for 2, 4, 6, 8, 10s
-    std::memmove(&ps.disengage_buffer[0], &ps.disengage_buffer[DISENGAGE_LEN], sizeof(float) * DISENGAGE_LEN * (DISENGAGE_LEN-1));
-    std::memcpy(&ps.disengage_buffer[DISENGAGE_LEN * (DISENGAGE_LEN-1)], &dp_ind[0], sizeof(float) * DISENGAGE_LEN);
-  }
-
-  float score = 0;
-  for (int i = 0; i < DISENGAGE_LEN; i++) {
-    score += ps.disengage_buffer[i*DISENGAGE_LEN+DISENGAGE_LEN-1-i] / DISENGAGE_LEN;
-  }
-
-  if (score < RYG_GREEN) {
-    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::GREEN);
-  } else if (score < RYG_YELLOW) {
-    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::YELLOW);
-  } else {
-    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::RED);
-  }
-}
-
-template<size_t size>
-void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array<float, size> &t,
-               const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z) {
-  xyzt.setT(to_kj_array_ptr(t));
-  xyzt.setX(to_kj_array_ptr(x));
-  xyzt.setY(to_kj_array_ptr(y));
-  xyzt.setZ(to_kj_array_ptr(z));
-}
-
-template<size_t size>
-void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array<float, size> &t,
-               const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z,
-               const std::array<float, size> &x_std, const std::array<float, size> &y_std, const std::array<float, size> &z_std) {
-  fill_xyzt(xyzt, t, x, y, z);
-  xyzt.setXStd(to_kj_array_ptr(x_std));
-  xyzt.setYStd(to_kj_array_ptr(y_std));
-  xyzt.setZStd(to_kj_array_ptr(z_std));
-}
-
-void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelOutputPlanPrediction &plan) {
-  std::array<float, TRAJECTORY_SIZE> pos_x, pos_y, pos_z;
-  std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std, pos_z_std;
-  std::array<float, TRAJECTORY_SIZE> vel_x, vel_y, vel_z;
-  std::array<float, TRAJECTORY_SIZE> rot_x, rot_y, rot_z;
-  std::array<float, TRAJECTORY_SIZE> acc_x, acc_y, acc_z;
-  std::array<float, TRAJECTORY_SIZE> rot_rate_x, rot_rate_y, rot_rate_z;
-
-  for (int i=0; i<TRAJECTORY_SIZE; i++) {
-    pos_x[i] = plan.mean[i].position.x;
-    pos_y[i] = plan.mean[i].position.y;
-    pos_z[i] = plan.mean[i].position.z;
-    pos_x_std[i] = exp(plan.std[i].position.x);
-    pos_y_std[i] = exp(plan.std[i].position.y);
-    pos_z_std[i] = exp(plan.std[i].position.z);
-    vel_x[i] = plan.mean[i].velocity.x;
-    vel_y[i] = plan.mean[i].velocity.y;
-    vel_z[i] = plan.mean[i].velocity.z;
-    acc_x[i] = plan.mean[i].acceleration.x;
-    acc_y[i] = plan.mean[i].acceleration.y;
-    acc_z[i] = plan.mean[i].acceleration.z;
-    rot_x[i] = plan.mean[i].rotation.x;
-    rot_y[i] = plan.mean[i].rotation.y;
-    rot_z[i] = plan.mean[i].rotation.z;
-    rot_rate_x[i] = plan.mean[i].rotation_rate.x;
-    rot_rate_y[i] = plan.mean[i].rotation_rate.y;
-    rot_rate_z[i] = plan.mean[i].rotation_rate.z;
-  }
-
-  fill_xyzt(framed.initPosition(), T_IDXS_FLOAT, pos_x, pos_y, pos_z, pos_x_std, pos_y_std, pos_z_std);
-  fill_xyzt(framed.initVelocity(), T_IDXS_FLOAT, vel_x, vel_y, vel_z);
-  fill_xyzt(framed.initAcceleration(), T_IDXS_FLOAT, acc_x, acc_y, acc_z);
-  fill_xyzt(framed.initOrientation(), T_IDXS_FLOAT, rot_x, rot_y, rot_z);
-  fill_xyzt(framed.initOrientationRate(), T_IDXS_FLOAT, rot_rate_x, rot_rate_y, rot_rate_z);
-}
-
-void fill_lane_lines(cereal::ModelDataV2::Builder &framed, const std::array<float, TRAJECTORY_SIZE> &plan_t,
-                     const ModelOutputLaneLines &lanes) {
-  std::array<float, TRAJECTORY_SIZE> left_far_y, left_far_z;
-  std::array<float, TRAJECTORY_SIZE> left_near_y, left_near_z;
-  std::array<float, TRAJECTORY_SIZE> right_near_y, right_near_z;
-  std::array<float, TRAJECTORY_SIZE> right_far_y, right_far_z;
-  for (int j=0; j<TRAJECTORY_SIZE; j++) {
-    left_far_y[j] = lanes.mean.left_far[j].y;
-    left_far_z[j] = lanes.mean.left_far[j].z;
-    left_near_y[j] = lanes.mean.left_near[j].y;
-    left_near_z[j] = lanes.mean.left_near[j].z;
-    right_near_y[j] = lanes.mean.right_near[j].y;
-    right_near_z[j] = lanes.mean.right_near[j].z;
-    right_far_y[j] = lanes.mean.right_far[j].y;
-    right_far_z[j] = lanes.mean.right_far[j].z;
-  }
-
-  auto lane_lines = framed.initLaneLines(4);
-  fill_xyzt(lane_lines[0], plan_t, X_IDXS_FLOAT, left_far_y, left_far_z);
-  fill_xyzt(lane_lines[1], plan_t, X_IDXS_FLOAT, left_near_y, left_near_z);
-  fill_xyzt(lane_lines[2], plan_t, X_IDXS_FLOAT, right_near_y, right_near_z);
-  fill_xyzt(lane_lines[3], plan_t, X_IDXS_FLOAT, right_far_y, right_far_z);
-
-  framed.setLaneLineStds({
-    exp(lanes.std.left_far[0].y),
-    exp(lanes.std.left_near[0].y),
-    exp(lanes.std.right_near[0].y),
-    exp(lanes.std.right_far[0].y),
-  });
-
-  framed.setLaneLineProbs({
-    sigmoid(lanes.prob.left_far.val),
-    sigmoid(lanes.prob.left_near.val),
-    sigmoid(lanes.prob.right_near.val),
-    sigmoid(lanes.prob.right_far.val),
-  });
-}
-
-void fill_road_edges(cereal::ModelDataV2::Builder &framed, const std::array<float, TRAJECTORY_SIZE> &plan_t,
-                     const ModelOutputRoadEdges &edges) {
-  std::array<float, TRAJECTORY_SIZE> left_y, left_z;
-  std::array<float, TRAJECTORY_SIZE> right_y, right_z;
-  for (int j=0; j<TRAJECTORY_SIZE; j++) {
-    left_y[j] = edges.mean.left[j].y;
-    left_z[j] = edges.mean.left[j].z;
-    right_y[j] = edges.mean.right[j].y;
-    right_z[j] = edges.mean.right[j].z;
-  }
-
-  auto road_edges = framed.initRoadEdges(2);
-  fill_xyzt(road_edges[0], plan_t, X_IDXS_FLOAT, left_y, left_z);
-  fill_xyzt(road_edges[1], plan_t, X_IDXS_FLOAT, right_y, right_z);
-
-  framed.setRoadEdgeStds({
-    exp(edges.std.left[0].y),
-    exp(edges.std.right[0].y),
-  });
-}
-
-void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs, PublishState &ps) {
-  const auto &best_plan = net_outputs.plans.get_best_prediction();
-  std::array<float, TRAJECTORY_SIZE> plan_t;
-  std::fill_n(plan_t.data(), plan_t.size(), NAN);
-  plan_t[0] = 0.0;
-  for (int xidx=1, tidx=0; xidx<TRAJECTORY_SIZE; xidx++) {
-    // increment tidx until we find an element that's further away than the current xidx
-    for (int next_tid = tidx + 1; next_tid < TRAJECTORY_SIZE && best_plan.mean[next_tid].position.x < X_IDXS[xidx]; next_tid++) {
-      tidx++;
-    }
-    if (tidx == TRAJECTORY_SIZE - 1) {
-      // if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      plan_t[xidx] = T_IDXS[TRAJECTORY_SIZE - 1];
-      break;
-    }
-
-    // interpolate to find `t` for the current xidx
-    float current_x_val = best_plan.mean[tidx].position.x;
-    float next_x_val = best_plan.mean[tidx+1].position.x;
-    float p = (X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val);
-    plan_t[xidx] = p * T_IDXS[tidx+1] + (1 - p) * T_IDXS[tidx];
-  }
-
-  fill_plan(framed, best_plan);
-  fill_lane_lines(framed, plan_t, net_outputs.lane_lines);
-  fill_road_edges(framed, plan_t, net_outputs.road_edges);
-
-  // meta
-  fill_meta(framed.initMeta(), net_outputs.meta, ps);
-
-  // confidence
-  fill_confidence(framed, ps);
-
-  // leads
-  auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION);
-  std::array<float, LEAD_MHP_SELECTION> t_offsets = {0.0, 2.0, 4.0};
-  for (int i=0; i<LEAD_MHP_SELECTION; i++) {
-    fill_lead(leads[i], net_outputs.leads, i, t_offsets[i]);
-  }
-
-  // temporal pose
-  const auto &v_mean = net_outputs.temporal_pose.velocity_mean;
-  const auto &r_mean = net_outputs.temporal_pose.rotation_mean;
-  const auto &v_std = net_outputs.temporal_pose.velocity_std;
-  const auto &r_std = net_outputs.temporal_pose.rotation_std;
-  auto temporal_pose = framed.initTemporalPose();
-  temporal_pose.setTrans({v_mean.x, v_mean.y, v_mean.z});
-  temporal_pose.setRot({r_mean.x, r_mean.y, r_mean.z});
-  temporal_pose.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
-  temporal_pose.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
-}
-
-void fill_model_msg(MessageBuilder &msg, float *net_output_data, PublishState &ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
-                    uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, const bool nav_enabled, const bool valid) {
-  const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
-  auto framed = msg.initEvent(valid).initModelV2();
-  framed.setFrameId(vipc_frame_id);
-  framed.setFrameIdExtra(vipc_frame_id_extra);
-  framed.setFrameAge(frame_age);
-  framed.setFrameDropPerc(frame_drop * 100);
-  framed.setTimestampEof(timestamp_eof);
-  framed.setLocationMonoTime(timestamp_llk);
-  framed.setModelExecutionTime(model_execution_time);
-  framed.setNavEnabled(nav_enabled);
-  if (send_raw_pred) {
-    framed.setRawPredictions(kj::ArrayPtr<const float>(net_output_data, NET_OUTPUT_SIZE).asBytes());
-  }
-  fill_model(framed, *((ModelOutput*) net_output_data), ps);
-}
-
-void fill_pose_msg(MessageBuilder &msg, float *net_output_data, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, const bool valid) {
-    const ModelOutput &net_outputs = *((ModelOutput*) net_output_data);
-    const auto &v_mean = net_outputs.pose.velocity_mean;
-    const auto &r_mean = net_outputs.pose.rotation_mean;
-    const auto &t_mean = net_outputs.wide_from_device_euler.mean;
-    const auto &v_std = net_outputs.pose.velocity_std;
-    const auto &r_std = net_outputs.pose.rotation_std;
-    const auto &t_std = net_outputs.wide_from_device_euler.std;
-    const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean;
-    const auto &road_transform_trans_std = net_outputs.road_transform.position_std;
-
-    auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry();
-    posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});
-    posenetd.setRot({r_mean.x, r_mean.y, r_mean.z});
-    posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z});
-    posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z});
-    posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
-    posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
-    posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)});
-    posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)});
-
-    posenetd.setTimestampEof(timestamp_eof);
-    posenetd.setFrameId(vipc_frame_id);
-}
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
deleted file mode 100644
index 39083dd6a9..0000000000
--- a/selfdrive/modeld/models/driving.h
+++ /dev/null
@@ -1,256 +0,0 @@
-#pragma once
-
-#include <array>
-#include <memory>
-
-#include "cereal/messaging/messaging.h"
-#include "common/mat.h"
-#include "common/modeldata.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/nav.h"
-
-constexpr int FEATURE_LEN = 128;
-constexpr int HISTORY_BUFFER_LEN = 99;
-constexpr int DESIRE_LEN = 8;
-constexpr int DESIRE_PRED_LEN = 4;
-constexpr int TRAFFIC_CONVENTION_LEN = 2;
-constexpr int DRIVING_STYLE_LEN = 12;
-constexpr int MODEL_FREQ = 20;
-
-constexpr int DISENGAGE_LEN = 5;
-constexpr int BLINKER_LEN = 6;
-constexpr int META_STRIDE = 7;
-
-constexpr int PLAN_MHP_N = 5;
-constexpr int LEAD_MHP_N = 2;
-constexpr int LEAD_TRAJ_LEN = 6;
-constexpr int LEAD_MHP_SELECTION = 3;
-// Padding to get output shape as multiple of 4
-constexpr int PAD_SIZE = 2;
-
-constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
-constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;
-constexpr float FCW_THRESHOLD_3MS2 = 0.7;
-
-struct ModelOutputXYZ {
-  float x;
-  float y;
-  float z;
-};
-static_assert(sizeof(ModelOutputXYZ) == sizeof(float)*3);
-
-struct ModelOutputYZ {
-  float y;
-  float z;
-};
-static_assert(sizeof(ModelOutputYZ) == sizeof(float)*2);
-
-struct ModelOutputPlanElement {
-  ModelOutputXYZ position;
-  ModelOutputXYZ velocity;
-  ModelOutputXYZ acceleration;
-  ModelOutputXYZ rotation;
-  ModelOutputXYZ rotation_rate;
-};
-static_assert(sizeof(ModelOutputPlanElement) == sizeof(ModelOutputXYZ)*5);
-
-struct ModelOutputPlanPrediction {
-  std::array<ModelOutputPlanElement, TRAJECTORY_SIZE> mean;
-  std::array<ModelOutputPlanElement, TRAJECTORY_SIZE> std;
-  float prob;
-};
-static_assert(sizeof(ModelOutputPlanPrediction) == (sizeof(ModelOutputPlanElement)*TRAJECTORY_SIZE*2) + sizeof(float));
-
-struct ModelOutputPlans {
-  std::array<ModelOutputPlanPrediction, PLAN_MHP_N> prediction;
-
-  constexpr const ModelOutputPlanPrediction &get_best_prediction() const {
-    int max_idx = 0;
-    for (int i = 1; i < prediction.size(); i++) {
-      if (prediction[i].prob > prediction[max_idx].prob) {
-        max_idx = i;
-      }
-    }
-    return prediction[max_idx];
-  }
-};
-static_assert(sizeof(ModelOutputPlans) == sizeof(ModelOutputPlanPrediction)*PLAN_MHP_N);
-
-struct ModelOutputLinesXY {
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE> left_far;
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE> left_near;
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE> right_near;
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE> right_far;
-};
-static_assert(sizeof(ModelOutputLinesXY) == sizeof(ModelOutputYZ)*TRAJECTORY_SIZE*4);
-
-struct ModelOutputLineProbVal {
-  float val_deprecated;
-  float val;
-};
-static_assert(sizeof(ModelOutputLineProbVal) == sizeof(float)*2);
-
-struct ModelOutputLinesProb {
-  ModelOutputLineProbVal left_far;
-  ModelOutputLineProbVal left_near;
-  ModelOutputLineProbVal right_near;
-  ModelOutputLineProbVal right_far;
-};
-static_assert(sizeof(ModelOutputLinesProb) == sizeof(ModelOutputLineProbVal)*4);
-
-struct ModelOutputLaneLines {
-  ModelOutputLinesXY mean;
-  ModelOutputLinesXY std;
-  ModelOutputLinesProb prob;
-};
-static_assert(sizeof(ModelOutputLaneLines) == (sizeof(ModelOutputLinesXY)*2) + sizeof(ModelOutputLinesProb));
-
-struct ModelOutputEdgessXY {
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE> left;
-  std::array<ModelOutputYZ, TRAJECTORY_SIZE> right;
-};
-static_assert(sizeof(ModelOutputEdgessXY) == sizeof(ModelOutputYZ)*TRAJECTORY_SIZE*2);
-
-struct ModelOutputRoadEdges {
-  ModelOutputEdgessXY mean;
-  ModelOutputEdgessXY std;
-};
-static_assert(sizeof(ModelOutputRoadEdges) == (sizeof(ModelOutputEdgessXY)*2));
-
-struct ModelOutputLeadElement {
-  float x;
-  float y;
-  float velocity;
-  float acceleration;
-};
-static_assert(sizeof(ModelOutputLeadElement) == sizeof(float)*4);
-
-struct ModelOutputLeadPrediction {
-  std::array<ModelOutputLeadElement, LEAD_TRAJ_LEN> mean;
-  std::array<ModelOutputLeadElement, LEAD_TRAJ_LEN> std;
-  std::array<float, LEAD_MHP_SELECTION> prob;
-};
-static_assert(sizeof(ModelOutputLeadPrediction) == (sizeof(ModelOutputLeadElement)*LEAD_TRAJ_LEN*2) + (sizeof(float)*LEAD_MHP_SELECTION));
-
-struct ModelOutputLeads {
-  std::array<ModelOutputLeadPrediction, LEAD_MHP_N> prediction;
-  std::array<float, LEAD_MHP_SELECTION> prob;
-
-  constexpr const ModelOutputLeadPrediction &get_best_prediction(int t_idx) const {
-    int max_idx = 0;
-    for (int i = 1; i < prediction.size(); i++) {
-      if (prediction[i].prob[t_idx] > prediction[max_idx].prob[t_idx]) {
-        max_idx = i;
-      }
-    }
-    return prediction[max_idx];
-  }
-};
-static_assert(sizeof(ModelOutputLeads) == (sizeof(ModelOutputLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION));
-
-
-struct ModelOutputPose {
-  ModelOutputXYZ velocity_mean;
-  ModelOutputXYZ rotation_mean;
-  ModelOutputXYZ velocity_std;
-  ModelOutputXYZ rotation_std;
-};
-static_assert(sizeof(ModelOutputPose) == sizeof(ModelOutputXYZ)*4);
-
-struct ModelOutputWideFromDeviceEuler {
-  ModelOutputXYZ mean;
-  ModelOutputXYZ std;
-};
-static_assert(sizeof(ModelOutputWideFromDeviceEuler) == sizeof(ModelOutputXYZ)*2);
-
-struct ModelOutputTemporalPose {
-  ModelOutputXYZ velocity_mean;
-  ModelOutputXYZ rotation_mean;
-  ModelOutputXYZ velocity_std;
-  ModelOutputXYZ rotation_std;
-};
-static_assert(sizeof(ModelOutputTemporalPose) == sizeof(ModelOutputXYZ)*4);
-
-struct ModelOutputRoadTransform {
-  ModelOutputXYZ position_mean;
-  ModelOutputXYZ rotation_mean;
-  ModelOutputXYZ position_std;
-  ModelOutputXYZ rotation_std;
-};
-static_assert(sizeof(ModelOutputRoadTransform) == sizeof(ModelOutputXYZ)*4);
-
-struct ModelOutputDisengageProb {
-  float gas_disengage;
-  float brake_disengage;
-  float steer_override;
-  float brake_3ms2;
-  float brake_4ms2;
-  float brake_5ms2;
-  float gas_pressed;
-};
-static_assert(sizeof(ModelOutputDisengageProb) == sizeof(float)*7);
-
-struct ModelOutputBlinkerProb {
-  float left;
-  float right;
-};
-static_assert(sizeof(ModelOutputBlinkerProb) == sizeof(float)*2);
-
-struct ModelOutputDesireProb {
-  union {
-    struct {
-      float none;
-      float turn_left;
-      float turn_right;
-      float lane_change_left;
-      float lane_change_right;
-      float keep_left;
-      float keep_right;
-      float null;
-    };
-    struct {
-      std::array<float, DESIRE_LEN> array;
-    };
-  };
-};
-static_assert(sizeof(ModelOutputDesireProb) == sizeof(float)*DESIRE_LEN);
-
-struct ModelOutputMeta {
-  ModelOutputDesireProb desire_state_prob;
-  float engaged_prob;
-  std::array<ModelOutputDisengageProb, DISENGAGE_LEN> disengage_prob;
-  std::array<ModelOutputBlinkerProb, BLINKER_LEN> blinker_prob;
-  std::array<ModelOutputDesireProb, DESIRE_PRED_LEN> desire_pred_prob;
-};
-static_assert(sizeof(ModelOutputMeta) == sizeof(ModelOutputDesireProb) + sizeof(float) + (sizeof(ModelOutputDisengageProb)*DISENGAGE_LEN) + (sizeof(ModelOutputBlinkerProb)*BLINKER_LEN) + (sizeof(ModelOutputDesireProb)*DESIRE_PRED_LEN));
-
-struct ModelOutputFeatures {
-  std::array<float, FEATURE_LEN> feature;
-};
-static_assert(sizeof(ModelOutputFeatures) == (sizeof(float)*FEATURE_LEN));
-
-struct ModelOutput {
-  const ModelOutputPlans plans;
-  const ModelOutputLaneLines lane_lines;
-  const ModelOutputRoadEdges road_edges;
-  const ModelOutputLeads leads;
-  const ModelOutputMeta meta;
-  const ModelOutputPose pose;
-  const ModelOutputWideFromDeviceEuler wide_from_device_euler;
-  const ModelOutputTemporalPose temporal_pose;
-  const ModelOutputRoadTransform road_transform;
-};
-
-constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
-constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + PAD_SIZE;
-
-struct PublishState {
-  std::array<float, DISENGAGE_LEN * DISENGAGE_LEN> disengage_buffer = {};
-  std::array<float, 5> prev_brake_5ms2_probs = {};
-  std::array<float, 3> prev_brake_3ms2_probs = {};
-};
-
-mat3 update_calibration(float *device_from_calib_euler, bool wide_camera, bool bigmodel_frame);
-void fill_model_msg(MessageBuilder &msg, float *net_output_data, PublishState &ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
-                    uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, const bool nav_enabled, const bool valid);
-void fill_pose_msg(MessageBuilder &msg, float *net_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, const bool valid);
diff --git a/selfdrive/modeld/models/driving.pxd b/selfdrive/modeld/models/driving.pxd
deleted file mode 100644
index 1b815267db..0000000000
--- a/selfdrive/modeld/models/driving.pxd
+++ /dev/null
@@ -1,28 +0,0 @@
-# distutils: language = c++
-
-from libcpp cimport bool
-from libc.stdint cimport uint32_t, uint64_t
-
-from .commonmodel cimport mat3
-
-cdef extern from "cereal/messaging/messaging.h":
-  cdef cppclass MessageBuilder:
-    size_t getSerializedSize()
-    int serializeToBuffer(unsigned char *, size_t)
-
-cdef extern from "selfdrive/modeld/models/driving.h":
-  cdef int FEATURE_LEN
-  cdef int HISTORY_BUFFER_LEN
-  cdef int DESIRE_LEN
-  cdef int TRAFFIC_CONVENTION_LEN
-  cdef int DRIVING_STYLE_LEN
-  cdef int NAV_FEATURE_LEN
-  cdef int NAV_INSTRUCTION_LEN
-  cdef int OUTPUT_SIZE
-  cdef int NET_OUTPUT_SIZE
-  cdef int MODEL_FREQ
-  cdef struct PublishState: pass
-
-  mat3 update_calibration(float *, bool, bool)
-  void fill_model_msg(MessageBuilder, float *, PublishState, uint32_t, uint32_t, uint32_t, float, uint64_t, uint64_t, float, bool, bool)
-  void fill_pose_msg(MessageBuilder, float *, uint32_t, uint32_t, uint64_t, bool)
diff --git a/selfdrive/modeld/models/driving_pyx.pyx b/selfdrive/modeld/models/driving_pyx.pyx
deleted file mode 100644
index be96df1658..0000000000
--- a/selfdrive/modeld/models/driving_pyx.pyx
+++ /dev/null
@@ -1,59 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii
-
-import numpy as np
-cimport numpy as cnp
-from libcpp cimport bool
-from libc.string cimport memcpy
-from libc.stdint cimport uint32_t, uint64_t
-
-from .commonmodel cimport mat3
-from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_HISTORY_BUFFER_LEN, DESIRE_LEN as CPP_DESIRE_LEN, \
-                      TRAFFIC_CONVENTION_LEN as CPP_TRAFFIC_CONVENTION_LEN, DRIVING_STYLE_LEN as CPP_DRIVING_STYLE_LEN, \
-                      NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \
-                      OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ
-from .driving cimport MessageBuilder, PublishState as cppPublishState
-from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration
-
-FEATURE_LEN = CPP_FEATURE_LEN
-HISTORY_BUFFER_LEN = CPP_HISTORY_BUFFER_LEN
-DESIRE_LEN = CPP_DESIRE_LEN
-TRAFFIC_CONVENTION_LEN = CPP_TRAFFIC_CONVENTION_LEN
-DRIVING_STYLE_LEN = CPP_DRIVING_STYLE_LEN
-NAV_FEATURE_LEN = CPP_NAV_FEATURE_LEN
-NAV_INSTRUCTION_LEN = CPP_NAV_INSTRUCTION_LEN
-OUTPUT_SIZE = CPP_OUTPUT_SIZE
-NET_OUTPUT_SIZE = CPP_NET_OUTPUT_SIZE
-MODEL_FREQ = CPP_MODEL_FREQ
-
-cdef class PublishState:
-  cdef cppPublishState state
-
-def update_calibration(float[:] device_from_calib_euler, bool wide_camera, bool bigmodel_frame):
-  cdef mat3 result = cpp_update_calibration(&device_from_calib_euler[0], wide_camera, bigmodel_frame)
-  np_result = np.empty(9, dtype=np.float32)
-  cdef float[:] np_result_view = np_result
-  memcpy(&np_result_view[0], &result.v[0], 9*sizeof(float))
-  return np_result.reshape(3, 3)
-
-def create_model_msg(float[:] model_outputs, PublishState ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
-                     uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, bool nav_enabled, bool valid):
-  cdef MessageBuilder msg
-  fill_model_msg(msg, &model_outputs[0], ps.state, vipc_frame_id, vipc_frame_id_extra, frame_id, frame_drop,
-                 timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, valid)
-
-  output_size = msg.getSerializedSize()
-  output_data = bytearray(output_size)
-  cdef unsigned char * output_ptr = output_data
-  assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize"
-  return bytes(output_data)
-
-def create_pose_msg(float[:] model_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, bool valid):
-  cdef MessageBuilder msg
-  fill_pose_msg(msg, &model_outputs[0], vipc_frame_id, vipc_dropped_frames, timestamp_eof, valid)
-
-  output_size = msg.getSerializedSize()
-  output_data = bytearray(output_size)
-  cdef unsigned char * output_ptr = output_data
-  assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize"
-  return bytes(output_data)
diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc
deleted file mode 100644
index 8208b0bfef..0000000000
--- a/selfdrive/modeld/models/nav.cc
+++ /dev/null
@@ -1,71 +0,0 @@
-#include "selfdrive/modeld/models/nav.h"
-
-#include <cstdio>
-#include <cstring>
-
-#include "common/mat.h"
-#include "common/modeldata.h"
-#include "common/timing.h"
-
-
-void navmodel_init(NavModelState* s) {
-  #ifdef USE_ONNX_MODEL
-    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-  #else
-    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-  #endif
-
-  s->m->addInput("map", NULL, 0);
-}
-
-NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
-  memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
-
-  double t1 = millis_since_boot();
-  s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
-  s->m->execute();
-  double t2 = millis_since_boot();
-
-  NavModelResult *model_res = (NavModelResult*)&s->output;
-  model_res->dsp_execution_time = (t2 - t1) / 1000.;
-  return model_res;
-}
-
-void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) {
-  std::array<float, TRAJECTORY_SIZE> pos_x, pos_y;
-  std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std;
-
-  for (int i=0; i<TRAJECTORY_SIZE; i++) {
-    pos_x[i] = plan.mean[i].x;
-    pos_y[i] = plan.mean[i].y;
-    pos_x_std[i] = exp(plan.std[i].x);
-    pos_y_std[i] = exp(plan.std[i].y);
-  }
-
-  auto position = framed.initPosition();
-  position.setX(to_kj_array_ptr(pos_x));
-  position.setY(to_kj_array_ptr(pos_y));
-  position.setXStd(to_kj_array_ptr(pos_x_std));
-  position.setYStd(to_kj_array_ptr(pos_y_std));
-}
-
-void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) {
-  // make msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  auto framed = evt.initNavModel();
-  evt.setValid(extra.valid && route_valid);
-  framed.setFrameId(extra.frame_id);
-  framed.setLocationMonoTime(extra.timestamp_sof);
-  framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(model_res.dsp_execution_time);
-  framed.setFeatures(to_kj_array_ptr(model_res.features.values));
-  framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
-  fill_plan(framed, model_res.plan);
-
-  pm.send("navModel", msg);
-}
-
-void navmodel_free(NavModelState* s) {
-  delete s->m;
-}
diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h
deleted file mode 100644
index 800abec252..0000000000
--- a/selfdrive/modeld/models/nav.h
+++ /dev/null
@@ -1,57 +0,0 @@
-#pragma once
-
-#include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/util.h"
-#include "common/modeldata.h"
-#include "selfdrive/modeld/models/commonmodel.h"
-#include "selfdrive/modeld/runners/run.h"
-
-constexpr int NAV_INPUT_SIZE = 256*256;
-constexpr int NAV_FEATURE_LEN = 256;
-constexpr int NAV_INSTRUCTION_LEN = 150;
-constexpr int NAV_DESIRE_LEN = 32;
-
-struct NavModelOutputXY {
-  float x;
-  float y;
-};
-static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
-
-struct NavModelOutputPlan {
-  std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
-  std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
-};
-static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2);
-
-struct NavModelOutputDesirePrediction {
-  std::array<float, NAV_DESIRE_LEN> values;
-};
-static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN);
-
-struct NavModelOutputFeatures {
-  std::array<float, NAV_FEATURE_LEN> values;
-};
-static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
-
-struct NavModelResult {
-  const NavModelOutputPlan plan;
-  const NavModelOutputDesirePrediction desire_pred;
-  const NavModelOutputFeatures features;
-  float dsp_execution_time;
-};
-static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
-
-constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
-constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
-
-struct NavModelState {
-  RunModel *m;
-  uint8_t net_input_buf[NAV_INPUT_SIZE];
-  float output[NAV_OUTPUT_SIZE];
-};
-
-void navmodel_init(NavModelState* s);
-NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
-void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid);
-void navmodel_free(NavModelState* s);
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 88f19a7d28..e2897b08a5 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c63ea3eb6c9b5a20c7420c2dc6d6d0f80a6949a39f6d8b74e574f52734154820
-size 47654714
+oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850
+size 52524758
diff --git a/selfdrive/modeld/navmodeld b/selfdrive/modeld/navmodeld
deleted file mode 100755
index 58215c2e9d..0000000000
--- a/selfdrive/modeld/navmodeld
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-if [ -f /TICI ]; then
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
-  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
-else
-  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
-fi
-exec ./_navmodeld
diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc
deleted file mode 100644
index 4610f503d1..0000000000
--- a/selfdrive/modeld/navmodeld.cc
+++ /dev/null
@@ -1,70 +0,0 @@
-#include <sys/resource.h>
-#include <limits.h>
-
-#include <cstdio>
-#include <cstdlib>
-
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/nav.h"
-
-ExitHandler do_exit;
-
-void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
-  SubMaster sm({"navInstruction"});
-  PubMaster pm({"navModel"});
-
-  //double last_ts = 0;
-  //uint32_t last_frame_id = 0;
-  VisionIpcBufExtra extra = {};
-
-  while (!do_exit) {
-    VisionBuf *buf = vipc_client.recv(&extra);
-    if (buf == nullptr) continue;
-
-    sm.update(0);
-
-    double t1 = millis_since_boot();
-    NavModelResult *model_res = navmodel_eval_frame(&model, buf);
-    double t2 = millis_since_boot();
-
-    // send navmodel packet
-    navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
-
-    //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
-    //last_ts = t1;
-    //last_frame_id = extra.frame_id;
-  }
-}
-
-int main(int argc, char **argv) {
-  setpriority(PRIO_PROCESS, 0, -15);
-
-  // there exists a race condition when two processes try to create a
-  // SNPE model runner at the same time, wait for dmonitoringmodeld to finish
-  LOGW("waiting for dmonitoringmodeld to initialize");
-  if (!Params().getBool("DmModelInitialized", true)) {
-    return 0;
-  }
-
-  // init the models
-  NavModelState model;
-  navmodel_init(&model);
-  LOGW("models loaded, navmodeld starting");
-
-  VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true);
-  while (!do_exit && !vipc_client.connect(false)) {
-    util::sleep_for(100);
-  }
-
-  // run the models
-  if (vipc_client.connected) {
-    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
-    run_model(model, vipc_client);
-  }
-
-  navmodel_free(&model);
-  return 0;
-}
diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py
new file mode 100755
index 0000000000..90b9762800
--- /dev/null
+++ b/selfdrive/modeld/navmodeld.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import gc
+import math
+import time
+import ctypes
+import numpy as np
+from pathlib import Path
+from typing import Tuple, Dict
+
+from cereal import messaging
+from cereal.messaging import PubMaster, SubMaster
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_realtime_priority
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+
+NAV_INPUT_SIZE = 256*256
+NAV_FEATURE_LEN = 256
+NAV_DESIRE_LEN = 32
+NAV_OUTPUT_SIZE = 2*2*ModelConstants.IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN
+MODEL_PATHS = {
+  ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'}
+
+class NavModelOutputXY(ctypes.Structure):
+  _fields_ = [
+    ("x", ctypes.c_float),
+    ("y", ctypes.c_float)]
+
+class NavModelOutputPlan(ctypes.Structure):
+  _fields_ = [
+    ("mean", NavModelOutputXY*ModelConstants.IDX_N),
+    ("std", NavModelOutputXY*ModelConstants.IDX_N)]
+
+class NavModelResult(ctypes.Structure):
+  _fields_ = [
+    ("plan", NavModelOutputPlan),
+    ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN),
+    ("features", ctypes.c_float*NAV_FEATURE_LEN)]
+
+class ModelState:
+  inputs: Dict[str, np.ndarray]
+  output: np.ndarray
+  model: ModelRunner
+
+  def __init__(self):
+    assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+    self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
+    self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
+    self.model.addInput("input_img", None)
+
+  def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
+    self.inputs['input_img'][:] = buf
+
+    t1 = time.perf_counter()
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
+    self.model.execute()
+    t2 = time.perf_counter()
+    return self.output, t2 - t1
+
+def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
+  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents
+  msg = messaging.new_message('navModel')
+  msg.valid = valid
+  msg.navModel.frameId = frame_id
+  msg.navModel.locationMonoTime = location_ts
+  msg.navModel.modelExecutionTime = execution_time
+  msg.navModel.dspExecutionTime = dsp_execution_time
+  msg.navModel.features = model_result.features[:]
+  msg.navModel.desirePrediction = model_result.desire_pred[:]
+  msg.navModel.position.x = [p.x for p in model_result.plan.mean]
+  msg.navModel.position.y = [p.y for p in model_result.plan.mean]
+  msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std]
+  msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std]
+  return msg
+
+
+def main():
+  gc.disable()
+  set_realtime_priority(1)
+
+  # there exists a race condition when two processes try to create a
+  # SNPE model runner at the same time, wait for dmonitoringmodeld to finish
+  cloudlog.warning("waiting for dmonitoringmodeld to initialize")
+  if not Params().get_bool("DmModelInitialized", True):
+    return
+
+  model = ModelState()
+  cloudlog.warning("models loaded, navmodeld starting")
+
+  vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
+  while not vipc_client.connect(False):
+    time.sleep(0.1)
+  assert vipc_client.is_connected()
+  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
+
+  sm = SubMaster(["navInstruction"])
+  pm = PubMaster(["navModel"])
+
+  while True:
+    buf = vipc_client.recv()
+    if buf is None:
+      continue
+
+    sm.update(0)
+    t1 = time.perf_counter()
+    model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset])
+    t2 = time.perf_counter()
+
+    valid = vipc_client.valid and sm.valid["navInstruction"]
+    pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
new file mode 100644
index 0000000000..9d37a5fad4
--- /dev/null
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -0,0 +1,101 @@
+import numpy as np
+from typing import Dict
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+def sigmoid(x):
+  return 1. / (1. + np.exp(-x))
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    np.exp(x, out=x)
+  else:
+    x = np.exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2]
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = np.exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def parse_outputs(self, outs: Dict[str, np.ndarray]) -> Dict[str, np.ndarray]:
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
+      self.parse_binary_crossentropy(k, outs)
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    return outs
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
index e69de29bb2..4c29bf3f1c 100644
--- a/selfdrive/modeld/runners/__init__.py
+++ b/selfdrive/modeld/runners/__init__.py
@@ -0,0 +1,27 @@
+import os
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
+assert Runtime
+
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
+
+class ModelRunner(RunModel):
+  THNEED = 'THNEED'
+  SNPE = 'SNPE'
+  ONNX = 'ONNX'
+
+  def __new__(cls, paths, *args, **kwargs):
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
+    elif ModelRunner.ONNX in paths:
+      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
+      runner_type = ModelRunner.ONNX
+    else:
+      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
+
+    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
deleted file mode 100755
index 9e53874578..0000000000
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ /dev/null
@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import numpy as np
-from typing import Tuple, Dict, Union, Any
-
-os.environ["OMP_NUM_THREADS"] = "4"
-os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-import onnxruntime as ort
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def read(sz, tf8=False):
-  dd = []
-  gt = 0
-  szof = 1 if tf8 else 4
-  while gt < sz * szof:
-    st = os.read(0, sz * szof - gt)
-    assert(len(st) > 0)
-    dd.append(st)
-    gt += len(st)
-  r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32)
-  if tf8:
-    r = r / 255.
-  return r
-
-def write(d):
-  os.write(1, d.tobytes())
-
-def run_loop(m, tf8_input=False):
-  ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
-  keys = [x.name for x in m.get_inputs()]
-  itypes = [ORT_TYPES_TO_NP_TYPES[x.type] for x in m.get_inputs()]
-
-  # run once to initialize CUDA provider
-  if "CUDAExecutionProvider" in m.get_providers():
-    m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True)))
-
-  print("ready to run onnx model", keys, ishapes, file=sys.stderr)
-  while 1:
-    inputs = []
-    for k, shp, itp in zip(keys, ishapes, itypes, strict=True):
-      ts = np.product(shp)
-      #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
-      inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp))
-    ret = m.run(None, dict(zip(keys, inputs, strict=True)))
-    #print(ret, file=sys.stderr)
-    for r in ret:
-      write(r.astype(np.float32))
-
-
-if __name__ == "__main__":
-  print(sys.argv, file=sys.stderr)
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: Union[str, Tuple[str, Dict[Any, Any]]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  try:
-    print("Onnx selected provider: ", [provider], file=sys.stderr)
-    ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
-    print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-    run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv))
-  except KeyboardInterrupt:
-    pass
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
deleted file mode 100644
index ebe6ad847c..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ /dev/null
@@ -1,88 +0,0 @@
-#include "selfdrive/modeld/runners/onnxmodel.h"
-
-#include <csignal>
-#include <cstdio>
-#include <cstdlib>
-#include <poll.h>
-#include <unistd.h>
-
-#include "common/util.h"
-
-ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  LOGD("loading model %s", path.c_str());
-
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-  int err = pipe(pipein);
-  assert(err == 0);
-  err = pipe(pipeout);
-  assert(err == 0);
-
-  std::string onnx_runner = ONNXRUNNER_PATH;
-  std::string tf8_arg = use_tf8 ? "--use_tf8" : "";
-
-  proc_pid = fork();
-  if (proc_pid == 0) {
-    LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr};
-    dup2(pipein[0], 0);
-    dup2(pipeout[1], 1);
-    close(pipein[0]);
-    close(pipein[1]);
-    close(pipeout[0]);
-    close(pipeout[1]);
-    execvp(onnx_runner.c_str(), argv);
-    exit(1); // exit if the exec fails
-  }
-
-  // parent
-  close(pipein[0]);
-  close(pipeout[1]);
-}
-
-ONNXModel::~ONNXModel() {
-  close(pipein[1]);
-  close(pipeout[0]);
-  kill(proc_pid, SIGTERM);
-}
-
-void ONNXModel::pwrite(float *buf, int size) {
-  char *cbuf = (char *)buf;
-  int tw = size*sizeof(float);
-  while (tw > 0) {
-    int err = write(pipein[1], cbuf, tw);
-    //printf("host write %d\n", err);
-    assert(err >= 0);
-    cbuf += err;
-    tw -= err;
-  }
-  LOGD("host write of size %d done", size);
-}
-
-void ONNXModel::pread(float *buf, int size) {
-  char *cbuf = (char *)buf;
-  int tr = size*sizeof(float);
-  struct pollfd fds[1];
-  fds[0].fd = pipeout[0];
-  fds[0].events = POLLIN;
-  while (tr > 0) {
-    int err;
-    err = poll(fds, 1, 10000);  // 10 second timeout
-    assert(err == 1 || (err == -1 && errno == EINTR));
-    LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err);
-    err = read(pipeout[0], cbuf, tr);
-    assert(err > 0 || (err == 0 && errno == EINTR));
-    cbuf += err;
-    tr -= err;
-  }
-  LOGD("host read done");
-}
-
-void ONNXModel::execute() {
-  for (auto &input : inputs) {
-    pwrite(input->buffer, input->size);
-  }
-  pread(output, output_size);
-}
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
deleted file mode 100644
index f9bae1a0a9..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-
-class ONNXModel : public RunModel {
-public:
-  ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL);
-  ~ONNXModel();
-  void execute();
-private:
-  int proc_pid;
-  float *output;
-  size_t output_size;
-  bool use_tf8;
-
-  // pipe to communicate to onnx_runner subprocess
-  void pread(float *buf, int size);
-  void pwrite(float *buf, int size);
-  int pipein[2];
-  int pipeout[2];
-};
diff --git a/selfdrive/modeld/runners/onnxmodel.pxd b/selfdrive/modeld/runners/onnxmodel.pxd
deleted file mode 100644
index 165f043da8..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from cereal.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/onnxmodel.h":
-  cdef cppclass ONNXModel:
-    ONNXModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
new file mode 100644
index 0000000000..f86bee3878
--- /dev/null
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -0,0 +1,93 @@
+import onnx
+import itertools
+import os
+import sys
+import numpy as np
+from typing import Tuple, Dict, Union, Any
+
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(path):
+  model = onnx.load(path)
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+def create_ort_session(path, fp16_to_fp32):
+  os.environ["OMP_NUM_THREADS"] = "4"
+  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
+
+  import onnxruntime as ort
+  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
+  options = ort.SessionOptions()
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: Union[str, Tuple[str, Dict[Any, Any]]]
+  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    provider = 'OpenVINOExecutionProvider'
+  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    options.intra_op_num_threads = 2
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
+  else:
+    options.intra_op_num_threads = 2
+    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+    provider = 'CPUExecutionProvider'
+
+  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
+  print("Onnx selected provider: ", [provider], file=sys.stderr)
+  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
+  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+  return ort_session
+
+
+class ONNXModel(RunModel):
+  def __init__(self, path, output, runtime, use_tf8, cl_context):
+    self.inputs = {}
+    self.output = output
+    self.use_tf8 = use_tf8
+
+    self.session = create_ort_session(path, fp16_to_fp32=True)
+    self.input_names = [x.name for x in self.session.get_inputs()]
+    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
+    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
+
+    # run once to initialize CUDA provider
+    if "CUDAExecutionProvider" in self.session.get_providers():
+      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
+    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
+
+  def addInput(self, name, buffer):
+    assert name in self.input_names
+    self.inputs[name] = buffer
+
+  def setInputBuffer(self, name, buffer):
+    assert name in self.inputs
+    self.inputs[name] = buffer
+
+  def getCLBuffer(self, name):
+    return None
+
+  def execute(self):
+    inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()}
+    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
+    outputs = self.session.run(None, inputs)
+    assert len(outputs) == 1, "Only single model outputs are supported"
+    self.output[:] = outputs[0]
+    return self.output
diff --git a/selfdrive/modeld/runners/onnxmodel_pyx.pyx b/selfdrive/modeld/runners/onnxmodel_pyx.pyx
deleted file mode 100644
index 27aa22d1c6..0000000000
--- a/selfdrive/modeld/runners/onnxmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .onnxmodel cimport ONNXModel as cppONNXModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ONNXModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
index cae2f5b27a..36ad262a5b 100644
--- a/selfdrive/modeld/runners/run.h
+++ b/selfdrive/modeld/runners/run.h
@@ -2,7 +2,3 @@
 
 #include "selfdrive/modeld/runners/runmodel.h"
 #include "selfdrive/modeld/runners/snpemodel.h"
-
-#if defined(USE_ONNX_MODEL)
-#include "selfdrive/modeld/runners/onnxmodel.h"
-#endif
diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd
index f12f3e7ab9..01b2a9cf2c 100644
--- a/selfdrive/modeld/runners/runmodel.pxd
+++ b/selfdrive/modeld/runners/runmodel.pxd
@@ -3,6 +3,10 @@
 from libcpp.string cimport string
 
 cdef extern from "selfdrive/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
+
   cdef cppclass RunModel:
     void addInput(string, float*, int)
     void setInputBuffer(string, float*, int)
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index a35f0fa280..cdc62a79be 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -4,8 +4,14 @@
 from libcpp.string cimport string
 from libc.string cimport memcpy
 
+from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
 
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
 cdef class RunModel:
   def __dealloc__(self):
     del self.model
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
index a454aa7b92..c3b2b7e9bd 100644
--- a/selfdrive/modeld/runners/snpemodel_pyx.pyx
+++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx
@@ -1,6 +1,7 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii
 
+import os
 from libcpp cimport bool
 from libcpp.string cimport string
 
@@ -9,6 +10,8 @@ from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
 from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
 from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
 
+os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
+
 cdef class SNPEModel(RunModel):
   def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
     self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index c3d3b3daa1..e010f6cfd6 100755
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import time
 import unittest
 import numpy as np
 import random
@@ -14,6 +13,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
 IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
 
+
 class TestModeld(unittest.TestCase):
 
   def setUp(self):
@@ -27,8 +27,7 @@ class TestModeld(unittest.TestCase):
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan'])
 
     managed_processes['modeld'].start()
-    time.sleep(0.2)
-    self.sm.update(1000)
+    self.pm.wait_for_readers_to_update("roadCameraState", 10)
 
   def tearDown(self):
     managed_processes['modeld'].stop()
diff --git a/selfdrive/modeld/thneed/lib.py b/selfdrive/modeld/thneed/lib.py
deleted file mode 100644
index c058638fad..0000000000
--- a/selfdrive/modeld/thneed/lib.py
+++ /dev/null
@@ -1,32 +0,0 @@
-import struct
-import json
-
-def load_thneed(fn):
-  with open(fn, "rb") as f:
-    json_len = struct.unpack("I", f.read(4))[0]
-    jdat = json.loads(f.read(json_len).decode('latin_1'))
-    weights = f.read()
-  ptr = 0
-  for o in jdat['objects']:
-    if o['needs_load']:
-      nptr = ptr + o['size']
-      o['data'] = weights[ptr:nptr]
-      ptr = nptr
-  for o in jdat['binaries']:
-    nptr = ptr + o['length']
-    o['data'] = weights[ptr:nptr]
-    ptr = nptr
-  return jdat
-
-def save_thneed(jdat, fn):
-  new_weights = []
-  for o in jdat['objects'] + jdat['binaries']:
-    if 'data' in o:
-      new_weights.append(o['data'])
-      del o['data']
-  new_weights_bytes = b''.join(new_weights)
-  with open(fn, "wb") as f:
-    j = json.dumps(jdat, ensure_ascii=False).encode('latin_1')
-    f.write(struct.pack("I", len(j)))
-    f.write(j)
-    f.write(new_weights_bytes)
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index c7cff88f3e..ff2ee71e74 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -10,15 +10,12 @@ from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
 
 
-def dmonitoringd_thread(sm=None, pm=None):
+def dmonitoringd_thread():
   gc.disable()
   set_realtime_priority(2)
 
-  if pm is None:
-    pm = messaging.PubMaster(['driverMonitoringState'])
-
-  if sm is None:
-    sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
+  pm = messaging.PubMaster(['driverMonitoringState'])
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
   driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
 
@@ -89,8 +86,8 @@ def dmonitoringd_thread(sm=None, pm=None):
      driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
       put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
 
-def main(sm=None, pm=None):
-  dmonitoringd_thread(sm, pm)
+def main():
+  dmonitoringd_thread()
 
 
 if __name__ == '__main__':
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index d1db79506a..c116ef1535 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -4,7 +4,7 @@ map_env = qt_env.Clone()
 libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations,
         'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
 if arch == 'larch64':
-  libs.append('EGL')
+  libs.append(':libEGL_mesa.so.0')
 
 if arch in ['larch64', 'aarch64', 'x86_64']:
   if arch == 'x86_64':
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
index f8501bf4a5..2e7b4d3b60 100644
--- a/selfdrive/navd/main.cc
+++ b/selfdrive/navd/main.cc
@@ -4,14 +4,19 @@
 #include <QApplication>
 #include <QDebug>
 
+#include "common/util.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/navd/map_renderer.h"
 #include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
+  Hardware::config_cpu_rendering(true);
+
   qInstallMessageHandler(swagLogMessageHandler);
   setpriority(PRIO_PROCESS, 0, -20);
+  int ret = util::set_core_affinity({0, 1, 2, 3});
+  assert(ret == 0);
 
   QApplication app(argc, argv);
   std::signal(SIGINT, sigTermHandler);
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index 44acc67b94..543515c631 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -64,6 +64,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), DEFAULT_ZOOM);
   m_map->setStyleJson(style.c_str());
   m_map->createRenderer();
+  ever_loaded = false;
 
   m_map->resize(fbo->size());
   m_map->setFramebufferObject(fbo->handle(), fbo->size());
@@ -72,11 +73,13 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
     // Ignore expected signals
     // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
-    if (change != QMapboxGL::MapChange::MapChangeRegionWillChange &&
-        change != QMapboxGL::MapChange::MapChangeRegionDidChange &&
-        change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame &&
-        change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
-      LOGD("New map state: %d", change);
+    if (ever_loaded) {
+      if (change != QMapboxGL::MapChange::MapChangeRegionWillChange &&
+          change != QMapboxGL::MapChange::MapChangeRegionDidChange &&
+          change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame &&
+          change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
+        LOGD("New map state: %d", change);
+      }
     }
   });
 
@@ -188,6 +191,7 @@ void MapRenderer::publish(const double render_time, const bool loaded) {
 
   auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
   bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
+  ever_loaded = ever_loaded || loaded;
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
   VisionIpcBufExtra extra = {
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index 5739ba88f2..dc92c70b0f 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -49,6 +49,7 @@ private:
   }
 
   QTimer* timer;
+  bool ever_loaded = false;
 
 public slots:
   void updatePosition(QMapbox::Coordinate position, float bearing);
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 6a6a0846b7..da2b8c06b9 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -5,14 +5,12 @@ import os
 import threading
 
 import requests
-import numpy as np
 
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.api import Api
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
-from openpilot.common.transformations.coordinates import ecef2geodetic
 from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
@@ -21,7 +19,6 @@ from openpilot.system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
-VALID_POS_STD = 50.0
 REROUTE_COUNTER_MIN = 3
 
 
@@ -79,21 +76,13 @@ class RouteEngine:
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
-    laikad = self.sm['gnssMeasurements']
+    self.gps_ok = location.gpsOK
 
-    locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
-    laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD
+    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
 
-    self.localizer_valid = locationd_valid or laikad_valid
-    self.gps_ok = location.gpsOK or laikad_valid
-
-    if locationd_valid:
+    if self.localizer_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
-    elif laikad_valid:
-      geodetic = ecef2geodetic(laikad.positionECEF.value)
-      self.last_position = Coordinate(geodetic[0], geodetic[1])
-      self.last_bearing = None
 
   def recompute_route(self):
     if self.last_position is None:
@@ -355,11 +344,9 @@ class RouteEngine:
     # TODO: Check for going wrong way in segment
 
 
-def main(sm=None, pm=None):
-  if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState'])
-  if pm is None:
-    pm = messaging.PubMaster(['navInstruction', 'navRoute'])
+def main():
+  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
+  sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
 
   rk = Ratekeeper(1.0)
   route_engine = RouteEngine(sm, pm)
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
index 1c3d8acd7f..dbd6add995 100755
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
+import numpy as np
 import os
+import pytest
 import unittest
 import requests
 import threading
@@ -16,6 +18,11 @@ CACHE_PATH = "/data/mbgl-cache-navd.db"
 LOCATION1 = (32.7174, -117.16277)
 LOCATION2 = (32.7558, -117.2037)
 
+DEFAULT_ITERATIONS = 30 * LLK_DECIMATION
+
+LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
+LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
+
 def gen_llk(location=LOCATION1):
   msg = messaging.new_message('liveLocationKalman')
   msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
@@ -27,19 +34,12 @@ def gen_llk(location=LOCATION1):
 class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
   INTERNET_ACTIVE = True
 
-  def setup(self):
-    if self.INTERNET_ACTIVE:
-      super().setup()
-
-  def handle(self):
-    if self.INTERNET_ACTIVE:
-      super().handle()
-
-  def finish(self):
-    if self.INTERNET_ACTIVE:
-      super().finish()
-
   def do_GET(self):
+    if not self.INTERNET_ACTIVE:
+      self.send_response(500)
+      self.end_headers()
+      return
+
     url = f'https://api.mapbox.com{self.path}'
 
     headers = dict(self.headers)
@@ -110,15 +110,14 @@ class TestMapRenderer(unittest.TestCase):
     assert self.vipc.connect(False)
     self.vipc.recv()
 
-
-  def _run_test(self, expect_valid, location=LOCATION1):
+  def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
     starting_frame_id = None
 
-    self.location = location
+    render_times = []
 
     # run test
     prev_frame_id = -1
-    for i in range(30*LLK_DECIMATION):
+    for i, location in enumerate(locations):
       frame_expected = (i+1) % LLK_DECIMATION == 0
 
       if self.sm.logMonoTime['mapRenderState'] == 0:
@@ -131,7 +130,7 @@ class TestMapRenderer(unittest.TestCase):
       if starting_frame_id is None:
         starting_frame_id = prev_frame_id
 
-      llk = gen_llk(self.location)
+      llk = gen_llk(location)
       self.pm.send("liveLocationKalman", llk)
       self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
       self.sm.update(1000 if frame_expected else 0)
@@ -157,6 +156,7 @@ class TestMapRenderer(unittest.TestCase):
         assert self.sm['mapRenderState'].renderTime == 0.
       else:
         assert 0. < self.sm['mapRenderState'].renderTime < 0.1
+        render_times.append(self.sm['mapRenderState'].renderTime)
 
       # check vision ipc output
       assert self.vipc.recv() is not None
@@ -164,6 +164,8 @@ class TestMapRenderer(unittest.TestCase):
       assert self.vipc.timestamp_sof == llk.logMonoTime
       assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
 
+    return render_times
+
   def test_with_internet(self):
     self._setup_test()
     self._run_test(True)
@@ -180,13 +182,40 @@ class TestMapRenderer(unittest.TestCase):
     self.server.disable_internet()
 
     # change locations to force mapsd to refetch
-    self._run_test(False, LOCATION2)
+    self._run_test(False, LOCATION2_REPEATED)
 
     self.server.enable_internet()
-    self._run_test(True, LOCATION2)
+    self._run_test(True, LOCATION2_REPEATED)
+
+    self._run_test(True, LOCATION2_REPEATED)
+
+  @pytest.mark.tici
+  def test_render_time_distribution(self):
+    self._setup_test()
+    # from location1 -> location2 and back
+    locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
+
+    render_times = self._run_test(True, locations)
+
+    _min = np.min(render_times)
+    _max = np.max(render_times)
+    _mean = np.mean(render_times)
+    _median = np.median(render_times)
+    _stddev = np.std(render_times)
+
+    print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
+
+    def assert_stat(stat, nominal, tol=0.3):
+      tol = (nominal / (1+tol)), (nominal * (1+tol))
+      self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
+
+    assert_stat(_mean,   0.030)
+    assert_stat(_median, 0.027)
+    assert_stat(_stddev, 0.0078)
+
+    self.assertLess(_max, 0.065)
+    self.assertGreater(_min, 0.015)
 
-    self.location = LOCATION1
-    self._run_test(True, LOCATION2)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/rtshield.py b/selfdrive/rtshield.py
deleted file mode 100755
index 68dc4989cd..0000000000
--- a/selfdrive/rtshield.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-from typing import NoReturn
-
-from openpilot.common.realtime import set_core_affinity, set_realtime_priority
-
-# RT shield - ensure CPU 3 always remains available for RT processes
-#   runs as SCHED_FIFO with minimum priority to ensure kthreads don't
-#   get scheduled onto CPU 3, but it's always preemptible by realtime
-#   openpilot processes
-
-def main() -> NoReturn:
-  set_core_affinity([int(os.getenv("CORE", "3")), ])
-  set_realtime_priority(1)
-
-  while True:
-    time.sleep(0.000001)
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index 02d9d17550..b8bc8eff12 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -42,11 +42,11 @@ def set_tag(key: str, value: str) -> None:
   sentry_sdk.set_tag(key, value)
 
 
-def init(project: SentryProject) -> None:
+def init(project: SentryProject) -> bool:
   # forks like to mess with this, so double check
   comma_remote = is_comma_remote() and "commaai" in get_origin(default="")
   if not comma_remote or not is_registered_device() or PC:
-    return
+    return False
 
   env = "release" if is_tested_branch() else "master"
   dongle_id = Params().get("DongleId", encoding='utf-8')
@@ -73,3 +73,5 @@ def init(project: SentryProject) -> None:
 
   if project == SentryProject.SELFDRIVE:
     sentry_sdk.Hub.current.start_session()
+
+  return True
diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py
index 8acf406515..e41f41a621 100755
--- a/selfdrive/statsd.py
+++ b/selfdrive/statsd.py
@@ -9,11 +9,12 @@ from typing import NoReturn, Union, List, Dict
 
 from openpilot.common.params import Params
 from cereal.messaging import SubMaster
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.file_helpers import atomic_write_in_dir
 from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
-from openpilot.system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
 class METRIC_TYPE:
@@ -80,6 +81,8 @@ def main() -> NoReturn:
   sock = ctx.socket(zmq.PULL)
   sock.bind(STATS_SOCKET)
 
+  STATS_DIR = Paths.stats_root()
+
   # initialize stats directory
   Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
 
diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py
new file mode 100755
index 0000000000..a16b5707f5
--- /dev/null
+++ b/selfdrive/test/cpp_harness.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+import subprocess
+import sys
+
+from openpilot.common.prefix import OpenpilotPrefix
+
+
+with OpenpilotPrefix():
+  ret = subprocess.call(sys.argv[1:])
+
+exit(ret)
\ No newline at end of file
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
index 3851e2b1e3..e0ba54f058 100755
--- a/selfdrive/test/docker_build.sh
+++ b/selfdrive/test/docker_build.sh
@@ -1,45 +1,26 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
 # mkdir -p .ci_cache/scons_cache
 # sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
 
-if [ $1 = "base" ]; then
-  export DOCKER_IMAGE=openpilot-base
-  export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ $1 = "docs" ]; then
-  export DOCKER_IMAGE=openpilot-docs
-  export DOCKER_FILE=docs/docker/Dockerfile
-elif [ $1 = "sim" ]; then
-  export DOCKER_IMAGE=openpilot-sim
-  export DOCKER_FILE=tools/sim/Dockerfile.sim
-elif [ $1 = "prebuilt" ]; then
-  export DOCKER_IMAGE=openpilot-prebuilt
-  export DOCKER_FILE=Dockerfile.openpilot
-elif [ $1 = "cl" ]; then
-  export DOCKER_IMAGE=openpilot-base-cl
-  export DOCKER_FILE=Dockerfile.openpilot_base_cl
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+if [ -n "$TARGET_ARCHITECTURE" ]; then
+  PLATFORM="linux/$TARGET_ARCHITECTURE"
+  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
 else
-  echo "Invalid docker build image $1"
-  exit 1
+  PLATFORM="linux/$(uname -m)"
+  TAG_SUFFIX=""
 fi
 
-export DOCKER_REGISTRY=ghcr.io/commaai
-export COMMIT_SHA=$(git rev-parse HEAD)
+source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
 
-LOCAL_TAG=$DOCKER_IMAGE
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA
+DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
 
-SCRIPT_DIR=$(dirname "$0")
-OPENPILOT_DIR=$SCRIPT_DIR/../../
-
-DOCKER_BUILDKIT=1 docker buildx build --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
-
-if [[ ! -z "$PUSH_IMAGE" ]];
-then
+if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG
   docker tag $REMOTE_TAG $REMOTE_SHA_TAG
   docker push $REMOTE_SHA_TAG
-fi
\ No newline at end of file
+fi
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
new file mode 100644
index 0000000000..92da71ba66
--- /dev/null
+++ b/selfdrive/test/docker_common.sh
@@ -0,0 +1,24 @@
+if [ "$1" = "base" ]; then
+  export DOCKER_IMAGE=openpilot-base
+  export DOCKER_FILE=Dockerfile.openpilot_base
+elif [ "$1" = "sim" ]; then
+  export DOCKER_IMAGE=openpilot-sim
+  export DOCKER_FILE=tools/sim/Dockerfile.sim
+elif [ "$1" = "prebuilt" ]; then
+  export DOCKER_IMAGE=openpilot-prebuilt
+  export DOCKER_FILE=Dockerfile.openpilot
+elif [ "$1" = "cl" ]; then
+  export DOCKER_IMAGE=openpilot-base-cl
+  export DOCKER_FILE=Dockerfile.openpilot_base_cl
+else
+  echo "Invalid docker build image: '$1'"
+  exit 1
+fi
+
+export DOCKER_REGISTRY=ghcr.io/commaai
+export COMMIT_SHA=$(git rev-parse HEAD)
+
+TAG_SUFFIX=$2
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh
new file mode 100755
index 0000000000..c1761802c7
--- /dev/null
+++ b/selfdrive/test/docker_tag_multiarch.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -e
+
+if [ $# -lt 2 ]; then
+  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
+  exit 1
+fi
+
+SCRIPT_DIR=$(dirname "$0")
+ARCHS=("${@:2}")
+
+source $SCRIPT_DIR/docker_common.sh $1
+
+MANIFEST_AMENDS=""
+for ARCH in ${ARCHS[@]}; do
+  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
+done
+
+docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
+docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
+
+if [[ -n "$PUSH_IMAGE" ]]; then
+  docker manifest push $REMOTE_TAG
+  docker manifest push $REMOTE_SHA_TAG
+fi
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 3f4e4e1661..552070f024 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -1,8 +1,6 @@
 import os
 import time
-import tempfile
 
-from unittest import mock
 from functools import wraps
 
 import cereal.messaging as messaging
@@ -72,17 +70,5 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
   return wrapper
 
 
-def temporary_mock_dir(mock_path):
-  def wrapper(func):
-    @wraps(func)
-    def wrap(*args, **kwargs):
-      with tempfile.TemporaryDirectory() as temp_dir:
-        cache_dir_patch = mock.patch(mock_path, temp_dir)
-        cache_dir_patch.start()
-        func(*args, **kwargs, temp_dir=temp_dir)
-        cache_dir_patch.stop()
-    return wrap
-  return wrapper
-
-temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR")
-temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR")
\ No newline at end of file
+def noop(*args, **kwargs):
+  pass
\ No newline at end of file
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 0dce1a0f9b..bb935fdc8e 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -6,7 +6,7 @@ from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.realtime import Ratekeeper, DT_MDL
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
@@ -100,13 +100,13 @@ class Plant:
     # this is to ensure lead policy is effective when model
     # does not predict slowdown in e2e mode
     position = log.XYZTData.new_message()
-    position.x = [float(x) for x in (self.speed + 0.5) * np.array(T_IDXS)]
+    position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
     velocity = log.XYZTData.new_message()
-    velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(T_IDXS)]
+    velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     model.modelV2.velocity = velocity
     acceleration = log.XYZTData.new_message()
-    acceleration.x = [float(x) for x in np.zeros_like(T_IDXS)]
+    acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
     model.modelV2.acceleration = acceleration
 
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index a3b307ccba..f24f788a19 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -156,6 +156,7 @@ class LongitudinalControl(unittest.TestCase):
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['NO_CAN_TIMEOUT'] = "1"
 
+  def setUp(self):
     params = Params()
     params.clear_all()
     params.put_bool("Passive", bool(os.getenv("PASSIVE")))
diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py
index f590b66e54..4e0da1bccf 100755
--- a/selfdrive/test/openpilotci.py
+++ b/selfdrive/test/openpilotci.py
@@ -7,8 +7,9 @@ from typing import IO, Union
 
 DATA_CI_ACCOUNT = "commadataci"
 DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net"
-DATA_CI_CONTAINER = "openpilotci"
-BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{DATA_CI_CONTAINER}/"
+OPENPILOT_CI_CONTAINER = "openpilotci"
+DATA_CI_CONTAINER = "commadataci"
+BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{OPENPILOT_CI_CONTAINER}/"
 
 TOKEN_PATH = Path("/data/azure_token")
 
@@ -51,9 +52,10 @@ def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str:
   from azure.storage.blob import BlobClient
   blob = BlobClient(
     account_url=DATA_CI_ACCOUNT_URL,
-    container_name=DATA_CI_CONTAINER,
+    container_name=OPENPILOT_CI_CONTAINER,
     blob_name=blob_name,
     credential=get_azure_credential(),
+    overwrite=False,
   )
   blob.upload_blob(data)
   return BASE_URL + blob_name
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 1174dbab83..bec3eb9016 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -17,7 +17,6 @@ Currently the following processes are tested:
 * locationd
 * paramsd
 * ubloxd
-* laikad
 * torqued
 
 ### Usage
@@ -52,10 +51,10 @@ Then, check in the new logs using git-lfs. Make sure to also update the `ref_com
 Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. 
 
 ```py
-def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *args, **kwargs) -> List[capnp._DynamicStructReader]:
 
 def replay_process(
-  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, 
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None, 
   fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False
 ) -> List[capnp._DynamicStructReader]:
 ```
@@ -71,7 +70,7 @@ lr = LogReader(...)
 output_logs = replay_process_with_name('locationd', lr)
 
 # or list of names
-output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr)
+output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr)
 ```
 
 Supported processes: 
@@ -83,7 +82,6 @@ Supported processes:
 * locationd
 * paramsd 
 * ubloxd
-* laikad
 * torqued
 * modeld
 * dmonitoringmodeld
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 7de0a25761..dbb7c223f5 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -5,6 +5,7 @@ import capnp
 import numbers
 import dictdiffer
 from collections import Counter
+from typing import Dict
 
 from openpilot.tools.lib.logreader import LogReader
 
@@ -89,7 +90,62 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
   return diff
 
 
+def format_process_diff(diff):
+  diff_short, diff_long = "", ""
+
+  if isinstance(diff, str):
+    diff_short += f"        {diff}\n"
+    diff_long += f"\t{diff}\n"
+  else:
+    cnt: Dict[str, int] = {}
+    for d in diff:
+      diff_long += f"\t{str(d)}\n"
+
+      k = str(d[1])
+      cnt[k] = 1 if k not in cnt else cnt[k] + 1
+
+    for k, v in sorted(cnt.items()):
+      diff_short += f"        {k}: {v}\n"
+
+  return diff_short, diff_long
+
+
+def format_diff(results, log_paths, ref_commit):
+  diff_short, diff_long = "", ""
+  diff_long += f"***** tested against commit {ref_commit} *****\n"
+
+  failed = False
+  for segment, result in list(results.items()):
+    diff_short += f"***** results for segment {segment} *****\n"
+    diff_long += f"***** differences for segment {segment} *****\n"
+
+    for proc, diff in list(result.items()):
+      diff_long += f"*** process: {proc} ***\n"
+      diff_long += f"\tref: {log_paths[segment][proc]['ref']}\n"
+      diff_long += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
+
+      diff_short += f"    {proc}\n"
+
+      if isinstance(diff, str) or len(diff):
+        diff_short += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff_short += f"        new: {log_paths[segment][proc]['new']}\n\n"
+        failed = True
+
+        proc_diff_short, proc_diff_long = format_process_diff(diff)
+
+        diff_long += proc_diff_long
+        diff_short += proc_diff_short
+
+  return diff_short, diff_long, failed
+
+
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))
-  print(compare_logs(log1, log2, sys.argv[3:]))
+  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"]
+  results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
+  log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
+  diff_short, diff_long, failed = format_diff(results, log_paths, None)
+
+  print(diff_long)
+  print(diff_short)
diff --git a/selfdrive/test/process_replay/conftest.py b/selfdrive/test/process_replay/conftest.py
new file mode 100644
index 0000000000..f3794d26ac
--- /dev/null
+++ b/selfdrive/test/process_replay/conftest.py
@@ -0,0 +1,37 @@
+import pytest
+
+from openpilot.selfdrive.test.process_replay.helpers import ALL_PROCS
+from openpilot.selfdrive.test.process_replay.test_processes import ALL_CARS
+
+
+def pytest_addoption(parser: pytest.Parser):
+  parser.addoption("--whitelist-procs", type=str, nargs="*", default=ALL_PROCS,
+                      help="Whitelist given processes from the test (e.g. controlsd)")
+  parser.addoption("--whitelist-cars", type=str, nargs="*", default=ALL_CARS,
+                      help="Whitelist given cars from the test (e.g. HONDA)")
+  parser.addoption("--blacklist-procs", type=str, nargs="*", default=[],
+                      help="Blacklist given processes from the test (e.g. controlsd)")
+  parser.addoption("--blacklist-cars", type=str, nargs="*", default=[],
+                      help="Blacklist given cars from the test (e.g. HONDA)")
+  parser.addoption("--ignore-fields", type=str, nargs="*", default=[],
+                      help="Extra fields or msgs to ignore (e.g. carState.events)")
+  parser.addoption("--ignore-msgs", type=str, nargs="*", default=[],
+                      help="Msgs to ignore (e.g. carEvents)")
+  parser.addoption("--update-refs", action="store_true",
+                      help="Updates reference logs using current commit")
+  parser.addoption("--upload-only", action="store_true",
+                      help="Skips testing processes and uploads logs from previous test run")
+  parser.addoption("--long-diff", action="store_true",
+                      help="Outputs diff in long format")
+
+
+@pytest.fixture(scope="class", autouse=True)
+def process_replay_test_arguments(request):
+  if hasattr(request.cls, "segment"): # check if a subclass of TestProcessReplayBase
+    request.cls.tested_procs = list(set(request.config.getoption("--whitelist-procs")) - set(request.config.getoption("--blacklist-procs")))
+    request.cls.tested_cars = list({c.upper() for c in set(request.config.getoption("--whitelist-cars")) - set(request.config.getoption("--blacklist-cars"))})
+    request.cls.ignore_fields = request.config.getoption("--ignore-fields")
+    request.cls.ignore_msgs = request.config.getoption("--ignore-msgs")
+    request.cls.upload_only = request.config.getoption("--upload-only")
+    request.cls.update_refs = request.config.getoption("--update-refs")
+    request.cls.long_diff = request.config.getoption("--long-diff")
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py
old mode 100644
new mode 100755
index 0af8ff6c76..0952a01870
--- a/selfdrive/test/process_replay/helpers.py
+++ b/selfdrive/test/process_replay/helpers.py
@@ -1,49 +1,150 @@
+#!/usr/bin/env python3
 import os
-import shutil
-import uuid
+import sys
+import unittest
 
-from typing import List, Optional
+from parameterized import parameterized
+from typing import Optional, Union, List
 
-from openpilot.common.params import Params
 
-class OpenpilotPrefix(object):
-  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
-    self.prefix = prefix if prefix else str(uuid.uuid4())
-    self.msgq_path = os.path.join('/dev/shm', self.prefix)
-    self.clean_dirs_on_exit = clean_dirs_on_exit
+from openpilot.selfdrive.test.openpilotci import get_url, upload_file
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_process_diff
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process
+from openpilot.system.version import get_commit
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, LogIterable
+
+
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
+EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
+
+
+def get_log_data(segment):
+  r, n = segment.rsplit("--", 1)
+  with FileReader(get_url(r, n)) as f:
+    return f.read()
+
+
+ALL_PROCS = sorted({cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS})
+PROC_TO_CFG = {cfg.proc_name: cfg for cfg in CONFIGS}
+
+cpu_count = os.cpu_count() or 1
+
+
+class TestProcessReplayBase(unittest.TestCase):
+  """
+  Base class that replays all processes within test_proceses from a segment,
+  and puts the log messages in self.log_msgs for analysis by other tests.
+  """
+  segment: Optional[Union[str, LogIterable]] = None
+  tested_procs: List[str] = ALL_PROCS
+
+  @classmethod
+  def setUpClass(cls, create_logs=True):
+    if "Base" in cls.__name__:
+      raise unittest.SkipTest("skipping base class")
+
+    if isinstance(cls.segment, str):
+      cls.log_reader = LogReader.from_bytes(get_log_data(cls.segment))
+    else:
+      cls.log_reader = cls.segment
+
+    if create_logs:
+      cls._create_log_msgs()
+
+  @classmethod
+  def _run_replay(cls, cfg):
+    try:
+      return replay_process(cfg, cls.log_reader, disable_progress=True)
+    except Exception as e:
+      raise Exception(f"failed on segment: {cls.segment} \n{e}") from e
+
+  @classmethod
+  def _create_log_msgs(cls):
+    cls.log_msgs = {}
+    cls.proc_cfg = {}
+
+    for proc in cls.tested_procs:
+      cfg = PROC_TO_CFG[proc]
+
+      log_msgs = cls._run_replay(cfg)
+
+      cls.log_msgs[proc] = log_msgs
+      cls.proc_cfg[proc] = cfg
+
+
+class TestProcessReplayDiffBase(TestProcessReplayBase):
+  """
+  Base class for checking for diff between process outputs.
+  """
+  update_refs = False
+  upload_only = False
+  long_diff = False
+  ignore_msgs: List[str] = []
+  ignore_fields: List[str] = []
+
+  def setUp(self):
+    super().setUp()
+    if self.upload_only:
+      raise unittest.SkipTest("skipping test, uploading only")
+
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass(not cls.upload_only)
+
+    if cls.long_diff:
+      cls.maxDiff = None
+
+    os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
+
+    cls.cur_commit = get_commit()
+    cls.assertNotEqual(cls.cur_commit, None, "Couldn't get current commit")
+
+    cls.upload = cls.update_refs or cls.upload_only
 
-  def __enter__(self):
-    os.environ['OPENPILOT_PREFIX'] = self.prefix
     try:
-      os.mkdir(self.msgq_path)
-    except FileExistsError:
-      pass
+      with open(REF_COMMIT_FN) as f:
+        cls.ref_commit = f.read().strip()
+    except FileNotFoundError:
+      print("Couldn't find reference commit")
+      sys.exit(1)
+
+    cls._create_ref_log_msgs()
+
+  @classmethod
+  def _create_ref_log_msgs(cls):
+    cls.ref_log_msgs = {}
 
-    return self
+    for proc in cls.tested_procs:
+      cur_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.cur_commit}.bz2")
+      if cls.update_refs:  # reference logs will not exist if routes were just regenerated
+        ref_log_path = get_url(*cls.segment.rsplit("--", 1))
+      else:
+        ref_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.ref_commit}.bz2")
+        ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
-  def __exit__(self, exc_type, exc_obj, exc_tb):
-    if self.clean_dirs_on_exit:
-      self.clean_dirs()
-    del os.environ['OPENPILOT_PREFIX']
-    return False
+      if not cls.upload_only:
+        save_log(cur_log_fn, cls.log_msgs[proc])
+        cls.ref_log_msgs[proc] = list(LogReader(ref_log_path))
 
-  def clean_dirs(self):
-    symlink_path = Params().get_param_path()
-    if os.path.exists(symlink_path):
-      shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
-      os.remove(symlink_path)
-    shutil.rmtree(self.msgq_path, ignore_errors=True)
+      if cls.upload:
+        assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
+        upload_file(cur_log_fn, os.path.basename(cur_log_fn))
+        os.remove(cur_log_fn)
 
+  @parameterized.expand(ALL_PROCS)
+  def test_process_diff(self, proc):
+    if proc not in self.tested_procs:
+      raise unittest.SkipTest(f"{proc} was not requested to be tested")
 
-class DummySocket:
-  def __init__(self):
-    self.data: List[bytes] = []
+    cfg = self.proc_cfg[proc]
+    log_msgs = self.log_msgs[proc]
+    ref_log_msgs = self.ref_log_msgs[proc]
 
-  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
-    if non_blocking:
-      return None
+    diff = compare_logs(ref_log_msgs, log_msgs, self.ignore_fields + cfg.ignore, self.ignore_msgs)
 
-    return self.data.pop()
+    diff_short, diff_long = format_process_diff(diff)
 
-  def send(self, data: bytes):
-    self.data.append(data)
+    self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 4560a66b97..ad5192dbba 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -2,20 +2,100 @@ from collections import defaultdict
 
 from cereal import messaging
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+from openpilot.selfdrive.car.toyota.values import EPS_SCALE
+from openpilot.selfdrive.manager.process_config import managed_processes
+from panda import Panda
 
 
-def migrate_all(lr, old_logtime=False, camera_states=False):
+def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False):
   msgs = migrate_sensorEvents(lr, old_logtime)
   msgs = migrate_carParams(msgs, old_logtime)
+  if manager_states:
+    msgs = migrate_managerState(msgs)
+  if panda_states:
+    msgs = migrate_pandaStates(msgs)
+    msgs = migrate_peripheralState(msgs)
   if camera_states:
     msgs = migrate_cameraStates(msgs)
 
   return msgs
 
 
+def migrate_managerState(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != "managerState":
+      all_msgs.append(msg)
+      continue
+
+    new_msg = msg.as_builder()
+    new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
+def migrate_pandaStates(lr):
+  all_msgs = []
+  # TODO: safety param migration should be handled automatically
+  safety_param_migration = {
+    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+  }
+
+  # Migrate safety param base on carState
+  CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
+  assert CP is not None, "carParams message not found"
+  if CP.carFingerprint in safety_param_migration:
+    safety_param = safety_param_migration[CP.carFingerprint]
+  elif len(CP.safetyConfigs):
+    safety_param = CP.safetyConfigs[0].safetyParam
+    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
+      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
+  else:
+    safety_param = CP.safetyParamDEPRECATED
+
+  for msg in lr:
+    if msg.which() == 'pandaStateDEPRECATED':
+      new_msg = messaging.new_message('pandaStates', 1)
+      new_msg.valid = msg.valid
+      new_msg.logMonoTime = msg.logMonoTime
+      new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
+      new_msg.pandaStates[0].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    elif msg.which() == 'pandaStates':
+      new_msg = msg.as_builder()
+      new_msg.pandaStates[-1].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    else:
+      all_msgs.append(msg)
+
+  return all_msgs
+
+
+def migrate_peripheralState(lr):
+  if any(msg.which() == "peripheralState" for msg in lr):
+    return lr
+
+  all_msg = []
+  for msg in lr:
+    all_msg.append(msg)
+    if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
+      continue
+
+    new_msg = messaging.new_message("peripheralState")
+    new_msg.logMonoTime = msg.logMonoTime
+    all_msg.append(new_msg.as_reader())
+
+  return all_msg
+
+
 def migrate_cameraStates(lr):
   all_msgs = []
   frame_to_encode_id = defaultdict(dict)
+  # just for encodeId fallback mechanism
+  min_frame_id = defaultdict(lambda: float('inf'))
 
   for msg in lr:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
@@ -33,16 +113,28 @@ def migrate_cameraStates(lr):
       continue
 
     camera_state = getattr(msg, msg.which())
+    min_frame_id[msg.which()] = min(min_frame_id[msg.which()], camera_state.frameId)
+
     encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
     if encode_id is None:
       print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
-      continue
+      if len(frame_to_encode_id[msg.which()]) != 0:
+        continue
+
+      # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
+      # try to fake encode_id by subtracting lowest frameId
+      encode_id = camera_state.frameId - min_frame_id[msg.which()]
+      print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
 
     new_msg = messaging.new_message(msg.which())
     new_camera_state = getattr(new_msg, new_msg.which())
     new_camera_state.frameId = encode_id
     new_camera_state.encodeId = encode_id
-    new_camera_state.timestampSof = camera_state.timestampSof
+    # timestampSof was added later so it might be missing on some old segments
+    if camera_state.timestampSof == 0 and camera_state.timestampEof > 25000000:
+      new_camera_state.timestampSof = camera_state.timestampEof - 18000000
+    else:
+      new_camera_state.timestampSof = camera_state.timestampSof
     new_camera_state.timestampEof = camera_state.timestampEof
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.valid = msg.valid
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index f576e07a40..2841386bf4 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -7,12 +7,10 @@ from typing import Any
 
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.common.spinner import Spinner
 from openpilot.system.hardware import PC
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
-from openpilot.selfdrive.test.process_replay.test_processes import format_diff
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.system.version import get_commit
 from openpilot.tools.lib.framereader import FrameReader
@@ -25,6 +23,7 @@ MAX_FRAMES = 100 if PC else 600
 NAV_FRAMES = 50
 
 NO_NAV = "NO_NAV" in os.environ
+NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
 
@@ -105,14 +104,6 @@ def nav_model_replay(lr):
 
 
 def model_replay(lr, frs):
-  if not PC:
-    spinner = Spinner()
-    spinner.update("starting model replay")
-  else:
-    spinner = None
-
-  log_msgs = []
-
   # modeld is using frame pairs
   modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"})
   dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"})
@@ -128,18 +119,9 @@ def model_replay(lr, frs):
   modeld = get_process_config("modeld")
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
-  try:
-    if spinner:
-      spinner.update("running model replay")
-    modeld_msgs = replay_process(modeld, modeld_logs, frs)
-    dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
-    log_msgs.extend([m for m in modeld_msgs if m.which() == "modelV2"])
-    log_msgs.extend([m for m in dmonitoringmodeld_msgs if m.which() == "driverStateV2"])
-  finally:
-    if spinner:
-      spinner.close()
-
-  return log_msgs
+  modeld_msgs = replay_process(modeld, modeld_logs, frs)
+  dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
+  return modeld_msgs + dmonitoringmodeld_msgs
 
 
 if __name__ == "__main__":
@@ -180,8 +162,10 @@ if __name__ == "__main__":
   else:
     os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
 
+  log_msgs = []
   # run replays
-  log_msgs = model_replay(lr, frs)
+  if not NO_MODEL:
+    log_msgs += model_replay(lr, frs)
   if not NO_NAV:
     log_msgs += nav_model_replay(lr)
 
@@ -196,10 +180,11 @@ if __name__ == "__main__":
       cmp_log = []
 
       # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
-      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "modelV2")
-      cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES]
-      dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
-      cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
+      if not NO_MODEL:
+        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
+        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
+        dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
+        cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
       if not NO_NAV:
         nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
         nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]
@@ -231,13 +216,13 @@ if __name__ == "__main__":
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
-      diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
+      diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
 
-      print(diff2)
+      print(diff_long)
       print('-------------\n'*5)
-      print(diff1)
+      print(diff_short)
       with open("model_diff.txt", "w") as f:
-        f.write(diff2)
+        f.write(diff_long)
     except Exception as e:
       print(str(e))
       failed = True
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index e101afb227..977f19e7bc 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-377ed362faa9410a8b81d50978d74ee60b8e6f6a
+35a05ff1b68062c9478b2adfe96f1c294bee1b6c
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 8ad27d5135..a26e964550 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -14,25 +14,38 @@ import capnp
 
 import cereal.messaging as messaging
 from cereal import car
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogIterable
+from openpilot.tools.lib.framereader import BaseFrameReader
 
 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
+class DummySocket:
+  def __init__(self):
+    self.data: List[bytes] = []
+
+  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
+    if non_blocking:
+      return None
+
+    return self.data.pop()
+
+  def send(self, data: bytes):
+    self.data.append(data)
 
 class LauncherWithCapture:
   def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
@@ -189,19 +202,19 @@ class ProcessContainer:
 
     self.environ_config = environ_config
 
-  def _setup_vision_ipc(self, all_msgs):
+  def _setup_vision_ipc(self, all_msgs: LogIterable, frs: Dict[str, Any]):
     assert len(self.cfg.vision_pubs) != 0
 
-    device_type = next(msg.initData.deviceType for msg in all_msgs if msg.which() == "initData")
-
     vipc_server = VisionIpcServer("camerad")
     streams_metas = available_streams(all_msgs)
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
-        vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type])
+        frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
+        vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
+    self.cfg.vision_pubs = [meta.camera_state for meta in streams_metas if meta.camera_state in self.cfg.vision_pubs]
 
   def _start_process(self):
     if self.capture is not None:
@@ -211,7 +224,7 @@ class ProcessContainer:
 
   def start(
     self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
-    all_msgs: Union[LogReader, List[capnp._DynamicStructReader]],
+    all_msgs: LogIterable, frs: Optional[Dict[str, BaseFrameReader]],
     fingerprint: Optional[str], capture_output: bool
   ):
     with self.prefix as p:
@@ -228,7 +241,8 @@ class ProcessContainer:
       self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs]
 
       if len(self.cfg.vision_pubs) != 0:
-        self._setup_vision_ipc(all_msgs)
+        assert frs is not None
+        self._setup_vision_ipc(all_msgs, frs)
         assert self.vipc_server is not None
 
       if capture_output:
@@ -252,7 +266,7 @@ class ProcessContainer:
       self.prefix.clean_dirs()
       self._clean_env()
 
-  def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
+  def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, BaseFrameReader]]) -> List[capnp._DynamicStructReader]:
     assert self.rc and self.pm and self.sockets and self.process.proc
 
     output_msgs = []
@@ -352,7 +366,7 @@ def controlsd_rcv_callback(msg, cfg, frame):
 
   socks = [
     s for s in cfg.subs if
-    frame % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0
+    frame % int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency) == 0
   ]
   if "sendcan" in socks and (frame - 1) < 2000:
     socks.remove("sendcan")
@@ -381,9 +395,8 @@ class ModeldCameraSyncRcvCallback:
     self.is_dual_camera = True
 
   def __call__(self, msg, cfg, frame):
-    if msg.which() == "initData":
-      self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"]
-    elif msg.which() == "roadCameraState":
+    self.is_dual_camera = len(cfg.vision_pubs) == 2
+    if msg.which() == "roadCameraState":
       self.road_present = True
     elif msg.which() == "wideRoadCameraState":
       self.wide_road_present = True
@@ -416,7 +429,7 @@ class FrequencyBasedRcvCallback:
 
     resp_sockets = [
       s for s in cfg.subs
-      if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0
+      if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
     ]
     return bool(len(resp_sockets))
 
@@ -436,16 +449,6 @@ def controlsd_config_callback(params, cfg, lr):
   params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
 
 
-def laikad_config_pubsub_callback(params, cfg, lr):
-  ublox = params.get_bool("UbloxAvailable")
-  main_key = "ubloxGnss" if ublox else "qcomGnss"
-  sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", })
-
-  cfg.pubs = set(cfg.pubs) - sub_keys
-  cfg.main_pub = main_key
-  cfg.main_pub_drained = True
-
-
 def locationd_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
@@ -460,7 +463,7 @@ CONFIGS = [
       "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
       "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "testJoystick", "liveTorqueParameters"
+      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
     subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
@@ -531,17 +534,6 @@ CONFIGS = [
     subs=["ubloxGnss", "gpsLocationExternal"],
     ignore=["logMonoTime"],
   ),
-  ProcessConfig(
-    proc_name="laikad",
-    pubs=["ubloxGnss", "qcomGnss"],
-    subs=["gnssMeasurements"],
-    ignore=["logMonoTime"],
-    config_callback=laikad_config_pubsub_callback,
-    tolerance=NUMPY_TOLERANCE,
-    processing_time=0.002,
-    timeout=60*10,  # first messages are blocked on internet assistance
-    main_pub="ubloxGnss", # config_callback will switch this to qcom if needed
-  ),
   ProcessConfig(
     proc_name="torqued",
     pubs=["liveLocationKalman", "carState", "carControl"],
@@ -587,7 +579,7 @@ def get_process_config(name: str) -> ProcessConfig:
     raise Exception(f"Cannot find process config with name: {name}") from ex
 
 
-def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]:
+def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> Dict[str, Any]:
   """
   Use this to get custom params dict based on provided logs.
   Useful when replaying following processes: calibrationd, paramsd, torqued
@@ -602,10 +594,13 @@ def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructRead
   assert initial_state in ["first", "last"]
   msg_index = 0 if initial_state == "first" else -1
 
-  assert len(car_params) > 0, "carParams required for initial state of liveParameters and liveTorqueCarParams"
+  assert len(car_params) > 0, "carParams required for initial state of liveParameters and CarParamsPrevRoute"
   CP = car_params[msg_index].carParams
 
-  custom_params = {}
+  custom_params = {
+    "CarParamsPrevRoute": CP.as_builder().to_bytes()
+  }
+
   if len(live_calibration) > 0:
     custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
   if len(live_parameters) > 0:
@@ -613,14 +608,12 @@ def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructRead
     lp_dict["carFingerprint"] = CP.carFingerprint
     custom_params["LiveParameters"] = json.dumps(lp_dict)
   if len(live_torque_parameters) > 0:
-    custom_params["LiveTorqueCarParams"] = CP.as_builder().to_bytes()
     custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
 
   return custom_params
 
 
-def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader,
-                             List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *args, **kwargs) -> List[capnp._DynamicStructReader]:
   if isinstance(name, str):
     cfgs = [get_process_config(name)]
   elif isinstance(name, Iterable):
@@ -632,7 +625,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReade
 
 
 def replay_process(
-  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]] = None,
   fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
   captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
 ) -> List[capnp._DynamicStructReader]:
@@ -641,7 +634,10 @@ def replay_process(
   else:
     cfgs = [cfg]
 
-  all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
+  all_msgs = migrate_all(lr, old_logtime=True,
+                         manager_states=True,
+                         panda_states=any("pandaStates" in cfg.pubs for cfg in cfgs),
+                         camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
   process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress)
 
   if return_all_logs:
@@ -657,7 +653,7 @@ def replay_process(
 
 
 def _replay_multi_process(
-  cfgs: List[ProcessConfig], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]], fingerprint: Optional[str],
+  cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]], fingerprint: Optional[str],
   custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool
 ) -> List[capnp._DynamicStructReader]:
   if fingerprint is not None:
@@ -669,14 +665,13 @@ def _replay_multi_process(
     env_config = generate_environ_config(CP=CP)
 
   # validate frs and vision pubs
-  for cfg in cfgs:
-    if len(cfg.vision_pubs) == 0:
-      continue
-
+  all_vision_pubs = [pub for cfg in cfgs for pub in cfg.vision_pubs]
+  if len(all_vision_pubs) != 0:
     assert frs is not None, "frs must be provided when replaying process using vision streams"
-    assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
-                                                     f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
-    assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
+    assert all(meta_from_camera_state(st) is not None for st in all_vision_pubs), \
+                                                          f"undefined vision stream spotted, probably misconfigured process: (vision pubs: {all_vision_pubs})"
+    required_vision_pubs = {m.camera_state for m in available_streams(lr)} & set(all_vision_pubs)
+    assert all(st in frs for st in required_vision_pubs), f"frs for this process must contain following vision streams: {required_vision_pubs}"
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   log_msgs = []
@@ -685,7 +680,7 @@ def _replay_multi_process(
     for cfg in cfgs:
       container = ProcessContainer(cfg)
       containers.append(container)
-      container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None)
+      container.start(params_config, env_config, all_msgs, frs, fingerprint, captured_output_store is not None)
 
     all_pubs = {pub for container in containers for pub in container.pubs}
     all_subs = {sub for container in containers for sub in container.subs}
@@ -785,7 +780,7 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str
   return environ_dict
 
 
-def check_openpilot_enabled(msgs: Union[LogReader, List[capnp._DynamicStructReader]]) -> bool:
+def check_openpilot_enabled(msgs: LogIterable) -> bool:
   cur_enabled_count = 0
   max_enabled_count = 0
   for msg in msgs:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index cee528c62d..40ac91ee70 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-20022e4a1b5f5df343465180a3865b0c78890544
\ No newline at end of file
+dbea36698ba48429b201b138846165eb4c329b92
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 81f27b7d0e..245b5b2709 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -3,76 +3,118 @@ import os
 import argparse
 import time
 import capnp
+import numpy as np
 
 from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
 
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
-                                                        check_openpilot_enabled, get_custom_params_from_lr
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
+                                                                   check_openpilot_enabled, get_custom_params_from_lr
+from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
+from openpilot.tools.lib.logreader import LogReader, LogIterable
 from openpilot.tools.lib.helpers import save_log
 
 
+class DummyFrameReader(BaseFrameReader):
+  def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
+    self.pix_val = pix_val
+    self.w, self.h = w, h
+    self.frame_count = frame_count
+    self.frame_type = FrameType.raw
+
+  def get(self, idx, count=1, pix_fmt="yuv420p"):
+    if pix_fmt == "rgb24":
+      shape = (self.h, self.w, 3)
+    elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
+      shape = (int((self.h * self.w) * 3 / 2),)
+    else:
+      raise NotImplementedError
+
+    return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
+
+  @staticmethod
+  def zero_dcamera():
+    return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
+
+
 def regen_segment(
-  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
-  daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
+  lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
+  processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> List[capnp._DynamicStructReader]:
-  if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
-    raise ValueError("whitelist_proc must be a string or iterable")
-
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
   custom_params = get_custom_params_from_lr(all_msgs)
 
-  if daemons != "all":
-    if isinstance(daemons, str):
-      raise ValueError(f"Invalid value for daemons: {daemons}")
-
-    replayed_processes = []
-    for d in daemons:
-      cfg = get_process_config(d)
-      replayed_processes.append(cfg)
-  else:
-    replayed_processes = CONFIGS
-
-  print("Replayed processes:", [p.proc_name for p in replayed_processes])
+  print("Replayed processes:", [p.proc_name for p in processes])
   print("\n\n", "*"*30, "\n\n", sep="")
 
-  output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
+  output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
 
   return output_logs
 
 
-def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]:
+def setup_data_readers(
+    route: str, sidx: int, use_route_meta: bool,
+    needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
+) -> Tuple[LogReader, Dict[str, Any]]:
   if use_route_meta:
     r = Route(route)
     lr = LogReader(r.log_paths()[sidx])
     frs = {}
-    if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
+    if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
       frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
-    if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
-      frs['wideCameraState'] = FrameReader(r.ecamera_paths()[sidx])
-    if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
-      frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
+    if needs_road_cam and  len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
+      frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
+    if needs_driver_cam:
+      if dummy_driver_cam:
+        frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+        device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
+        assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
+        frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
     lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
-    frs = {
-      'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"),
-      'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"),
-    }
-    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-      frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+    frs = {}
+    if needs_road_cam:
+      frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
+      if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
+        frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+    if needs_driver_cam:
+      if dummy_driver_cam:
+        frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      else:
+        device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
+        assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
+        frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
 
   return lr, frs
 
 
 def regen_and_save(
-  route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
-  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
+  route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
+  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
 ) -> str:
-  lr, frs = setup_data_readers(route, sidx, use_route_meta)
-  output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm)
+  if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
+    raise ValueError("whitelist_proc must be a string or iterable")
+
+  if processes != "all":
+    if isinstance(processes, str):
+      raise ValueError(f"Invalid value for processes: {processes}")
+
+    replayed_processes = []
+    for d in processes:
+      cfg = get_process_config(d)
+      replayed_processes.append(cfg)
+  else:
+    replayed_processes = CONFIGS
+
+  all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
+  lr, frs = setup_data_readers(route, sidx, use_route_meta,
+                               needs_driver_cam="driverCameraState" in all_vision_pubs,
+                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
+                               dummy_driver_cam=dummy_driver_cam)
+  output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
 
   log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
   rel_log_dir = os.path.relpath(log_dir)
@@ -101,6 +143,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
   parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
+  parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
   parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
                       help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
   parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
@@ -110,5 +153,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   blacklist_set = set(args.blacklist_procs)
-  daemons = [p for p in args.whitelist_procs if p not in blacklist_set]
-  regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir)
+  processes = [p for p in args.whitelist_procs if p not in blacklist_set]
+  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index f42686ac6a..070cb5f783 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -6,9 +6,10 @@ import random
 import traceback
 from tqdm import tqdm
 
-from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.test.process_replay.regen import regen_and_save
-from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
+from openpilot.selfdrive.test.process_replay.process_replay import FAKEDATA
+from openpilot.selfdrive.test.process_replay.test_processes import source_segments as segments
 from openpilot.tools.lib.route import SegmentName
 
 
@@ -18,7 +19,7 @@ def regen_job(segment, upload, disable_tqdm):
     fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
       relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
-                            outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
+                            outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '
     except Exception as e:
@@ -29,15 +30,25 @@ def regen_job(segment, upload, disable_tqdm):
 
 
 if __name__ == "__main__":
+  all_cars = {car for car, _ in segments}
+
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("-j", "--jobs", type=int, default=1)
   parser.add_argument("--no-upload", action="store_true")
+  parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars,
+                      help="Whitelist given cars from the test (e.g. HONDA)")
+  parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
+                      help="Blacklist given cars from the test (e.g. HONDA)")
   args = parser.parse_args()
 
+  tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
+  tested_cars = {c.upper() for c in tested_cars}
+  tested_segments = [(car, segment) for car, segment in segments if car in tested_cars]
+
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments))
+    p = pool.map(regen_job, tested_segments, [not args.no_upload] * len(tested_segments), [args.jobs > 1] * len(tested_segments))
     msg = "Copy these new segments into test_processes.py:"
-    for seg in tqdm(p, desc="Generating segments", total=len(segments)):
+    for seg in tqdm(p, desc="Generating segments", total=len(tested_segments)):
       msg += "\n" + str(seg)
     print()
     print()
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index f3f48d0159..4b8629fc7d 100755
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -13,7 +13,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # These processes currently fail because of unrealistic data breaking assumptions
 # that openpilot makes causing error with NaN, inf, int size, array indexing ...
 # TODO: Make each one testable
-NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld']
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
 class TestFuzzProcesses(unittest.TestCase):
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index ab51948dd0..eb01e50e33 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -1,27 +1,22 @@
 #!/usr/bin/env python3
-import argparse
-import concurrent.futures
-import os
+import unittest
+import pytest
 import sys
-from collections import defaultdict
-from tqdm import tqdm
-from typing import Any, DefaultDict, Dict
+
+from parameterized import parameterized_class
+from typing import List, Optional
 
 from openpilot.selfdrive.car.car_helpers import interface_names
-from openpilot.selfdrive.test.openpilotci import get_url, upload_file
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
-from openpilot.system.version import get_commit
-from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
+from openpilot.selfdrive.test.process_replay.helpers import TestProcessReplayDiffBase
+
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
-  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
-  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
+  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS
+  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
@@ -41,227 +36,64 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
-  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
-  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
-  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
-  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
-  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
-  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
-  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
-  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
-  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
-  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
-  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
-  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
-  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
-  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
-  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
-  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
+  ("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"),
+  ("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"),
+  ("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"),
+  ("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"),
+  ("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"),
+  ("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"),
+  ("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"),
+  ("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"),
+  ("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"),
+  ("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"),
+  ("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"),
+  ("GM", "regenF6393D64745|2023-10-30--23-17-18--0"),
+  ("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"),
+  ("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"),
+  ("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"),
+  ("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"),
+  ("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"),
   ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "mazda", "tesla"]
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
-EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
-
-
-def run_test_process(data):
-  segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
-  res = None
-  if not args.upload_only:
-    lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
-    # save logs so we can upload when updating refs
-    save_log(cur_log_fn, log_msgs)
-
-  if args.update_refs or args.upload_only:
-    print(f'Uploading: {os.path.basename(cur_log_fn)}')
-    assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
-    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
-    os.remove(cur_log_fn)
-  return (segment, cfg.proc_name, res)
-
-
-def get_log_data(segment):
-  r, n = segment.rsplit("--", 1)
-  with FileReader(get_url(r, n)) as f:
-    return (segment, f.read())
-
-
-def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
-  if ignore_fields is None:
-    ignore_fields = []
-  if ignore_msgs is None:
-    ignore_msgs = []
-
-  ref_log_msgs = list(LogReader(ref_log_path))
-
-  try:
-    log_msgs = replay_process(cfg, lr, disable_progress=True)
-  except Exception as e:
-    raise Exception("failed on segment: " + segment) from e
-
-  # check to make sure openpilot is engaged in the route
-  if cfg.proc_name == "controlsd":
-    if not check_openpilot_enabled(log_msgs):
-      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
-
-  try:
-    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
-  except Exception as e:
-    return str(e), log_msgs
-
-
-def format_diff(results, log_paths, ref_commit):
-  diff1, diff2 = "", ""
-  diff2 += f"***** tested against commit {ref_commit} *****\n"
-
-  failed = False
-  for segment, result in list(results.items()):
-    diff1 += f"***** results for segment {segment} *****\n"
-    diff2 += f"***** differences for segment {segment} *****\n"
-
-    for proc, diff in list(result.items()):
-      # long diff
-      diff2 += f"*** process: {proc} ***\n"
-      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
-      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
-
-      # short diff
-      diff1 += f"    {proc}\n"
-      if isinstance(diff, str):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-        diff1 += f"        {diff}\n"
-        failed = True
-      elif len(diff):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-
-        cnt: Dict[str, int] = {}
-        for d in diff:
-          diff2 += f"\t{str(d)}\n"
-
-          k = str(d[1])
-          cnt[k] = 1 if k not in cnt else cnt[k] + 1
-
-        for k, v in sorted(cnt.items()):
-          diff1 += f"        {k}: {v}\n"
-        failed = True
-  return diff1, diff2, failed
-
-
-if __name__ == "__main__":
-  all_cars = {car for car, _ in segments}
-  all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
-
-  cpu_count = os.cpu_count() or 1
-
-  parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
-  parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs,
-                      help="Whitelist given processes from the test (e.g. controlsd)")
-  parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars,
-                      help="Whitelist given cars from the test (e.g. HONDA)")
-  parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[],
-                      help="Blacklist given processes from the test (e.g. controlsd)")
-  parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
-                      help="Blacklist given cars from the test (e.g. HONDA)")
-  parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
-                      help="Extra fields or msgs to ignore (e.g. carState.events)")
-  parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
-                      help="Msgs to ignore (e.g. carEvents)")
-  parser.add_argument("--update-refs", action="store_true",
-                      help="Updates reference logs using current commit")
-  parser.add_argument("--upload-only", action="store_true",
-                      help="Skips testing processes and uploads logs from previous test run")
-  parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1),
-                      help="Max amount of parallel jobs")
-  args = parser.parse_args()
-
-  tested_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
-  tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
-  tested_cars = {c.upper() for c in tested_cars}
-
-  full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs))
-  upload = args.update_refs or args.upload_only
-  os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
-
-  if upload:
-    assert full_test, "Need to run full test when updating refs"
-
-  try:
-    ref_commit = open(REF_COMMIT_FN).read().strip()
-  except FileNotFoundError:
-    print("Couldn't find reference commit")
-    sys.exit(1)
-
-  cur_commit = get_commit()
-  if cur_commit is None:
-    raise Exception("Couldn't get current commit")
-
-  print(f"***** testing against commit {ref_commit} *****")
-
-  # check to make sure all car brands are tested
-  if full_test:
-    untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars}
-    assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
+excluded_interfaces = ["mock", "tesla"]
 
-  log_paths: DefaultDict[str, Dict[str, Dict[str, str]]] = defaultdict(lambda: defaultdict(dict))
-  with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    if not args.upload_only:
-      download_segments = [seg for car, seg in segments if car in tested_cars]
-      log_data: Dict[str, LogReader] = {}
-      p1 = pool.map(get_log_data, download_segments)
-      for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
-        log_data[segment] = lr
+ALL_CARS = sorted({car for car, _ in segments})
 
-    pool_args: Any = []
-    for car_brand, segment in segments:
-      if car_brand not in tested_cars:
-        continue
 
-      for cfg in CONFIGS:
-        if cfg.proc_name not in tested_procs:
-          continue
+@pytest.mark.slow
+@parameterized_class(('case_name', 'segment'), segments)
+@pytest.mark.xdist_group_class_property('case_name')
+class TestCarProcessReplay(TestProcessReplayDiffBase):
+  """
+  Runs a replay diff on a segment for each car.
+  """
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
-        if args.update_refs:  # reference logs will not exist if routes were just regenerated
-          ref_log_path = get_url(*segment.rsplit("--", 1))
-        else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
-          ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
+  case_name: Optional[str] = None
+  tested_cars: List[str] = ALL_CARS
 
-        dat = None if args.upload_only else log_data[segment]
-        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
+  @classmethod
+  def setUpClass(cls):
+    if cls.case_name not in cls.tested_cars:
+      raise unittest.SkipTest(f"{cls.case_name} was not requested to be tested")
+    super().setUpClass()
 
-        log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
-        log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
+  def test_all_makes_are_tested(self):
+    if set(self.tested_cars) != set(ALL_CARS):
+      raise unittest.SkipTest("skipping check because some cars were skipped via command line")
 
-    results: Any = defaultdict(dict)
-    p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if not args.upload_only:
-        results[segment][proc] = result
+    # check to make sure all car brands are tested
+    untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in self.tested_cars}
+    self.assertEqual(len(untested), 0, f"Cars missing routes: {str(untested)}")
 
-  diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
-  if not upload:
-    with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
-      f.write(diff2)
-    print(diff1)
+  def test_controlsd_engaged(self):
+    if "controlsd" not in self.tested_procs:
+      raise unittest.SkipTest("controlsd was not requested to be tested")
 
-    if failed:
-      print("TEST FAILED")
-      print("\n\nTo push the new reference logs for this commit run:")
-      print("./test_processes.py --upload-only")
-    else:
-      print("TEST SUCCEEDED")
+    # check to make sure openpilot is engaged in the route
+    log_msgs = self.log_msgs["controlsd"]
+    self.assertTrue(check_openpilot_enabled(log_msgs), f"Route did not enable at all or for long enough: {self.segment}")
 
-  else:
-    with open(REF_COMMIT_FN, "w") as f:
-      f.write(cur_commit)
-    print(f"\n\nUpdated reference logs for commit: {cur_commit}")
 
-  sys.exit(int(failed))
+if __name__ == '__main__':
+  pytest.main([*sys.argv[1:], __file__])
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
new file mode 100755
index 0000000000..f352205564
--- /dev/null
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import unittest
+
+from parameterized import parameterized
+
+from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
+from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader
+
+TESTED_SEGMENTS = [
+  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
+  # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
+  # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"),  # MAZDA.CX9_2021:        TICI, incomplete managerState
+  # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"),   # FORD.BRONCO_SPORT_MK1: TICI
+]
+
+
+def ci_setup_data_readers(route, sidx):
+  lr = LogReader(get_url(route, sidx, "rlog"))
+  frs = {
+    'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")),
+    'driverCameraState': DummyFrameReader.zero_dcamera()
+  }
+  if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
+    frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera"))
+
+  return lr, frs
+
+
+class TestRegen(unittest.TestCase):
+  @parameterized.expand(TESTED_SEGMENTS)
+  def test_engaged(self, case_name, segment):
+    route, sidx = segment.rsplit("--", 1)
+    lr, frs = ci_setup_data_readers(route, sidx)
+    output_logs = regen_segment(lr, frs, disable_tqdm=True)
+
+    engaged = check_openpilot_enabled(output_logs)
+    self.assertTrue(engaged, f"openpilot not engaged in {case_name}")
+
+
+if __name__=='__main__':
+  unittest.main()
diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py
index 2994b77452..b3c3dc0c9c 100644
--- a/selfdrive/test/process_replay/vision_meta.py
+++ b/selfdrive/test/process_replay/vision_meta.py
@@ -4,9 +4,9 @@ from openpilot.common.realtime import DT_MDL, DT_DMON
 from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
 
 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size}
+ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
 WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
-DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size}
+DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
 VIPC_STREAM_METADATA = [
   # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
   ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
index 843bf52211..7f3b0126ff 100644
--- a/selfdrive/test/profiling/lib.py
+++ b/selfdrive/test/profiling/lib.py
@@ -1,5 +1,5 @@
 from collections import defaultdict, deque
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 import cereal.messaging as messaging
 import capnp
 
@@ -67,7 +67,7 @@ class SubMaster(messaging.SubMaster):
     self.msgs = list(reversed(self.msgs))
 
     for s in services:
-      self.freq[s] = service_list[s].frequency
+      self.freq[s] = SERVICE_LIST[s].frequency
       try:
         data = messaging.new_message(s)
       except capnp.lib.capnp.KjException:
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 1d380ba5eb..6d0cc204c5 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -83,14 +83,12 @@ if __name__ == '__main__':
   from openpilot.selfdrive.controls.radard import radard_thread
   from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
   from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
-  from openpilot.selfdrive.locationd.laikad import main as laikad_thread
 
   procs = {
     'radard': radard_thread,
     'controlsd': controlsd_thread,
     'paramsd': paramsd_thread,
     'plannerd': plannerd_thread,
-    'laikad': laikad_thread,
   }
 
   proc = sys.argv[1]
diff --git a/selfdrive/test/pytest-tici.ini b/selfdrive/test/pytest-tici.ini
new file mode 100644
index 0000000000..a553018309
--- /dev/null
+++ b/selfdrive/test/pytest-tici.ini
@@ -0,0 +1,5 @@
+[pytest]
+addopts = -Werror --strict-config --strict-markers
+markers = 
+  slow: tests that take awhile to run and can be skipped with -m 'not slow'
+  tici: tests that are only meant to run on the C3/C3X
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 1b99c31038..c34e097f73 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -43,11 +43,11 @@ while true; do
     sudo systemctl start ssh
   fi
 
-  if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
-    echo 'starting UI'
-    cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
-    /data/ciui.py &
-  fi
+  #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
+  #  echo 'starting UI'
+  #  cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
+  #  /data/ciui.py &
+  #fi
 
   sleep 5s
 done
@@ -56,31 +56,68 @@ sleep infinity
 EOF
 chmod +x $CONTINUE_PATH
 
-# set up environment
-if [ ! -d "$SOURCE_DIR" ]; then
-  git clone https://github.com/commaai/openpilot.git $SOURCE_DIR
-fi
-cd $SOURCE_DIR
+safe_checkout() {
+  # completely clean TEST_DIR
+
+  cd $SOURCE_DIR
+
+  # cleanup orphaned locks
+  find .git -type f -name "*.lock" -exec rm {} +
+
+  git reset --hard
+  git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
+  find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+  git reset --hard $GIT_COMMIT
+  git checkout $GIT_COMMIT
+  git clean -xdff
+  git submodule sync
+  git submodule update --init --recursive
+  git submodule foreach --recursive "git reset --hard && git clean -xdff"
+
+  git lfs pull
+  (ulimit -n 65535 && git lfs prune)
+
+  echo "git checkout done, t=$SECONDS"
+  du -hs $SOURCE_DIR $SOURCE_DIR/.git
 
-# cleanup orphaned locks
-find .git -type f -name "*.lock" -exec rm {} +
+  if [ -z "SKIP_COPY" ]; then
+    rsync -a --delete $SOURCE_DIR $TEST_DIR
+  fi
+}
+
+unsafe_checkout() {
+  # checkout directly in test dir, leave old build products
+
+  cd $TEST_DIR
+
+  # cleanup orphaned locks
+  find .git -type f -name "*.lock" -exec rm {} +
+
+  git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT
+  git checkout --force --no-recurse-submodules $GIT_COMMIT
+  git reset --hard $GIT_COMMIT
+  git clean -df
+  git submodule sync
+  git submodule update --init --recursive
+  git submodule foreach --recursive "git reset --hard && git clean -df"
 
-git reset --hard
-git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
-find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
-git reset --hard $GIT_COMMIT
-git checkout $GIT_COMMIT
-git clean -xdff
-git submodule sync
-git submodule update --init --recursive
-git submodule foreach --recursive "git reset --hard && git clean -xdff"
+  git lfs pull
+  (ulimit -n 65535 && git lfs prune)
+}
 
-git lfs pull
-(ulimit -n 65535 && git lfs prune)
+export GIT_PACK_THREADS=8
 
-echo "git checkout done, t=$SECONDS"
-du -hs $SOURCE_DIR $SOURCE_DIR/.git
+# set up environment
+if [ ! -d "$SOURCE_DIR" ]; then
+  git clone https://github.com/commaai/openpilot.git $SOURCE_DIR
+fi
 
-rsync -a --delete $SOURCE_DIR $TEST_DIR
+if [ ! -z "$UNSAFE" ]; then
+  echo "doing unsafe checkout"
+  unsafe_checkout
+else
+  echo "doing safe checkout"
+  safe_checkout
+fi
 
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 22055d8f20..17026dc69f 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -1,7 +1,11 @@
 #!/usr/bin/env python3
+import bz2
 import math
 import json
 import os
+import pathlib
+import psutil
+import pytest
 import shutil
 import subprocess
 import time
@@ -13,14 +17,14 @@ from pathlib import Path
 
 from cereal import car
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.events import EVENTS, ET
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.loggerd.config import ROOT
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 
 # Baseline CPU usage by process
@@ -30,15 +34,15 @@ PROCS = {
   "./encoderd": 17.0,
   "./camerad": 14.5,
   "./locationd": 11.0,
-  "./mapsd": 2.0,
+  "./mapsd": 1.5,
   "selfdrive.controls.plannerd": 16.5,
   "./_ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
-  "./_sensord": 7.0,
+  "./sensord": 7.0,
   "selfdrive.controls.radard": 4.5,
-  "selfdrive.modeld.modeld": 8.0,
-  "./_dmonitoringmodeld": 5.0,
-  "./_navmodeld": 1.0,
+  "selfdrive.modeld.modeld": 13.0,
+  "selfdrive.modeld.dmonitoringmodeld": 8.0,
+  "selfdrive.modeld.navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -46,7 +50,6 @@ PROCS = {
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
-  "./clocksd": 0.02,
   "selfdrive.tombstoned": 0,
   "./logcatd": 0,
   "system.micd": 10.0,
@@ -56,7 +59,6 @@ PROCS = {
   "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": 3.0,
   "system.loggerd.deleter": 0.1,
-  "selfdrive.locationd.laikad": (1.0, 80.0),  # TODO: better GPS setup in testing closet
 }
 
 PROCS.update({
@@ -67,7 +69,7 @@ PROCS.update({
   },
   "tizi": {
      "./boardd": 19.0,
-    "system.sensord.rawgps.rawgpsd": 1.0,
+    "system.qcomgpsd.qcomgpsd": 1.0,
   }
 }.get(HARDWARE.get_device_type(), {}))
 
@@ -97,12 +99,13 @@ def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
 
 
+@pytest.mark.tici
 class TestOnroad(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
     if "DEBUG" in os.environ:
-      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), 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")))
@@ -115,8 +118,8 @@ class TestOnroad(unittest.TestCase):
     params.remove("CurrentRoute")
     set_params_enabled()
     os.environ['TESTING_CLOSET'] = '1'
-    if os.path.exists(ROOT):
-      shutil.rmtree(ROOT)
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
     os.system("rm /dev/shm/*")
 
     # Make sure athena isn't running
@@ -143,8 +146,8 @@ class TestOnroad(unittest.TestCase):
 
         while len(cls.segments) < 3:
           segs = set()
-          if Path(ROOT).exists():
-            segs = set(Path(ROOT).glob(f"{route}--*"))
+          if Path(Paths.log_root()).exists():
+            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
           cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
           time.sleep(2)
 
@@ -152,6 +155,8 @@ class TestOnroad(unittest.TestCase):
       cls.segments = cls.segments[:-1]
 
     finally:
+      cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
+
       if proc is not None:
         proc.terminate()
         if proc.wait(60) is None:
@@ -161,6 +166,7 @@ class TestOnroad(unittest.TestCase):
 
     # use the second segment by default as it's the first full segment
     cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
+    cls.log_path = cls.segments[1]
 
   @cached_property
   def service_msgs(self):
@@ -179,7 +185,7 @@ class TestOnroad(unittest.TestCase):
         continue
 
       with self.subTest(service=s):
-        assert len(msgs) >= math.floor(service_list[s].frequency*55)
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
 
   def test_cloudlog_size(self):
     msgs = [m for m in self.lr if m.which() == 'logMessage']
@@ -191,6 +197,26 @@ class TestOnroad(unittest.TestCase):
     big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
     self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")
 
+  def test_log_sizes(self):
+    for f in self.log_path.iterdir():
+      assert f.is_file()
+
+      sz = f.stat().st_size / 1e6
+      if f.name in ("qlog", "rlog"):
+        with open(f, 'rb') as ff:
+          sz = len(bz2.compress(ff.read())) / 1e6
+
+      if f.name == "qcamera.ts":
+        assert 2.15 < sz < 2.35
+      elif f.name == "qlog":
+        assert 0.7 < sz < 1.0
+      elif f.name == "rlog":
+        assert 5 < sz < 50
+      elif f.name.endswith('.hevc'):
+        assert 70 < sz < 77
+      else:
+        raise NotImplementedError
+
   def test_ui_timings(self):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -276,6 +302,9 @@ class TestOnroad(unittest.TestCase):
     # expected to go up while the MSGQ buffers fill up
     self.assertLessEqual(max(mems) - min(mems), 3.0)
 
+  def test_gpu_usage(self):
+    self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"})
+
   def test_camera_processing_time(self):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -356,7 +385,7 @@ class TestOnroad(unittest.TestCase):
         raise Exception(f"missing {s}")
 
       ts = np.diff(msgs) / 1e9
-      dt = 1 / service_list[s].frequency
+      dt = 1 / SERVICE_LIST[s].frequency
 
       try:
         np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index 429feca344..cc2cc6514e 100755
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import time
 import subprocess
 
@@ -9,6 +10,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import set_params_enabled
 
 
+@pytest.mark.tici
 def test_time_to_onroad():
   # launch
   set_params_enabled()
@@ -16,7 +18,7 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['controlsState', 'deviceState'])
+  sm = messaging.SubMaster(['controlsState', 'deviceState', 'carEvents'])
   try:
     # wait for onroad
     with Timeout(20, "timed out waiting to go onroad"):
@@ -38,7 +40,7 @@ def test_time_to_onroad():
     # once we're enageable, must be for the next few seconds
     for _ in range(500):
       sm.update(100)
-      assert sm['controlsState'].engageable
+      assert sm['controlsState'].engageable, f"events: {sm['carEvents']}"
   finally:
     proc.terminate()
     if proc.wait(60) is None:
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index e679cd2c3b..dd79e03de4 100755
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import datetime
 import os
+import pytest
 import time
 import tempfile
 import unittest
@@ -13,6 +14,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 
 
+@pytest.mark.tici
 class TestUpdated(unittest.TestCase):
 
   def setUp(self):
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index 8157066334..ccaa7f9b84 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import os
+import re
 import subprocess
 import sys
 from functools import lru_cache
@@ -8,10 +10,9 @@ from azure.storage.blob import ContainerClient
 from tqdm import tqdm
 
 from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes
-from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
-from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER,
-                                                  get_azure_credential, get_container_sas)
+from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER,
+                                                  DATA_CI_CONTAINER, get_azure_credential, get_container_sas, upload_file)
 
 DATA_PROD_ACCOUNT = "commadata2"
 DATA_PROD_CONTAINER = "commadata2"
@@ -24,30 +25,23 @@ SOURCES = [
 
 @lru_cache
 def get_azure_keys():
-  dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, credential=get_azure_credential())
-  dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER)
+  dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, credential=get_azure_credential())
+  dest_key = get_container_sas(DATA_CI_ACCOUNT, OPENPILOT_CI_CONTAINER)
   source_keys = [get_container_sas(*s) for s in SOURCES]
   return dest_container, dest_key, source_keys
 
 
 def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None:
-  # TODO: use azure-storage-blob instead of azcopy, simplifies auth
-  dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER)
   if exclude_patterns is None:
-    exclude_patterns = ['*/dcamera.hevc']
+    exclude_patterns = [r'dcamera\.hevc']
 
   r, n = path.rsplit("--", 1)
   r = '/'.join(r.split('/')[-2:])  # strip out anything extra in the path
   destpath = f"{r}/{n}"
-  cmd = [
-    "azcopy",
-    "copy",
-    f"{path}/*",
-    f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{destpath}?{dest_key}",
-    "--recursive=false",
-    "--overwrite=false",
-  ] + [f"--exclude-pattern={p}" for p in exclude_patterns]
-  subprocess.check_call(cmd)
+  for file in os.listdir(path):
+    if any(re.search(pattern, file) for pattern in exclude_patterns):
+      continue
+    upload_file(os.path.join(path, file), f"{destpath}/{file}")
 
 
 def sync_to_ci_public(route: str) -> bool:
@@ -66,7 +60,7 @@ def sync_to_ci_public(route: str) -> bool:
       "azcopy",
       "copy",
       f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}",
-      f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{dongle_id}?{dest_key}",
+      f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{OPENPILOT_CI_CONTAINER}/{dongle_id}?{dest_key}",
       "--recursive=true",
       "--overwrite=false",
       "--exclude-pattern=*/dcamera.hevc",
@@ -90,7 +84,6 @@ if __name__ == "__main__":
 
   if not len(to_sync):
     # sync routes from the car tests routes and process replay
-    to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE])
     to_sync.extend([rt.route for rt in test_car_models_routes])
     to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
 
diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py
old mode 100644
new mode 100755
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index 5d6531ff49..f8d43737cd 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -3,6 +3,7 @@ import unittest
 from unittest.mock import patch
 
 from openpilot.common.params import Params
+from openpilot.selfdrive.test.helpers import noop
 from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                 CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
 
@@ -25,12 +26,10 @@ def pm_patch(name, value, constant=False):
 
 
 @patch("time.monotonic", new=mock_time_monotonic)
-@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y))
+@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=noop) # TODO: Remove this once nonblocking params are safer
 class TestPowerMonitoring(unittest.TestCase):
   def setUp(self):
     self.params = Params()
-    self.params.remove("CarBatteryCapacity")
-    self.params.remove("DisablePowerDown")
 
   # Test to see that it doesn't do anything when pandaState is None
   def test_pandaState_present(self):
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 32cfe11c39..3ccb9349e1 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -13,6 +13,7 @@ import psutil
 
 import cereal.messaging as messaging
 from cereal import log
+from cereal.services import SERVICE_LIST
 from openpilot.common.dict_helpers import strip_deprecated_keys
 from openpilot.common.time import MIN_DATE
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -33,7 +34,7 @@ NetworkStrength = log.DeviceState.NetworkStrength
 CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
-PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
+PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -210,6 +211,10 @@ def thermald_thread(end_event, hw_queue) -> None:
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
+    # Run at 2Hz
+    if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
+      continue
+
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 3f99e16831..3f2fb28d23 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -10,8 +10,8 @@ import glob
 from typing import NoReturn
 
 from openpilot.common.file_helpers import mkdirs_exists_ok
-from openpilot.system.loggerd.config import ROOT
 import openpilot.selfdrive.sentry as sentry
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit
 
@@ -46,19 +46,16 @@ def get_apport_stacktrace(fn):
 
 
 def get_tombstones():
-  """Returns list of (filename, ctime) for all tombstones in /data/tombstones
-  and apport crashlogs in /var/crash"""
+  """Returns list of (filename, ctime) for all crashlogs"""
   files = []
-  for folder in [TOMBSTONE_DIR, APPORT_DIR]:
-    if os.path.exists(folder):
-      with os.scandir(folder) as d:
-
-        # Loop over first 1000 directory entries
-        for _, f in zip(range(1000), d, strict=False):
-          if f.name.startswith("tombstone"):
-            files.append((f.path, int(f.stat().st_ctime)))
-          elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640:
-            files.append((f.path, int(f.stat().st_ctime)))
+  if os.path.exists(APPORT_DIR):
+    with os.scandir(APPORT_DIR) as d:
+      # Loop over first 1000 directory entries
+      for _, f in zip(range(1000), d, strict=False):
+        if f.name.startswith("tombstone"):
+          files.append((f.path, int(f.stat().st_ctime)))
+        elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640:
+          files.append((f.path, int(f.stat().st_ctime)))
   return files
 
 
@@ -130,7 +127,7 @@ def report_tombstone_apport(fn):
 
   new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
-  crashlog_dir = os.path.join(ROOT, "crash")
+  crashlog_dir = os.path.join(Paths.log_root(), "crash")
   mkdirs_exists_ok(crashlog_dir)
 
   # Files could be on different filesystems, copy, then delete
@@ -143,7 +140,7 @@ def report_tombstone_apport(fn):
 
 
 def main() -> NoReturn:
-  sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE)
+  should_report = sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE)
 
   # Clear apport folder on start, otherwise duplicate crashes won't register
   clear_apport_folder()
@@ -153,6 +150,14 @@ def main() -> NoReturn:
     now_tombstones = set(get_tombstones())
 
     for fn, _ in (now_tombstones - initial_tombstones):
+      # clear logs if we're not interested in them
+      if not should_report:
+        try:
+          os.remove(fn)
+        except Exception:
+          pass
+        continue
+
       try:
         cloudlog.info(f"reporting new tombstone {fn}")
         if fn.endswith(".crash"):
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index cb95652191..8ad5d39493 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -3,7 +3,6 @@ moc_*
 
 translations/main_test_en.*
 
-_mui
 watch3
 installer/installers/*
 qt/text
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 017ce66793..916f1017a3 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -20,7 +20,7 @@ if arch == "Darwin":
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
-widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc",
+widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
@@ -99,9 +99,6 @@ if GetOption('extras') and arch != "Darwin":
   # build updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
-  # build mui
-  qt_env.Program("_mui", ["mui.cc"], LIBS=qt_libs)
-
   # build installers
   senv = qt_env.Clone()
   senv['LINKFLAGS'].append('-Wl,-strip-debug')
diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc
deleted file mode 100644
index e2b4358b65..0000000000
--- a/selfdrive/ui/mui.cc
+++ /dev/null
@@ -1,132 +0,0 @@
-#include <QApplication>
-#include <QtWidgets>
-#include <QTimer>
-#include <QGraphicsScene>
-
-#include "cereal/messaging/messaging.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/qt_window.h"
-
-class StatusBar : public QGraphicsRectItem {
-  private:
-    QLinearGradient linear_gradient;
-    QRadialGradient radial_gradient;
-    QTimer animation_timer;
-    const int animation_length = 10;
-    int animation_index = 0;
-
-  public:
-    StatusBar(double x, double y, double width, double height) : QGraphicsRectItem {x, y, width, height} {
-      linear_gradient = QLinearGradient(0, 0, 0, height/2);
-      linear_gradient.setSpread(QGradient::ReflectSpread);
-
-      radial_gradient = QRadialGradient(width/2, height/2, width/8);
-      QObject::connect(&animation_timer, &QTimer::timeout, [=]() {
-        animation_index++;
-        animation_index %= animation_length;
-      });
-      animation_timer.start(50);
-    }
-
-    void solidColor(QColor color) {
-      QColor dark_color = QColor(color);
-      dark_color.setAlphaF(0.5);
-
-      linear_gradient.setColorAt(0, dark_color);
-      linear_gradient.setColorAt(1, color);
-      setBrush(QBrush(linear_gradient));
-    }
-
-    // these need to be called continuously for the animations to work.
-    // can probably clean that up with some more abstractions
-    void blinkingColor(QColor color) {
-      QColor dark_color = QColor(color);
-      dark_color.setAlphaF(0.1);
-
-      int radius = (rect().width() / animation_length) * animation_index;
-      QPoint center = QPoint(rect().width()/2, rect().height()/2);
-      radial_gradient.setCenter(center);
-      radial_gradient.setFocalPoint(center);
-      radial_gradient.setRadius(radius);
-
-      radial_gradient.setColorAt(1, dark_color);
-      radial_gradient.setColorAt(0, color);
-      setBrush(QBrush(radial_gradient));
-    }
-
-    void laneChange(cereal::LateralPlan::LaneChangeDirection direction) {
-      QColor dark_color = QColor(bg_colors[STATUS_ENGAGED]);
-      dark_color.setAlphaF(0.1);
-
-      int x = (rect().width() / animation_length) * animation_index;
-      QPoint center = QPoint(((direction == cereal::LateralPlan::LaneChangeDirection::RIGHT) ? x : (rect().width() - x)), rect().height()/2);
-      radial_gradient.setCenter(center);
-      radial_gradient.setFocalPoint(center);
-      radial_gradient.setRadius(rect().width()/5);
-
-      radial_gradient.setColorAt(1, dark_color);
-      radial_gradient.setColorAt(0, bg_colors[STATUS_ENGAGED]);
-      setBrush(QBrush(radial_gradient));
-    }
-
-    void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = nullptr) override {
-      painter->setPen(QPen());
-      painter->setBrush(brush());
-
-      double rounding_radius = rect().height()/2;
-      painter->drawRoundedRect(rect(), rounding_radius, rounding_radius);
-    }
-};
-
-int main(int argc, char *argv[]) {
-  QApplication a(argc, argv);
-  QWidget w;
-  setMainWindow(&w);
-
-  w.setStyleSheet("background-color: black;");
-
-  // our beautiful UI
-  QVBoxLayout *layout = new QVBoxLayout(&w);
-
-  QGraphicsScene *scene = new QGraphicsScene();
-  StatusBar *status_bar = new StatusBar(0, 0, 1000, 50);
-  scene->addItem(status_bar);
-
-  QGraphicsView *graphics_view = new QGraphicsView(scene);
-  layout->insertSpacing(0, 400);
-  layout->addWidget(graphics_view, 0, Qt::AlignCenter);
-
-  QTimer timer;
-  QObject::connect(&timer, &QTimer::timeout, [=]() {
-    static SubMaster sm({"deviceState", "controlsState", "lateralPlan"});
-
-    bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
-                       sm["deviceState"].getDeviceState().getStarted();
-    sm.update(0);
-
-    bool onroad = sm.allAliveAndValid({"deviceState"}) &&
-                  sm["deviceState"].getDeviceState().getStarted();
-
-    if (onroad) {
-      auto cs = sm["controlsState"].getControlsState();
-      UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
-      auto lp = sm["lateralPlan"].getLateralPlan();
-      if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) {
-        status_bar->blinkingColor(bg_colors[status]);
-      } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING ||
-                 lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) {
-        status_bar->laneChange(lp.getLaneChangeDirection());
-      } else {
-        status_bar->solidColor(bg_colors[status]);
-      }
-    }
-
-    if ((onroad != onroad_prev) || sm.frame < 2) {
-      Hardware::set_brightness(50);
-      Hardware::set_display_power(onroad);
-    }
-  });
-  timer.start(50);
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/body.cc b/selfdrive/ui/qt/body.cc
index f2628d304f..e01adbe063 100644
--- a/selfdrive/ui/qt/body.cc
+++ b/selfdrive/ui/qt/body.cc
@@ -63,9 +63,9 @@ BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QW
   face = new QLabel();
   face->setAlignment(Qt::AlignCenter);
   layout->addWidget(face);
-  awake = new QMovie("../assets/body/awake.gif");
+  awake = new QMovie("../assets/body/awake.gif", {}, this);
   awake->setCacheMode(QMovie::CacheAll);
-  sleep = new QMovie("../assets/body/sleep.gif");
+  sleep = new QMovie("../assets/body/sleep.gif", {}, this);
   sleep->setCacheMode(QMovie::CacheAll);
 
   // record button
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index f93b590007..9dbe7cbae3 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -11,8 +11,6 @@
 
 #ifdef ENABLE_MAPS
 #include "selfdrive/ui/qt/maps/map_settings.h"
-#else
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
 #endif
 
 // HomeWindow: the container for the offroad and onroad UIs
@@ -152,7 +150,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 #ifdef ENABLE_MAPS
     left_widget->addWidget(new MapSettings);
 #else
-    left_widget->addWidget(new DriveStats);
+    left_widget->addWidget(new QWidget);
 #endif
     left_widget->addWidget(new PrimeAdWidget);
     left_widget->setStyleSheet("border-radius: 10px;");
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index d5e81bc9e0..db56fcdcfc 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -5,7 +5,6 @@
 
 #include <QDebug>
 
-#include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/ui.h"
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index a23c8990d3..022355e3ce 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -21,6 +21,7 @@ QMapboxGLSettings get_mapbox_settings() {
 
   if (!Hardware::PC()) {
     settings.setCacheDatabasePath(MAPS_CACHE_PATH);
+    settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
   }
   settings.setApiBaseUrl(MAPS_HOST);
   settings.setAccessToken(get_mapbox_token());
@@ -149,8 +150,3 @@ std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
                         : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
   }
 }
-
-double angle_difference(double angle1, double angle2) {
-  double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0;
-  return diff < -180.0 ? diff + 360.0 : diff;
-}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
index 6c6a8d12fb..4d6e9b5382 100644
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -29,4 +29,3 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCo
 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
 std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param);
 std::pair<QString, QString> map_format_distance(float d, bool is_metric);
-double angle_difference(double angle1, double angle2);
diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc
index f1b8f812fa..0a2286ff6f 100644
--- a/selfdrive/ui/qt/maps/map_panel.cc
+++ b/selfdrive/ui/qt/maps/map_panel.cc
@@ -14,21 +14,21 @@ MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : Q
 
   auto map = new MapWindow(mapboxSettings);
   QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition);
-  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
+  QObject::connect(device(), &Device::interactiveTimeout, this, [=]() {
     content_stack->setCurrentIndex(0);
   });
-  QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) {
+  QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) {
     // when we show the map for a new route, signal HomeWindow to hide the sidebar
     if (visible) { emit mapPanelRequested(); }
     setVisible(visible);
   });
-  QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) {
+  QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) {
     content_stack->setCurrentIndex(settings ? 1 : 0);
   });
   content_stack->addWidget(map);
 
   auto settings = new MapSettings(true, parent);
-  QObject::connect(settings, &MapSettings::closeSettings, [=]() {
+  QObject::connect(settings, &MapSettings::closeSettings, this, [=]() {
     content_stack->setCurrentIndex(0);
   });
   content_stack->addWidget(settings);
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 98ecc90fe3..090b9b578c 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -105,6 +105,7 @@ void Networking::showEvent(QShowEvent *event) {
 }
 
 void Networking::hideEvent(QHideEvent *event) {
+  main_layout->setCurrentWidget(wifiScreen);
   wifi->stop();
 }
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 0af027ca90..669de5eae9 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -22,7 +22,6 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/input.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -284,7 +283,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 void DevicePanel::updateCalibDescription() {
   QString desc =
       tr("openpilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.");
+         "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.");
   std::string calib_bytes = params.get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index d0b82207e6..971eb673e2 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -4,6 +4,7 @@
 #include <cmath>
 #include <map>
 #include <memory>
+#include <sstream>
 
 #include <QDebug>
 #include <QMouseEvent>
@@ -213,7 +214,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
   setFixedSize(btn_size, btn_size);
 
-  params = Params();
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
diff --git a/selfdrive/ui/qt/spinner_larch64 b/selfdrive/ui/qt/spinner_larch64
index 645bc4430e..3d3011ed7f 100755
Binary files a/selfdrive/ui/qt/spinner_larch64 and b/selfdrive/ui/qt/spinner_larch64 differ
diff --git a/selfdrive/ui/qt/text_larch64 b/selfdrive/ui/qt/text_larch64
index eb0f535bf3..b032104cb8 100755
Binary files a/selfdrive/ui/qt/text_larch64 and b/selfdrive/ui/qt/text_larch64 differ
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 38824aa8db..edf7b5990b 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -31,8 +31,8 @@ const char frame_vertex_shader[] =
   "  vTexCoord = aTexCoord;\n"
   "}\n";
 
-#ifdef QCOM2
 const char frame_fragment_shader[] =
+#ifdef QCOM2
   "#version 300 es\n"
   "#extension GL_OES_EGL_image_external_essl3 : enable\n"
   "precision mediump float;\n"
@@ -43,7 +43,6 @@ const char frame_fragment_shader[] =
   "  colorOut = texture(uTexture, vTexCoord);\n"
   "}\n";
 #else
-const char frame_fragment_shader[] =
 #ifdef __APPLE__
   "#version 330 core\n"
 #else
@@ -205,7 +204,9 @@ void CameraWidget::updateFrameMat() {
 
   if (zoomed_view) {
     if (active_stream_type == VISION_STREAM_DRIVER) {
-      frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+      if (stream_width > 0 && stream_height > 0) {
+        frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+      }
     } else {
       // Project point at "infinity" to compute x and y offsets
       // to ensure this ends up in the middle of the screen
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 647653cdd3..fcd5b1b18f 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -65,7 +65,7 @@ protected:
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
   GLuint textures[2];
-  mat4 frame_mat;
+  mat4 frame_mat = {};
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 87304a4585..18a79b5983 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -12,13 +12,14 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   hlayout->setSpacing(20);
 
   // left icon
-  icon_label = new QLabel();
+  icon_label = new QLabel(this);
+  hlayout->addWidget(icon_label);
   if (!icon.isEmpty()) {
     icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
     icon_label->setPixmap(icon_pixmap);
     icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    hlayout->addWidget(icon_label);
   }
+  icon_label->setVisible(!icon.isEmpty());
 
   // title
   title_label = new QPushButton(title);
diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc
deleted file mode 100644
index 31009f03ca..0000000000
--- a/selfdrive/ui/qt/widgets/drive_stats.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
-
-#include <QDebug>
-#include <QGridLayout>
-#include <QJsonObject>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-
-static QLabel* newLabel(const QString& text, const QString &type) {
-  QLabel* label = new QLabel(text);
-  label->setProperty("type", type);
-  return label;
-}
-
-DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
-  metric_ = Params().getBool("IsMetric");
-
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 50, 50, 60);
-
-  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
-    QGridLayout* grid_layout = new QGridLayout;
-    grid_layout->setVerticalSpacing(10);
-    grid_layout->setContentsMargins(0, 10, 0, 10);
-
-    int row = 0;
-    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
-
-    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
-    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
-
-    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
-
-    main_layout->addLayout(grid_layout);
-  };
-
-  add_stats_layouts(tr("ALL TIME"), all_);
-  main_layout->addStretch();
-  add_stats_layouts(tr("PAST WEEK"), week_);
-
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse);
-  }
-
-  setStyleSheet(R"(
-    DriveStats {
-      background-color: #333333;
-      border-radius: 10px;
-    }
-
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
-  )");
-}
-
-void DriveStats::updateStats() {
-  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
-    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
-    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
-    labels.distance_unit->setText(getDistanceUnit());
-    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
-  };
-
-  QJsonObject json = stats_.object();
-  update(json["all"].toObject(), all_);
-  update(json["week"].toObject(), week_);
-}
-
-void DriveStats::parseResponse(const QString& response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting past drives statistics";
-    return;
-  }
-  stats_ = doc;
-  updateStats();
-}
-
-void DriveStats::showEvent(QShowEvent* event) {
-  bool metric = Params().getBool("IsMetric");
-  if (metric_ != metric) {
-    metric_ = metric;
-    updateStats();
-  }
-}
diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h
deleted file mode 100644
index 5e2d96b240..0000000000
--- a/selfdrive/ui/qt/widgets/drive_stats.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#include <QJsonDocument>
-#include <QLabel>
-
-class DriveStats : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit DriveStats(QWidget* parent = 0);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
-
-  bool metric_;
-  QJsonDocument stats_;
-  struct StatsLabels {
-    QLabel *routes, *distance, *distance_unit, *hours;
-  } all_, week_;
-
-private slots:
-  void parseResponse(const QString &response, bool success);
-};
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index 917ea21b57..089e54e4a0 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -26,7 +26,7 @@ class InputDialog : public DialogBase {
 
 public:
   explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false);
-  static QString getText(const QString &title, QWidget *parent, const QString &substitle = "",
+  static QString getText(const QString &title, QWidget *parent, const QString &subtitle = "",
                          bool secret = false, int minLength = -1, const QString &defaultText = "");
   QString text();
   void setMessage(const QString &message, bool clearInputField = true);
diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc
index ed5825ab77..9c5289a22d 100644
--- a/selfdrive/ui/qt/widgets/wifi.cc
+++ b/selfdrive/ui/qt/widgets/wifi.cc
@@ -18,8 +18,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
     title_layout->setSpacing(32);
     {
       QLabel *icon = new QLabel;
-      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg");
-      icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation));
+      QPixmap pixmap("../assets/offroad/icon_wifi_strength_full.svg");
+      icon->setPixmap(pixmap.scaledToWidth(80, Qt::SmoothTransformation));
       title_layout->addWidget(icon);
 
       QLabel *title = new QLabel(tr("Setup Wi-Fi"));
@@ -68,8 +68,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
       title_layout->addStretch();
 
       QLabel *icon = new QLabel;
-      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg");
-      icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation));
+      QPixmap pixmap("../assets/offroad/icon_wifi_uploading.svg");
+      icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation));
       title_layout->addWidget(icon);
     }
     uploading_layout->addLayout(title_layout);
diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc
index d3c6486023..a5884f113f 100644
--- a/selfdrive/ui/soundd/sound.cc
+++ b/selfdrive/ui/soundd/sound.cc
@@ -15,12 +15,13 @@
 Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) {
   qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName();
 
-  for (auto &[alert, fn, loops] : sound_list) {
+  for (auto &[alert, fn, loops, volume] : sound_list) {
     QSoundEffect *s = new QSoundEffect(this);
     QObject::connect(s, &QSoundEffect::statusChanged, [=]() {
       assert(s->status() != QSoundEffect::Error);
     });
     s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn));
+    s->setVolume(volume);
     sounds[alert] = {s, loops};
   }
 
diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h
index 81a5f1a86b..4fcb2e1bce 100644
--- a/selfdrive/ui/soundd/sound.h
+++ b/selfdrive/ui/soundd/sound.h
@@ -9,18 +9,21 @@
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
 
-const std::tuple<AudibleAlert, QString, int> sound_list[] = {
+
+const float MAX_VOLUME = 1.0;
+
+const std::tuple<AudibleAlert, QString, int, float> sound_list[] = {
   // AudibleAlert, file name, loop count
-  {AudibleAlert::ENGAGE, "engage.wav", 0},
-  {AudibleAlert::DISENGAGE, "disengage.wav", 0},
-  {AudibleAlert::REFUSE, "refuse.wav", 0},
+  {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME},
+  {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME},
+  {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME},
 
-  {AudibleAlert::PROMPT, "prompt.wav", 0},
-  {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite},
-  {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite},
+  {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME},
+  {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME},
+  {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME},
 
-  {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite},
-  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite},
+  {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME},
+  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME},
 };
 
 class Sound : public QObject {
diff --git a/selfdrive/ui/soundd/soundd b/selfdrive/ui/soundd/soundd
index 66dda46d5b..9b7a32fec9 100755
--- a/selfdrive/ui/soundd/soundd
+++ b/selfdrive/ui/soundd/soundd
@@ -1,5 +1,4 @@
 #!/bin/sh
 cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
 export QT_QPA_PLATFORM="offscreen"
 exec ./_soundd
diff --git a/selfdrive/ui/spinner b/selfdrive/ui/spinner
index 6c8e533cc8..35feab3f7e 100755
--- a/selfdrive/ui/spinner
+++ b/selfdrive/ui/spinner
@@ -4,5 +4,4 @@ if [ -f /TICI ] && [ ! -f qt/spinner ]; then
   cp qt/spinner_larch64 qt/spinner
 fi
 
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
 exec ./qt/spinner "$1"
diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc
index 43599f3828..d9cb5c0a7f 100644
--- a/selfdrive/ui/tests/test_sound.cc
+++ b/selfdrive/ui/tests/test_sound.cc
@@ -31,7 +31,7 @@ void controls_thread(int loop_cnt) {
 
   const int DT_CTRL = 10;  // ms
   for (int i = 0; i < loop_cnt; ++i) {
-    for (auto &[alert, fn, loops] : sound_list) {
+    for (auto &[alert, fn, loops, volume] : sound_list) {
       printf("testing %s\n", qPrintable(fn));
       for (int j = 0; j < 1000 / DT_CTRL; ++j) {
         MessageBuilder msg;
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 1ff203b97d..622d198f7d 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -114,6 +114,13 @@ class TestTranslations(unittest.TestCase):
           self.assertFalse(line.strip().startswith(LOCATION_TAG),
                            f"Line contains location tag: {line.strip()}, remove all line numbers.")
 
+  def test_entities_error(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        matches = re.findall(r'@(\w+);', cur_translations)
+        self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/ui/text b/selfdrive/ui/text
index 2577e3006b..b44bec42bd 100755
--- a/selfdrive/ui/text
+++ b/selfdrive/ui/text
@@ -4,5 +4,4 @@ if [ -f /TICI ] && [ ! -f qt/text ]; then
   cp qt/text_larch64 qt/text
 fi
 
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
 exec ./qt/text "$1"
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index fa659e18ba..321cdeedd2 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -4,6 +4,7 @@
   "Français": "main_fr",
   "Português": "main_pt-BR",
   "Türkçe": "main_tr",
+  "العربية": "main_ar",
   "ไทย": "main_th",
   "中文（繁體）": "main_zh-CHT",
   "中文（简体）": "main_zh-CHS",
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 07a84fca08..4159f28c31 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -5,7 +5,7 @@
     <name>AbstractAlert</name>
     <message>
         <source>Close</source>
-        <translation>أغلق</translation>
+        <translation>إغلاق</translation>
     </message>
     <message>
         <source>Snooze Update</source>
@@ -20,7 +20,7 @@
     <name>AdvancedNetworking</name>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Enable Tethering</source>
@@ -28,7 +28,7 @@
     </message>
     <message>
         <source>Tethering Password</source>
-        <translation>كلمة مرور للربط</translation>
+        <translation>كلمة مرور الربط</translation>
     </message>
     <message>
         <source>EDIT</source>
@@ -36,7 +36,7 @@
     </message>
     <message>
         <source>Enter new tethering password</source>
-        <translation>أدخل كلمة مرور جديدة للربط</translation>
+        <translation>أدخل كلمة مرور الربط الجديدة</translation>
     </message>
     <message>
         <source>IP Address</source>
@@ -48,46 +48,46 @@
     </message>
     <message>
         <source>APN Setting</source>
-        <translation>إعداد APN</translation>
+        <translation>إعدادات APN</translation>
     </message>
     <message>
         <source>Enter APN</source>
-        <translation>أدخل APN</translation>
+        <translation>إدخال APN</translation>
     </message>
     <message>
         <source>leave blank for automatic configuration</source>
-        <translation>اتركه فارغا للتكوين التلقائي</translation>
+        <translation>اتركه فارغاً من أجل التكوين التلقائي</translation>
     </message>
     <message>
         <source>Cellular Metered</source>
-        <translation type="unfinished"></translation>
+        <translation>محدود بالاتصال الخلوي</translation>
     </message>
     <message>
         <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
+        <translation>منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً</translation>
     </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
     <message>
         <source>km/h</source>
-        <translation>km/h</translation>
+        <translation>كم/س</translation>
     </message>
     <message>
         <source>mph</source>
-        <translation>mph</translation>
+        <translation>ميل/س</translation>
     </message>
     <message>
         <source>MAX</source>
-        <translation>الأعلى</translation>
+        <translation>MAX</translation>
     </message>
     <message>
         <source>SPEED</source>
-        <translation>سرعة</translation>
+        <translation>SPEED</translation>
     </message>
     <message>
         <source>LIMIT</source>
-        <translation>حد</translation>
+        <translation>LIMIT</translation>
     </message>
 </context>
 <context>
@@ -109,11 +109,38 @@
     </message>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Decline, uninstall %1</source>
-        <translation>رفض ، قم بإلغاء تثبيت %1</translation>
+        <translation>رفض، إلغاء التثبيت %1</translation>
+    </message>
+</context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>المنزل</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>العمل</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>لم يتم ضبط الوجهة</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>المنزل</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>العمل</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>لم يتم ضبط %1 موقع</translation>
     </message>
 </context>
 <context>
@@ -128,19 +155,19 @@
     </message>
     <message>
         <source>Serial</source>
-        <translation>التسلسلي</translation>
+        <translation>الرقم التسلسلي</translation>
     </message>
     <message>
         <source>Driver Camera</source>
-        <translation>كاميرا السائق</translation>
+        <translation>كاميرة السائق</translation>
     </message>
     <message>
         <source>PREVIEW</source>
-        <translation>لمح</translation>
+        <translation>معاينة</translation>
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة معطلة)</translation>
+        <translation>قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة متوقفة)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
@@ -148,7 +175,7 @@
     </message>
     <message>
         <source>RESET</source>
-        <translation>إعادة تعيين</translation>
+        <translation>إعادة الضبط</translation>
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
@@ -164,7 +191,7 @@
     </message>
     <message>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>راجع القواعد والميزات والقيود الخاصة بـ openpilot</translation>
+        <translation>مراجعة الأدوار والميزات والقيود في openpilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -172,7 +199,7 @@
     </message>
     <message>
         <source>Regulatory</source>
-        <translation>تنظيمية</translation>
+        <translation>التنظيمية</translation>
     </message>
     <message>
         <source>VIEW</source>
@@ -192,43 +219,43 @@
     </message>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Power Off</source>
-        <translation>أطفاء</translation>
+        <translation>إيقاف التشغيل</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>يتطلب openpilot أن يتم تركيب الجهاز في حدود 4 درجات يسارًا أو يمينًا و 5 درجات لأعلى أو 8 درجات لأسفل. يقوم برنامج openpilot بالمعايرة بشكل مستمر ، ونادراً ما تكون إعادة الضبط مطلوبة.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> جهازك يشير %1° %2 و %3° %4.</translation>
+        <translation> يشير جهازك إلى %1 درجة %2، و%3 درجة %4.</translation>
     </message>
     <message>
         <source>down</source>
-        <translation>لأسفل</translation>
+        <translation>نحو الأسفل</translation>
     </message>
     <message>
         <source>up</source>
-        <translation>إلى أعلى</translation>
+        <translation>نحو الأعلى</translation>
     </message>
     <message>
         <source>left</source>
-        <translation>إلى اليسار</translation>
+        <translation>نحو اليسار</translation>
     </message>
     <message>
         <source>right</source>
-        <translation>إلى اليمين</translation>
+        <translation>نحو اليمين</translation>
     </message>
     <message>
         <source>Are you sure you want to reboot?</source>
-        <translation>هل أنت متأكد أنك تريد إعادة التشغيل؟</translation>
+        <translation>هل أنت متأكد  أنك تريد إعادة التشغيل؟</translation>
     </message>
     <message>
         <source>Disengage to Reboot</source>
-        <translation>فك الارتباط لإعادة التشغيل</translation>
+        <translation>فك الارتباط من أجل إعادة التشغيل</translation>
     </message>
     <message>
         <source>Are you sure you want to power off?</source>
@@ -236,34 +263,15 @@
     </message>
     <message>
         <source>Disengage to Power Off</source>
-        <translation>فك الارتباط لإيقاف التشغيل</translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>أرقام القيادة</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>ساعات</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>في كل وقت</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>الأسبوع الماضي</translation>
+        <translation>فك الارتباط من أجل إيقاف التشغيل</translation>
     </message>
     <message>
-        <source>KM</source>
-        <translation>كم</translation>
+        <source>Reset</source>
+        <translation>إعادة الضبط</translation>
     </message>
     <message>
-        <source>Miles</source>
-        <translation>اميال</translation>
+        <source>Review</source>
+        <translation>مراجعة</translation>
     </message>
 </context>
 <context>
@@ -273,6 +281,17 @@
         <translation>بدء تشغيل الكاميرا</translation>
     </message>
 </context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>تشغيل الوضع التجريبي</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>تشغيل وضع الراحة</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -282,12 +301,12 @@
     <message numerus="yes">
         <source>Need at least %n character(s)!</source>
         <translation>
-            <numerusform>تحتاج على الأقل %n حرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n حرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
+            <numerusform>تحتاج إلى حرف %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى حرف %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى حرفين %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n أحرف على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n أحرف على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n حرف على الأقل!</numerusform>
         </translation>
     </message>
 </context>
@@ -295,143 +314,135 @@
     <name>Installer</name>
     <message>
         <source>Installing...</source>
-        <translation>جارٍ التثبيت ...</translation>
-    </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>استقبال الكائنات: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>حل دلتا: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>جارٍ تحديث الملفات: </translation>
+        <translation>جارٍ التثبيت...</translation>
     </message>
 </context>
 <context>
     <name>MapETA</name>
     <message>
         <source>eta</source>
-        <translation>eta</translation>
+        <translation>الوصول</translation>
     </message>
     <message>
         <source>min</source>
-        <translation>دق</translation>
+        <translation>د</translation>
     </message>
     <message>
         <source>hr</source>
-        <translation>سع</translation>
+        <translation>س</translation>
     </message>
+</context>
+<context>
+    <name>MapSettings</name>
     <message>
-        <source>km</source>
-        <translation>كم</translation>
+        <source>NAVIGATION</source>
+        <translation>التنقل</translation>
     </message>
     <message>
-        <source>mi</source>
-        <translation>مل</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>الإدارة في connect.comma.ai</translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapWindow</name>
     <message>
-        <source> km</source>
-        <translation> كم</translation>
+        <source>Map Loading</source>
+        <translation>تحميل الخريطة</translation>
+    </message>
+    <message>
+        <source>Waiting for GPS</source>
+        <translation>بانتظار GPS</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> م</translation>
+        <source>Waiting for route</source>
+        <translation>بانتظار الطريق</translation>
     </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
     <message>
-        <source> mi</source>
-        <translation> مل</translation>
+        <source>Select</source>
+        <translation>اختيار</translation>
     </message>
     <message>
-        <source> ft</source>
-        <translation> قد</translation>
+        <source>Cancel</source>
+        <translation>إلغاء</translation>
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>Networking</name>
     <message>
-        <source>Current Destination</source>
-        <translation>الوجهة الحالية</translation>
+        <source>Advanced</source>
+        <translation>متقدم</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>مسح</translation>
+        <source>Enter password</source>
+        <translation>أدخل كلمة المرور</translation>
     </message>
     <message>
-        <source>Recent Destinations</source>
-        <translation>الوجهات الأخيرة</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>من أجل &quot;%1&quot;</translation>
     </message>
     <message>
-        <source>Try the Navigation Beta</source>
-        <translation>جرب التنقل التجريبي</translation>
+        <source>Wrong password</source>
+        <translation>كلمة مرور خاطئة</translation>
     </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
     <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma
-الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai</translation>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>درجة حرارة الجهاز مرتفعة جداً. يقوم النظام بالتبريد قبل البدء. درجة الحرارة الحالية للمكونات الداخلية: %1</translation>
     </message>
     <message>
-        <source>No home
-location set</source>
-        <translation>لم يتم تعيين
-موقع المنزل</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>اتصل فوراً بالإنترنت للتحقق من وجود تحديثات. إذا لم تكم متصلاً بالإنترنت فإن openpilot لن يساهم في %1</translation>
     </message>
     <message>
-        <source>No work
-location set</source>
-        <translation>لم يتم تعيين
-موقع العمل</translation>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>اتصل بالإنترنت للتحقق من وجود تحديثات. لا يعمل openpilot تلقائياً إلا إذا اتصل بالإنترنت من أجل التحقق من التحديثات.</translation>
     </message>
     <message>
-        <source>no recent destinations</source>
-        <translation>لا توجد وجهات حديثة</translation>
+        <source>Unable to download updates
+%1</source>
+        <translation>غير قادر على تحميل التحديثات
+%1</translation>
     </message>
-</context>
-<context>
-    <name>MapWindow</name>
     <message>
-        <source>Map Loading</source>
-        <translation>تحميل الخريطة</translation>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>إعدادات التاريخ والتوقيت غير صحيحة، لن يبدأ النظام. اتصل بالإنترنت من أجل ضبط الوقت.</translation>
     </message>
     <message>
-        <source>Waiting for GPS</source>
-        <translation>في انتظار GPS</translation>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>التقاط لقطات كاميرا. لن يبدأ النظام حتى تنتهي هذه العملية.</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>اختر</translation>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>فشل تسجيل الجهاز. لن يقوم بالاتصال أو تحميل خوادم comma.ai، ولا تلقي الدعم من comma.ai. إذا كان هذا الجهاز نظامياً فيرجى زيارة الموقع https://comma.ai/support.</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>متقدم</translation>
+        <source>NVMe drive not mounted.</source>
+        <translation>محرك NVMe غير مثبَّت.</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>أدخل كلمة المرور</translation>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>تم اكتشاف محرك NVMe غير مدعوم. قد يستهلك الجهاز قدراً أكبر بكثير من الطاقة، وزيادة في ارتفاع درجة الحرارة بسبب وجود NVMe غير مدعوم.</translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>ل &quot;%1&quot;</translation>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعرف على وحدة التحكم الإلكتروني (ECUs) فيها. يرجى تقديم طلب سحب من أجل إضافة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد في التواصل مع doscord.comma.ai.</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>كلمة مرور خاطئة</translation>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>لم يتمكن openpilot من تحديد سيارتك. تحقق من سلامة الكابلات وتأكد من تأمين جميع الوصلات، لا سيما أنه قد تم إدخال طاقة الفاصلة بالكامل في منفذ OBD-II في السيارة. هل تريد أي مساعدة؟ لا تتردد في الانضمام إلى discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
     </message>
 </context>
 <context>
@@ -442,7 +453,7 @@ location set</source>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> تنبيهات</translation>
+        <translation> التنبهات</translation>
     </message>
     <message>
         <source> ALERT</source>
@@ -453,46 +464,61 @@ location set</source>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>قم بإقران جهازك بحساب comma الخاص بك</translation>
+        <translation>اقرن جهازك مع حسابك على comma</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>اذهب إلى https://connect.comma.ai من هاتفك</translation>
+        <translation>انتقل إلى https://connect.comma.ai على جوالك</translation>
     </message>
     <message>
         <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>انقر على &quot;إضافة جهاز جديد&quot; وامسح رمز الاستجابة السريعة على اليمين</translation>
+        <translation>انقر &quot;،إضافة جهاز جديد&quot;، وامسح رمز الاستجابة السريعة (QR) على اليمين</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق</translation>
+        <translation>اجعل لـconnect.comma.ai إشارة مرجعية على شاشتك  الرئيسية من أجل استخدامه مثل أي تطبيق</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>تمكين</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>إلغاء</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
         <source>Upgrade Now</source>
-        <translation>قم بالترقية الآن</translation>
+        <translation>الترقية الآن</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>كن عضوًا comme prime في connect.comma.ai</translation>
+        <translation>كن عضوًا في comma prime على connect.comma.ai</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
-        <translation>ميزات PRIME:</translation>
+        <translation>الميزات الأساسية:</translation>
     </message>
     <message>
         <source>Remote access</source>
-        <translation>الوصول عن بعد</translation>
+        <translation>التحكم عن بعد</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>اتصال LTE على مدار الساعة 24/7</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>سنة واحدة من التخزين</translation>
+        <source>1 year of drive storage</source>
+        <translation>سنة واحدة من تخزين القرص</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>امتيازات المطور</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation>التنقل خطوة بخطوة</translation>
     </message>
 </context>
 <context>
@@ -505,24 +531,16 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA POINTS</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Exit</source>
-        <translation>أغلق</translation>
+        <translation>إغلاق</translation>
     </message>
     <message>
         <source>dashcam</source>
@@ -537,10 +555,10 @@ location set</source>
         <translation>
             <numerusform>منذ %n دقيقة</numerusform>
             <numerusform>منذ %n دقيقة</numerusform>
+            <numerusform>منذ دقيقتين %n</numerusform>
             <numerusform>منذ %n دقائق</numerusform>
             <numerusform>منذ %n دقائق</numerusform>
-            <numerusform>منذ %n دقائق</numerusform>
-            <numerusform>منذ %n دقائق</numerusform>
+            <numerusform>منذ %n دقيقة</numerusform>
         </translation>
     </message>
     <message numerus="yes">
@@ -548,10 +566,10 @@ location set</source>
         <translation>
             <numerusform>منذ %n ساعة</numerusform>
             <numerusform>منذ %n ساعة</numerusform>
+            <numerusform>منذ ساعتين %n</numerusform>
             <numerusform>منذ %n ساعات</numerusform>
             <numerusform>منذ %n ساعات</numerusform>
-            <numerusform>منذ %n ساعات</numerusform>
-            <numerusform>منذ %n ساعات</numerusform>
+            <numerusform>منذ %n ساعة</numerusform>
         </translation>
     </message>
     <message numerus="yes">
@@ -559,34 +577,42 @@ location set</source>
         <translation>
             <numerusform>منذ %n يوم</numerusform>
             <numerusform>منذ %n يوم</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
+            <numerusform>منذ يومين %n</numerusform>
+            <numerusform>منذ %n أيام</numerusform>
+            <numerusform>منذ %n أيام</numerusform>
+            <numerusform>منذ %n يوم</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>كم</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>م</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>ميل</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>قدم</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>فشل إعادة التعيين. أعد التشغيل للمحاولة مرة أخرى.</translation>
+        <translation>فشل إعاة الضبط. أعد التشغيل للمحاولة من جديد.</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
         <translation>هل أنت متأكد أنك تريد إعادة ضبط جهازك؟</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>جارٍ إعادة ضبط الجهاز ...</translation>
-    </message>
     <message>
         <source>System Reset</source>
-        <translation>إعادة تعيين النظام</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد.</translation>
+        <translation>إعادة ضبط النظام</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -594,108 +620,95 @@ location set</source>
     </message>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Confirm</source>
         <translation>تأكيد</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك.</translation>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>يتم إعادة ضبط الجهاز...
+قد يستغرق الأمر حوالي الدقيقة.</translation>
     </message>
-</context>
-<context>
-    <name>RichTextDialog</name>
     <message>
-        <source>Ok</source>
-        <translation>موافق</translation>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لمتابعة التشغيل.</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>غير قادر على تحميل جزء البيانات. قد يكون الجزء تالفاً. اضغط على تأكيد لمسح جهازك وإعادة ضبطه.</translation>
     </message>
 </context>
 <context>
     <name>SettingsWindow</name>
     <message>
         <source>×</source>
-        <translation>x</translation>
+        <translation>×</translation>
     </message>
     <message>
         <source>Device</source>
-        <translation>جهاز</translation>
+        <translation>الجهاز</translation>
     </message>
     <message>
         <source>Network</source>
-        <translation>شبكة الاتصال</translation>
+        <translation>الشبكة</translation>
     </message>
     <message>
         <source>Toggles</source>
-        <translation>التبديل</translation>
+        <translation>المثبتتات</translation>
     </message>
     <message>
         <source>Software</source>
-        <translation>برمجة</translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation>ملاحة</translation>
+        <translation>البرنامج</translation>
     </message>
 </context>
 <context>
     <name>Setup</name>
     <message>
         <source>WARNING: Low Voltage</source>
-        <translation>تحذير: الجهد المنخفض</translation>
+        <translation>تحذير: الجهد منخفض</translation>
     </message>
     <message>
         <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>قم بتشغيل جهازك في سيارة باستخدام أداة تثبيت أو المضي قدمًا على مسؤوليتك الخاصة.</translation>
+        <translation>شغل جهازك في السيارة عن طريق شرطان التوصيل، أو تابع على مسؤوليتك.</translation>
     </message>
     <message>
         <source>Power off</source>
-        <translation>اطفئ الجهاز</translation>
+        <translation>إيقاف التشغيل</translation>
     </message>
     <message>
         <source>Continue</source>
-        <translation>أكمل</translation>
+        <translation>متابعة</translation>
     </message>
     <message>
         <source>Getting Started</source>
-        <translation>ابدء</translation>
+        <translation>البدء</translation>
     </message>
     <message>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>قبل أن ننطلق على الطريق ، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل.</translation>
+        <translation>قبل أن ننطلق في الطريق، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>اتصل بشبكة Wi-Fi</translation>
+        <translation>الاتصال بشبكة الواي فاي</translation>
     </message>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Continue without Wi-Fi</source>
-        <translation>استمر بدون Wi-Fi</translation>
+        <translation>المتابعة بدون شبكة الواي فاي</translation>
     </message>
     <message>
         <source>Waiting for internet</source>
-        <translation>في انتظار الاتصال بالإنترنت</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>اختر البرنامج المراد تثبيته</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>Dashcam</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>برامج مخصصة</translation>
+        <translation>بانتظار الاتصال بالإنترنت</translation>
     </message>
     <message>
         <source>Enter URL</source>
-        <translation>إدخال عنوان الموقع</translation>
+        <translation>أدخل رابط URL</translation>
     </message>
     <message>
         <source>for Custom Software</source>
@@ -703,7 +716,7 @@ location set</source>
     </message>
     <message>
         <source>Downloading...</source>
-        <translation>جارى التحميل...</translation>
+        <translation>يتم الآن التنزيل...</translation>
     </message>
     <message>
         <source>Download Failed</source>
@@ -711,15 +724,27 @@ location set</source>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>تأكد من أن عنوان موقع الويب الذي تم إدخاله صالح ، وأن اتصال الجهاز بالإنترنت جيد.</translation>
+        <translation>تأكد من أن رابط URL الذي أدخلته صالح، وأن اتصال الجهاز بالإنترنت جيد.</translation>
     </message>
     <message>
         <source>Reboot device</source>
-        <translation>إعادة تشغيل الجهاز</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Start over</source>
-        <translation>ابدأ من جديد</translation>
+        <translation>البدء من جديد</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>حدث خطأ ما. أعد التشغيل الجهاز.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>لم يتم العثور على برنامج خاص لعنوان URL ها.</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>اختر لغة</translation>
     </message>
 </context>
 <context>
@@ -730,11 +755,11 @@ location set</source>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>قم بإقران جهازك بفاصلة connect (connect.comma.ai) واطلب عرض comma prime الخاص بك.</translation>
+        <translation>اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime.</translation>
     </message>
     <message>
         <source>Pair device</source>
-        <translation>إقران الجهاز</translation>
+        <translation>اقتران الجهاز</translation>
     </message>
 </context>
 <context>
@@ -761,7 +786,7 @@ location set</source>
     </message>
     <message>
         <source>HIGH</source>
-        <translation>عالي</translation>
+        <translation>مرتفع</translation>
     </message>
     <message>
         <source>GOOD</source>
@@ -773,7 +798,7 @@ location set</source>
     </message>
     <message>
         <source>VEHICLE</source>
-        <translation>مركبة</translation>
+        <translation>المركبة</translation>
     </message>
     <message>
         <source>NO</source>
@@ -822,140 +847,112 @@ location set</source>
 </context>
 <context>
     <name>SoftwarePanel</name>
-    <message>
-        <source>Git Branch</source>
-        <translation type="vanished">Git Branch</translation>
-    </message>
-    <message>
-        <source>Git Commit</source>
-        <translation type="vanished">Git Commit</translation>
-    </message>
-    <message>
-        <source>OS Version</source>
-        <translation type="vanished">إصدار نظام التشغيل</translation>
-    </message>
-    <message>
-        <source>Version</source>
-        <translation type="vanished">إصدار</translation>
-    </message>
-    <message>
-        <source>Last Update Check</source>
-        <translation type="vanished">التحقق من آخر تحديث</translation>
-    </message>
-    <message>
-        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation type="vanished">آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة.</translation>
-    </message>
-    <message>
-        <source>Check for Update</source>
-        <translation type="vanished">فحص التحديثات</translation>
-    </message>
-    <message>
-        <source>CHECKING</source>
-        <translation type="vanished">تدقيق</translation>
-    </message>
-    <message>
-        <source>Switch Branch</source>
-        <translation type="vanished">تبديل الفرع</translation>
-    </message>
-    <message>
-        <source>ENTER</source>
-        <translation type="vanished">أدخل</translation>
-    </message>
-    <message>
-        <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="vanished">سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث.</translation>
-    </message>
-    <message>
-        <source>Enter branch name</source>
-        <translation type="vanished">أدخل اسم الفرع</translation>
-    </message>
     <message>
         <source>UNINSTALL</source>
-        <translation>الغاء التثبيت</translation>
+        <translation>إلغاء التثبيت</translation>
     </message>
     <message>
         <source>Uninstall %1</source>
-        <translation>الغاء التثبيت %1</translation>
+        <translation>إلغاء التثبيت %1</translation>
     </message>
     <message>
         <source>Are you sure you want to uninstall?</source>
         <translation>هل أنت متأكد أنك تريد إلغاء التثبيت؟</translation>
     </message>
-    <message>
-        <source>failed to fetch update</source>
-        <translation type="vanished">فشل في جلب التحديث</translation>
-    </message>
     <message>
         <source>CHECK</source>
-        <translation>تأكد الان</translation>
+        <translation>التحقق</translation>
     </message>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation type="unfinished"></translation>
+        <translation>يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة.</translation>
     </message>
     <message>
         <source>Current Version</source>
-        <translation type="unfinished"></translation>
+        <translation>النسخة الحالية</translation>
     </message>
     <message>
         <source>Download</source>
-        <translation type="unfinished"></translation>
+        <translation>تنزيل</translation>
     </message>
     <message>
         <source>Install Update</source>
-        <translation type="unfinished"></translation>
+        <translation>تثبيت التحديث</translation>
     </message>
     <message>
         <source>INSTALL</source>
-        <translation type="unfinished"></translation>
+        <translation>تثبيت</translation>
     </message>
     <message>
         <source>Target Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>فرع الهدف</translation>
     </message>
     <message>
         <source>SELECT</source>
-        <translation type="unfinished"></translation>
+        <translation>اختيار</translation>
     </message>
     <message>
         <source>Select a branch</source>
-        <translation type="unfinished"></translation>
+        <translation>اختر فرعاً</translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>إلغاء التثبيت</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>فشل التحقق من التحديث</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>تنزيل</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>يتوفر تحديث</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>إطلاقاً</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>أحدث نسخة، آخر تحقق %1</translation>
     </message>
 </context>
 <context>
     <name>SshControl</name>
     <message>
         <source>SSH Keys</source>
-        <translation>SSH Keys</translation>
+        <translation>مفاتيح SSH</translation>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>تحذير: هذا يمنح SSH الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تدخل أبدًا اسم مستخدم GitHub بخلاف اسم المستخدم الخاص بك. لن يطلب منك موظف comma أبدًا إضافة اسم مستخدم GitHub الخاص به.</translation>
+        <translation>تنبيه: هذا يمنح SSH إمكانية الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تقم بإدخال اسم مستخدم GitHub بدلاً من اسمك. لن تطلب منك comma employee إطلاقاً أن تضيف اسم مستخدم GitHub الخاص بهم.</translation>
     </message>
     <message>
         <source>ADD</source>
-        <translation>أضف</translation>
+        <translation>إضافة</translation>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>أدخل اسم مستخدم GitHub الخاص بك</translation>
+        <translation>ادخل اسم المستخدم GitHub الخاص بك</translation>
     </message>
     <message>
         <source>LOADING</source>
-        <translation>جار التحميل</translation>
+        <translation>يتم التحميل</translation>
     </message>
     <message>
         <source>REMOVE</source>
-        <translation>نزع</translation>
+        <translation>إزالة</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>لا يحتوي اسم المستخدم &apos;%1&apos; على مفاتيح على GitHub</translation>
+        <translation>لا يحتوي اسم المستخدم &apos;%1&apos; أي مفاتيح على GitHub</translation>
     </message>
     <message>
         <source>Request timed out</source>
-        <translation>انتهت مهلة الطلب</translation>
+        <translation>انتهى وقت الطلب</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
@@ -966,18 +963,18 @@ location set</source>
     <name>SshToggle</name>
     <message>
         <source>Enable SSH</source>
-        <translation>تفعيل SSH</translation>
+        <translation>تمكين SSH</translation>
     </message>
 </context>
 <context>
     <name>TermsPage</name>
     <message>
         <source>Terms &amp; Conditions</source>
-        <translation>البنود و الظروف</translation>
+        <translation>الشروط والأحكام</translation>
     </message>
     <message>
         <source>Decline</source>
-        <translation>انحدار</translation>
+        <translation>رفض</translation>
     </message>
     <message>
         <source>Scroll to accept</source>
@@ -985,34 +982,34 @@ location set</source>
     </message>
     <message>
         <source>Agree</source>
-        <translation>موافق</translation>
+        <translation>أوافق</translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
     <message>
         <source>Enable openpilot</source>
-        <translation>تمكين openpilot</translation>
+        <translation>تمكين</translation>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>استخدم نظام الطيار المفتوح للتحكم التكيفي في ثبات السرعة والحفاظ على مساعدة السائق. انتباهك مطلوب في جميع الأوقات لاستخدام هذه الميزة. يسري تغيير هذا الإعداد عند إيقاف تشغيل السيارة.</translation>
+        <translation>استخدم نظام openpilot من أجل الضبط التكيفي للسرعة والحفاظ على مساعدة السائق للبقاء في المسار. انتباهك مطلوب في جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير في الإعدادات عند إيقاف تشغيل السيارة.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
-        <translation>قم بتمكين تحذيرات مغادرة حارة السير</translation>
+        <translation>قم بتمكين تحذيرات مغادرة المسار</translation>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>تلقي تنبيهات للتوجه مرة أخرى إلى الحارة عندما تنجرف سيارتك فوق خط المسار المكتشف دون تنشيط إشارة الانعطاف أثناء القيادة لمسافة تزيد عن 31 ميلاً في الساعة (50 كم / ساعة).</translation>
+        <translation>تلقي التنبيهات من أجل الالتفاف للعودة إلى المسار عندما تنحرف سيارتك فوق الخط المحدد للمسار دون تشغيل إشارة الانعطاف عند القيادة لمسافة تزيد عن 31 ميل/سا (50 كم/سا).</translation>
     </message>
     <message>
         <source>Use Metric System</source>
-        <translation>استخدم النظام المتري</translation>
+        <translation>استخدام النظام المتري</translation>
     </message>
     <message>
         <source>Display speed in km/h instead of mph.</source>
-        <translation>عرض السرعة بالكيلو متر في الساعة بدلاً من ميل في الساعة.</translation>
+        <translation>عرض السرعة بواحدات كم/سا بدلاً من ميل/سا.</translation>
     </message>
     <message>
         <source>Record and Upload Driver Camera</source>
@@ -1020,117 +1017,192 @@ location set</source>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق.</translation>
+        <translation>تحميل البيانات من الكاميرا المواجهة للسائق، والمساعدة في تحسين خوارزمية مراقبة السائق.</translation>
     </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
-        <translation>فك الارتباط على دواسة التسريع</translation>
+        <translation>فك الارتباط عن دواسة الوقود</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>عند التمكين ، سيؤدي الضغط على دواسة الوقود إلى فصل الطيار المفتوح.</translation>
+        <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط openpilot.</translation>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
-        <translation>إظهار الوقت المقدر للوصول بتنسيق 24 ساعة</translation>
+        <translation>إظهار الوقت المقدر للوصول بصيغة 24 ساعة</translation>
     </message>
     <message>
         <source>Use 24h format instead of am/pm</source>
-        <translation>استخدم تنسيق 24 ساعة بدلاً من صباحًا / مساءً</translation>
+        <translation>استخدام صيغة 24 ساعة بدلاً من صباحاً/مساء</translation>
     </message>
     <message>
         <source>Show Map on Left Side of UI</source>
-        <translation>إظهار الخريطة على الجانب الأيسر من واجهة المستخدم</translation>
+        <translation>عرض الخريطة على الجانب الأيسر من واجهة المستخدم</translation>
     </message>
     <message>
         <source>Show map on left side when in split screen view.</source>
-        <translation>إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة.</translation>
+        <translation>عرض الخريطة عل الجانب الأيسر عندما تكون وضعية العرض بطريقة الشاشة المنقسمة.</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>التحكم الطولي openpilot (ألفا)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
+    </message>
+    <message>
+        <source>Experimental Mode</source>
+        <translation>الوضع التجريبي</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>الهجومي</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control</source>
-        <translation type="vanished">openpilot التحكم الطولي</translation>
+        <source>Standard</source>
+        <translation>القياسي</translation>
     </message>
     <message>
-        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation type="vanished">سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB!</translation>
+        <source>Relaxed</source>
+        <translation>الراحة</translation>
     </message>
     <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation type="unfinished"></translation>
+        <source>Driving Personality</source>
+        <translation>شخصية القيادة</translation>
     </message>
     <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation type="unfinished"></translation>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>يوصى بالوضع القياسي. في الوضع الهجومي، سيتبع openpilot السيارات الرائدة بشكل أقرب، ويصبح أكثر هجومية في دواسات الوقود والمكابح. في وضعية الراحة يبقى openplot بعيداً لمسافة جيدة عن السيارة الرائدة.</translation>
     </message>
     <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>يتم وضع openpilot بشكل قياسي في &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى ألفا&lt;/b&gt; التي لا تكون جاهزة في وضع الراحة:</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation type="unfinished"></translation>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>التحكم الطولي من طرف إلى طرف</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control is not currently available for this car.</source>
-        <translation type="unfinished"></translation>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>دع نظام القيادة يتحكم بالوقود والمكابح. سيقوم openpilot بالقيادة كما لو أنه كائن بشري، بما في ذلك التوقف عند الإشارة الحمراء، وإشارات التوقف. وبما أن نمط القيادة يحدد سرعة القيادة، فإن السرعة المضبوطة تشكل الحد الأقصى فقط. هذه خاصية الجودة ألفا، فيجب توقع حدوث الأخطاء.</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to enable this.</source>
-        <translation type="unfinished"></translation>
+        <source>Navigate on openpilot</source>
+        <translation>التنقل على openpilot</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>عندما يكون هناك وجهة للتنقل، فإن openpilot سيقوم بإدخال معلومات الخريطة في هذا النموذج. وهذا يقدم سياقاً مفيداً ويسمح لـopenpilot بالبقاء يساراً أو يميناً بالشكل المناسب عند المنعطفات/المخارج. يبقى سلوك تغيير المسار مفعلاً عند السائق،. هذه هي خاصية الجودة ألفا، ولذلك يجب توقع الأخطاء لا سيما عند المخارج والمنعطفات هذه الأخطاء قد تشمل العبور غير المقصود لخطوط المسارات، والتأخر في الخروج، والقيادة نحو الحواجز الفاصلة في المناطق المثلثة بين الطريق الرئيسي والمخارج، وغير ذلك من الأخطاء المشابهة.</translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation>تصور القيادة الديد</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>تصور القيادة سينتقل إلى الكاميرا واسعة الزاوية المواجهة للطريق في السرعات المنخفضة من أجل إظهار بعض المنعطفات بشكل أفضل. سيتم أيضاً إظهار شعار الوضع التجريبي في الزاوية العلوية اليمنى. عند تحديد وجهة التنقل، واستخدام نظام القيادة لها كوضع مدخل، سيتحول مسار القيادة على الخريطة إلى اللون الأخضر.</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>الوضع التجريبي غير متوفر حالياً في هذه السيارة نظراً لاستخدام رصيد التحكم التكيفي بالسرعة من أجل التحكم الطولي.</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>قد يتم الحصول على التحكم الطولي في openpilot في عمليات التحديث المستقبلية.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>يمكن اختبار نسخة ألفا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>تمكين التحكم الطولي من openpilot (ألفا) للسماح بالوضع التجريبي.</translation>
     </message>
 </context>
 <context>
     <name>Updater</name>
     <message>
         <source>Update Required</source>
-        <translation>مطلوب التحديث</translation>
+        <translation>التحديث مطلوب</translation>
     </message>
     <message>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>مطلوب تحديث نظام التشغيل. قم بتوصيل جهازك بشبكة Wi-Fi للحصول على أسرع تجربة تحديث. حجم التنزيل 1 غيغابايت تقريبًا.</translation>
+        <translation>تحديث نظام التشغيل مطلوب. قم بوصل جهازك بشبكة واي فاي من أجل تحديث أسرع. حجم التحميل حوالي 1 غيغا بايت تقريباً.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>اتصل بشبكة Wi-Fi</translation>
+        <translation>الاتصال بشبكة الواي فاي</translation>
     </message>
     <message>
         <source>Install</source>
-        <translation>ثبيت</translation>
+        <translation>تثبيت</translation>
     </message>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Loading...</source>
-        <translation>جار التحميل...</translation>
+        <translation>يتم التحميل...</translation>
     </message>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Update failed</source>
         <translation>فشل التحديث</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>إعداد شبكة الواي فاي</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>الاتصال بشبكة الواي فاي لتحميل بيانات القيادة والمساهمة في تحسين openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>فتح الإعدادات</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>جاهز للتحميل</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>سيتم سحب بيانات التدريب دورياً عندما يكون جهازك متصل بشبكة واي فاي</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
         <source>Scanning for networks...</source>
-        <translation>جارٍ البحث عن شبكات ...</translation>
+        <translation>يتم البحث عن شبكات...</translation>
     </message>
     <message>
         <source>CONNECTING...</source>
-        <translation>جارٍ الاتصال ...</translation>
+        <translation>يتم الاتصال...</translation>
     </message>
     <message>
         <source>FORGET</source>
-        <translation>نزع</translation>
+        <translation>نسيان هذه الشبكة</translation>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>نزع شبكة اWi-Fi &quot;%1&quot;?</translation>
+        <translation>هل تريد نسيان شبكة الواي فاي &quot;%1&quot;؟</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation>نسيان</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index d1820fd423..e2e5771905 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -226,8 +226,8 @@
         <translation>Ausschalten</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 8° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>Überprüfen</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Fahrten</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Stunden</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>Gesamtzeit</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>Letzte Woche</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Meilen</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 79c4ae5596..456efe6366 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -234,8 +234,8 @@
         <translation>Éteindre</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 8° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>Désengager pour éteindre</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Trajets</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Heures</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>DEPUIS TOUJOURS</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>CETTE SEMAINE</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Miles</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 16595f8ebf..63de8f0471 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -226,8 +226,8 @@
         <translation>電源を切る</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilotの本体は、左右4°以内、上5°、下8°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>確認</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>運転履歴</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>時間</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>累計</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>先週</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>マイル</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index cbd8e668ac..bc0c5f2b0e 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -9,7 +9,7 @@
     </message>
     <message>
         <source>Snooze Update</source>
-        <translation>업데이트 일시중지</translation>
+        <translation>업데이트 일시 중지</translation>
     </message>
     <message>
         <source>Reboot and Update</source>
@@ -56,7 +56,7 @@
     </message>
     <message>
         <source>leave blank for automatic configuration</source>
-        <translation>자동설정하려면 공백으로 두세요</translation>
+        <translation>자동 설정하려면 빈 칸으로 두세요</translation>
     </message>
     <message>
         <source>Cellular Metered</source>
@@ -147,7 +147,7 @@
     <name>DevicePanel</name>
     <message>
         <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
+        <translation>동글 ID</translation>
     </message>
     <message>
         <source>N/A</source>
@@ -155,7 +155,7 @@
     </message>
     <message>
         <source>Serial</source>
-        <translation>Serial</translation>
+        <translation>시리얼</translation>
     </message>
     <message>
         <source>Driver Camera</source>
@@ -167,23 +167,23 @@
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>운전자 모니터링이 잘 되는지 확인하기 위해 카메라를 향한 운전자를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
+        <translation>운전자 모니터링이 잘 되는지 확인하기 위해 후면 카메라를 미리 봅니다. (차량 시동이 꺼져 있어야 합니다)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation>캘리브레이션</translation>
+        <translation>캘리브레이션 초기화</translation>
     </message>
     <message>
         <source>RESET</source>
-        <translation>재설정</translation>
+        <translation>초기화</translation>
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>캘리브레이션을 재설정하시겠습니까?</translation>
+        <translation>캘리브레이션을 초기화하시겠습니까?</translation>
     </message>
     <message>
         <source>Review Training Guide</source>
-        <translation>트레이닝 가이드</translation>
+        <translation>트레이닝 가이드 다시보기</translation>
     </message>
     <message>
         <source>REVIEW</source>
@@ -191,11 +191,11 @@
     </message>
     <message>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
+        <translation>openpilot의 규칙, 기능 및 제한 다시 확인</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
-        <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
+        <translation>트레이닝 가이드를 다시 확인하시겠습니까?</translation>
     </message>
     <message>
         <source>Regulatory</source>
@@ -223,15 +223,15 @@
     </message>
     <message>
         <source>Power Off</source>
-        <translation>전원 종료</translation>
+        <translation>전원 끄기</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 장치는 좌우측 4° 이내, 위쪽 5° 아래쪽 8° 이내로 장착되어야 합니다. openpilot은 지속적으로 보정되며 재설정은 거의 필요하지 않습니다.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 장치는 %1° %2 및 %3° %4 의 위치에 장착되어 있습니다.</translation>
+        <translation> 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다.</translation>
     </message>
     <message>
         <source>down</source>
@@ -251,72 +251,45 @@
     </message>
     <message>
         <source>Are you sure you want to reboot?</source>
-        <translation>재부팅 하시겠습니까?</translation>
+        <translation>재부팅하시겠습니까?</translation>
     </message>
     <message>
         <source>Disengage to Reboot</source>
-        <translation>재부팅 하려면 해제하세요</translation>
+        <translation>재부팅하려면 연결을 해제하세요</translation>
     </message>
     <message>
         <source>Are you sure you want to power off?</source>
-        <translation>전원을 종료하시겠습니까?</translation>
+        <translation>전원을 끄시겠습니까?</translation>
     </message>
     <message>
         <source>Disengage to Power Off</source>
-        <translation>전원을 종료하려면 해제하세요</translation>
+        <translation>전원을 끄려면 연결을 해제하세요</translation>
     </message>
     <message>
         <source>Reset</source>
-        <translation>리셋</translation>
+        <translation>초기화</translation>
     </message>
     <message>
         <source>Review</source>
         <translation>다시보기</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>주행</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>시간</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>전체</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>지난주</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>Km</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Miles</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
         <source>camera starting</source>
-        <translation>카메라 시작중</translation>
+        <translation>카메라 시작 중</translation>
     </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
         <source>EXPERIMENTAL MODE ON</source>
-        <translation>실험적 모드 사용</translation>
+        <translation>실험 모드 사용</translation>
     </message>
     <message>
         <source>CHILL MODE ON</source>
-        <translation>안정적 모드 사용</translation>
+        <translation>안정 모드 사용</translation>
     </message>
 </context>
 <context>
@@ -328,7 +301,7 @@
     <message numerus="yes">
         <source>Need at least %n character(s)!</source>
         <translation>
-            <numerusform>최소 %n 자가 필요합니다!</numerusform>
+            <numerusform>최소 %n자 이상이어야 합니다!</numerusform>
         </translation>
     </message>
 </context>
@@ -336,7 +309,7 @@
     <name>Installer</name>
     <message>
         <source>Installing...</source>
-        <translation>설치중...</translation>
+        <translation>설치 중...</translation>
     </message>
 </context>
 <context>
@@ -362,22 +335,22 @@
     </message>
     <message>
         <source>Manage at connect.comma.ai</source>
-        <translation>connect.comma.ai에서 관리됩니다</translation>
+        <translation>connect.comma.ai에서 관리하세요</translation>
     </message>
 </context>
 <context>
     <name>MapWindow</name>
     <message>
         <source>Map Loading</source>
-        <translation>지도 로딩</translation>
+        <translation>지도 로딩 중</translation>
     </message>
     <message>
         <source>Waiting for GPS</source>
-        <translation>GPS 수신중</translation>
+        <translation>GPS 수신 중</translation>
     </message>
     <message>
         <source>Waiting for route</source>
-        <translation>경로를 기다리는중</translation>
+        <translation>경로를 기다리는 중</translation>
     </message>
 </context>
 <context>
@@ -423,7 +396,7 @@
     <message>
         <source>Unable to download updates
 %1</source>
-        <translation>업데이트를 다운로드할수 없습니다
+        <translation>업데이트를 다운로드할 수 없습니다
 %1</translation>
     </message>
     <message>
@@ -436,11 +409,11 @@
     </message>
     <message>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치준비가 완료되면 업데이트하라는 메시지가 표시됩니다.</translation>
+        <translation>백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치가 준비되면 업데이트 메시지가 표시됩니다.</translation>
     </message>
     <message>
         <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation>장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인경우 https://comma.ai/support 에 방문하여 문의하세요.</translation>
+        <translation>장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 데이터를 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인 경우 https://comma.ai/support 에 방문하여 문의하세요.</translation>
     </message>
     <message>
         <source>NVMe drive not mounted.</source>
@@ -448,23 +421,23 @@
     </message>
     <message>
         <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브로 인해 장치가 훨씬 더 많은 전력을 소비하고 과열될 수 있습니다.</translation>
+        <translation>지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브는 많은 전력을 소비하고 장치를 과열시킬 수 있습니다.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>opepilot이 차량을 식별할수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
+        <translation>openpilot이 차량을 식별할 수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot이 차량을 식별할수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 완전히 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
+        <translation>openpilot이 차량을 식별할 수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 제대로 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot 장치의 장착 위치 변경을 감지했습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
+        <translation>openpilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>장치 온도가 너무 높습니다. 시작하기 전에 장치온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1</translation>
+        <translation>장치 온도가 너무 높습니다. 시작하기 전에 온도를 낮춰주세요. 현재 내부 부품 온도: %1</translation>
     </message>
 </context>
 <context>
@@ -486,7 +459,7 @@
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>장치를 comma 계정과 페어링합니다</translation>
+        <translation>장치를 comma 계정에 페어링합니다</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
@@ -494,11 +467,11 @@
     </message>
     <message>
         <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다</translation>
+        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 스캔하세요</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요.</translation>
+        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요</translation>
     </message>
 </context>
 <context>
@@ -509,22 +482,22 @@
     </message>
     <message>
         <source>Enable</source>
-        <translation>사용</translation>
+        <translation>활성화</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
         <source>Upgrade Now</source>
-        <translation>지금 업그레이드 하세요</translation>
+        <translation>지금 업그레이드하세요</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai에 접속하여 comma prime 회원이 되세요</translation>
+        <translation>connect.comma.ai에 접속하여 comma prime 회원으로 등록하세요</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
-        <translation>PRIME 기능：</translation>
+        <translation>PRIME 기능:</translation>
     </message>
     <message>
         <source>Remote access</source>
@@ -540,7 +513,7 @@
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation>1년간 저장</translation>
+        <translation>1년간 드라이브 로그 저장</translation>
     </message>
 </context>
 <context>
@@ -566,7 +539,7 @@
     </message>
     <message>
         <source>dashcam</source>
-        <translation>dashcam</translation>
+        <translation>블랙박스</translation>
     </message>
     <message>
         <source>openpilot</source>
@@ -575,19 +548,19 @@
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
-            <numerusform>%n 분전</numerusform>
+            <numerusform>%n 분 전</numerusform>
         </translation>
     </message>
     <message numerus="yes">
         <source>%n hour(s) ago</source>
         <translation>
-            <numerusform>%n 시간전</numerusform>
+            <numerusform>%n 시간 전</numerusform>
         </translation>
     </message>
     <message numerus="yes">
         <source>%n day(s) ago</source>
         <translation>
-            <numerusform>%n 일전</numerusform>
+            <numerusform>%n 일 전</numerusform>
         </translation>
     </message>
     <message>
@@ -611,11 +584,11 @@
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>초기화 실패. 재부팅후 다시 시도하세요.</translation>
+        <translation>초기화 실패. 재부팅 후 다시 시도하세요.</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
-        <translation>장치를 초기화 하시겠습니까?</translation>
+        <translation>장치를 초기화하시겠습니까?</translation>
     </message>
     <message>
         <source>System Reset</source>
@@ -635,11 +608,11 @@
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 내용을 지우고 장치를 초기화하려면 확인을 누르세요.</translation>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 설정을 삭제하고 장치를 초기화하려면 확인을 누르세요.</translation>
     </message>
     <message>
         <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>모든 콘텐츠와 설정을 지우려면 확인을 누르세요. 부팅을 재개하려면 취소를 누르세요.</translation>
+        <translation>모든 콘텐츠와 설정을 삭제하려면 확인을 누르세요. 계속 부팅하려면 취소를 누르세요.</translation>
     </message>
     <message>
         <source>Resetting device...
@@ -679,11 +652,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>하네스 보드에 차량의 전원을 연결하세요.</translation>
+        <translation>장치를 하네스를 통해 차량 전원에 연결하세요. USB 전원에서는 예상치 못한 문제가 생길 수 있습니다.</translation>
     </message>
     <message>
         <source>Power off</source>
-        <translation>전원 종료</translation>
+        <translation>전원 끄기</translation>
     </message>
     <message>
         <source>Continue</source>
@@ -691,15 +664,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Getting Started</source>
-        <translation>설정 시작</translation>
+        <translation>시작하기</translation>
     </message>
     <message>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
+        <translation>출발 전 설정을 완료하고 세부 사항을 살펴봅니다.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>wifi 연결</translation>
+        <translation>Wi-Fi 연결</translation>
     </message>
     <message>
         <source>Back</source>
@@ -707,11 +680,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Continue without Wi-Fi</source>
-        <translation>wifi 연결없이 계속하기</translation>
+        <translation>Wi-Fi 연결 없이 진행</translation>
     </message>
     <message>
         <source>Waiting for internet</source>
-        <translation>인터넷 대기중</translation>
+        <translation>인터넷 연결 대기 중</translation>
     </message>
     <message>
         <source>Enter URL</source>
@@ -723,7 +696,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Downloading...</source>
-        <translation>다운로드중...</translation>
+        <translation>다운로드 중...</translation>
     </message>
     <message>
         <source>Download Failed</source>
@@ -731,11 +704,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 양호한지 확인하세요.</translation>
+        <translation>입력된 URL이 유효하고 인터넷 연결이 원활한지 확인하세요.</translation>
     </message>
     <message>
         <source>Reboot device</source>
-        <translation>재부팅</translation>
+        <translation>장치 재부팅</translation>
     </message>
     <message>
         <source>Start over</source>
@@ -762,7 +735,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 제안을 요청하세요.</translation>
+        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요.</translation>
     </message>
     <message>
         <source>Pair device</source>
@@ -773,11 +746,11 @@ This may take up to a minute.</source>
     <name>Sidebar</name>
     <message>
         <source>CONNECT</source>
-        <translation>연결</translation>
+        <translation>연결됨</translation>
     </message>
     <message>
         <source>OFFLINE</source>
-        <translation>오프라인</translation>
+        <translation>연결 안됨</translation>
     </message>
     <message>
         <source>ONLINE</source>
@@ -801,7 +774,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>OK</source>
-        <translation>경고</translation>
+        <translation>OK</translation>
     </message>
     <message>
         <source>VEHICLE</source>
@@ -829,7 +802,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Wi-Fi</source>
-        <translation>wifi</translation>
+        <translation>Wi-Fi</translation>
     </message>
     <message>
         <source>ETH</source>
@@ -856,7 +829,7 @@ This may take up to a minute.</source>
     <name>SoftwarePanel</name>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation>업데이트는 차량 연결이 해제되어 있는 동안에만 다운로드됩니다.</translation>
+        <translation>업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다.</translation>
     </message>
     <message>
         <source>Current Version</source>
@@ -908,11 +881,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>failed to check for update</source>
-        <translation>업데이트 확인 실패</translation>
+        <translation>업데이트를 확인하지 못했습니다</translation>
     </message>
     <message>
         <source>up to date, last checked %1</source>
-        <translation>최신 상태 입니다, %1에 마지막으로 확인</translation>
+        <translation>최신 버전입니다. 마지막 확인: %1</translation>
     </message>
     <message>
         <source>DOWNLOAD</source>
@@ -935,7 +908,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>경고: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 않습니다.</translation>
+        <translation>경고: 이 설정은 GitHub에 등록된 모든 공용 키에 대해 SSH 액세스 권한을 부여합니다. 본인의 GitHub 사용자 아이디 이외에는 입력하지 마십시오. comma에서는 GitHub 아이디를 추가하라는 요청을 하지 않습니다.</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -947,15 +920,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>LOADING</source>
-        <translation>로딩</translation>
+        <translation>로딩 중</translation>
     </message>
     <message>
         <source>REMOVE</source>
-        <translation>제거</translation>
+        <translation>삭제</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>사용자 &apos;%1&apos;의 키가 GitHub에 없습니다</translation>
+        <translation>사용자 &apos;%1&apos;의 GitHub에 키가 등록되어 있지 않습니다</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -963,7 +936,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>사용자 &apos;%1&apos;는 GitHub에 없습니다</translation>
+        <translation>GitHub 사용자 &apos;%1&apos;를 찾지 못했습니다</translation>
     </message>
 </context>
 <context>
@@ -977,7 +950,7 @@ This may take up to a minute.</source>
     <name>TermsPage</name>
     <message>
         <source>Terms &amp; Conditions</source>
-        <translation>약관</translation>
+        <translation>이용약관</translation>
     </message>
     <message>
         <source>Decline</source>
@@ -1000,15 +973,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 설정변경은 장치 재부팅후 적용됩니다.</translation>
+        <translation>어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 openpilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
-        <translation>차선 이탈 경고 사용</translation>
+        <translation>차선 이탈 경고 활성화</translation>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등이 켜지지 않은 상태에서 차량이 감지된 차선을 벗어나면 차선이탈 경고를 합니다.</translation>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행할 때 방향지시등이 켜지지 않은 상태에서 차선을 벗어나면 경고합니다.</translation>
     </message>
     <message>
         <source>Use Metric System</source>
@@ -1024,11 +997,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
+        <translation>운전자 카메라의 영상 데이터를 업로드하여 운전자 모니터링 알고리즘을 개선합니다.</translation>
     </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
-        <translation>가속페달 조작시 해제</translation>
+        <translation>가속페달 조작 시 해제</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
@@ -1036,7 +1009,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
-        <translation>24시간 형식으로 도착예정시간 표시</translation>
+        <translation>24시간 형식으로 도착 예정 시간 표시</translation>
     </message>
     <message>
         <source>Use 24h format instead of am/pm</source>
@@ -1052,15 +1025,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Experimental Mode</source>
-        <translation>실험적 모드</translation>
+        <translation>실험 모드</translation>
     </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다</translation>
+        <translation>openpilot은 기본적으로 &lt;b&gt;안정 모드&lt;/b&gt;로 주행합니다. 실험 모드는 안정화되지 않은 &lt;b&gt;알파 수준의 기능&lt;/b&gt;을 활성화합니다. 실험 모드의 기능은 아래와 같습니다:</translation>
     </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다.</translation>
+        <translation>openpilot의 주행모델이 가감속을 제어합니다. openpilot은 신호등과 정지 표지판을 보고 멈추는 것을 포함하여 인간이 운전하는 것처럼 생각하고 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 최대 주행 속도로만 기능합니다. 이 기능은 알파 수준이므로 사용에 각별히 주의해야 합니다.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1068,23 +1041,23 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다.</translation>
+        <translation>차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다.</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>openpilot 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다.</translation>
+        <translation>openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilot 롱컨트롤 (알파)</translation>
+        <translation>openpilot 가감속 제어 (알파)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: openpilot 롱컨트롤은 알파 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다.</translation>
+        <translation>경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다.</translation>
+        <translation>이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -1104,31 +1077,31 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다.</translation>
+        <translation>표준 모드를 권장합니다. 공격적 모드에서 openpilot은 앞 차량을 더 가까이 따라가며 적극적으로 가감속합니다. 편안한 모드에서 openpilot은 앞 차량을 더 멀리서 따라갑니다.</translation>
     </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>openpilot 롱컨트롤 알파 버전은 비 릴리스 분기에서 실험적 모드와 함께 테스트할 수 있습니다.</translation>
+        <translation>openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다.</translation>
     </message>
     <message>
         <source>Navigate on openpilot</source>
-        <translation>Navigate on openpilot (NOO)</translation>
+        <translation>openpilot 내비게이트</translation>
     </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>openpilot E2E 롱컨트롤 (알파) 토글을 활성화하여 실험적 모드를 허용합니다.</translation>
+        <translation>실험 모드를 사용하려면 openpilot E2E 가감속 제어 (알파) 토글을 활성화하세요.</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
-        <translation>E2E 롱컨트롤</translation>
+        <translation>E2E 가감속 제어</translation>
     </message>
     <message>
         <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>내비게이션에 목적지가 있으면 openpilot이 지도 정보를 모델에 입력합니다. 이는 모델에 유용한 컨텍스트를 제공하고 openpilot이 분기점에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 합니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이것은 알파 상태의 기능입니다. 특히 출구 분기점 주변에서 실수가 발생될수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 출구 이용, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 등이 포함될 수 있습니다.</translation>
+        <translation>내비게이션에 목적지가 설정되어 있으면 openpilot이 지도 정보를 주행 모델에 입력합니다. 이는 모델에 유용한 정보를 제공하고 openpilot이 진출입로 및 램프에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 해 줍니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이 기능은 알파 버전입니다. 특히 진출입로 및 분기점 주변에서 실수가 발생할 수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 진출, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 행동 등이 포함됩니다.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>주행 시각화는 저속으로 주행시 도로를 향한 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
+        <translation>주행 시각화는 저속으로 주행 시 도로를 향한 광각 카메라로 자동 전환되어 일부 곡선 경로를 더 잘 보여줍니다. 실험 모드 로고는 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
     </message>
 </context>
 <context>
@@ -1139,11 +1112,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>OS 업데이트가 필요합니다. 장치를 wifi에 연결하면 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다.</translation>
+        <translation>OS 업데이트가 필요합니다. 장치를 Wi-Fi에 연결하면 가장 빠르게 업데이트할 수 있습니다. 다운로드 크기는 약 1GB입니다.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>wifi 연결</translation>
+        <translation>Wi-Fi 연결</translation>
     </message>
     <message>
         <source>Install</source>
@@ -1155,7 +1128,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Loading...</source>
-        <translation>로딩중...</translation>
+        <translation>로딩 중...</translation>
     </message>
     <message>
         <source>Reboot</source>
@@ -1170,11 +1143,11 @@ This may take up to a minute.</source>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Setup Wi-Fi</source>
-        <translation>wifi 설정</translation>
+        <translation>Wi-Fi 설정</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>wifi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 참여하세요.</translation>
+        <translation>Wi-Fi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 기여하세요</translation>
     </message>
     <message>
         <source>Open Settings</source>
@@ -1182,11 +1155,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Ready to upload</source>
-        <translation>업로드 준비완료</translation>
+        <translation>업로드 준비 완료</translation>
     </message>
     <message>
         <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>기기가 wifi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다.</translation>
+        <translation>기기가 Wi-Fi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다</translation>
     </message>
 </context>
 <context>
@@ -1197,19 +1170,19 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>CONNECTING...</source>
-        <translation>연결중...</translation>
+        <translation>연결 중...</translation>
     </message>
     <message>
         <source>FORGET</source>
-        <translation>저장안함</translation>
+        <translation>삭제</translation>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>&quot;%1&quot;를 저장하지 않겠습니까?</translation>
+        <translation>Wi-Fi &quot;%1&quot;에 자동으로 연결하지 않겠습니까?</translation>
     </message>
     <message>
         <source>Forget</source>
-        <translation>저장안함</translation>
+        <translation>삭제</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index a55d31034e..4cf37cc585 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -226,8 +226,8 @@
         <translation>Desligar</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>Revisar</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Dirigidas</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Horas</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>TOTAL</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>SEMANA PASSADA</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Milhas</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index abc6210956..a1748a6951 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -226,8 +226,8 @@
         <translation>ปิดเครื่อง</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 8° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>ทบทวน</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>การขับขี่</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>ชั่วโมง</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>ทั้งหมด</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>สัปดาห์ที่ผ่านมา</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>กิโลเมตร</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>ไมล์</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index febded8f59..51fdddd5ce 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -226,8 +226,8 @@
         <translation>Sistemi kapat</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot, cihazın 4° sola veya 5° yukarı yada 8° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Sürücüler</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Saat</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>TÜM ZAMANLAR</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>GEÇEN HAFTA</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Mil</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 040dae0b30..7b682535ce 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -226,8 +226,8 @@
         <translation>关机</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>预览</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>旅程数</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>小时</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>全部</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>过去一周</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>公里</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>英里</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 57d9f91fec..1794cc78ac 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -171,15 +171,15 @@
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation>重置校準</translation>
+        <translation>重設校準</translation>
     </message>
     <message>
         <source>RESET</source>
-        <translation>重置</translation>
+        <translation>重設</translation>
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>您確定要重置校準嗎？</translation>
+        <translation>您確定要重設校準嗎？</translation>
     </message>
     <message>
         <source>Review Training Guide</source>
@@ -226,8 +226,8 @@
         <translation>關機</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重設的情況。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>回顧</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>旅程</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>小時</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>總共</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>上周</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>公里</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>英里</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
@@ -369,7 +342,7 @@
     <name>MapWindow</name>
     <message>
         <source>Map Loading</source>
-        <translation>地圖加載中</translation>
+        <translation>地圖載入中</translation>
     </message>
     <message>
         <source>Waiting for GPS</source>
@@ -452,11 +425,11 @@
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的固件版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
+        <translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 接口。需要幫助嗎？請加入 discord.comma.ai 。</translation>
+        <translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 介面。需要幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
@@ -498,7 +471,7 @@
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</translation>
+        <translation>將 connect.comma.ai 加入您的主螢幕，以便像手機 App 一樣使用它</translation>
     </message>
 </context>
 <context>
@@ -528,7 +501,7 @@
     </message>
     <message>
         <source>Remote access</source>
-        <translation>遠程訪問</translation>
+        <translation>遠端存取</translation>
     </message>
     <message>
         <source>24/7 LTE connectivity</source>
@@ -611,15 +584,15 @@
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>重置失敗。請重新啟動後再試。</translation>
+        <translation>重設失敗。請重新啟動後再試。</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
-        <translation>您確定要重置你的設備嗎？</translation>
+        <translation>您確定要重設你的設備嗎？</translation>
     </message>
     <message>
         <source>System Reset</source>
-        <translation>系統重置</translation>
+        <translation>系統重設</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -644,7 +617,7 @@
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation>設備重置中…
+        <translation>設備重設中…
 這可能需要一分鐘的時間。</translation>
     </message>
 </context>
@@ -699,7 +672,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網絡</translation>
+        <translation>連接到無線網路</translation>
     </message>
     <message>
         <source>Back</source>
@@ -719,7 +692,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>for Custom Software</source>
-        <translation>定制的軟體</translation>
+        <translation>訂製的軟體</translation>
     </message>
     <message>
         <source>Downloading...</source>
@@ -829,27 +802,27 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Wi-Fi</source>
-        <translation type="unfinished"></translation>
+        <translation>Wi-Fi</translation>
     </message>
     <message>
         <source>ETH</source>
-        <translation type="unfinished"></translation>
+        <translation>ETH</translation>
     </message>
     <message>
         <source>2G</source>
-        <translation type="unfinished"></translation>
+        <translation>2G</translation>
     </message>
     <message>
         <source>3G</source>
-        <translation type="unfinished"></translation>
+        <translation>3G</translation>
     </message>
     <message>
         <source>LTE</source>
-        <translation type="unfinished"></translation>
+        <translation>LTE</translation>
     </message>
     <message>
         <source>5G</source>
-        <translation type="unfinished"></translation>
+        <translation>5G</translation>
     </message>
 </context>
 <context>
@@ -931,11 +904,11 @@ This may take up to a minute.</source>
     <name>SshControl</name>
     <message>
         <source>SSH Keys</source>
-        <translation>SSH 密鑰</translation>
+        <translation>SSH 金鑰</translation>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。</translation>
+        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 使用者名稱。comma 員工「永遠不會」要求您添加他們的 GitHub 使用者名稱。</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -943,7 +916,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>請輸入您 GitHub 的用戶名</translation>
+        <translation>請輸入您 GitHub 的使用者名稱</translation>
     </message>
     <message>
         <source>LOADING</source>
@@ -955,7 +928,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何密鑰</translation>
+        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何金鑰</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -1024,7 +997,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
+        <translation>上傳駕駛監控的錄影來協助我們提升駕駛監控的準確率。</translation>
     </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
@@ -1080,7 +1053,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。</translation>
+        <translation>警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
@@ -1124,11 +1097,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>当导航有目的地时，openpilot 将把地图信息输入模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向分隔带区域等。</translation>
+        <translation>當導航有目的地時，openpilot 將把地圖資訊輸入模型中。這為模型提供了有用的背景資訊，使 openpilot 能夠在叉路/出口時適當地保持左側或右側行駛。車道變換行為保持不變，仍由駕駛員啟用。這是一個 Alpha 版的功能；可能會出現錯誤，特別是在出口和分叉處。這些錯誤可能包括意外的車道越界、晚出口、朝著分隔欄駛向分隔帶區域等。</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖標也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
+        <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖示也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
     </message>
 </context>
 <context>
@@ -1143,7 +1116,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網絡</translation>
+        <translation>連接到無線網路</translation>
     </message>
     <message>
         <source>Install</source>
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index c9f81c0539..acb2a705a8 100755
--- a/selfdrive/ui/ui
+++ b/selfdrive/ui/ui
@@ -1,5 +1,4 @@
 #!/bin/sh
 cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
 export QT_DBL_CLICK_DIST=150
 exec ./_ui
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 03df2cf57a..7b2d24b53a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -38,7 +38,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
   const auto line_x = line.getX();
   int max_idx = 0;
-  for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
     max_idx = i;
   }
   return max_idx;
@@ -84,10 +84,10 @@ void update_model(UIState *s,
                   const cereal::UiPlan::Reader &plan) {
   UIScene &scene = s->scene;
   auto plan_position = plan.getPosition();
-  if (plan_position.getX().size() < TRAJECTORY_SIZE){
+  if (plan_position.getX().size() < model.getPosition().getX().size()) {
     plan_position = model.getPosition();
   }
-  float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1],
+  float max_distance = std::clamp(*(plan_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
 
   // update lane lines
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index bd9d059422..d9a03344b6 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -3,7 +3,6 @@
 #include <map>
 #include <memory>
 #include <string>
-#include <optional>
 
 #include <QObject>
 #include <QTimer>
@@ -13,9 +12,10 @@
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
-#include "common/modeldata.h"
+#include "common/mat.h"
 #include "common/params.h"
 #include "common/timing.h"
+#include "system/hardware/hw.h"
 
 const int UI_BORDER_SIZE = 30;
 const int UI_HEADER_HEIGHT = 420;
@@ -24,9 +24,20 @@ const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
-const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
+const float MIN_DRAW_DISTANCE = 10.0;
+const float MAX_DRAW_DISTANCE = 100.0;
+constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
+constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
+                                           0.0, 2648.0, 1208.0 / 2,
+                                           0.0, 0.0, 1.0}};
+// tici ecam focal probably wrong? magnification is not consistent across frame
+// Need to retrain model before this can be changed
+constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
+                                           0.0, 567.0, 1208.0 / 2,
+                                           0.0, 0.0, 1.0}};
 
-const vec3 default_face_kpts_3d[] = {
+
+constexpr vec3 default_face_kpts_3d[] = {
   {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},
   {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00},
   {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00},
@@ -103,6 +114,7 @@ enum PrimeType {
   LITE = 2,
   BLUE = 3,
   MAGENTA_NEW = 4,
+  PURPLE = 5,
 };
 
 const QColor bg_colors [] = {
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 1e128fb11c..fabe28920f 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -428,6 +428,9 @@ def main() -> None:
   # invalidate old finalized update
   set_consistent_flag(False)
 
+  # wait a bit before first cycle
+  wait_helper.sleep(60)
+
   # Run the update loop
   while True:
     wait_helper.ready_event.clear()
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 23b28357da..d2c7a35f6e 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -13,7 +13,6 @@
 
 #include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
-#include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 3e56f5690d..0f69aa3774 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -26,7 +26,7 @@
 #define CAMERA_ID_OX03C10 9
 #define CAMERA_ID_MAX 10
 
-const int YUV_BUFFER_COUNT = 40;
+const int YUV_BUFFER_COUNT = 20;
 
 enum CameraType {
   RoadCam = 0,
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index 6669df301c..ad3a9fdc91 100755
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 import numpy as np
@@ -6,25 +7,22 @@ from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import TICI
 
 TEST_TIMESPAN = 30
-LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
-                       log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame
+LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
+                       log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
 FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
                        log.FrameData.ImageSensor.ox03c10: 1.0}
 
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 
 
+@pytest.mark.tici
 class TestCamerad(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     # run camerad and record logs
     managed_processes['camerad'].start()
     time.sleep(3)
@@ -43,10 +41,10 @@ class TestCamerad(unittest.TestCase):
     for cam, msgs in cls.logs.items():
       if cls.sensor_type is None:
         cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = service_list[cam].frequency * TEST_TIMESPAN
+      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency)
+      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
       assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
       for m in msgs:
diff --git a/system/clocksd/.gitignore b/system/clocksd/.gitignore
deleted file mode 100644
index a6d841d65e..0000000000
--- a/system/clocksd/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-clocksd
diff --git a/system/clocksd/SConscript b/system/clocksd/SConscript
deleted file mode 100644
index d1cf13e9e8..0000000000
--- a/system/clocksd/SConscript
+++ /dev/null
@@ -1,2 +0,0 @@
-Import('env', 'common', 'cereal', 'messaging')
-env.Program('clocksd.cc', LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj'])
diff --git a/system/clocksd/clocksd.cc b/system/clocksd/clocksd.cc
deleted file mode 100644
index a5912cf51a..0000000000
--- a/system/clocksd/clocksd.cc
+++ /dev/null
@@ -1,73 +0,0 @@
-#include <sys/resource.h>
-#include <sys/time.h>
-#include <unistd.h>
-
-#include <cstdint>
-#include <cstdio>
-
-// Apple doesn't have timerfd
-#ifdef __APPLE__
-#include <thread>
-#else
-#include <sys/timerfd.h>
-#endif
-
-#include <cassert>
-#include <chrono>
-
-#include "cereal/messaging/messaging.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-ExitHandler do_exit;
-
-int main() {
-  setpriority(PRIO_PROCESS, 0, -13);
-  PubMaster pm({"clocks"});
-
-#ifndef __APPLE__
-  int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
-  assert(timerfd >= 0);
-
-  struct itimerspec spec = {0};
-  spec.it_interval.tv_sec = 1;
-  spec.it_interval.tv_nsec = 0;
-  spec.it_value.tv_sec = 1;
-  spec.it_value.tv_nsec = 0;
-
-  int err = timerfd_settime(timerfd, 0, &spec, 0);
-  assert(err == 0);
-
-  uint64_t expirations = 0;
-  while (!do_exit && (err = read(timerfd, &expirations, sizeof(expirations)))) {
-    if (err < 0) {
-      if (errno == EINTR) continue;
-      break;
-    }
-#else
-  // Just run at 1Hz on apple
-  while (!do_exit) {
-    util::sleep_for(1000);
-#endif
-
-    uint64_t boottime = nanos_since_boot();
-    uint64_t monotonic = nanos_monotonic();
-    uint64_t monotonic_raw = nanos_monotonic_raw();
-    uint64_t wall_time = nanos_since_epoch();
-
-    MessageBuilder msg;
-    auto clocks = msg.initEvent().initClocks();
-
-    clocks.setBootTimeNanos(boottime);
-    clocks.setMonotonicNanos(monotonic);
-    clocks.setMonotonicRawNanos(monotonic_raw);
-    clocks.setWallTimeNanos(wall_time);
-
-    pm.send("clocks", msg);
-  }
-
-#ifndef __APPLE__
-  close(timerfd);
-#endif
-  return 0;
-}
diff --git a/system/hardware/base.h b/system/hardware/base.h
index d86b316843..890a743ea0 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -34,6 +34,8 @@ public:
   static bool get_ssh_enabled() { return false; }
   static void set_ssh_enabled(bool enabled) {}
 
+  static void config_cpu_rendering(bool offscreen);
+
   static bool PC() { return false; }
   static bool TICI() { return false; }
   static bool AGNOS() { return false; }
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index 1274851787..2f6ccfffda 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -14,16 +14,37 @@
 #endif
 
 namespace Path {
-inline std::string log_root() {
-  if (const char *env = getenv("LOG_ROOT")) {
-    return env;
+  inline std::string openpilot_prefix() {
+    return util::getenv("OPENPILOT_PREFIX", "");
+  }
+
+  inline std::string comma_home() {
+    return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
+  }
+
+  inline std::string log_root() {
+    if (const char *env = getenv("LOG_ROOT")) {
+      return env;
+    }
+    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
+  }
+
+  inline std::string params() {
+    return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
+  }
+
+  inline std::string rsa_file() {
+    return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+  }
+  
+  inline std::string swaglog_ipc() {
+    return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
+  }
+
+  inline std::string download_cache_root() {
+    if (const char *env = getenv("COMMA_CACHE")) {
+      return env;
+    }
+    return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
   }
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
-}
-inline std::string params() {
-  return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params";
-}
-inline std::string rsa_file() {
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
-}
 }  // namespace Path
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
new file mode 100644
index 0000000000..6c3d90345c
--- /dev/null
+++ b/system/hardware/hw.py
@@ -0,0 +1,56 @@
+import os
+from pathlib import Path
+
+from openpilot.system.hardware import PC
+
+class Paths:
+  @staticmethod
+  def comma_home() -> str:
+    return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
+
+  @staticmethod
+  def log_root() -> str:
+    if os.environ.get('LOG_ROOT', False):
+      return os.environ['LOG_ROOT']
+    elif PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
+    else:
+      return '/data/media/0/realdata/'
+
+  @staticmethod
+  def swaglog_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "log")
+    else:
+      return "/data/log/"
+
+  @staticmethod
+  def swaglog_ipc() -> str:
+    return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
+
+  @staticmethod
+  def download_cache_root() -> str:
+    if os.environ.get('COMMA_CACHE', False):
+      return os.environ['COMMA_CACHE']
+    return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/"
+
+  @staticmethod
+  def persist_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "persist")
+    else:
+      return "/persist/"
+
+  @staticmethod
+  def stats_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats/"
+
+  @staticmethod
+  def config_root() -> str:
+    if PC:
+      return Paths.comma_home()
+    else:
+      return "/tmp/.comma"
\ No newline at end of file
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 5cd825d61d..189adbbbee 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -20,4 +20,12 @@ public:
     snprintf(volume_str, sizeof(volume_str), "%.3f", volume);
     std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
   }
+
+  static void config_cpu_rendering(bool offscreen) {
+    if (offscreen) {
+      setenv("QT_QPA_PLATFORM", "offscreen", 1);
+    }
+    setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
+    setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
+  }
 };
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index 5b656a40fa..e003f131cc 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import time
 from smbus2 import SMBus
 from collections import namedtuple
diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection
new file mode 100644
index 0000000000..74f6f8e82c
--- /dev/null
+++ b/system/hardware/tici/esim.nmconnection
@@ -0,0 +1,30 @@
+[connection]
+id=esim
+uuid=fff6553c-3284-4707-a6b1-acc021caaafb
+type=gsm
+permissions=
+autoconnect=true
+autoconnect-retries=100
+autoconnect-priority=2
+metered=1
+
+[gsm]
+apn=
+home-only=false
+auto-config=true
+sim-id=
+
+[ipv4]
+route-metric=1000
+dns-priority=1000
+dns-search=
+method=auto
+
+[ipv6]
+ddr-gen-mode=stable-privacy
+dns-search=
+route-metric=1000
+dns-priority=1000
+method=auto
+
+[proxy]
diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py
new file mode 100755
index 0000000000..df76c1a5fd
--- /dev/null
+++ b/system/hardware/tici/esim.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+import os
+import math
+import time
+import binascii
+import requests
+import serial
+import subprocess
+
+
+def post(url, payload):
+  print()
+  print("POST to", url)
+  r = requests.post(
+    url,
+    data=payload,
+    verify=False,
+    headers={
+      "Content-Type": "application/json",
+      "X-Admin-Protocol": "gsma/rsp/v2.2.0",
+      "charset": "utf-8",
+      "User-Agent": "gsma-rsp-lpad",
+    },
+  )
+  print("resp", r)
+  print("resp text", repr(r.text))
+  print()
+  r.raise_for_status()
+
+  ret = f"HTTP/1.1 {r.status_code}"
+  ret += ''.join(f"{k}: {v}" for k, v in r.headers.items() if k != 'Connection')
+  return ret.encode() + r.content
+
+
+class LPA:
+  def __init__(self):
+    self.dev = serial.Serial('/dev/ttyUSB2', baudrate=57600, timeout=1, bytesize=8)
+    self.dev.reset_input_buffer()
+    self.dev.reset_output_buffer()
+    assert "OK" in self.at("AT")
+
+  def at(self, cmd):
+    print(f"==> {cmd}")
+    self.dev.write(cmd.encode() + b'\r\n')
+
+    r = b""
+    cnt = 0
+    while b"OK" not in r and b"ERROR" not in r and cnt < 20:
+      r += self.dev.read(8192).strip()
+      cnt += 1
+    r = r.decode()
+    print(f"<== {repr(r)}")
+    return r
+
+  def download_ota(self, qr):
+    return self.at(f'AT+QESIM="ota","{qr}"')
+
+  def download(self, qr):
+    smdp = qr.split('$')[1]
+    out = self.at(f'AT+QESIM="download","{qr}"')
+    for _ in range(5):
+      line = out.split("+QESIM: ")[1].split("\r\n\r\nOK")[0]
+
+      parts = [x.strip().strip('"') for x in line.split(',', maxsplit=4)]
+      print(repr(parts))
+      trans, ret, url, payloadlen, payload = parts
+      assert trans == "trans" and ret == "0"
+      assert len(payload) == int(payloadlen)
+
+      r = post(f"https://{smdp}/{url}", payload)
+      to_send = binascii.hexlify(r).decode()
+
+      chunk_len = 1400
+      for i in range(math.ceil(len(to_send) / chunk_len)):
+        state = 1 if (i+1)*chunk_len < len(to_send) else 0
+        data = to_send[i * chunk_len : (i+1)*chunk_len]
+        out = self.at(f'AT+QESIM="trans",{len(to_send)},{state},{i},{len(data)},"{data}"')
+        assert "OK" in out
+
+      if '+QESIM:"download",1' in out:
+        raise Exception("profile install failed")
+      elif '+QESIM:"download",0' in out:
+        print("done, successfully loaded")
+        break
+
+  def enable(self, iccid):
+    self.at(f'AT+QESIM="enable","{iccid}"')
+
+  def disable(self, iccid):
+    self.at(f'AT+QESIM="disable","{iccid}"')
+
+  def delete(self, iccid):
+    self.at(f'AT+QESIM="delete","{iccid}"')
+
+  def list_profiles(self):
+    out = self.at('AT+QESIM="list"')
+    return out.strip().splitlines()[1:]
+
+
+if __name__ == "__main__":
+  import sys
+
+  if "RESTART" in os.environ:
+    subprocess.check_call("sudo systemctl stop ModemManager", shell=True)
+    subprocess.check_call("/usr/comma/lte/lte.sh stop_blocking", shell=True)
+    subprocess.check_call("/usr/comma/lte/lte.sh start", shell=True)
+    while not os.path.exists('/dev/ttyUSB2'):
+      time.sleep(1)
+    time.sleep(3)
+
+  lpa = LPA()
+  print(lpa.list_profiles())
+  if len(sys.argv) > 1:
+    lpa.download(sys.argv[1])
+    print(lpa.list_profiles())
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index c1a2dcb169..0a00aca5be 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -103,4 +103,11 @@ public:
 
   static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
   static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
+
+  static void config_cpu_rendering(bool offscreen) {
+    if (offscreen) {
+      setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES
+    }
+    setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
+  }
 };
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 7f8ef37f1a..5f8267a461 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -3,6 +3,7 @@ import math
 import os
 import subprocess
 import time
+import tempfile
 from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
@@ -104,7 +105,7 @@ class Tici(HardwareBase):
   def nm(self):
     return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
 
-  @cached_property
+  @property # this should not be cached, in case the modemmanager restarts
   def mm(self):
     return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
 
@@ -210,8 +211,8 @@ class Tici(HardwareBase):
     return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
 
   def get_network_info(self):
-    modem = self.get_modem()
     try:
+      modem = self.get_modem()
       info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
       extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
       state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
@@ -505,7 +506,7 @@ class Tici(HardwareBase):
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
     sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
     sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
-    sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
+    sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
 
     # setup governors
     sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
@@ -532,9 +533,23 @@ class Tici(HardwareBase):
       except Exception:
         pass
 
-    # blue prime config
-    if sim_id.startswith('8901410'):
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn=Broadband"')
+    # blue prime
+    blue_prime = sim_id.startswith('8901410')
+    initial_apn = "Broadband" if blue_prime else ""
+    os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"')
+
+    # eSIM prime
+    if sim_id.startswith('8985235'):
+      dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
+      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
+        dat = f.read()
+        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
+        tf.write(dat)
+        tf.flush()
+
+        # needs to be root
+        os.system(f"sudo cp {tf.name} {dest}")
+      os.system(f"sudo nmcli con load {dest}")
 
   def get_networks(self):
     r = {}
@@ -603,5 +618,6 @@ class Tici(HardwareBase):
 
 if __name__ == "__main__":
   t = Tici()
+  t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py
deleted file mode 100755
index a0520638b7..0000000000
--- a/system/hardware/tici/power_draw_test.py
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.common.gpio import gpio_init, gpio_set, gpio_export
-
-def read_power():
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
-    voltage_total = int(f.read()) / 1000.
-
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
-    current_total = int(f.read())
-
-  with open("/sys/class/power_supply/bms/voltage_now") as f:
-    voltage = int(f.read()) / 1e6   # volts
-
-  with open("/sys/class/power_supply/bms/current_now") as f:
-    current = int(f.read()) / 1e3   # ma
-
-  power_som = voltage*current
-  power_total = voltage_total*current_total
-
-  return power_total, power_som
-
-def read_power_avg():
-  pwrs = []
-  for _ in range(100):
-    pwrs.append(read_power())
-    time.sleep(0.01)
-  power_total, power_som = np.mean([x[0] for x in pwrs]), np.mean([x[1] for x in pwrs])
-  return "total %7.2f mW  SOM %7.2f mW" % (power_total, power_som)
-
-
-if __name__ == "__main__":
-  gpio_export(GPIO.CAM0_AVDD_EN)
-  gpio_export(GPIO.CAM0_RSTN)
-  gpio_export(GPIO.CAM1_RSTN)
-  gpio_export(GPIO.CAM2_RSTN)
-  print("hello")
-  os.system('kill $(pgrep -f "manager.py")')
-  os.system('kill $(pgrep -f "python -m selfdrive.athena.manage_athenad")')
-  os.system('kill $(pgrep -f "selfdrive.athena.athenad")')
-  # stopping weston turns off lcd3v3
-  os.system("sudo service weston stop")
-  os.system("sudo service ModemManager stop")
-  print("services stopped")
-
-  t = Tici()
-  t.initialize_hardware()
-  t.set_power_save(True)
-  t.set_screen_brightness(0)
-  gpio_init(GPIO.STM_RST_N, True)
-  gpio_init(GPIO.HUB_RST_N, True)
-  gpio_init(GPIO.GNSS_PWR_EN, True)
-  gpio_init(GPIO.LTE_RST_N, True)
-  gpio_init(GPIO.LTE_PWRKEY, True)
-  gpio_init(GPIO.CAM0_AVDD_EN, True)
-  gpio_init(GPIO.CAM0_RSTN, True)
-  gpio_init(GPIO.CAM1_RSTN, True)
-  gpio_init(GPIO.CAM2_RSTN, True)
-
-
-  os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")  # cam 1v2 off
-  gpio_set(GPIO.CAM0_AVDD_EN, False)    # cam 2v8 off
-  gpio_set(GPIO.LTE_RST_N, True)        # quectel off
-  gpio_set(GPIO.GNSS_PWR_EN, False)    # gps off
-  gpio_set(GPIO.STM_RST_N, True)        # panda off
-  gpio_set(GPIO.HUB_RST_N, False)       # hub off
-  # cameras in reset
-  gpio_set(GPIO.CAM0_RSTN, False)
-  gpio_set(GPIO.CAM1_RSTN, False)
-  gpio_set(GPIO.CAM2_RSTN, False)
-  time.sleep(8)
-
-  print("baseline: ", read_power_avg())
-  gpio_set(GPIO.CAM0_AVDD_EN, True)
-  time.sleep(2)
-  print("cam avdd: ", read_power_avg())
-  os.system("sudo su -c 'echo 1 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")
-  time.sleep(2)
-  print("cam dvdd: ", read_power_avg())
-  gpio_set(GPIO.CAM0_RSTN, True)
-  gpio_set(GPIO.CAM1_RSTN, True)
-  gpio_set(GPIO.CAM2_RSTN, True)
-  time.sleep(2)
-  print("cams up:  ", read_power_avg())
-  gpio_set(GPIO.HUB_RST_N, True)
-  time.sleep(2)
-  print("usb hub:  ", read_power_avg())
-  gpio_set(GPIO.STM_RST_N, False)
-  time.sleep(5)
-  print("panda:    ", read_power_avg())
-  gpio_set(GPIO.GNSS_PWR_EN, True)
-  time.sleep(5)
-  print("gps:      ", read_power_avg())
-  gpio_set(GPIO.LTE_RST_N, False)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, True)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, False)
-  time.sleep(5)
-  print("quectel:  ", read_power_avg())
-
diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py
index 7d377ac3fb..4abc86107b 100755
--- a/system/hardware/tici/tests/test_hardware.py
+++ b/system/hardware/tici/tests/test_hardware.py
@@ -1,20 +1,19 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 import numpy as np
 
-from openpilot.system.hardware import TICI
 from openpilot.system.hardware.tici.hardware import Tici
 
 HARDWARE = Tici()
 
+
+@pytest.mark.tici
 class TestHardware(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     HARDWARE.initialize_hardware()
     HARDWARE.set_power_save(False)
 
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index fbca95f6f6..c61d67e79d 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -1,15 +1,16 @@
 #!/usr/bin/env python3
+import pytest
 import unittest
 import time
-import math
 import threading
+import numpy as np
 from dataclasses import dataclass
 from tabulate import tabulate
 from typing import List
 
 import cereal.messaging as messaging
-from cereal.services import service_list
-from openpilot.system.hardware import HARDWARE, TICI
+from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.manager.manager import manager_cleanup
@@ -28,7 +29,7 @@ class Proc:
 
 PROCS = [
   Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']),
+  Proc('modeld', 1.12, atol=0.2, msgs=['modelV2']),
   Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
   Proc('encoderd', 0.23, msgs=[]),
   Proc('mapsd', 0.05, msgs=['mapRenderState']),
@@ -44,13 +45,9 @@ def send_llk_msg(done):
     time.sleep(1/20.)
 
 
+@pytest.mark.tici
 class TestPowerDraw(unittest.TestCase):
 
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
   def setUp(self):
     HARDWARE.initialize_hardware()
     HARDWARE.set_power_save(False)
@@ -91,11 +88,11 @@ class TestPowerDraw(unittest.TestCase):
       cur = used[proc.name]
       expected = proc.power
       msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
-      msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
+      msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
       tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
-        self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
-        self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
+        np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
+        np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
 
diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
index 1c57751200..7eb407988e 100755
Binary files a/system/hardware/tici/updater and b/system/hardware/tici/updater differ
diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
index becd293c02..771594d20c 100644
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -50,11 +50,11 @@ static kj::Array<capnp::word> build_boot_log() {
 
 int main(int argc, char** argv) {
   const std::string timestr = logger_get_route_name();
-  const std::string path = LOG_ROOT + "/boot/" + timestr;
+  const std::string path = Path::log_root() + "/boot/" + timestr;
   LOGW("bootlog to %s", path.c_str());
 
   // Open bootlog
-  bool r = util::create_directories(LOG_ROOT + "/boot/", 0775);
+  bool r = util::create_directories(Path::log_root() + "/boot/", 0775);
   assert(r);
 
   RawFile file(path.c_str());
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index dfc117f2c1..5c2c89b73f 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -1,13 +1,5 @@
 import os
-from pathlib import Path
-from openpilot.system.hardware import PC
-
-if os.environ.get('LOG_ROOT', False):
-  ROOT = os.environ['LOG_ROOT']
-elif PC:
-  ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata")
-else:
-  ROOT = '/data/media/0/realdata/'
+from openpilot.system.hardware.hw import Paths
 
 
 CAMERA_FPS = 20
@@ -15,15 +7,11 @@ SEGMENT_LENGTH = 60
 
 STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
-if PC:
-  STATS_DIR = str(Path.home() / ".comma" / "stats")
-else:
-  STATS_DIR = "/data/stats/"
 STATS_FLUSH_TIME_S = 60
 
 def get_available_percent(default=None):
   try:
-    statvfs = os.statvfs(ROOT)
+    statvfs = os.statvfs(Paths.log_root())
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
   except OSError:
     available_percent = default
@@ -33,7 +21,7 @@ def get_available_percent(default=None):
 
 def get_available_bytes(default=None):
   try:
-    statvfs = os.statvfs(ROOT)
+    statvfs = os.statvfs(Paths.log_root())
     available_bytes = statvfs.f_bavail * statvfs.f_frsize
   except OSError:
     available_bytes = default
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
old mode 100644
new mode 100755
index ab4a0b97c1..b060232b6e
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -3,9 +3,9 @@ import os
 import shutil
 import threading
 from typing import List
-
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
-from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent
+from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
 from openpilot.system.loggerd.uploader import listdir_by_creation
 from openpilot.system.loggerd.xattr_cache import getxattr
 
@@ -20,7 +20,7 @@ PRESERVE_COUNT = 5
 
 
 def has_preserve_xattr(d: str) -> bool:
-  return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
+  return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
 
 def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]:
@@ -51,14 +51,14 @@ def deleter_thread(exit_event):
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
-      dirs = listdir_by_creation(ROOT)
+      dirs = listdir_by_creation(Paths.log_root())
 
       # skip deleting most recent N preserved segments (and their prior segment)
       preserved_dirs = get_preserved_segments(dirs)
 
       # remove the earliest directory we can
       for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
-        delete_path = os.path.join(ROOT, delete_dir)
+        delete_path = os.path.join(Paths.log_root(), delete_dir)
 
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
           continue
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index dc20ea8791..f44f2fbed7 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -135,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
     }
 
     if (env_debug_encoder) {
-      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id);
+      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id);
     }
 
     publisher_publish(this, segment_num, counter, *extra,
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 6e5cefa87d..571f5979e2 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -75,7 +75,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
 }
 
 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
-  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename);
+  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name);
   util::set_thread_name(dequeue_thread_name.c_str());
 
   e->segment_num++;
@@ -105,7 +105,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
     }
 
     if (env_debug_encoder >= 2) {
-      printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot());
+      printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot());
     }
 
     int frame_id = -1;
@@ -133,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 
       if (env_debug_encoder) {
         printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n",
-          e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
+          e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
       }
 
       // requeue the buffer
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 31b302ffe6..3af2c50aa1 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -1,21 +1,7 @@
 #include "system/loggerd/logger.h"
 
-#include <sys/stat.h>
-#include <unistd.h>
-#include <ftw.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <ctime>
 #include <fstream>
-#include <iostream>
 #include <map>
-#include <streambuf>
-#include <string>
 #include <vector>
 
 #include "common/params.h"
@@ -24,9 +10,12 @@
 
 // ***** log metadata *****
 kj::Array<capnp::word> logger_build_init_data() {
+  uint64_t wall_time = nanos_since_epoch();
+
   MessageBuilder msg;
   auto init = msg.initEvent().initInitData();
 
+  init.setWallTimeNanos(wall_time);
   init.setVersion(COMMA_VERSION);
   init.setDirty(!getenv("CLEAN"));
   init.setDeviceType(Hardware::get_device_type());
@@ -105,159 +94,51 @@ std::string logger_get_route_name() {
   return route_name;
 }
 
-void log_init_data(LoggerState *s) {
-  auto bytes = s->init_data.asBytes();
-  logger_log(s, bytes.begin(), bytes.size(), s->has_qlog);
-}
-
-
-static void lh_log_sentinel(LoggerHandle *h, SentinelType type) {
+static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) {
   MessageBuilder msg;
   auto sen = msg.initEvent().initSentinel();
   sen.setType(type);
-  sen.setSignal(h->exit_signal);
-  auto bytes = msg.toBytes();
-
-  lh_log(h, bytes.begin(), bytes.size(), true);
+  sen.setSignal(eixt_signal);
+  log->write(msg.toBytes(), true);
 }
 
-// ***** logging functions *****
-
-void logger_init(LoggerState *s, bool has_qlog) {
-  pthread_mutex_init(&s->lock, NULL);
-
-  s->part = -1;
-  s->has_qlog = has_qlog;
-  s->route_name = logger_get_route_name();
-  s->init_data = logger_build_init_data();
+LoggerState::LoggerState(const std::string &log_root) {
+  route_name = logger_get_route_name();
+  route_path = log_root + "/" + route_name;
+  init_data = logger_build_init_data();
 }
 
-static LoggerHandle* logger_open(LoggerState *s, const char* root_path) {
-  LoggerHandle *h = NULL;
-  for (int i=0; i<LOGGER_MAX_HANDLES; i++) {
-    if (s->handles[i].refcnt == 0) {
-      h = &s->handles[i];
-      break;
-    }
-  }
-  assert(h);
-
-  snprintf(h->segment_path, sizeof(h->segment_path),
-          "%s/%s--%d", root_path, s->route_name.c_str(), s->part);
-
-  snprintf(h->log_path, sizeof(h->log_path), "%s/rlog", h->segment_path);
-  snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog", h->segment_path);
-  snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path);
-  h->end_sentinel_type = SentinelType::END_OF_SEGMENT;
-  h->exit_signal = 0;
-
-  if (!util::create_directories(h->segment_path, 0775)) return nullptr;
-
-  FILE* lock_file = fopen(h->lock_path, "wb");
-  if (lock_file == NULL) return NULL;
-  fclose(lock_file);
-
-  h->log = std::make_unique<RawFile>(h->log_path);
-  if (s->has_qlog) {
-    h->q_log = std::make_unique<RawFile>(h->qlog_path);
+LoggerState::~LoggerState() {
+  if (rlog) {
+    log_sentinel(this, SentinelType::END_OF_ROUTE, exit_signal);
+    std::remove(lock_file.c_str());
   }
-
-  pthread_mutex_init(&h->lock, NULL);
-  h->refcnt++;
-  return h;
 }
 
-int logger_next(LoggerState *s, const char* root_path,
-                            char* out_segment_path, size_t out_segment_path_len,
-                            int* out_part) {
-  bool is_start_of_route = !s->cur_handle;
-
-  pthread_mutex_lock(&s->lock);
-  s->part++;
-
-  LoggerHandle* next_h = logger_open(s, root_path);
-  if (!next_h) {
-    pthread_mutex_unlock(&s->lock);
-    return -1;
+bool LoggerState::next() {
+  if (rlog) {
+    log_sentinel(this, SentinelType::END_OF_SEGMENT);
+    std::remove(lock_file.c_str());
   }
 
-  if (s->cur_handle) {
-    lh_close(s->cur_handle);
-  }
-  s->cur_handle = next_h;
+  segment_path = route_path + "--" + std::to_string(++part);
+  bool ret = util::create_directories(segment_path, 0775);
+  assert(ret == true);
 
-  if (out_segment_path) {
-    snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path);
-  }
-  if (out_part) {
-    *out_part = s->part;
-  }
+  const std::string rlog_path = segment_path + "/rlog";
+  lock_file = rlog_path + ".lock";
+  std::ofstream{lock_file};
 
-  pthread_mutex_unlock(&s->lock);
-
-  // write beginning of log metadata
-  log_init_data(s);
-  lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT);
-  return 0;
-}
+  rlog.reset(new RawFile(rlog_path));
+  qlog.reset(new RawFile(segment_path + "/qlog"));
 
-LoggerHandle* logger_get_handle(LoggerState *s) {
-  pthread_mutex_lock(&s->lock);
-  LoggerHandle* h = s->cur_handle;
-  if (h) {
-    pthread_mutex_lock(&h->lock);
-    h->refcnt++;
-    pthread_mutex_unlock(&h->lock);
-  }
-  pthread_mutex_unlock(&s->lock);
-  return h;
-}
-
-void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) {
-  pthread_mutex_lock(&s->lock);
-  if (s->cur_handle) {
-    lh_log(s->cur_handle, data, data_size, in_qlog);
-  }
-  pthread_mutex_unlock(&s->lock);
+  // log init data & sentinel type.
+  write(init_data.asBytes(), true);
+  log_sentinel(this, part > 0 ? SentinelType::START_OF_SEGMENT : SentinelType::START_OF_ROUTE);
+  return true;
 }
 
-void logger_close(LoggerState *s, ExitHandler *exit_handler) {
-  pthread_mutex_lock(&s->lock);
-  if (s->cur_handle) {
-    s->cur_handle->exit_signal = exit_handler && exit_handler->signal.load();
-    s->cur_handle->end_sentinel_type = SentinelType::END_OF_ROUTE;
-    lh_close(s->cur_handle);
-  }
-  pthread_mutex_unlock(&s->lock);
-}
-
-void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) {
-  pthread_mutex_lock(&h->lock);
-  assert(h->refcnt > 0);
-  h->log->write(data, data_size);
-  if (in_qlog && h->q_log) {
-    h->q_log->write(data, data_size);
-  }
-  pthread_mutex_unlock(&h->lock);
-}
-
-void lh_close(LoggerHandle* h) {
-  pthread_mutex_lock(&h->lock);
-  assert(h->refcnt > 0);
-  if (h->refcnt == 1) {
-    // a very ugly hack. only here can guarantee sentinel is the last msg
-    pthread_mutex_unlock(&h->lock);
-    lh_log_sentinel(h, h->end_sentinel_type);
-    pthread_mutex_lock(&h->lock);
-  }
-  h->refcnt--;
-  if (h->refcnt == 0) {
-    h->log.reset(nullptr);
-    h->q_log.reset(nullptr);
-    unlink(h->lock_path);
-    pthread_mutex_unlock(&h->lock);
-    pthread_mutex_destroy(&h->lock);
-    return;
-  }
-  pthread_mutex_unlock(&h->lock);
+void LoggerState::write(uint8_t* data, size_t size, bool in_qlog) {
+  rlog->write(data, size);
+  if (in_qlog) qlog->write(data, size);
 }
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index 36db1a5a74..76a12b9e87 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -1,29 +1,17 @@
 #pragma once
 
-#include <pthread.h>
-
 #include <cassert>
-#include <cstdint>
-#include <cstdio>
 #include <memory>
 #include <string>
 
-#include <capnp/serialize.h>
-#include <kj/array.h>
-
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
-const std::string LOG_ROOT = Path::log_root();
-
-#define LOGGER_MAX_HANDLES 16
-
 class RawFile {
  public:
-  RawFile(const char* path) {
-    file = util::safe_fopen(path, "wb");
+  RawFile(const std::string &path) {
+    file = util::safe_fopen(path.c_str(), "wb");
     assert(file != nullptr);
   }
   ~RawFile() {
@@ -43,39 +31,25 @@ class RawFile {
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
-typedef struct LoggerHandle {
-  pthread_mutex_t lock;
-  SentinelType end_sentinel_type;
-  int exit_signal;
-  int refcnt;
-  char segment_path[4096];
-  char log_path[4096];
-  char qlog_path[4096];
-  char lock_path[4096];
-  std::unique_ptr<RawFile> log, q_log;
-} LoggerHandle;
 
-typedef struct LoggerState {
-  pthread_mutex_t lock;
-  int part;
+class LoggerState {
+public:
+  LoggerState(const std::string& log_root = Path::log_root());
+  ~LoggerState();
+  bool next();
+  void write(uint8_t* data, size_t size, bool in_qlog);
+  inline int segment() const { return part; }
+  inline const std::string& segmentPath() const { return segment_path; }
+  inline const std::string& routeName() const { return route_name; }
+  inline void write(kj::ArrayPtr<kj::byte> bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); }
+  inline void setExitSignal(int signal) { exit_signal = signal; }
+
+protected:
+  int part = -1, exit_signal = 0;
+  std::string route_path, route_name, segment_path, lock_file;
   kj::Array<capnp::word> init_data;
-  std::string route_name;
-  char log_name[64];
-  bool has_qlog;
-
-  LoggerHandle handles[LOGGER_MAX_HANDLES];
-  LoggerHandle* cur_handle;
-} LoggerState;
+  std::unique_ptr<RawFile> rlog, qlog;
+};
 
 kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_route_name();
-void logger_init(LoggerState *s, bool has_qlog);
-int logger_next(LoggerState *s, const char* root_path,
-                            char* out_segment_path, size_t out_segment_path_len,
-                            int* out_part);
-LoggerHandle* logger_get_handle(LoggerState *s);
-void logger_close(LoggerState *s, ExitHandler *exit_handler=nullptr);
-void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog);
-
-void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog);
-void lh_close(LoggerHandle* h);
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 053bc6b1eb..8d5fcb95ac 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -13,9 +13,7 @@
 ExitHandler do_exit;
 
 struct LoggerdState {
-  LoggerState logger = {};
-  char segment_path[4096];
-  std::atomic<int> rotate_segment;
+  LoggerState logger;
   std::atomic<double> last_camera_seen_tms;
   std::atomic<int> ready_to_rotate;  // count of encoders ready to rotate
   int max_waiting = 0;
@@ -23,13 +21,11 @@ struct LoggerdState {
 };
 
 void logger_rotate(LoggerdState *s) {
-  int segment = -1;
-  int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
-  assert(err == 0);
-  s->rotate_segment = segment;
+  bool ret =s->logger.next();
+  assert(ret);
   s->ready_to_rotate = 0;
   s->last_rotate_tms = millis_since_boot();
-  LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path);
+  LOGW((s->logger.segment() == 0) ? "logging to %s" : "rotated to %s", s->logger.segmentPath().c_str());
 }
 
 void rotate_if_needed(LoggerdState *s) {
@@ -85,16 +81,16 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   }
   int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset;
 
-  if (offset_segment_num == s->rotate_segment) {
+  if (offset_segment_num == s->logger.segment()) {
     // loggerd is now on the segment that matches this packet
 
     // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets
-    if (re.current_segment != s->rotate_segment) {
+    if (re.current_segment != s->logger.segment()) {
       if (re.recording) {
         re.writer.reset();
         re.recording = false;
       }
-      re.current_segment = s->rotate_segment;
+      re.current_segment = s->logger.segment();
       re.marked_ready_to_rotate = false;
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
@@ -116,7 +112,8 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
         }
         // if we aren't actually recording, don't create the writer
         if (encoder_info.record) {
-          re.writer.reset(new VideoWriter(s->segment_path,
+          assert(encoder_info.filename != NULL);
+          re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
             encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
             encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
           // write the header
@@ -148,28 +145,28 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
     evt.setLogMonoTime(event.getLogMonoTime());
     (evt.*(encoder_info.set_encode_idx_func))(idx);
     auto new_msg = bmsg.toBytes();
-    logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true);   // always in qlog?
+    s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true);   // always in qlog?
     bytes_count += new_msg.size();
 
     // free the message, we used it
     delete msg;
-  } else if (offset_segment_num > s->rotate_segment) {
+  } else if (offset_segment_num > s->logger.segment()) {
     // encoderd packet has a newer segment, this means encoderd has rolled over
     if (!re.marked_ready_to_rotate) {
       re.marked_ready_to_rotate = true;
       ++s->ready_to_rotate;
       LOGD("rotate %d -> %d ready %d/%d for %s",
-        s->rotate_segment.load(), offset_segment_num,
+        s->logger.segment(), offset_segment_num,
         s->ready_to_rotate.load(), s->max_waiting, name.c_str());
     }
     // queue up all the new segment messages, they go in after the rotate
     re.q.push_back(msg);
   } else {
-    LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->rotate_segment:%d re.encoderd_segment_offset:%d",
-      name.c_str(), idx.getSegmentNum(), s->rotate_segment.load(), re.encoderd_segment_offset);
+    LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d",
+      name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset);
     // free the message, it's useless. this should never happen
     // actually, this can happen if you restart encoderd
-    re.encoderd_segment_offset = -s->rotate_segment.load();
+    re.encoderd_segment_offset = -s->logger.segment();
     delete msg;
   }
 
@@ -178,19 +175,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
 
 void handle_user_flag(LoggerdState *s) {
   static int prev_segment = -1;
-  if (s->rotate_segment == prev_segment) return;
+  if (s->logger.segment() == prev_segment) return;
 
-  LOGW("preserving %s", s->segment_path);
+  LOGW("preserving %s", s->logger.segmentPath().c_str());
 
 #ifdef __APPLE__
-  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0);
+  int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0);
 #else
-  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0);
+  int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0);
 #endif
   if (ret) {
-    LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno));
+    LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno));
   }
-  prev_segment = s->rotate_segment.load();
+  prev_segment = s->logger.segment();
 }
 
 void loggerd_thread() {
@@ -227,9 +224,8 @@ void loggerd_thread() {
 
   LoggerdState s;
   // init logger
-  logger_init(&s.logger, true);
   logger_rotate(&s);
-  Params().put("CurrentRoute", s.logger.route_name);
+  Params().put("CurrentRoute", s.logger.routeName());
 
   std::map<std::string, EncoderInfo> encoder_infos_dict;
   for (const auto &cam : cameras_logged) {
@@ -260,7 +256,7 @@ void loggerd_thread() {
           s.last_camera_seen_tms = millis_since_boot();
           bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
         } else {
-          logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
+          s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog);
           bytes_count += msg->getSize();
           delete msg;
         }
@@ -282,7 +278,7 @@ void loggerd_thread() {
   }
 
   LOGW("closing logger");
-  logger_close(&s.logger, &do_exit);
+  s.logger.setExitSignal(do_exit.signal);
 
   if (do_exit.power_failure) {
     LOGE("power failure");
diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py
deleted file mode 100755
index c749f42b97..0000000000
--- a/system/loggerd/tests/fill.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-"""Script to fill up storage with fake data"""
-
-from pathlib import Path
-
-from openpilot.system.loggerd.config import ROOT, get_available_percent
-from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file
-
-
-if __name__ == "__main__":
-  segment_idx = 0
-  while True:
-    seg_name = f"1970-01-01--00-00-00--{segment_idx}"
-    seg_path = Path(ROOT) / seg_name
-
-    print(seg_path)
-
-    create_random_file(seg_path / "fcamera.hevc", 36)
-    create_random_file(seg_path / "rlog.bz2", 2)
-
-    segment_idx += 1
-
-    # Fill up to 99 percent
-    available_percent = get_available_percent()
-    if available_percent < 1.0:
-      break
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 89ddbd658c..8bfb571861 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -1,11 +1,9 @@
 import os
-import errno
-import shutil
 import random
-import tempfile
 import unittest
 from pathlib import Path
 from typing import Optional
+from openpilot.system.hardware.hw import Paths
 
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
@@ -87,8 +85,6 @@ class UploaderTestCase(unittest.TestCase):
     uploader.Api = MockApiIgnore
 
   def setUp(self):
-    self.root = Path(tempfile.mkdtemp())
-    uploader.ROOT = str(self.root)  # Monkey patch root dir
     uploader.Api = MockApi
     uploader.Params = MockParams
     uploader.fake_upload = True
@@ -99,16 +95,9 @@ class UploaderTestCase(unittest.TestCase):
     self.seg_format2 = "2019-05-18--11-22-33--{}"
     self.seg_dir = self.seg_format.format(self.seg_num)
 
-  def tearDown(self):
-    try:
-      shutil.rmtree(self.root)
-    except OSError as e:
-      if e.errno != errno.ENOENT:
-        raise
-
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path:
-    file_path = self.root / f_dir / fn
+    file_path = Path(Paths.log_root()) / f_dir / fn
     create_random_file(file_path, size_mb, lock, upload_xattr)
 
     if preserve_xattr is not None:
diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py
index 86152b05f8..e4112b7b4e 100755
--- a/system/loggerd/tests/test_deleter.py
+++ b/system/loggerd/tests/test_deleter.py
@@ -22,7 +22,6 @@ class TestDeleter(UploaderTestCase):
     super().setUp()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
     deleter.os.statvfs = self.fake_statvfs
-    deleter.ROOT = str(self.root)
 
   def start_thread(self):
     self.end_event = threading.Event()
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index 41b83c0821..bd076dc5f3 100755
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import os
+import pytest
 import random
 import shutil
 import subprocess
@@ -14,9 +15,9 @@ from tqdm import trange
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
-from openpilot.system.loggerd.config import ROOT
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
@@ -31,14 +32,9 @@ CAMERAS = [
 FILE_SIZE_TOLERANCE = 0.5
 
 
+@pytest.mark.tici # TODO: all of loggerd should work on PC
 class TestEncoder(unittest.TestCase):
 
-  # TODO: all of loggerd should work on PC
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
   def setUp(self):
     self._clear_logs()
     os.environ["LOGGERD_TEST"] = "1"
@@ -48,12 +44,12 @@ class TestEncoder(unittest.TestCase):
     self._clear_logs()
 
   def _clear_logs(self):
-    if os.path.exists(ROOT):
-      shutil.rmtree(ROOT)
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
 
   def _get_latest_segment_path(self):
-    last_route = sorted(Path(ROOT).iterdir())[-1]
-    return os.path.join(ROOT, last_route)
+    last_route = sorted(Path(Paths.log_root()).iterdir())[-1]
+    return os.path.join(Paths.log_root(), last_route)
 
   # TODO: this should run faster than real time
   @parameterized.expand([(True, ), (False, )])
@@ -146,7 +142,7 @@ class TestEncoder(unittest.TestCase):
       for i in trange(num_segments):
         # poll for next segment
         with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"):
-          while Path(f"{route_prefix_path}--{i+1}") not in Path(ROOT).iterdir():
+          while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir():
             time.sleep(0.1)
         check_seg(i)
     finally:
diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
index 9c82299091..2dae136e13 100644
--- a/system/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@@ -1,16 +1,5 @@
-#include <sys/stat.h>
-
-#include <climits>
-#include <condition_variable>
-#include <sstream>
-#include <thread>
-#include <utility>
-
 #include "catch2/catch.hpp"
-#include "cereal/messaging/messaging.h"
-#include "common/util.h"
 #include "system/loggerd/logger.h"
-#include "tools/replay/util.h"
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
@@ -57,91 +46,29 @@ void verify_segment(const std::string &route_path, int segment, int max_segment,
   }
 }
 
-void write_msg(LoggerHandle *logger) {
+void write_msg(LoggerState *logger) {
   MessageBuilder msg;
   msg.initEvent().initClocks();
-  auto bytes = msg.toBytes();
-  lh_log(logger, bytes.begin(), bytes.size(), true);
+  logger->write(msg.toBytes(), true);
 }
 
 TEST_CASE("logger") {
+  const int segment_cnt = 100;
   const std::string log_root = "/tmp/test_logger";
   system(("rm " + log_root + " -rf").c_str());
-
-  ExitHandler do_exit;
-
-  LoggerState logger = {};
-  logger_init(&logger, true);
-  char segment_path[PATH_MAX] = {};
-  int segment = -1;
-
-  SECTION("single thread logging & rotation(100 segments, one thread)") {
-    const int segment_cnt = 100;
+  std::string route_name;
+  {
+    LoggerState logger(log_root);
+    route_name = logger.routeName();
     for (int i = 0; i < segment_cnt; ++i) {
-      REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0);
-      REQUIRE(util::file_exists(std::string(segment_path) + "/rlog.lock"));
-      REQUIRE(segment == i);
-      write_msg(logger.cur_handle);
-    }
-    do_exit = true;
-    do_exit.signal = 1;
-    logger_close(&logger, &do_exit);
-    for (int i = 0; i < segment_cnt; ++i) {
-      verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, 1);
+      REQUIRE(logger.next());
+      REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
+      REQUIRE(logger.segment() == i);
+      write_msg(&logger);
     }
+    logger.setExitSignal(1);
   }
-  SECTION("multiple threads logging & rotation(100 segments, 10 threads") {
-    const int segment_cnt = 100, thread_cnt = 10;
-    std::atomic<int> event_cnt[segment_cnt] = {};
-    std::atomic<int> main_segment = -1;
-
-    auto logging_thread = [&]() -> void {
-      LoggerHandle *lh = logger_get_handle(&logger);
-      REQUIRE(lh != nullptr);
-      int segment = main_segment;
-      int delayed_cnt = 0;
-      while (!do_exit) {
-        // write 2 more messages in the current segment and then rotate to the new segment.
-        if (main_segment > segment && ++delayed_cnt == 2) {
-          lh_close(lh);
-          lh = logger_get_handle(&logger);
-          segment = main_segment;
-          delayed_cnt = 0;
-        }
-        write_msg(lh);
-        event_cnt[segment] += 1;
-        usleep(1);
-      }
-      lh_close(lh);
-    };
-
-    // start logging
-    std::vector<std::thread> threads;
-    for (int i = 0; i < segment_cnt; ++i) {
-      REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0);
-      REQUIRE(segment == i);
-      main_segment = segment;
-      if (i == 0) {
-        for (int j = 0; j < thread_cnt; ++j) {
-          threads.push_back(std::thread(logging_thread));
-        }
-      }
-      for (int j = 0; j < 100; ++j) {
-        write_msg(logger.cur_handle);
-        usleep(1);
-      }
-      event_cnt[segment] += 100;
-    }
-
-    // end logging
-    for (auto &t : threads) t.join();
-    do_exit = true;
-    do_exit.signal = 1;
-    logger_close(&logger, &do_exit);
-    REQUIRE(logger.cur_handle->refcnt == 0);
-
-    for (int i = 0; i < segment_cnt; ++i) {
-      verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, event_cnt[i]);
-    }
+  for (int i = 0; i < segment_cnt; ++i) {
+    verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
   }
 }
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index b43f597c25..9d7d3fa7bd 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -12,11 +12,11 @@ from typing import Dict, List
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.loggerd.config import ROOT
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -27,13 +27,16 @@ from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_fr
 
 SentinelType = log.Sentinel.SentinelType
 
-CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list
-                   and service_list[f].should_log and "encode" not in f.lower()]
+CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
+                   and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
 
 
 class TestLoggerd(unittest.TestCase):
+  def setUp(self):
+    os.environ.pop("LOG_ROOT", None)
+
   def _get_latest_log_dir(self):
-    log_dirs = sorted(Path(ROOT).iterdir(), key=lambda f: f.stat().st_mtime)
+    log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
     return log_dirs[-1]
 
   def _get_log_dir(self, x):
@@ -154,35 +157,35 @@ class TestLoggerd(unittest.TestCase):
       vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec))
     vipc_server.start_listener()
 
-    for _ in range(5):
-      num_segs = random.randint(2, 5)
-      length = random.randint(1, 3)
-      os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
-      managed_processes["loggerd"].start()
-      managed_processes["encoderd"].start()
-      time.sleep(1)
-
-      fps = 20.0
-      for n in range(1, int(num_segs*length*fps)+1):
-        for stream_type, frame_spec, state in streams:
-          dat = np.empty(frame_spec[2], dtype=np.uint8)
-          vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
-
-          camera_state = messaging.new_message(state)
-          frame = getattr(camera_state, state)
-          frame.frameId = n
-          pm.send(state, camera_state)
-        time.sleep(1.0/fps)
-
-      managed_processes["loggerd"].stop()
-      managed_processes["encoderd"].stop()
-
-      route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
-      for n in range(num_segs):
-        p = Path(f"{route_path}--{n}")
-        logged = {f.name for f in p.iterdir() if f.is_file()}
-        diff = logged ^ expected_files
-        self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}")
+    num_segs = random.randint(2, 5)
+    length = random.randint(1, 3)
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
+    managed_processes["loggerd"].start()
+    managed_processes["encoderd"].start()
+    time.sleep(1)
+
+    fps = 20.0
+    for n in range(1, int(num_segs*length*fps)+1):
+      time_start = time.monotonic()
+      for stream_type, frame_spec, state in streams:
+        dat = np.empty(frame_spec[2], dtype=np.uint8)
+        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
+
+        camera_state = messaging.new_message(state)
+        frame = getattr(camera_state, state)
+        frame.frameId = n
+        pm.send(state, camera_state)
+      time.sleep(max((1.0/fps) - (time.monotonic() - time_start), 0))
+
+    managed_processes["loggerd"].stop()
+    managed_processes["encoderd"].stop()
+
+    route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
+    for n in range(num_segs):
+      p = Path(f"{route_path}--{n}")
+      logged = {f.name for f in p.iterdir() if f.is_file()}
+      diff = logged ^ expected_files
+      self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}")
 
   def test_bootlog(self):
     # generate bootlog with fake launch log
@@ -216,8 +219,8 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(expected_val, bootlog_val)
 
   def test_qlog(self):
-    qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is not None]
-    no_qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is None]
+    qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
+    no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None]
 
     services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
                random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
@@ -242,7 +245,7 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog")
       else:
         # check logged message count matches decimation
-        expected_cnt = (len(msgs) - 1) // service_list[s].decimation + 1
+        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
         self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}")
 
   def test_rlog(self):
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 6e2f86d6ca..a7349fc5e4 100755
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -7,6 +7,7 @@ import logging
 import json
 from pathlib import Path
 from typing import List, Optional
+from openpilot.system.hardware.hw import Paths
 
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
@@ -84,7 +85,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -102,7 +103,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -121,7 +122,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore")
     self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
 
     self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order")
 
@@ -146,7 +147,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py
deleted file mode 100644
index 84b9c20d78..0000000000
--- a/system/loggerd/tools/mark_all_uploaded.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import os
-from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
-
-from openpilot.system.loggerd.config import ROOT
-for folder in os.walk(ROOT):
-  for file1 in folder[2]:
-    full_path = os.path.join(folder[0], file1)
-    os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py
deleted file mode 100755
index ef50280441..0000000000
--- a/system/loggerd/tools/mark_unuploaded.py
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME
-
-for fn in sys.argv[1:]:
-  print(f"unmarking {fn}")
-  os.removexattr(fn, UPLOAD_ATTR_NAME)
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
old mode 100644
new mode 100755
index 8ed60dac56..12c6ecdca9
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -17,8 +17,8 @@ from openpilot.common.api import Api
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import TICI
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.system.loggerd.config import ROOT
 from openpilot.system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
@@ -244,7 +244,7 @@ def uploader_fn(exit_event: threading.Event) -> None:
   except Exception:
     cloudlog.exception("failed to set core affinity")
 
-  clear_locks(ROOT)
+  clear_locks(Paths.log_root())
 
   params = Params()
   dongle_id = params.get("DongleId", encoding='utf8')
@@ -258,7 +258,7 @@ def uploader_fn(exit_event: threading.Event) -> None:
 
   sm = messaging.SubMaster(['deviceState'])
   pm = messaging.PubMaster(['uploaderState'])
-  uploader = Uploader(dongle_id, ROOT)
+  uploader = Uploader(dongle_id, Paths.log_root())
 
   backoff = 0.1
   while not exit_event.is_set():
diff --git a/system/logmessaged.py b/system/logmessaged.py
index cab8cdd80d..c53e20e483 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -4,6 +4,7 @@ from typing import NoReturn
 
 import cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import get_file_handler
 
 
@@ -14,7 +15,7 @@ def main() -> NoReturn:
 
   ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
-  sock.bind("ipc:///tmp/logmessage")
+  sock.bind(Paths.swaglog_ipc())
 
   # and we publish them
   log_message_sock = messaging.pub_sock('logMessage')
diff --git a/system/micd.py b/system/micd.py
index c7af1b0ad2..72f3b8b490 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -40,9 +40,9 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
 
 
 class Mic:
-  def __init__(self, pm):
-    self.pm = pm
+  def __init__(self):
     self.rk = Ratekeeper(RATE)
+    self.pm = messaging.PubMaster(['microphone'])
 
     self.measurements = np.empty(0)
 
@@ -93,11 +93,8 @@ class Mic:
         self.update()
 
 
-def main(pm=None):
-  if pm is None:
-    pm = messaging.PubMaster(['microphone'])
-
-  mic = Mic(pm)
+def main():
+  mic = Mic()
   mic.micd_thread()
 
 
diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc
index affde2f320..20298cd3d8 100644
--- a/system/proclogd/tests/test_proclog.cc
+++ b/system/proclogd/tests/test_proclog.cc
@@ -33,15 +33,16 @@ TEST_CASE("Parser::procStat") {
   SECTION("all processes") {
     std::vector<int> pids = Parser::pids();
     REQUIRE(pids.size() > 1);
-    int parsed_cnt = 0;
     for (int pid : pids) {
-      if (auto stat = Parser::procStat(util::read_file("/proc/" + std::to_string(pid) + "/stat"))) {
+      std::string stat_path = "/proc/" + std::to_string(pid) + "/stat";
+      INFO(stat_path);
+      if (auto stat = Parser::procStat(util::read_file(stat_path))) {
         REQUIRE(stat->pid == pid);
         REQUIRE(allowed_states.find(stat->state) != std::string::npos);
-        ++parsed_cnt;
+      } else {
+        REQUIRE(util::file_exists(stat_path) == false);
       }
     }
-    REQUIRE(parsed_cnt == pids.size());
   }
 }
 
@@ -109,8 +110,6 @@ TEST_CASE("Parser::cmdline") {
 }
 
 TEST_CASE("buildProcLogerMessage") {
-  std::vector<int> current_pids = Parser::pids();
-
   MessageBuilder msg;
   buildProcLogMessage(msg);
 
@@ -131,16 +130,12 @@ TEST_CASE("buildProcLogerMessage") {
 
   // test cereal::ProcLog::Process
   auto procs = log.getProcs();
-  REQUIRE(procs.size() == current_pids.size());
-
   for (auto p : procs) {
-    REQUIRE_THAT(current_pids, Catch::Matchers::VectorContains(p.getPid()));
     REQUIRE(allowed_states.find(p.getState()) != std::string::npos);
     if (p.getPid() == ::getpid()) {
       REQUIRE(p.getName() == "test_proclog");
       REQUIRE(p.getState() == 'R');
       REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog"));
-      REQUIRE(p.getCmdline().size() == 1);
       REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog"));
     } else {
       std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline";
@@ -148,8 +143,11 @@ TEST_CASE("buildProcLogerMessage") {
         std::ifstream stream(cmd_path);
         auto cmdline = Parser::cmdline(stream);
         REQUIRE(cmdline.size() == p.getCmdline().size());
-        for (int i = 0; i < p.getCmdline().size(); ++i) {
-          REQUIRE(cmdline[i] == p.getCmdline()[i].cStr());
+        // do not check the cmdline of pytest as it will change.
+        if (cmdline.size() > 0 && cmdline[0].find("[pytest") != 0) {
+          for (int i = 0; i < p.getCmdline().size(); ++i) {
+            REQUIRE(cmdline[i] == p.getCmdline()[i].cStr());
+          }
         }
       }
     }
diff --git a/system/sensord/rawgps/modemdiag.py b/system/qcomgpsd/modemdiag.py
similarity index 100%
rename from system/sensord/rawgps/modemdiag.py
rename to system/qcomgpsd/modemdiag.py
diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py
new file mode 100644
index 0000000000..231096fc5d
--- /dev/null
+++ b/system/qcomgpsd/nmeaport.py
@@ -0,0 +1,169 @@
+import os
+import sys
+from dataclasses import dataclass, fields
+from subprocess import check_output, CalledProcessError
+from time import sleep
+from typing import NoReturn
+
+DEBUG = int(os.environ.get("DEBUG", "0"))
+
+@dataclass
+class GnssClockNmeaPort:
+  # flags bit mask:
+  # 0x01 = leap_seconds valid
+  # 0x02 = time_uncertainty_ns valid
+  # 0x04 = full_bias_ns valid
+  # 0x08 = bias_ns valid
+  # 0x10 = bias_uncertainty_ns valid
+  # 0x20 = drift_nsps valid
+  # 0x40 = drift_uncertainty_nsps valid
+  flags: int
+  leap_seconds: int
+  time_ns: int
+  time_uncertainty_ns: int # 1-sigma
+  full_bias_ns: int
+  bias_ns: float
+  bias_uncertainty_ns: float # 1-sigma
+  drift_nsps: float
+  drift_uncertainty_nsps: float # 1-sigma
+
+  def __post_init__(self):
+    for field in fields(self):
+      val = getattr(self, field.name)
+      setattr(self, field.name, field.type(val) if val else None)
+
+@dataclass
+class GnssMeasNmeaPort:
+  messageCount: int
+  messageNum: int
+  svCount: int
+  # constellation enum:
+  # 1 = GPS
+  # 2 = SBAS
+  # 3 = GLONASS
+  # 4 = QZSS
+  # 5 = BEIDOU
+  # 6 = GALILEO
+  constellation: int
+  svId: int
+  flags: int # always zero
+  time_offset_ns: int
+  # state bit mask:
+  # 0x0001 = CODE LOCK
+  # 0x0002 = BIT SYNC
+  # 0x0004 = SUBFRAME SYNC
+  # 0x0008 = TIME OF WEEK DECODED
+  # 0x0010 = MSEC AMBIGUOUS
+  # 0x0020 = SYMBOL SYNC
+  # 0x0040 = GLONASS STRING SYNC
+  # 0x0080 = GLONASS TIME OF DAY DECODED
+  # 0x0100 = BEIDOU D2 BIT SYNC
+  # 0x0200 = BEIDOU D2 SUBFRAME SYNC
+  # 0x0400 = GALILEO E1BC CODE LOCK
+  # 0x0800 = GALILEO E1C 2ND CODE LOCK
+  # 0x1000 = GALILEO E1B PAGE SYNC
+  # 0x2000 = GALILEO E1B PAGE SYNC
+  state: int
+  time_of_week_ns: int
+  time_of_week_uncertainty_ns: int # 1-sigma
+  carrier_to_noise_ratio: float
+  pseudorange_rate: float
+  pseudorange_rate_uncertainty: float # 1-sigma
+
+  def __post_init__(self):
+    for field in fields(self):
+      val = getattr(self, field.name)
+      setattr(self, field.name, field.type(val) if val else None)
+
+def nmea_checksum_ok(s):
+  checksum = 0
+  for i, c in enumerate(s[1:]):
+    if c == "*":
+      if i != len(s) - 4: # should be 3rd to last character
+        print("ERROR: NMEA string does not have checksum delimiter in correct location:", s)
+        return False
+      break
+    checksum ^= ord(c)
+  else:
+    print("ERROR: NMEA string does not have checksum delimiter:", s)
+    return False
+
+  return True
+
+def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
+  while True:
+    try:
+      with open(device, "r") as nmeaport:
+        for line in nmeaport:
+          line = line.strip()
+          if DEBUG:
+            print(line)
+          if not line.startswith("$"): # all NMEA messages start with $
+            continue
+          if not nmea_checksum_ok(line):
+            continue
+
+          fields = line.split(",")
+          match fields[0]:
+            case "$GNCLK":
+              # fields at end are reserved (not used)
+              gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type]
+              print(gnss_clock)
+            case "$GNMEAS":
+              # fields at end are reserved (not used)
+              gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type]
+              print(gnss_meas)
+    except Exception as e:
+      print(e)
+      sleep(1)
+
+def main() -> NoReturn:
+  from openpilot.common.gpio import gpio_init, gpio_set
+  from openpilot.system.hardware.tici.pins import GPIO
+  from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
+
+  try:
+    check_output(["pidof", "qcomgpsd"])
+    print("qcomgpsd is running, please kill openpilot before running this script! (aborted)")
+    sys.exit(1)
+  except CalledProcessError as e:
+    if e.returncode != 1: # 1 == no process found (boardd not running)
+      raise e
+
+  print("power up antenna ...")
+  gpio_init(GPIO.GNSS_PWR_EN, True)
+  gpio_set(GPIO.GNSS_PWR_EN, True)
+
+  if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""):
+    print("stop location tracking ...")
+    at_cmd("AT+QGPSEND")
+
+  if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""):
+    print("configure outport ...")
+    at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1
+
+  if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""):
+    print("configure gnssrawdata ...")
+    # AT+QGPSCFG="gnssrawdata",<constellation-mask>,<port>'
+    # <constellation-mask> values:
+    # 0x01 = GPS
+    # 0x02 = GLONASS
+    # 0x04 = BEIDOU
+    # 0x08 = GALILEO
+    # 0x10 = QZSS
+    # <port> values:
+    # 0 = NMEA port
+    # 1 = AT port
+    at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port
+    print("rebooting ...")
+    at_cmd('AT+CFUN=1,1')
+    print("re-run this script when it is back up")
+    sys.exit(2)
+
+  print("starting location tracking ...")
+  at_cmd("AT+QGPS=1")
+
+  process_nmea_port_messages()
+
+if __name__ == "__main__":
+  main()
diff --git a/system/sensord/rawgps/rawgpsd.py b/system/qcomgpsd/qcomgpsd.py
similarity index 93%
rename from system/sensord/rawgps/rawgpsd.py
rename to system/qcomgpsd/qcomgpsd.py
index e710a16920..ac862052d3 100755
--- a/system/sensord/rawgps/rawgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -8,7 +8,7 @@ import time
 import pycurl
 import shutil
 import subprocess
-from datetime import datetime
+import datetime
 from multiprocessing import Process, Event
 from typing import NoReturn, Optional
 from struct import unpack_from, calcsize, pack
@@ -16,13 +16,10 @@ from struct import unpack_from, calcsize, pack
 from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
-from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds
-from laika.helpers import get_prn_from_nmea_id
-from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.swaglog import cloudlog
-from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
-from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
+from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
+from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
                                               gps_measurement_report, gps_measurement_report_sv,
                                               glonass_measurement_report, glonass_measurement_report_sv,
                                               oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
@@ -104,7 +101,7 @@ def at_cmd(cmd: str) -> Optional[str]:
     try:
       return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
     except subprocess.CalledProcessError:
-      cloudlog.exception("rawgps.mmcli_command_failed")
+      cloudlog.exception("qcomgps.mmcli_command_failed")
       time.sleep(1.0)
   raise Exception(f"failed to execute mmcli command {cmd=}")
 
@@ -166,7 +163,7 @@ def inject_assistance():
       return
     except subprocess.CalledProcessError as e:
       cloudlog.event(
-        "rawgps.assistance_loading_failed",
+        "qcomgps.assistance_loading_failed",
         error=True,
         cmd=e.cmd,
         output=e.output,
@@ -190,7 +187,13 @@ def setup_quectel(diag: ModemDiag) -> bool:
 
   if gps_enabled():
     at_cmd("AT+QGPSEND")
-  #at_cmd("AT+QGPSDEL=0")
+
+  if "GPS_COLD_START" in os.environ:
+    # deletes all assistance
+    at_cmd("AT+QGPSDEL=0")
+  else:
+    # allow module to perform hot start
+    at_cmd("AT+QGPSDEL=1")
 
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
@@ -205,7 +208,7 @@ def setup_quectel(diag: ModemDiag) -> bool:
     inject_assistance()
     os.remove(ASSIST_DATA_FILE)
   #at_cmd("AT+QGPSXTRADATA?")
-  time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
+  time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
   at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
 
   at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
@@ -287,7 +290,6 @@ def main() -> NoReturn:
   diag = ModemDiag()
   r = setup_quectel(diag)
   want_assistance = not r
-  current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow()))
   cloudlog.warning("quectel setup done")
   gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_set(GPIO.GNSS_PWR_EN, True)
@@ -360,8 +362,6 @@ def main() -> NoReturn:
               setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
           else:
             setattr(sv, k, v)
-      if report.source == log.QcomGnss.MeasurementSource.gps:
-        current_gps_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
       pm.send('qcomGnss', msg)
     elif log_type == LOG_GNSS_POSITION_REPORT:
       report = unpack_position(log_payload)
@@ -377,8 +377,12 @@ def main() -> NoReturn:
       gps.altitude = report["q_FltFinalPosAlt"]
       gps.speed = math.sqrt(sum([x**2 for x in vNED]))
       gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
-      gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'],
-                                        1e-3*report['q_GpsFixTimeMs']).as_unix_timestamp()*1e3
+
+      # TODO needs update if there is another leap second, after june 2024?
+      dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) +
+                      datetime.timedelta(weeks=report['w_GpsWeekNumber']) +
+                      datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18)))
+      gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3
       gps.source = log.GpsLocationData.SensorSource.qcomdiag
       gps.vNED = vNED
       gps.verticalAccuracy = report["q_FltVdop"]
@@ -389,8 +393,6 @@ def main() -> NoReturn:
       if gps.flags:
         want_assistance = False
         stop_download_event.set()
-
-
       pm.send('gpsLocation', msg)
 
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
@@ -409,6 +411,10 @@ def main() -> NoReturn:
         else:
           setattr(poly, k, v)
 
+      '''
+      # Timestamp glonass polys with GPSTime
+      from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds
+      from laika.helpers import get_prn_from_nmea_id
       prn = get_prn_from_nmea_id(poly.svId)
       if prn[0] == 'R':
         epoch = GPSTime(current_gps_time.week, (poly.t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + get_leap_seconds(current_gps_time))
@@ -423,6 +429,7 @@ def main() -> NoReturn:
 
       poly.gpsWeek = epoch.week
       poly.gpsTow = epoch.tow
+      '''
       pm.send('qcomGnss', msg)
 
     elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
diff --git a/system/sensord/rawgps/structs.py b/system/qcomgpsd/structs.py
similarity index 100%
rename from system/sensord/rawgps/structs.py
rename to system/qcomgpsd/structs.py
diff --git a/system/sensord/rawgps/test_rawgps.py b/system/qcomgpsd/tests/test_qcomgpsd.py
similarity index 67%
rename from system/sensord/rawgps/test_rawgps.py
rename to system/qcomgpsd/tests/test_qcomgpsd.py
index 02777d5a1d..8291f2cc32 100755
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -1,34 +1,30 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import json
 import time
 import datetime
 import unittest
 import subprocess
-import numpy as np
 
 import cereal.messaging as messaging
-from openpilot.system.hardware import TICI
-from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
+from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.common.transformations.coordinates import ecef_from_geodetic
 
 GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 
 
+@pytest.mark.tici
 class TestRawgpsd(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     os.system("sudo systemctl start systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
     wait_for_modem()
 
   @classmethod
   def tearDownClass(cls):
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     os.system("sudo systemctl restart systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
 
@@ -37,7 +33,7 @@ class TestRawgpsd(unittest.TestCase):
     self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
 
   def tearDown(self):
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     os.system("sudo systemctl restart systemd-resolved")
 
   def _wait_for_output(self, t):
@@ -55,7 +51,7 @@ class TestRawgpsd(unittest.TestCase):
 
   def test_wait_for_modem(self):
     os.system("sudo systemctl stop ModemManager")
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert not self._wait_for_output(5)
 
     os.system("sudo systemctl restart ModemManager")
@@ -66,15 +62,15 @@ class TestRawgpsd(unittest.TestCase):
       if not internet:
         os.system("sudo systemctl stop systemd-resolved")
       with self.subTest(internet=internet):
-        managed_processes['rawgpsd'].start()
+        managed_processes['qcomgpsd'].start()
         assert self._wait_for_output(7)
-        managed_processes['rawgpsd'].stop()
+        managed_processes['qcomgpsd'].stop()
 
   def test_turns_off_gnss(self):
     for s in (0.1, 1, 5):
-      managed_processes['rawgpsd'].start()
+      managed_processes['qcomgpsd'].start()
       time.sleep(s)
-      managed_processes['rawgpsd'].stop()
+      managed_processes['qcomgpsd'].stop()
 
       ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
       loc_status = json.loads(ls)
@@ -98,47 +94,30 @@ class TestRawgpsd(unittest.TestCase):
       assert valid_duration == '0'
 
   def test_assistance_loading(self):
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(10)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(True)
 
   def test_no_assistance_loading(self):
     os.system("sudo systemctl stop systemd-resolved")
 
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(10)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(False)
 
   def test_late_assistance_loading(self):
     os.system("sudo systemctl stop systemd-resolved")
 
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     self._wait_for_output(17)
     assert self.sm.updated['qcomGnss']
 
     os.system("sudo systemctl restart systemd-resolved")
     time.sleep(15)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(True)
 
-  @unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal")
-  def test_fix(self):
-    managed_processes['rawgpsd'].start()
-    managed_processes['laikad'].start()
-    assert self._wait_for_output(60)
-    assert self.sm.updated['qcomGnss']
-    assert self.sm.updated['gpsLocation']
-    assert self.sm['gpsLocation'].flags == 1
-    module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude,
-                                     self.sm['gpsLocation'].longitude,
-                                     self.sm['gpsLocation'].altitude])
-    assert self.sm['gnssMeasurements'].positionECEF.valid
-    total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix
-    self.assertLess(np.linalg.norm(total_diff), 100)
-    managed_processes['laikad'].stop()
-    managed_processes['rawgpsd'].stop()
-
 if __name__ == "__main__":
   unittest.main(failfast=True)
diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore
index e9b8071b4b..e17675e254 100644
--- a/system/sensord/.gitignore
+++ b/system/sensord/.gitignore
@@ -1 +1 @@
-_sensord
+sensord
diff --git a/system/sensord/SConscript b/system/sensord/SConscript
index 63d1d0d690..7974eb07ae 100644
--- a/system/sensord/SConscript
+++ b/system/sensord/SConscript
@@ -14,4 +14,4 @@ sensors = [
 libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread']
 if arch == "larch64":
   libs.append('i2c')
-env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
+env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py
index fc5c05e64f..2e8f151d17 100755
--- a/system/sensord/pigeond.py
+++ b/system/sensord/pigeond.py
@@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
 
       # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
 
       # UBX-CFG-ODO (0x06 0x1E)
       pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
       pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
 
       # UBX-CFG-NAV5 (0x06 0x24)
       pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
diff --git a/system/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py
deleted file mode 100755
index e1daa7f918..0000000000
--- a/system/sensord/rawgps/compare.py
+++ /dev/null
@@ -1,66 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-from laika import constants
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(['ubloxGnss', 'qcomGnss'])
-
-  meas = None
-  while 1:
-    sm.update()
-    if sm['ubloxGnss'].which() == "measurementReport":
-      meas = sm['ubloxGnss'].measurementReport.measurements
-    if not sm.updated['qcomGnss'] or meas is None:
-      continue
-    report = sm['qcomGnss'].measurementReport
-    if report.source not in [0, 1]:
-      continue
-    GLONASS = report.source == 1
-    recv_time = report.milliseconds / 1000
-
-    car = []
-    print("qcom has ", sorted([x.svId for x in report.sv]))
-    print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)]))
-    for i in report.sv:
-      # match to ublox
-      tm = None
-      for m in meas:
-        if i.svId == m.svId and m.gnssId == 0 and m.sigId == 0 and not GLONASS:
-          tm = m
-        if (i.svId-64) == m.svId and m.gnssId == 6 and m.sigId == 0 and GLONASS:
-          tm = m
-      if tm is None:
-        continue
-
-      if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown:
-        sat_time = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency) / 1000
-        ublox_psuedorange = tm.pseudorange
-        qcom_psuedorange = (recv_time - sat_time)*constants.SPEED_OF_LIGHT
-        if GLONASS:
-          glonass_freq = tm.glonassFrequencyIndex - 7
-          ublox_speed = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq*constants.GLONASS_L1_DELTA)) * (tm.doppler)
-        else:
-          ublox_speed = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * tm.doppler
-        qcom_speed = i.unfilteredSpeed
-        car.append((i.svId, tm.pseudorange, ublox_speed, qcom_psuedorange, qcom_speed, tm.cno))
-
-    if len(car) == 0:
-      print("nothing to compare")
-      continue
-
-    pr_err, speed_err = 0., 0.
-    for c in car:
-      ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed = c[1:5]
-      pr_err += ublox_psuedorange - qcom_psuedorange
-      speed_err += ublox_speed - qcom_speed
-    pr_err /= len(car)
-    speed_err /= len(car)
-    print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err))
-    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):
-      svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c
-      print("svid: %3d  pseudorange: %10.2f m  speed: %8.2f m/s   meas: %12.2f  speed: %10.2f   meas_err: %10.3f speed_err: %8.3f cno: %d" %
-        (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed,
-        ublox_psuedorange - qcom_psuedorange - pr_err, ublox_speed - qcom_speed - speed_err, cno))
-
-
-
diff --git a/system/sensord/sensord b/system/sensord/sensord
deleted file mode 100755
index 9ea848d577..0000000000
--- a/system/sensord/sensord
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
-exec ./_sensord
diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py
index 90cbf06340..f2ab43bbb7 100755
--- a/system/sensord/tests/test_pigeond.py
+++ b/system/sensord/tests/test_pigeond.py
@@ -1,22 +1,19 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import TICI
 from openpilot.system.hardware.tici.pins import GPIO
 
 
 # TODO: test TTFF when we have good A-GNSS
+@pytest.mark.tici
 class TestPigeond(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
 
   def tearDown(self):
     managed_processes['pigeond'].stop()
@@ -26,10 +23,10 @@ class TestPigeond(unittest.TestCase):
     sm = messaging.SubMaster(['ubloxRaw'])
 
     # setup time
-    for _ in range(int(5 * service_list['ubloxRaw'].frequency)):
+    for _ in range(int(5 * SERVICE_LIST['ubloxRaw'].frequency)):
       sm.update()
 
-    for _ in range(int(10 * service_list['ubloxRaw'].frequency)):
+    for _ in range(int(10 * SERVICE_LIST['ubloxRaw'].frequency)):
       sm.update()
       assert sm.all_checks()
 
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index e3cd77a1a3..3075c8a343 100755
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import time
 import unittest
 import numpy as np
@@ -7,9 +8,9 @@ from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
-from openpilot.system.hardware import TICI
+from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.manager.process_config import managed_processes
 
 BMX = {
@@ -73,36 +74,42 @@ def get_irq_count(irq: int):
 def read_sensor_events(duration_sec):
   sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
                   'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
-  esocks = {}
+  socks = {}
+  poller = messaging.Poller()
   events = defaultdict(list)
   for stype in sensor_types:
-    esocks[stype] = messaging.sub_sock(stype, timeout=0.1)
-
-  start_time_sec = time.monotonic()
-  while time.monotonic() - start_time_sec < duration_sec:
-    for esock in esocks:
-      events[esock] += messaging.drain_sock(esocks[esock])
+    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+
+  # wait for sensors to come up
+  with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
+    while len(poller.poll(250)) == 0:
+      pass
+  time.sleep(1)
+  for s in socks.values():
+    messaging.drain_sock_raw(s)
+
+  st = time.monotonic()
+  while time.monotonic() - st < duration_sec:
+    for s in socks:
+      events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
 
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
+@pytest.mark.tici
 class TestSensord(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     # enable LSM self test
     os.environ["LSM_SELF_TEST"] = "1"
 
     # read initial sensor values every test case can use
-    os.system("pkill -f ./_sensord")
+    os.system("pkill -f \\\\./sensord")
     try:
       managed_processes["sensord"].start()
-      time.sleep(3)
-      cls.sample_secs = 10
+      cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
       cls.events = read_sensor_events(cls.sample_secs)
 
       # determine sensord's irq
@@ -163,7 +170,7 @@ class TestSensord(unittest.TestCase):
     for s, msgs in self.events.items():
       with self.subTest(sensor=s):
         freq = len(msgs) / self.sample_secs
-        ef = service_list[s].frequency
+        ef = SERVICE_LIST[s].frequency
         assert ef*0.85 <= freq <= ef*1.15
 
   def test_logmonottime_timestamp_diff(self):
diff --git a/system/swaglog.py b/system/swaglog.py
index 3d45ad9826..ba81318234 100644
--- a/system/swaglog.py
+++ b/system/swaglog.py
@@ -8,16 +8,12 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
 
-if PC:
-  SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
-else:
-  SWAGLOG_DIR = "/data/log/"
 
 def get_file_handler():
-  Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True)
-  base_filename = os.path.join(SWAGLOG_DIR, "swaglog")
+  Path(Paths.swaglog_root()).mkdir(parents=True, exist_ok=True)
+  base_filename = os.path.join(Paths.swaglog_root(), "swaglog")
   handler = SwaglogRotatingFileHandler(base_filename)
   return handler
 
@@ -89,7 +85,7 @@ class UnixDomainSocketHandler(logging.Handler):
     self.zctx = zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect("ipc:///tmp/logmessage")
+    self.sock.connect(Paths.swaglog_ipc())
     self.pid = os.getpid()
 
   def emit(self, record):
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
index 330f151368..5d0e1bfc82 100755
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@@ -6,23 +6,22 @@ import unittest
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog, ipchandler
-from selfdrive.test.helpers import temporary_swaglog_dir
 
 
 class TestLogmessaged(unittest.TestCase):
-  def _setup(self, temp_dir):
+  def setUp(self):
     # clear the IPC buffer in case some other tests used cloudlog and filled it
     ipchandler.close()
     ipchandler.connect()
 
-    self.temp_dir = temp_dir
     managed_processes['logmessaged'].start()
     self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
     self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
 
     # ensure sockets are connected
-    time.sleep(0.2)
+    time.sleep(1)
     messaging.drain_sock(self.sock)
     messaging.drain_sock(self.error_sock)
 
@@ -32,11 +31,9 @@ class TestLogmessaged(unittest.TestCase):
     managed_processes['logmessaged'].stop(block=True)
 
   def _get_log_files(self):
-    return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*")))
+    return list(glob.glob(os.path.join(Paths.swaglog_root(), "swaglog.*")))
 
-  @temporary_swaglog_dir
-  def test_simple_log(self, temp_dir):
-    self._setup(temp_dir)
+  def test_simple_log(self):
     msgs = [f"abc {i}" for i in range(10)]
     for m in msgs:
       cloudlog.error(m)
@@ -45,9 +42,7 @@ class TestLogmessaged(unittest.TestCase):
     assert len(m) == len(msgs)
     assert len(self._get_log_files()) >= 1
 
-  @temporary_swaglog_dir
-  def test_big_log(self, temp_dir):
-    self._setup(temp_dir)
+  def test_big_log(self):
     n = 10
     msg = "a"*3*1024*1024
     for _ in range(n):
diff --git a/system/timezoned.py b/system/timezoned.py
index 37e813c561..91424d33b5 100755
--- a/system/timezoned.py
+++ b/system/timezoned.py
@@ -11,6 +11,9 @@ from timezonefinder import TimezoneFinder
 from openpilot.common.params import Params
 from openpilot.system.hardware import AGNOS
 from openpilot.system.swaglog import cloudlog
+from openpilot.system.version import get_version
+
+REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()}
 
 
 def set_timezone(valid_timezones, timezone):
@@ -18,7 +21,7 @@ def set_timezone(valid_timezones, timezone):
     cloudlog.error(f"Timezone not supported {timezone}")
     return
 
-  cloudlog.debug(f"Setting timezone to {timezone}")
+  cloudlog.info(f"Setting timezone to {timezone}")
   try:
     if AGNOS:
       tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
@@ -58,7 +61,7 @@ def main() -> NoReturn:
     if location is None:
       cloudlog.debug("Setting timezone based on IP lookup")
       try:
-        r = requests.get("https://ipapi.co/timezone", timeout=10)
+        r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10)
         if r.status_code == 200:
           set_timezone(valid_timezones, r.text)
         else:
diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py
deleted file mode 100755
index b1709cd9bb..0000000000
--- a/system/ubloxd/tests/test_ublox_processing.py
+++ /dev/null
@@ -1,115 +0,0 @@
-import unittest
-import time
-import numpy as np
-
-from laika import AstroDog
-from laika.helpers import ConstellationId
-from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox
-from laika.opt import calc_pos_fix
-from openpilot.selfdrive.test.openpilotci import get_url
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.test.helpers import with_processes
-import cereal.messaging as messaging
-
-def get_gnss_measurements(log_reader):
-  gnss_measurements = []
-  for msg in log_reader:
-    if msg.which() == "ubloxGnss":
-      ublox_msg = msg.ubloxGnss
-      if ublox_msg.which == 'measurementReport':
-        report = ublox_msg.measurementReport
-        if len(report.measurements) > 0:
-          gnss_measurements.append(read_raw_ublox(report))
-  return gnss_measurements
-
-def get_ublox_raw(log_reader):
-  ublox_raw = []
-  for msg in log_reader:
-    if msg.which() == "ubloxRaw":
-      ublox_raw.append(msg)
-  return ublox_raw
-
-class TestUbloxProcessing(unittest.TestCase):
-  NUM_TEST_PROCESS_MEAS = 10
-
-  @classmethod
-  def setUpClass(cls):
-    lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0))
-    cls.gnss_measurements = get_gnss_measurements(lr)
-
-    # test gps ephemeris continuity check (drive has ephemeris issues with cutover data)
-    lr = LogReader(get_url("37b6542f3211019a|2023-01-15--23-45-10", 14))
-    cls.ublox_raw = get_ublox_raw(lr)
-
-  def test_read_ublox_raw(self):
-    count_gps = 0
-    count_glonass = 0
-    for measurements in self.gnss_measurements:
-      for m in measurements:
-        if m.constellation_id == ConstellationId.GPS:
-          count_gps += 1
-        elif m.constellation_id == ConstellationId.GLONASS:
-          count_glonass += 1
-
-    self.assertEqual(count_gps, 5036)
-    self.assertEqual(count_glonass, 3651)
-
-  def test_get_fix(self):
-    dog = AstroDog()
-    position_fix_found = 0
-    count_processed_measurements = 0
-    count_corrected_measurements = 0
-    position_fix_found_after_correcting = 0
-
-    pos_ests = []
-    for measurements in self.gnss_measurements[:self.NUM_TEST_PROCESS_MEAS]:
-      processed_meas = process_measurements(measurements, dog)
-      count_processed_measurements += len(processed_meas)
-      pos_fix = calc_pos_fix(processed_meas)
-      if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]):
-        position_fix_found += 1
-
-        corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog)
-        count_corrected_measurements += len(corrected_meas)
-
-        pos_fix = calc_pos_fix(corrected_meas)
-        if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]):
-          pos_ests.append(pos_fix[0])
-          position_fix_found_after_correcting += 1
-
-    mean_fix = np.mean(np.array(pos_ests)[:, :3], axis=0)
-    np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1)
-
-    # Note that can happen that there are less corrected measurements compared to processed when they are invalid.
-    # However, not for the current segment
-    self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS)
-    self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS)
-    self.assertEqual(count_processed_measurements, 69)
-    self.assertEqual(count_corrected_measurements, 69)
-
-  @with_processes(['ubloxd'])
-  def test_ublox_gps_cutover(self):
-    time.sleep(2)
-    ugs = messaging.sub_sock("ubloxGnss", timeout=0.1)
-    ur_pm = messaging.PubMaster(['ubloxRaw'])
-
-    def replay_segment():
-      rcv_msgs = []
-      for msg in self.ublox_raw:
-        ur_pm.send(msg.which(), msg.as_builder())
-        time.sleep(0.01)
-        rcv_msgs += messaging.drain_sock(ugs)
-
-      time.sleep(0.1)
-      rcv_msgs += messaging.drain_sock(ugs)
-      return rcv_msgs
-
-    # replay twice to enforce cutover data on rewind
-    rcv_msgs = replay_segment()
-    rcv_msgs += replay_segment()
-
-    ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs)
-    self.assertEqual(ephems_cnt, 15)
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py
deleted file mode 100644
index 3243500e74..0000000000
--- a/system/ubloxd/tests/ublox.py
+++ /dev/null
@@ -1,938 +0,0 @@
-#!/usr/bin/env python3
-'''
-UBlox binary protocol handling
-
-Copyright Andrew Tridgell, October 2012
-Released under GNU GPL version 3 or later
-
-WARNING: This code has originally intended for
-ublox version 7, it has been adapted to work
-for ublox version 8, not all functions may work.
-'''
-
-
-import struct
-import time
-
-# protocol constants
-PREAMBLE1 = 0xb5
-PREAMBLE2 = 0x62
-
-# message classes
-CLASS_NAV = 0x01
-CLASS_RXM = 0x02
-CLASS_INF = 0x04
-CLASS_ACK = 0x05
-CLASS_CFG = 0x06
-CLASS_MON = 0x0A
-CLASS_AID = 0x0B
-CLASS_TIM = 0x0D
-CLASS_ESF = 0x10
-
-# ACK messages
-MSG_ACK_NACK = 0x00
-MSG_ACK_ACK = 0x01
-
-# NAV messages
-MSG_NAV_POSECEF = 0x1
-MSG_NAV_POSLLH = 0x2
-MSG_NAV_STATUS = 0x3
-MSG_NAV_DOP = 0x4
-MSG_NAV_SOL = 0x6
-MSG_NAV_PVT = 0x7
-MSG_NAV_POSUTM = 0x8
-MSG_NAV_VELNED = 0x12
-MSG_NAV_VELECEF = 0x11
-MSG_NAV_TIMEGPS = 0x20
-MSG_NAV_TIMEUTC = 0x21
-MSG_NAV_CLOCK = 0x22
-MSG_NAV_SVINFO = 0x30
-MSG_NAV_SAT = 0x35
-MSG_NAV_AOPSTATUS = 0x60
-MSG_NAV_DGPS = 0x31
-MSG_NAV_DOP = 0x04
-MSG_NAV_EKFSTATUS = 0x40
-MSG_NAV_SBAS = 0x32
-MSG_NAV_SOL = 0x06
-MSG_NAV_SAT = 0x35
-
-# RXM messages
-MSG_RXM_RAW = 0x15
-MSG_RXM_SFRB = 0x11
-MSG_RXM_SFRBX = 0x13
-MSG_RXM_SVSI = 0x20
-MSG_RXM_EPH = 0x31
-MSG_RXM_ALM = 0x30
-MSG_RXM_PMREQ = 0x41
-
-# AID messages
-MSG_AID_ALM = 0x30
-MSG_AID_EPH = 0x31
-MSG_AID_ALPSRV = 0x32
-MSG_AID_AOP = 0x33
-MSG_AID_DATA = 0x10
-MSG_AID_ALP = 0x50
-MSG_AID_DATA = 0x10
-MSG_AID_HUI = 0x02
-MSG_AID_INI = 0x01
-MSG_AID_REQ = 0x00
-
-# CFG messages
-MSG_CFG_PRT = 0x00
-MSG_CFG_ANT = 0x13
-MSG_CFG_DAT = 0x06
-MSG_CFG_EKF = 0x12
-MSG_CFG_ESFGWT = 0x29
-MSG_CFG_CFG = 0x09
-MSG_CFG_USB = 0x1b
-MSG_CFG_RATE = 0x08
-MSG_CFG_SET_RATE = 0x01
-MSG_CFG_NAV5 = 0x24
-MSG_CFG_FXN = 0x0E
-MSG_CFG_INF = 0x02
-MSG_CFG_ITFM = 0x39
-MSG_CFG_MSG = 0x01
-MSG_CFG_NAVX5 = 0x23
-MSG_CFG_NMEA = 0x17
-MSG_CFG_NVS = 0x22
-MSG_CFG_PM2 = 0x3B
-MSG_CFG_PM = 0x32
-MSG_CFG_ITMF = 0x39
-MSG_CFG_RINV = 0x34
-MSG_CFG_RST = 0x04
-MSG_CFG_RXM = 0x11
-MSG_CFG_SBAS = 0x16
-MSG_CFG_TMODE2 = 0x3D
-MSG_CFG_TMODE = 0x1D
-MSG_CFG_TPS = 0x31
-MSG_CFG_TP = 0x07
-MSG_CFG_GNSS = 0x3E
-MSG_CFG_ODO = 0x1E
-
-# ESF messages
-MSG_ESF_MEAS = 0x02
-MSG_ESF_STATUS = 0x10
-
-# INF messages
-MSG_INF_DEBUG = 0x04
-MSG_INF_ERROR = 0x00
-MSG_INF_NOTICE = 0x02
-MSG_INF_TEST = 0x03
-MSG_INF_WARNING = 0x01
-
-# MON messages
-MSG_MON_SCHD = 0x01
-MSG_MON_HW = 0x09
-MSG_MON_HW2 = 0x0B
-MSG_MON_IO = 0x02
-MSG_MON_MSGPP = 0x06
-MSG_MON_RXBUF = 0x07
-MSG_MON_RXR = 0x21
-MSG_MON_TXBUF = 0x08
-MSG_MON_VER = 0x04
-
-# TIM messages
-MSG_TIM_TP = 0x01
-MSG_TIM_TM2 = 0x03
-MSG_TIM_SVIN = 0x04
-MSG_TIM_VRFY = 0x06
-
-# port IDs
-PORT_DDC = 0
-PORT_SERIAL1 = 1
-PORT_SERIAL2 = 2
-PORT_USB = 3
-PORT_SPI = 4
-
-# dynamic models
-DYNAMIC_MODEL_PORTABLE = 0
-DYNAMIC_MODEL_STATIONARY = 2
-DYNAMIC_MODEL_PEDESTRIAN = 3
-DYNAMIC_MODEL_AUTOMOTIVE = 4
-DYNAMIC_MODEL_SEA = 5
-DYNAMIC_MODEL_AIRBORNE1G = 6
-DYNAMIC_MODEL_AIRBORNE2G = 7
-DYNAMIC_MODEL_AIRBORNE4G = 8
-
-#reset items
-RESET_HOT = 0
-RESET_WARM = 1
-RESET_COLD = 0xFFFF
-
-RESET_HW = 0
-RESET_SW = 1
-RESET_SW_GPS = 2
-RESET_HW_GRACEFUL = 4
-RESET_GPS_STOP = 8
-RESET_GPS_START = 9
-
-
-class UBloxError(Exception):
-  '''Ublox error class'''
-
-  def __init__(self, msg):
-    Exception.__init__(self, msg)
-    self.message = msg
-
-
-class UBloxAttrDict(dict):
-  '''allow dictionary members as attributes'''
-
-  def __init__(self):
-    dict.__init__(self)
-
-  def __getattr__(self, name):
-    try:
-      return self.__getitem__(name)
-    except KeyError as e:
-      raise RuntimeError(f"ublock invalid attr: {name}") from e
-
-  def __setattr__(self, name, value):
-    if name in self.__dict__:
-      # allow set on normal attributes
-      dict.__setattr__(self, name, value)
-    else:
-      self.__setitem__(name, value)
-
-
-def ArrayParse(field):
-  '''parse an array descriptor'''
-  arridx = field.find('[')
-  if arridx == -1:
-    return (field, -1)
-  alen = int(field[arridx + 1:-1])
-  fieldname = field[:arridx]
-  return (fieldname, alen)
-
-
-class UBloxDescriptor:
-  '''class used to describe the layout of a UBlox message'''
-
-  def __init__(self,
-               name,
-               msg_format,
-               fields=None,
-               count_field=None,
-               format2=None,
-               fields2=None):
-    if fields is None:
-      fields = []
-
-    self.name = name
-    self.msg_format = msg_format
-    self.fields = fields
-    self.count_field = count_field
-    self.format2 = format2
-    self.fields2 = fields2
-
-  def unpack(self, msg):
-    '''unpack a UBloxMessage, creating the .fields and ._recs attributes in msg'''
-    msg._fields = {}
-
-    # unpack main message blocks. A comm
-    formats = self.msg_format.split(',')
-    buf = msg._buf[6:-2]
-    count = 0
-    msg._recs = []
-    fields = self.fields[:]
-
-    for fmt in formats:
-      size1 = struct.calcsize(fmt)
-      if size1 > len(buf):
-        raise UBloxError("%s INVALID_SIZE1=%u" % (self.name, len(buf)))
-      f1 = list(struct.unpack(fmt, buf[:size1]))
-      i = 0
-      while i < len(f1):
-        field = fields.pop(0)
-        (fieldname, alen) = ArrayParse(field)
-        if alen == -1:
-          msg._fields[fieldname] = f1[i]
-          if self.count_field == fieldname:
-            count = int(f1[i])
-          i += 1
-        else:
-          msg._fields[fieldname] = [0] * alen
-          for a in range(alen):
-            msg._fields[fieldname][a] = f1[i]
-            i += 1
-      buf = buf[size1:]
-      if len(buf) == 0:
-        break
-
-    if self.count_field == '_remaining':
-      count = len(buf) // struct.calcsize(self.format2)
-
-    if count == 0:
-      msg._unpacked = True
-      if len(buf) != 0:
-        raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-      return
-
-    size2 = struct.calcsize(self.format2)
-    for _ in range(count):
-      r = UBloxAttrDict()
-      if size2 > len(buf):
-        raise UBloxError("INVALID_SIZE=%u, " % len(buf))
-      f2 = list(struct.unpack(self.format2, buf[:size2]))
-      for i in range(len(self.fields2)):
-        r[self.fields2[i]] = f2[i]
-      buf = buf[size2:]
-      msg._recs.append(r)
-    if len(buf) != 0:
-      raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-    msg._unpacked = True
-
-  def pack(self, msg, msg_class=None, msg_id=None):
-    '''pack a UBloxMessage from the .fields and ._recs attributes in msg'''
-    f1 = []
-    if msg_class is None:
-      msg_class = msg.msg_class()
-    if msg_id is None:
-      msg_id = msg.msg_id()
-    msg._buf = ''
-
-    fields = self.fields[:]
-    for f in fields:
-      (fieldname, alen) = ArrayParse(f)
-      if fieldname not in msg._fields:
-        break
-      if alen == -1:
-        f1.append(msg._fields[fieldname])
-      else:
-        for a in range(alen):
-          f1.append(msg._fields[fieldname][a])
-    try:
-      # try full length message
-      fmt = self.msg_format.replace(',', '')
-      msg._buf = struct.pack(fmt, *tuple(f1))
-    except Exception:
-      # try without optional part
-      fmt = self.msg_format.split(',')[0]
-      msg._buf = struct.pack(fmt, *tuple(f1))
-
-    length = len(msg._buf)
-    if msg._recs:
-      length += len(msg._recs) * struct.calcsize(self.format2)
-    header = struct.pack('<BBBBH', PREAMBLE1, PREAMBLE2, msg_class, msg_id, length)
-    msg._buf = header + msg._buf
-
-    for r in msg._recs:
-      f2 = []
-      for f in self.fields2:
-        f2.append(r[f])
-      msg._buf += struct.pack(self.format2, *tuple(f2))
-    msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
-
-  def format_json(self, msg):
-    '''return a formatted string for a message'''
-    if not msg._unpacked:
-      self.unpack(msg)
-    ret = self.name + ': '
-    for f in self.fields:
-      (fieldname, alen) = ArrayParse(f)
-      if fieldname not in msg._fields:
-        continue
-      v = msg._fields[fieldname]
-      if isinstance(v, list):
-        ret += '%s=[' % fieldname
-        for a in range(alen):
-          ret += '%s, ' % v[a]
-        ret = ret[:-2] + '], '
-      elif isinstance(v, str):
-        ret += '{}="{}", '.format(f, v.rstrip(' \0'))
-      else:
-        ret += '%s=%s, ' % (f, v)
-    for r in msg._recs:
-      ret += '[ '
-      for f in self.fields2:
-        v = r[f]
-        ret += '%s=%s, ' % (f, v)
-      ret = ret[:-2] + ' ], '
-    return ret[:-2]
-
-
-# list of supported message types.
-msg_types = {
-  (CLASS_ACK, MSG_ACK_ACK):
-  UBloxDescriptor('ACK_ACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_ACK, MSG_ACK_NACK):
-  UBloxDescriptor('ACK_NACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_CFG, MSG_CFG_USB):
-  UBloxDescriptor('CFG_USB', '<HHHHHH32s32s32s', [
-    'vendorID', 'productID', 'reserved1', 'reserved2', 'powerConsumption', 'flags',
-    'vendorString', 'productString', 'serialNumber'
-  ]),
-  (CLASS_CFG, MSG_CFG_PRT):
-  UBloxDescriptor('CFG_PRT', '<BBHIIHHHH', [
-    'portID', 'reserved0', 'txReady', 'mode', 'baudRate', 'inProtoMask', 'outProtoMask',
-    'reserved4', 'reserved5'
-  ]),
-  (CLASS_CFG, MSG_CFG_ITMF):
-  UBloxDescriptor('CFG_ITMF', '<II', [
-    'config', 'config2'
-  ]),
-  (CLASS_CFG, MSG_CFG_CFG):
-  UBloxDescriptor('CFG_CFG', '<III,B',
-                  ['clearMask', 'saveMask', 'loadMask', 'deviceMask']),
-  (CLASS_CFG, MSG_CFG_RXM):
-  UBloxDescriptor('CFG_RXM', '<BB',
-                  ['reserved1', 'lpMode']),
-  (CLASS_CFG, MSG_CFG_RST):
-  UBloxDescriptor('CFG_RST', '<HBB', ['navBbrMask ', 'resetMode', 'reserved1']),
-  (CLASS_CFG, MSG_CFG_SBAS):
-  UBloxDescriptor('CFG_SBAS', '<BBBBI',
-                  ['mode', 'usage', 'maxSBAS', 'scanmode2', 'scanmode1']),
-  (CLASS_CFG, MSG_CFG_GNSS):
-  UBloxDescriptor('CFG_GNSS', '<BBBB',
-                  ['msgVer', 'numTrkChHw', 'numTrkChUse',
-                   'numConfigBlocks'], 'numConfigBlocks', '<BBBBI',
-                  ['gnssId', 'resTrkCh', 'maxTrkCh', 'reserved1', 'flags']),
-  (CLASS_CFG, MSG_CFG_RATE):
-  UBloxDescriptor('CFG_RATE', '<HHH', ['measRate', 'navRate', 'timeRef']),
-  (CLASS_CFG, MSG_CFG_MSG):
-  UBloxDescriptor('CFG_MSG', '<BB6B', ['msgClass', 'msgId', 'rates[6]']),
-  (CLASS_NAV, MSG_NAV_POSLLH):
-  UBloxDescriptor('NAV_POSLLH', '<IiiiiII',
-                  ['iTOW', 'Longitude', 'Latitude', 'height', 'hMSL', 'hAcc', 'vAcc']),
-  (CLASS_NAV, MSG_NAV_VELNED):
-  UBloxDescriptor('NAV_VELNED', '<IiiiIIiII', [
-    'iTOW', 'velN', 'velE', 'velD', 'speed', 'gSpeed', 'heading', 'sAcc', 'cAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_DOP):
-  UBloxDescriptor('NAV_DOP', '<IHHHHHHH',
-                  ['iTOW', 'gDOP', 'pDOP', 'tDOP', 'vDOP', 'hDOP', 'nDOP', 'eDOP']),
-  (CLASS_NAV, MSG_NAV_STATUS):
-  UBloxDescriptor('NAV_STATUS', '<IBBBBII',
-                  ['iTOW', 'gpsFix', 'flags', 'fixStat', 'flags2', 'ttff', 'msss']),
-  (CLASS_NAV, MSG_NAV_SOL):
-  UBloxDescriptor('NAV_SOL', '<IihBBiiiIiiiIHBBI', [
-    'iTOW', 'fTOW', 'week', 'gpsFix', 'flags', 'ecefX', 'ecefY', 'ecefZ', 'pAcc',
-    'ecefVX', 'ecefVY', 'ecefVZ', 'sAcc', 'pDOP', 'reserved1', 'numSV', 'reserved2'
-  ]),
-  (CLASS_NAV, MSG_NAV_PVT):
-  UBloxDescriptor('NAV_PVT', '<IHBBBBBBIiBBBBiiiiIIiiiiiIIH6BihH', [
-    'iTOW', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid', 'tAcc', 'nano',
-    'fixType', 'flags', 'flags2', 'numSV', 'lon', 'lat', 'height', 'hMSL', 'hAcc', 'vAcc',
-    'velN', 'velE', 'velD', 'gSpeed', 'headMot', 'sAcc', 'headAcc', 'pDOP',
-    'reserverd1[6]', 'headVeh', 'magDec', 'magAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSUTM):
-  UBloxDescriptor('NAV_POSUTM', '<Iiiibb',
-                  ['iTOW', 'East', 'North', 'Alt', 'Zone', 'Hem']),
-  (CLASS_NAV, MSG_NAV_SBAS):
-  UBloxDescriptor('NAV_SBAS', '<IBBbBBBBB', [
-    'iTOW', 'geo', 'mode', 'sys', 'service', 'cnt', 'reserved01', 'reserved02',
-    'reserved03'
-  ], 'cnt', 'BBBBBBhHh', [
-    'svid', 'flags', 'udre', 'svSys', 'svService', 'reserved1', 'prc', 'reserved2', 'ic'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSECEF):
-  UBloxDescriptor('NAV_POSECEF', '<IiiiI', ['iTOW', 'ecefX', 'ecefY', 'ecefZ', 'pAcc']),
-  (CLASS_NAV, MSG_NAV_VELECEF):
-  UBloxDescriptor('NAV_VELECEF', '<IiiiI', ['iTOW', 'ecefVX', 'ecefVY', 'ecefVZ',
-                                            'sAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEGPS):
-  UBloxDescriptor('NAV_TIMEGPS', '<IihbBI',
-                  ['iTOW', 'fTOW', 'week', 'leapS', 'valid', 'tAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEUTC):
-  UBloxDescriptor('NAV_TIMEUTC', '<IIiHBBBBBB', [
-    'iTOW', 'tAcc', 'nano', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid'
-  ]),
-  (CLASS_NAV, MSG_NAV_CLOCK):
-  UBloxDescriptor('NAV_CLOCK', '<IiiII', ['iTOW', 'clkB', 'clkD', 'tAcc', 'fAcc']),
-  (CLASS_NAV, MSG_NAV_DGPS):
-  UBloxDescriptor('NAV_DGPS', '<IihhBBH',
-                  ['iTOW', 'age', 'baseId', 'baseHealth', 'numCh', 'status', 'reserved1'],
-                  'numCh', '<BBHff', ['svid', 'flags', 'ageC', 'prc', 'prrc']),
-  (CLASS_NAV, MSG_NAV_SVINFO):
-  UBloxDescriptor('NAV_SVINFO', '<IBBH', ['iTOW', 'numCh', 'globalFlags',
-                                          'reserved2'], 'numCh', '<BBBBBbhi',
-                  ['chn', 'svid', 'flags', 'quality', 'cno', 'elev', 'azim', 'prRes']),
-  (CLASS_RXM, MSG_RXM_SVSI):
-  UBloxDescriptor('RXM_SVSI', '<IhBB', ['iTOW', 'week', 'numVis', 'numSV'], 'numSV',
-                  '<BBhbB', ['svid', 'svFlag', 'azim', 'elev', 'age']),
-  (CLASS_RXM, MSG_RXM_EPH):
-  UBloxDescriptor('RXM_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_EPH):
-  UBloxDescriptor('AID_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_HUI):
-  UBloxDescriptor('AID_HUI', '<Iddi 6h 8f I',
-                  ['health', 'utcA0', 'utcA1', 'utcTOW', 'utcWNT', 'utcLS', 'utcWNF',
-                   'utcDN', 'utcLSF', 'utcSpare', 'klobA0', 'klobA1', 'klobA2', 'klobA3',
-                   'klobB0', 'klobB1', 'klobB2', 'klobB3', 'flags']),
-  (CLASS_AID, MSG_AID_AOP):
-  UBloxDescriptor('AID_AOP', '<B47B , 48B 48B 48B',
-                  ['svid', 'data[47]', 'optional0[48]', 'optional1[48]',
-                   'optional1[48]']),
-  (CLASS_RXM, MSG_RXM_RAW):
-  UBloxDescriptor('RXM_RAW', '<dHbBB3B', [
-    'rcvTow', 'week', 'leapS', 'numMeas', 'recStat', 'reserved1[3]'
-  ], 'numMeas', '<ddfBBBBHBBBBBB', [
-    'prMes', 'cpMes', 'doMes', 'gnssId', 'svId', 'sigId', 'freqId', 'locktime', 'cno',
-    'prStdev', 'cpStdev', 'doStdev', 'trkStat', 'reserved3'
-  ]),
-  (CLASS_RXM, MSG_RXM_SFRB):
-  UBloxDescriptor('RXM_SFRB', '<BB10I', ['chn', 'svid', 'dwrd[10]']),
-  (CLASS_RXM, MSG_RXM_SFRBX):
-  UBloxDescriptor('RXM_SFRBX', '<8B', ['gnssId', 'svid', 'reserved1', 'freqId', 'numWords',
-      'reserved2', 'version', 'reserved3'], 'numWords', 'I', ['dwrd']),
-  (CLASS_AID, MSG_AID_ALM):
-  UBloxDescriptor('AID_ALM', '<II', '_remaining', 'I', ['dwrd']),
-  (CLASS_RXM, MSG_RXM_ALM):
-  UBloxDescriptor('RXM_ALM', '<II , 8I', ['svid', 'week', 'dwrd[8]']),
-  (CLASS_CFG, MSG_CFG_ANT):
-  UBloxDescriptor('CFG_ANT', '<HH', ['flags', 'pins']),
-  (CLASS_CFG, MSG_CFG_ODO):
-  UBloxDescriptor('CFG_ODO', '<B3BBB6BBB2BBB2B', [
-    'version', 'reserved1[3]', 'flags', 'odoCfg', 'reserverd2[6]', 'cogMaxSpeed',
-    'cogMaxPosAcc', 'reserved3[2]', 'velLpGain', 'cogLpGain', 'reserved[2]'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAV5):
-  UBloxDescriptor('CFG_NAV5', '<HBBiIbBHHHHBBIII', [
-    'mask', 'dynModel', 'fixMode', 'fixedAlt', 'fixedAltVar', 'minElev', 'drLimit',
-    'pDop', 'tDop', 'pAcc', 'tAcc', 'staticHoldThresh', 'dgpsTimeOut', 'reserved2',
-    'reserved3', 'reserved4'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAVX5):
-  UBloxDescriptor('CFG_NAVX5', '<HHIBBBBBBBBBBHIBBBBBBHII', [
-    'version', 'mask1', 'reserved0', 'reserved1', 'reserved2', 'minSVs', 'maxSVs',
-    'minCNO', 'reserved5', 'iniFix3D', 'reserved6', 'reserved7', 'reserved8',
-    'wknRollover', 'reserved9', 'reserved10', 'reserved11', 'usePPP', 'useAOP',
-    'reserved12', 'reserved13', 'aopOrbMaxErr', 'reserved3', 'reserved4'
-  ]),
-  (CLASS_MON, MSG_MON_HW):
-  UBloxDescriptor('MON_HW', '<IIIIHHBBBBIB17BHIII', [
-    'pinSel', 'pinBank', 'pinDir', 'pinVal', 'noisePerMS', 'agcCnt', 'aStatus', 'aPower',
-    'flags', 'reserved1', 'usedMask', 'VP[17]', 'jamInd', 'reserved3', 'pinInq', 'pullH',
-    'pullL'
-  ]),
-  (CLASS_MON, MSG_MON_HW2):
-  UBloxDescriptor('MON_HW2', '<bBbBB3BI8BI4B', [
-    'ofsI', 'magI', 'ofsQ', 'magQ', 'cfgSource', 'reserved1[3]', 'lowLevCfg',
-    'reserved2[8]', 'postStatus', 'reserved3[4]'
-  ]),
-  (CLASS_MON, MSG_MON_SCHD):
-  UBloxDescriptor('MON_SCHD', '<IIIIHHHBB', [
-    'tskRun', 'tskSchd', 'tskOvrr', 'tskReg', 'stack', 'stackSize', 'CPUIdle', 'flySly',
-    'ptlSly'
-  ]),
-  (CLASS_MON, MSG_MON_VER):
-  UBloxDescriptor('MON_VER', '<30s10s,30s', ['swVersion', 'hwVersion', 'romVersion'],
-                  '_remaining', '30s', ['extension']),
-  (CLASS_TIM, MSG_TIM_TP):
-  UBloxDescriptor('TIM_TP', '<IIiHBB',
-                  ['towMS', 'towSubMS', 'qErr', 'week', 'flags', 'reserved1']),
-  (CLASS_TIM, MSG_TIM_TM2):
-  UBloxDescriptor('TIM_TM2', '<BBHHHIIIII', [
-    'ch', 'flags', 'count', 'wnR', 'wnF', 'towMsR', 'towSubMsR', 'towMsF', 'towSubMsF',
-    'accEst'
-  ]),
-  (CLASS_TIM, MSG_TIM_SVIN):
-  UBloxDescriptor('TIM_SVIN', '<IiiiIIBBH', [
-    'dur', 'meanX', 'meanY', 'meanZ', 'meanV', 'obs', 'valid', 'active', 'reserved1'
-  ]),
-  (CLASS_INF, MSG_INF_ERROR):
-  UBloxDescriptor('INF_ERR', '<18s', ['str']),
-  (CLASS_INF, MSG_INF_DEBUG):
-  UBloxDescriptor('INF_DEBUG', '<18s', ['str'])
-}
-
-
-class UBloxMessage:
-  '''UBlox message class - holds a UBX binary message'''
-
-  def __init__(self):
-    self._buf = b""
-    self._fields = {}
-    self._recs = []
-    self._unpacked = False
-    self.debug_level = 1
-
-  def __str__(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    msg_type = self.msg_type()
-    if msg_type in msg_types:
-      return msg_types[msg_type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
-
-  def as_dict(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    msg_type = self.msg_type()
-    if msg_type in msg_types:
-      return msg_types[msg_type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
-
-  def __getattr__(self, name):
-    '''allow access to message fields'''
-    try:
-      return self._fields[name]
-    except KeyError as e:
-      if name == 'recs':
-        return self._recs
-      raise AttributeError(name) from e
-
-  def __setattr__(self, name, value):
-    '''allow access to message fields'''
-    if name.startswith('_'):
-      self.__dict__[name] = value
-    else:
-      self._fields[name] = value
-
-  def have_field(self, name):
-    '''return True if a message contains the given field'''
-    return name in self._fields
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def unpack(self):
-    '''unpack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(msg_type), len(self._buf)))
-    msg_types[msg_type].unpack(self)
-    return self._fields, self._recs
-
-  def pack(self):
-    '''pack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s' % str(msg_type))
-    msg_types[msg_type].pack(self)
-
-  def name(self):
-    '''return the short string name for a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(msg_types), len(self._buf)))
-    return msg_types[msg_type].name
-
-  def msg_class(self):
-    '''return the message class'''
-    return self._buf[2]
-
-  def msg_id(self):
-    '''return the message id within the class'''
-    return self._buf[3]
-
-  def msg_type(self):
-    '''return the message type tuple (class, id)'''
-    return (self.msg_class(), self.msg_id())
-
-  def msg_length(self):
-    '''return the payload length'''
-    (payload_length, ) = struct.unpack('<H', self._buf[4:6])
-    return payload_length
-
-  def valid_so_far(self):
-    '''check if the message is valid so far'''
-    if len(self._buf) > 0 and self._buf[0] != PREAMBLE1:
-      return False
-    if len(self._buf) > 1 and self._buf[1] != PREAMBLE2:
-      self.debug(1, "bad pre2")
-      return False
-    if self.needed_bytes() == 0 and not self.valid():
-      if len(self._buf) > 8:
-        self.debug(1, "bad checksum len=%u needed=%u" % (len(self._buf),
-                                                         self.needed_bytes()))
-      else:
-        self.debug(1, "bad len len=%u needed=%u" % (len(self._buf), self.needed_bytes()))
-      return False
-    return True
-
-  def add(self, data):
-    '''add some bytes to a message'''
-    self._buf += data
-    while not self.valid_so_far() and len(self._buf) > 0:
-      '''handle corrupted streams'''
-      self._buf = self._buf[1:]
-    if self.needed_bytes() < 0:
-      self._buf = ""
-
-  def checksum(self, data=None):
-    '''return a checksum tuple for a message'''
-    if data is None:
-      data = self._buf[2:-2]
-    #cs = 0
-    ck_a = 0
-    ck_b = 0
-    for i in data:
-      ck_a = (ck_a + i) & 0xFF
-      ck_b = (ck_b + ck_a) & 0xFF
-    return (ck_a, ck_b)
-
-  def valid_checksum(self):
-    '''check if the checksum is OK'''
-    (ck_a, ck_b) = self.checksum()
-    #d = self._buf[2:-2]
-    (ck_a2, ck_b2) = struct.unpack('<BB', self._buf[-2:])
-    return ck_a == ck_a2 and ck_b == ck_b2
-
-  def needed_bytes(self):
-    '''return number of bytes still needed'''
-    if len(self._buf) < 6:
-      return 8 - len(self._buf)
-    return self.msg_length() + 8 - len(self._buf)
-
-  def valid(self):
-    '''check if a message is valid'''
-    return len(self._buf) >= 8 and self.needed_bytes() == 0 and self.valid_checksum()
-
-
-class UBlox:
-  def __init__(self, dev, baudrate):
-    self.dev = dev
-    self.baudrate = baudrate
-
-    self.use_sendrecv = False
-    self.read_only = False
-    self.debug_level = 0
-
-    self.logfile = None
-    self.log = None
-    self.preferred_dynamic_model = None
-    self.preferred_usePPP = None
-    self.preferred_dgps_timeout = None
-
-  def close(self):
-    '''close the device'''
-    self.dev.close()
-    self.dev = None
-
-  def set_debug(self, debug_level):
-    '''set debug level'''
-    self.debug_level = debug_level
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def set_logfile(self, logfile, append=False):
-    '''setup logging to a file'''
-    if self.log is not None:
-      self.log.close()
-      self.log = None
-    self.logfile = logfile
-    if self.logfile is not None:
-      if append:
-        mode = 'ab'
-      else:
-        mode = 'wb'
-      self.log = open(self.logfile, mode=mode)
-
-  def set_preferred_dynamic_model(self, model):
-    '''set the preferred dynamic model for receiver'''
-    self.preferred_dynamic_model = model
-    if model is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_dgps_timeout(self, timeout):
-    '''set the preferred DGPS timeout for receiver'''
-    self.preferred_dgps_timeout = timeout
-    if timeout is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_usePPP(self, usePPP):
-    '''set the preferred usePPP setting for the receiver'''
-    if usePPP is None:
-      self.preferred_usePPP = None
-      return
-    self.preferred_usePPP = int(usePPP)
-    self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def nmea_checksum(self, msg):
-    d = msg[1:]
-    cs = 0
-    for i in d:
-      cs ^= ord(i)
-    return cs
-
-  def write(self, buf):
-    '''write some bytes'''
-    if not self.read_only:
-      if self.use_sendrecv:
-        return self.dev.send(buf)
-      if isinstance(buf, str):
-        return self.dev.write(str.encode(buf))
-      else:
-        return self.dev.write(buf)
-
-  def read(self, n):
-    '''read some bytes'''
-    if self.use_sendrecv:
-      try:
-        return self.dev.recv(n)
-      except OSError:
-        return ''
-    return self.dev.read(n)
-
-  def send_nmea(self, msg):
-    if not self.read_only:
-      s = msg + "*%02X" % self.nmea_checksum(msg) + "\r\n"
-      self.write(s)
-
-  def set_binary(self):
-    '''put a UBlox into binary mode using a NMEA string'''
-    if not self.read_only:
-      print("try set binary at %u" % self.baudrate)
-      self.send_nmea("$PUBX,41,0,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,1,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,2,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,3,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,4,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,5,0007,0001,%u,0" % self.baudrate)
-
-  def disable_nmea(self):
-    ''' stop sending all types of nmea messages '''
-    self.send_nmea("$PUBX,40,GSV,1,1,1,1,1,0")
-    self.send_nmea("$PUBX,40,GGA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,GSA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,VTG,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,TXT,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,RMC,0,0,0,0,0,0")
-
-  def seek_percent(self, pct):
-    '''seek to the given percentage of a file'''
-    self.dev.seek(0, 2)
-    filesize = self.dev.tell()
-    self.dev.seek(pct * 0.01 * filesize)
-
-  def special_handling(self, msg):
-    '''handle automatic configuration changes'''
-    if msg.name() == 'CFG_NAV5':
-      msg.unpack()
-      sendit = False
-      pollit = False
-      if self.preferred_dynamic_model is not None and msg.dynModel != self.preferred_dynamic_model:
-        msg.dynModel = self.preferred_dynamic_model
-        sendit = True
-        pollit = True
-      if self.preferred_dgps_timeout is not None and msg.dgpsTimeOut != self.preferred_dgps_timeout:
-        msg.dgpsTimeOut = self.preferred_dgps_timeout
-        self.debug(2, "Setting dgpsTimeOut=%u" % msg.dgpsTimeOut)
-        sendit = True
-        # we don't re-poll for this one, as some receivers refuse to set it
-      if sendit:
-        msg.pack()
-        self.send(msg)
-        if pollit:
-          self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-    if msg.name() == 'CFG_NAVX5' and self.preferred_usePPP is not None:
-      msg.unpack()
-      if msg.usePPP != self.preferred_usePPP:
-        msg.usePPP = self.preferred_usePPP
-        msg.mask = 1 << 13
-        msg.pack()
-        self.send(msg)
-        self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def receive_message(self, ignore_eof=False):
-    '''blocking receive of one ublox message'''
-    msg = UBloxMessage()
-    while True:
-      n = msg.needed_bytes()
-      b = self.read(n)
-      if not b:
-        if ignore_eof:
-          time.sleep(0.01)
-          continue
-        if len(msg._buf) > 0:
-          self.debug(1, "dropping %d bytes" % len(msg._buf))
-        return None
-      msg.add(b)
-      if self.log is not None:
-        self.log.write(b)
-        self.log.flush()
-      if msg.valid():
-        self.special_handling(msg)
-        return msg
-
-  def receive_message_noerror(self, ignore_eof=False):
-    '''blocking receive of one ublox message, ignoring errors'''
-    try:
-      return self.receive_message(ignore_eof=ignore_eof)
-    except UBloxError as e:
-      print(e)
-      return None
-    except OSError as e:
-      # Occasionally we get hit with 'resource temporarily unavailable'
-      # messages here on the serial device, catch them too.
-      print(e)
-      return None
-
-  def send(self, msg):
-    '''send a preformatted ublox message'''
-    if not msg.valid():
-      self.debug(1, "invalid send")
-      return
-    if not self.read_only:
-      self.write(msg._buf)
-
-  def send_message(self, msg_class, msg_id, payload):
-    '''send a ublox message with class, id and payload'''
-    msg = UBloxMessage()
-    msg._buf = struct.pack('<BBBBH', 0xb5, 0x62, msg_class, msg_id, len(payload))
-    msg._buf += payload
-    (ck_a, ck_b) = msg.checksum(msg._buf[2:])
-    msg._buf += struct.pack('<BB', ck_a, ck_b)
-    self.send(msg)
-
-  def configure_solution_rate(self, rate_ms=200, nav_rate=1, timeref=0):
-    '''configure the solution rate in milliseconds'''
-    payload = struct.pack('<HHH', rate_ms, nav_rate, timeref)
-    self.send_message(CLASS_CFG, MSG_CFG_RATE, payload)
-
-  def configure_message_rate(self, msg_class, msg_id, rate):
-    '''configure the message rate for a given message'''
-    payload = struct.pack('<BBB', msg_class, msg_id, rate)
-    self.send_message(CLASS_CFG, MSG_CFG_SET_RATE, payload)
-
-  def configure_port(self, port=1, inMask=3, outMask=3, mode=2240, baudrate=None):
-    '''configure a IO port'''
-    if baudrate is None:
-      baudrate = self.baudrate
-    payload = struct.pack('<BBH8BHHBBBB', port, 0xff, 0, 0, 0, 0, 0, 0, 0, 0, 0, inMask,
-                          outMask, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_PRT, payload)
-
-  def configure_loadsave(self, clearMask=0, saveMask=0, loadMask=0, deviceMask=0):
-    '''configure configuration load/save'''
-    payload = struct.pack('<IIIB', clearMask, saveMask, loadMask, deviceMask)
-    self.send_message(CLASS_CFG, MSG_CFG_CFG, payload)
-
-  def configure_poll(self, msg_class, msg_id, payload=b''):
-    '''poll a configuration message'''
-    self.send_message(msg_class, msg_id, payload)
-
-  def configure_poll_port(self, portID=None):
-    '''poll a port configuration'''
-    if portID is None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT)
-    else:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT, struct.pack('<B', portID))
-
-  def configure_min_max_sats(self, min_sats=4, max_sats=32):
-    '''Set the minimum/maximum number of satellites for a solution in the NAVX5 message'''
-    payload = struct.pack('<HHIBBBBBBBBBBHIBBBBBBHII', 0, 4, 0, 0, 0, min_sats, max_sats,
-                          0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
-
-  def module_reset(self, reset, mode):
-    ''' Reset the module for hot/warm/cold start'''
-    payload = struct.pack('<HBB', reset, mode, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
diff --git a/system/version.py b/system/version.py
old mode 100644
new mode 100755
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
index 3270553b02..8cd5a41f14 100755
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diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
index a7b55b860a..442a6c736d 100755
Binary files a/third_party/acados/Darwin/lib/libblasfeo.dylib and b/third_party/acados/Darwin/lib/libblasfeo.dylib differ
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
index d638913f98..019ec8019e 100755
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diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
index ab9888ff82..caaa8ec775 100755
Binary files a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib and b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib differ
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
index fa8e9933a8..83a74ea5a3 100755
Binary files a/third_party/acados/Darwin/t_renderer and b/third_party/acados/Darwin/t_renderer differ
diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h
index 0e3dcd19f4..13c777d75b 100644
--- a/third_party/acados/include/qpOASES_e/Constants.h
+++ b/third_party/acados/include/qpOASES_e/Constants.h
@@ -1,134 +1,134 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constants.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_H
-#define QPOASES_CONSTANTS_H
-
-
-#include <qpOASES_e/Types.h>
-
-#ifdef __CODE_GENERATION__
-
-  #define CONVERTTOSTRINGAUX(x) #x
-  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
-
-  #ifndef QPOASES_CUSTOM_INTERFACE
-  #include "acado_qpoases3_interface.h"
-  #else
-  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
-  #endif
-
-#endif
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-#ifndef __EXTERNAL_DIMENSIONS__
-
-  /*#define QPOASES_NVMAX  50
-  #define QPOASES_NCMAX  100*/
-  #define QPOASES_NVMAX  287
-  #define QPOASES_NCMAX  709
-
-#endif /* __EXTERNAL_DIMENSIONS__ */
-
-
-/** Maximum number of variables within a QP formulation.
- *	Note: this value has to be positive! */
-#define NVMAX  QPOASES_NVMAX
-
-/** Maximum number of constraints within a QP formulation.
- *	Note: this value has to be positive! */
-#define NCMAX  QPOASES_NCMAX
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMAX QPOASES_NVMAX
-#else
-#define NVCMAX QPOASES_NCMAX
-#endif
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMIN QPOASES_NCMAX
-#else
-#define NVCMIN QPOASES_NVMAX
-#endif
-
-
-/** Maximum number of QPs in a sequence solved by means of the OQP interface.
- *	Note: this value has to be positive! */
-#define NQPMAX 1000
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
- *	Note: this value has to be positive! */
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  static const real_t QPOASES_EPS = 1.193e-07;
-  #else
-  static const real_t QPOASES_EPS = 2.221e-16;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *  Note: this value has to be positive! */
-static const real_t QPOASES_ZERO = 1.0e-25;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-static const real_t QPOASES_INFTY = 1.0e20;
-
-/** Tolerance to used for isEqual, isZero etc.
- *	Note: this value has to be positive! */
-static const real_t QPOASES_TOL = 1.0e-25;
-
-
-/** Maximum number of characters within a string.
- *	Note: this value should be at least 41! */
-#define QPOASES_MAX_STRING_LENGTH 160
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTANTS_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Constants.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Definition of all global constants.
+ */
+
+
+#ifndef QPOASES_CONSTANTS_H
+#define QPOASES_CONSTANTS_H
+
+
+#include <qpOASES_e/Types.h>
+
+#ifdef __CODE_GENERATION__
+
+  #define CONVERTTOSTRINGAUX(x) #x
+  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
+
+  #ifndef QPOASES_CUSTOM_INTERFACE
+  #include "acado_qpoases3_interface.h"
+  #else
+  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
+  #endif
+
+#endif
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+#ifndef __EXTERNAL_DIMENSIONS__
+
+  /*#define QPOASES_NVMAX  50
+  #define QPOASES_NCMAX  100*/
+  #define QPOASES_NVMAX  287
+  #define QPOASES_NCMAX  709
+
+#endif /* __EXTERNAL_DIMENSIONS__ */
+
+
+/** Maximum number of variables within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NVMAX  QPOASES_NVMAX
+
+/** Maximum number of constraints within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NCMAX  QPOASES_NCMAX
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMAX QPOASES_NVMAX
+#else
+#define NVCMAX QPOASES_NCMAX
+#endif
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMIN QPOASES_NCMAX
+#else
+#define NVCMIN QPOASES_NVMAX
+#endif
+
+
+/** Maximum number of QPs in a sequence solved by means of the OQP interface.
+ *	Note: this value has to be positive! */
+#define NQPMAX 1000
+
+
+/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
+ *	Note: this value has to be positive! */
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  static const real_t QPOASES_EPS = 1.193e-07;
+  #else
+  static const real_t QPOASES_EPS = 2.221e-16;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+
+
+/** Numerical value of zero (for situations in which it would be
+ *	unreasonable to compare with 0.0).
+ *  Note: this value has to be positive! */
+static const real_t QPOASES_ZERO = 1.0e-25;
+
+/** Numerical value of infinity (e.g. for non-existing bounds).
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_INFTY = 1.0e20;
+
+/** Tolerance to used for isEqual, isZero etc.
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_TOL = 1.0e-25;
+
+
+/** Maximum number of characters within a string.
+ *	Note: this value should be at least 41! */
+#define QPOASES_MAX_STRING_LENGTH 160
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_CONSTANTS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
index ddfcfbe5dc..eb5400c6cb 100644
--- a/third_party/acados/include/qpOASES_e/ConstraintProduct.h
+++ b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
@@ -1,62 +1,62 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/ConstraintProduct.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *	Declaration of the ConstraintProduct interface which allows to specify a
- *	user-defined function for evaluating the constraint product at the 
- *	current iterate to speed-up QP solution in case of a specially structured
- *	constraint matrix.
- */
-
-
-
-#ifndef QPOASES_CONSTRAINT_PRODUCT_H
-#define QPOASES_CONSTRAINT_PRODUCT_H
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** 
- *	\brief Interface for specifying user-defined evaluations of constraint products.
- *
- *	An interface which allows to specify a user-defined function for evaluating the 
- *	constraint product at the current iterate to speed-up QP solution in case 
- *	of a specially structured constraint matrix.
- *
- *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- */
-typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/ConstraintProduct.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *	Declaration of the ConstraintProduct interface which allows to specify a
+ *	user-defined function for evaluating the constraint product at the 
+ *	current iterate to speed-up QP solution in case of a specially structured
+ *	constraint matrix.
+ */
+
+
+
+#ifndef QPOASES_CONSTRAINT_PRODUCT_H
+#define QPOASES_CONSTRAINT_PRODUCT_H
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** 
+ *	\brief Interface for specifying user-defined evaluations of constraint products.
+ *
+ *	An interface which allows to specify a user-defined function for evaluating the 
+ *	constraint product at the current iterate to speed-up QP solution in case 
+ *	of a specially structured constraint matrix.
+ *
+ *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ */
+typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
+
+
+END_NAMESPACE_QPOASES
+
+#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h
index c3026a7ffc..02d259d63d 100644
--- a/third_party/acados/include/qpOASES_e/Indexlist.h
+++ b/third_party/acados/include/qpOASES_e/Indexlist.h
@@ -1,221 +1,221 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Indexlist.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_H
-#define QPOASES_INDEXLIST_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Stores and manages index lists.
- *
- *	This class manages index lists of active/inactive bounds/constraints.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	int *number;		/**< Array to store numbers of constraints or bounds. */
-	int *iSort;			/**< Index list to sort vector \a number */
-
-	int	length;			/**< Length of index list. */
-	int	first;			/**< Physical index of first element. */
-	int	last;			/**< Physical index of last element. */
-	int	lastusedindex;	/**< Physical index of last entry in index list. */
-	int	physicallength;	/**< Physical length of index list. */
-} Indexlist;
-
-int Indexlist_calculateMemorySize( int n);
-
-char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
-
-Indexlist *Indexlist_createMemory( int n );
-
-/** Constructor which takes the desired physical length of the index list. */
-void IndexlistCON(	Indexlist* _THIS,
-					int n	/**< Physical length of index list. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void IndexlistCPY(	Indexlist* FROM,
-					Indexlist* TO
-					);
-
-/** Initialises index list of desired physical length.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Indexlist_init(	Indexlist* _THIS,
-							int n		/**< Physical length of index list. */
-							);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
-										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
-										);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INDEXLIST_CORRUPTED */
-returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
-										int** const iSortArray	/**< Output: iSort Array. */
-										);
-
-
-/** Determines the index within the index list at which a given number is stored.
- *	\return >= 0: Index of given number. \n
- 			-1: Number not found. */
-int Indexlist_getIndex(	Indexlist* _THIS,
-						int givennumber	/**< Number whose index shall be determined. */
-						);
-
-/** Returns the number stored at a given physical index.
- *	\return >= 0: Number stored at given physical index. \n
- 			-RET_INDEXLIST_OUTOFBOUNDS */
-static inline int Indexlist_getNumber(	Indexlist* _THIS,
-										int physicalindex	/**< Physical index of the number to be returned. */
-										);
-
-
-/** Returns the current length of the index list.
- *	\return Current length of the index list. */
-static inline int Indexlist_getLength(	Indexlist* _THIS
-										);
-
-/** Returns last number within the index list.
- *	\return Last number within the index list. */
-static inline int Indexlist_getLastNumber(	Indexlist* _THIS
-											);
-
-
-/** Adds number to index list.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_MUST_BE_REORDERD \n
- 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-returnValue Indexlist_addNumber(	Indexlist* _THIS,
-									int addnumber			/**< Number to be added. */
-									);
-
-/** Removes number from index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_removeNumber(	Indexlist* _THIS,
-									int removenumber	/**< Number to be removed. */
-									);
-
-/** Swaps two numbers within index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
-									int number1,		/**< First number for swapping. */
-									int number2			/**< Second number for swapping. */
-									);
-
-/** Determines if a given number is contained in the index set.
- *	\return BT_TRUE iff number is contain in the index set */
-static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
-												int _number		/**< Number to be tested for membership. */
-												);
-
-
-/** Find first index j between -1 and length in sorted list of indices
- *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
- *  bisection.
- *  \return j. */
-int Indexlist_findInsert(	Indexlist* _THIS,
-							int i
-							);
-
-
-
-/*
- *	g e t N u m b e r
- */
-static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return _THIS->number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-static inline int Indexlist_getLength( Indexlist* _THIS )
-{
-	return _THIS->length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline int Indexlist_getLastNumber( Indexlist* _THIS )
-{
-	return _THIS->number[_THIS->length-1];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
-{
-	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_INDEXLIST_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Indexlist.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Indexlist class designed to manage index lists of
+ *	constraints and bounds within a SubjectTo object.
+ */
+
+
+#ifndef QPOASES_INDEXLIST_H
+#define QPOASES_INDEXLIST_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Stores and manages index lists.
+ *
+ *	This class manages index lists of active/inactive bounds/constraints.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	int *number;		/**< Array to store numbers of constraints or bounds. */
+	int *iSort;			/**< Index list to sort vector \a number */
+
+	int	length;			/**< Length of index list. */
+	int	first;			/**< Physical index of first element. */
+	int	last;			/**< Physical index of last element. */
+	int	lastusedindex;	/**< Physical index of last entry in index list. */
+	int	physicallength;	/**< Physical length of index list. */
+} Indexlist;
+
+int Indexlist_calculateMemorySize( int n);
+
+char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
+
+Indexlist *Indexlist_createMemory( int n );
+
+/** Constructor which takes the desired physical length of the index list. */
+void IndexlistCON(	Indexlist* _THIS,
+					int n	/**< Physical length of index list. */
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void IndexlistCPY(	Indexlist* FROM,
+					Indexlist* TO
+					);
+
+/** Initialises index list of desired physical length.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Indexlist_init(	Indexlist* _THIS,
+							int n		/**< Physical length of index list. */
+							);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_CORRUPTED */
+returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
+										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
+										);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INDEXLIST_CORRUPTED */
+returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
+										int** const iSortArray	/**< Output: iSort Array. */
+										);
+
+
+/** Determines the index within the index list at which a given number is stored.
+ *	\return >= 0: Index of given number. \n
+ 			-1: Number not found. */
+int Indexlist_getIndex(	Indexlist* _THIS,
+						int givennumber	/**< Number whose index shall be determined. */
+						);
+
+/** Returns the number stored at a given physical index.
+ *	\return >= 0: Number stored at given physical index. \n
+ 			-RET_INDEXLIST_OUTOFBOUNDS */
+static inline int Indexlist_getNumber(	Indexlist* _THIS,
+										int physicalindex	/**< Physical index of the number to be returned. */
+										);
+
+
+/** Returns the current length of the index list.
+ *	\return Current length of the index list. */
+static inline int Indexlist_getLength(	Indexlist* _THIS
+										);
+
+/** Returns last number within the index list.
+ *	\return Last number within the index list. */
+static inline int Indexlist_getLastNumber(	Indexlist* _THIS
+											);
+
+
+/** Adds number to index list.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_MUST_BE_REORDERD \n
+ 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
+returnValue Indexlist_addNumber(	Indexlist* _THIS,
+									int addnumber			/**< Number to be added. */
+									);
+
+/** Removes number from index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_removeNumber(	Indexlist* _THIS,
+									int removenumber	/**< Number to be removed. */
+									);
+
+/** Swaps two numbers within index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
+									int number1,		/**< First number for swapping. */
+									int number2			/**< Second number for swapping. */
+									);
+
+/** Determines if a given number is contained in the index set.
+ *	\return BT_TRUE iff number is contain in the index set */
+static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
+												int _number		/**< Number to be tested for membership. */
+												);
+
+
+/** Find first index j between -1 and length in sorted list of indices
+ *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
+ *  bisection.
+ *  \return j. */
+int Indexlist_findInsert(	Indexlist* _THIS,
+							int i
+							);
+
+
+
+/*
+ *	g e t N u m b e r
+ */
+static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
+{
+	/* consistency check */
+	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
+		return -RET_INDEXLIST_OUTOFBOUNDS;
+
+	return _THIS->number[physicalindex];
+}
+
+
+/*
+ *	g e t L e n g t h
+ */
+static inline int Indexlist_getLength( Indexlist* _THIS )
+{
+	return _THIS->length;
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline int Indexlist_getLastNumber( Indexlist* _THIS )
+{
+	return _THIS->number[_THIS->length-1];
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
+{
+	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_INDEXLIST_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h
index 1d6da8c3c1..e2a46b3a9d 100644
--- a/third_party/acados/include/qpOASES_e/Matrices.h
+++ b/third_party/acados/include/qpOASES_e/Matrices.h
@@ -1,287 +1,287 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Matrices.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
- *  including symmetry exploiting specializations.
- */
-
-
-
-#ifndef QPOASES_MATRICES_H
-#define QPOASES_MATRICES_H
-
-#ifdef __USE_SINGLE_PRECISION__
-
-	// single precision
-	#define GEMM sgemm_
-	#define GEMV sgemv_
-//	#define SYR ssyr_
-//	#define SYR2 ssyr2_
-	#define POTRF spotrf_
-
-#else
-
-	// double precision
-	#define GEMM dgemm_
-	#define GEMV dgemv_
-//	#define SYR  dsyr_
-//	#define SYR2 dsyr2_
-	#define POTRF dpotrf_
-
-#endif /* __USE_SINGLE_PRECISION__ */
-
-
-#ifdef EXTERNAL_BLAS
-	// double precision
-	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
-	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-	// single precision
-	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
-	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-#else
-	/** Performs one of the matrix-matrix operation in double precision. */
-	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
-			const double*, double*, const unsigned long* );
-	/** Performs one of the matrix-matrix operation in single precision. */
-	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
-			const float*, float*, const unsigned long* );
-
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
-	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
-	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
-
-#endif
-
-	/** Performs a symmetric rank 1 operation in double precision. */
-//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
-//				 const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 1 operation in single precision. */
-//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
-//				 const unsigned long *, float *, const unsigned long *);
-
-	/** Performs a symmetric rank 2 operation in double precision. */
-//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
-//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 2 operation in single precision. */
-//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
-//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
- *
- *	Dense matrix class (row major format).
- *
- *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2011-2015
- */
-typedef struct
-{
-	real_t *val;				/**< Vector of entries. */
-	int nRows;					/**< Number of rows. */
-	int nCols;					/**< Number of columns. */
-	int leaDim;					/**< Leading dimension. */
-} DenseMatrix;
-
-int DenseMatrix_calculateMemorySize( int m, int n );
-
-char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
-
-DenseMatrix *DenseMatrix_createMemory( int m, int n );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-void DenseMatrixCON(	DenseMatrix* _THIS,
-						int m,			/**< Number of rows. */
-						int n,			/**< Number of columns. */
-						int lD,			/**< Leading dimension. */
-						real_t *v		/**< Values. */
-						);
-
-void DenseMatrixCPY(	DenseMatrix* FROM,
-						DenseMatrix* TO
-						);
-
-
-/** Frees all internal memory. */
-void DenseMatrix_free( DenseMatrix* _THIS );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-returnValue DenseMatrix_init(	DenseMatrix* _THIS,
-								int m,			/**< Number of rows. */
-								int n,			/**< Number of columns. */
-								int lD,			/**< Leading dimension. */
-								real_t *v		/**< Values. */
-								);
-
-
-/** Returns i-th diagonal entry.
- *	\return i-th diagonal entry */
-real_t DenseMatrix_diag(	DenseMatrix* _THIS,
-							int i			/**< Index. */
-							);
-
-/** Checks whether matrix is square and diagonal.
- *	\return BT_TRUE  iff matrix is square and diagonal; \n
- *	        BT_FALSE otherwise. */
-BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
-
-/** Get the N-norm of the matrix
- *  \return N-norm of the matrix
- */
-real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
-							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-							);
-
-/** Get the N-norm of a row
- *  \return N-norm of row \a rNum
- */
-real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
-								int rNum,			/**< Row number. */
-								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-								);
-
-/** Retrieve indexed entries of matrix row multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
-								int rNum,						/**< Row number. */
-								const Indexlist* const icols,	/**< Index list specifying columns. */
-								real_t alpha,					/**< Scalar factor. */
-								real_t *row						/**< Output row vector. */
-								);
-
-/** Retrieve indexed entries of matrix column multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
-									int cNum,						/**< Column number. */
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									real_t alpha,					/**< Scalar factor. */
-									real_t *col						/**< Output column vector. */
-									);
-
-/** Evaluate Y=alpha*A*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_times(	DenseMatrix* _THIS,
-								int xN,					/**< Number of vectors to multiply. */
-								real_t alpha,			/**< Scalar factor for matrix vector product. */
-								const real_t *x,		/**< Input vector to be multiplied. */
-								int xLD,				/**< Leading dimension of input x. */
-								real_t beta,			/**< Scalar factor for y. */
-								real_t *y,				/**< Output vector of results. */
-								int yLD					/**< Leading dimension of output y. */
-								);
-
-/** Evaluate Y=alpha*A'*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
-									int xN,				/**< Number of vectors to multiply. */
-									real_t alpha,		/**< Scalar factor for matrix vector product. */
-									const real_t *x,	/**< Input vector to be multiplied. */
-									int xLD,			/**< Leading dimension of input x. */
-									real_t beta,		/**< Scalar factor for y. */
-									real_t *y,			/**< Output vector of results. */
-									int yLD				/**< Leading dimension of output y. */
-									);
-
-/** Evaluate matrix vector product with submatrix given by Indexlist.
- *	\return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									const Indexlist* const icols,	/**< Index list specifying columns. */
-									int xN,							/**< Number of vectors to multiply. */
-									real_t alpha,					/**< Scalar factor for matrix vector product. */
-									const real_t *x,				/**< Input vector to be multiplied. */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t beta,					/**< Scalar factor for y. */
-									real_t *y,						/**< Output vector of results. */
-									int yLD,						/**< Leading dimension of output y. */
-									BooleanType yCompr 				/**< Compressed storage for y. */
-									);
-
-/** Evaluate matrix transpose vector product.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
-										const Indexlist* const irows,	/**< Index list specifying rows. */
-										const Indexlist* const icols,	/**< Index list specifying columns. */
-										int xN,							/**< Number of vectors to multiply. */
-										real_t alpha,					/**< Scalar factor for matrix vector product. */
-										const real_t *x,				/**< Input vector to be multiplied. */
-										int xLD,						/**< Leading dimension of input x. */
-										real_t beta,					/**< Scalar factor for y. */
-										real_t *y,						/**< Output vector of results. */
-										int yLD							/**< Leading dimension of output y. */
-										);
-
-/** Adds given offset to diagonal of matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_NO_DIAGONAL_AVAILABLE */
-returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
-									real_t alpha		/**< Diagonal offset. */
-									);
-
-/** Prints matrix to screen.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_print(	DenseMatrix* _THIS
-								);
-
-static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
-
-/** Compute bilinear form y = x'*H*x using submatrix given by index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
-									const Indexlist* const icols,	/**< Index list specifying columns of x. */
-									int xN,							/**< Number of vectors to multiply. */
-									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t *y,						/**< Output vector of results (compressed). */
-									int yLD							/**< Leading dimension of output y. */
-									);
-
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_MATRICES_H */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Matrices.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
+ *  including symmetry exploiting specializations.
+ */
+
+
+
+#ifndef QPOASES_MATRICES_H
+#define QPOASES_MATRICES_H
+
+#ifdef __USE_SINGLE_PRECISION__
+
+	// single precision
+	#define GEMM sgemm_
+	#define GEMV sgemv_
+//	#define SYR ssyr_
+//	#define SYR2 ssyr2_
+	#define POTRF spotrf_
+
+#else
+
+	// double precision
+	#define GEMM dgemm_
+	#define GEMV dgemv_
+//	#define SYR  dsyr_
+//	#define SYR2 dsyr2_
+	#define POTRF dpotrf_
+
+#endif /* __USE_SINGLE_PRECISION__ */
+
+
+#ifdef EXTERNAL_BLAS
+	// double precision
+	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
+	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+	// single precision
+	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
+	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+#else
+	/** Performs one of the matrix-matrix operation in double precision. */
+	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
+			const double*, double*, const unsigned long* );
+	/** Performs one of the matrix-matrix operation in single precision. */
+	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
+			const float*, float*, const unsigned long* );
+
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
+	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
+	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
+
+#endif
+
+	/** Performs a symmetric rank 1 operation in double precision. */
+//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
+//				 const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 1 operation in single precision. */
+//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
+//				 const unsigned long *, float *, const unsigned long *);
+
+	/** Performs a symmetric rank 2 operation in double precision. */
+//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
+//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 2 operation in single precision. */
+//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
+//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
+ *
+ *	Dense matrix class (row major format).
+ *
+ *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2011-2015
+ */
+typedef struct
+{
+	real_t *val;				/**< Vector of entries. */
+	int nRows;					/**< Number of rows. */
+	int nCols;					/**< Number of columns. */
+	int leaDim;					/**< Leading dimension. */
+} DenseMatrix;
+
+int DenseMatrix_calculateMemorySize( int m, int n );
+
+char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
+
+DenseMatrix *DenseMatrix_createMemory( int m, int n );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+void DenseMatrixCON(	DenseMatrix* _THIS,
+						int m,			/**< Number of rows. */
+						int n,			/**< Number of columns. */
+						int lD,			/**< Leading dimension. */
+						real_t *v		/**< Values. */
+						);
+
+void DenseMatrixCPY(	DenseMatrix* FROM,
+						DenseMatrix* TO
+						);
+
+
+/** Frees all internal memory. */
+void DenseMatrix_free( DenseMatrix* _THIS );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+returnValue DenseMatrix_init(	DenseMatrix* _THIS,
+								int m,			/**< Number of rows. */
+								int n,			/**< Number of columns. */
+								int lD,			/**< Leading dimension. */
+								real_t *v		/**< Values. */
+								);
+
+
+/** Returns i-th diagonal entry.
+ *	\return i-th diagonal entry */
+real_t DenseMatrix_diag(	DenseMatrix* _THIS,
+							int i			/**< Index. */
+							);
+
+/** Checks whether matrix is square and diagonal.
+ *	\return BT_TRUE  iff matrix is square and diagonal; \n
+ *	        BT_FALSE otherwise. */
+BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
+
+/** Get the N-norm of the matrix
+ *  \return N-norm of the matrix
+ */
+real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
+							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+							);
+
+/** Get the N-norm of a row
+ *  \return N-norm of row \a rNum
+ */
+real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
+								int rNum,			/**< Row number. */
+								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+								);
+
+/** Retrieve indexed entries of matrix row multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
+								int rNum,						/**< Row number. */
+								const Indexlist* const icols,	/**< Index list specifying columns. */
+								real_t alpha,					/**< Scalar factor. */
+								real_t *row						/**< Output row vector. */
+								);
+
+/** Retrieve indexed entries of matrix column multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
+									int cNum,						/**< Column number. */
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									real_t alpha,					/**< Scalar factor. */
+									real_t *col						/**< Output column vector. */
+									);
+
+/** Evaluate Y=alpha*A*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_times(	DenseMatrix* _THIS,
+								int xN,					/**< Number of vectors to multiply. */
+								real_t alpha,			/**< Scalar factor for matrix vector product. */
+								const real_t *x,		/**< Input vector to be multiplied. */
+								int xLD,				/**< Leading dimension of input x. */
+								real_t beta,			/**< Scalar factor for y. */
+								real_t *y,				/**< Output vector of results. */
+								int yLD					/**< Leading dimension of output y. */
+								);
+
+/** Evaluate Y=alpha*A'*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
+									int xN,				/**< Number of vectors to multiply. */
+									real_t alpha,		/**< Scalar factor for matrix vector product. */
+									const real_t *x,	/**< Input vector to be multiplied. */
+									int xLD,			/**< Leading dimension of input x. */
+									real_t beta,		/**< Scalar factor for y. */
+									real_t *y,			/**< Output vector of results. */
+									int yLD				/**< Leading dimension of output y. */
+									);
+
+/** Evaluate matrix vector product with submatrix given by Indexlist.
+ *	\return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									const Indexlist* const icols,	/**< Index list specifying columns. */
+									int xN,							/**< Number of vectors to multiply. */
+									real_t alpha,					/**< Scalar factor for matrix vector product. */
+									const real_t *x,				/**< Input vector to be multiplied. */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t beta,					/**< Scalar factor for y. */
+									real_t *y,						/**< Output vector of results. */
+									int yLD,						/**< Leading dimension of output y. */
+									BooleanType yCompr 				/**< Compressed storage for y. */
+									);
+
+/** Evaluate matrix transpose vector product.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
+										const Indexlist* const irows,	/**< Index list specifying rows. */
+										const Indexlist* const icols,	/**< Index list specifying columns. */
+										int xN,							/**< Number of vectors to multiply. */
+										real_t alpha,					/**< Scalar factor for matrix vector product. */
+										const real_t *x,				/**< Input vector to be multiplied. */
+										int xLD,						/**< Leading dimension of input x. */
+										real_t beta,					/**< Scalar factor for y. */
+										real_t *y,						/**< Output vector of results. */
+										int yLD							/**< Leading dimension of output y. */
+										);
+
+/** Adds given offset to diagonal of matrix.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_NO_DIAGONAL_AVAILABLE */
+returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
+									real_t alpha		/**< Diagonal offset. */
+									);
+
+/** Prints matrix to screen.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_print(	DenseMatrix* _THIS
+								);
+
+static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
+
+/** Compute bilinear form y = x'*H*x using submatrix given by index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
+									const Indexlist* const icols,	/**< Index list specifying columns of x. */
+									int xN,							/**< Number of vectors to multiply. */
+									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t *y,						/**< Output vector of results (compressed). */
+									int yLD							/**< Leading dimension of output y. */
+									);
+
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_MATRICES_H */
diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h
index b471ee0668..ca8086d2cc 100644
--- a/third_party/acados/include/qpOASES_e/Options.h
+++ b/third_party/acados/include/qpOASES_e/Options.h
@@ -1,153 +1,153 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Options.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_OPTIONS_H
-#define QPOASES_OPTIONS_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages all user-specified options for solving QPs.
- *
- *	This class manages all user-specified options used for solving
- *	quadratic programs.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	PrintLevel printLevel;					/**< Print level. */
-
-	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
-	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
-	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
-	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
-	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
-	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
-	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
-	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
-	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
-
-	real_t terminationTolerance;			/**< Termination tolerance. */
-	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
-	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
-	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
-	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
-	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
-	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
-
-	real_t initialRamping;					/**< Start value for Ramping Strategy. */
-	real_t finalRamping;					/**< Final value for Ramping Strategy. */
-	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
-	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
-	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
-	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
-	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
-	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
-	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
-	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
-	real_t epsLITests;						/**< Tolerance for linear independence tests. */
-	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
-
-	BooleanType enableDropInfeasibles;		/**< ... */
-	int    dropBoundPriority;				/**< ... */
-	int    dropEqConPriority;				/**< ... */
-	int    dropIneqConPriority;				/**< ... */
-} Options;
-
-
-void OptionsCON(	Options* _THIS
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void OptionsCPY(	Options* FROM,
-					Options* TO
-					);
-
-
-/** Sets all options to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToDefault(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in maximum reliabilty.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToReliable(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in minimum solution time.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToMPC(		Options* _THIS
-									);
-
-/** Same as setToMPC( ), for ensuring backwards compatibility.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToFast(		Options* _THIS
-									);
-
-
-/** Ensures that all options have consistent values by automatically
- *	adjusting inconsistent ones.
- *	Note: This routine cannot (and does not try to) ensure that values
- *	      are set to reasonable values that make the QP solution work!
- *	\return SUCCESSFUL_RETURN \n 
- *		    RET_OPTIONS_ADJUSTED */
-returnValue Options_ensureConsistency(	Options* _THIS
-										);
-
-
-/** Prints values of all options.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_print(	Options* _THIS
-							);
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OPTIONS_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Options.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Options class designed to manage user-specified
+ *	options for solving a QProblem.
+ */
+
+
+#ifndef QPOASES_OPTIONS_H
+#define QPOASES_OPTIONS_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages all user-specified options for solving QPs.
+ *
+ *	This class manages all user-specified options used for solving
+ *	quadratic programs.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	PrintLevel printLevel;					/**< Print level. */
+
+	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
+	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
+	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
+	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
+	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
+	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
+	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
+	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
+	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
+
+	real_t terminationTolerance;			/**< Termination tolerance. */
+	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
+	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
+	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
+	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
+	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
+	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
+
+	real_t initialRamping;					/**< Start value for Ramping Strategy. */
+	real_t finalRamping;					/**< Final value for Ramping Strategy. */
+	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
+	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
+	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
+	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
+	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
+	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
+	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
+	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
+	real_t epsLITests;						/**< Tolerance for linear independence tests. */
+	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
+
+	BooleanType enableDropInfeasibles;		/**< ... */
+	int    dropBoundPriority;				/**< ... */
+	int    dropEqConPriority;				/**< ... */
+	int    dropIneqConPriority;				/**< ... */
+} Options;
+
+
+void OptionsCON(	Options* _THIS
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void OptionsCPY(	Options* FROM,
+					Options* TO
+					);
+
+
+/** Sets all options to default values.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToDefault(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in maximum reliabilty.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToReliable(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in minimum solution time.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToMPC(		Options* _THIS
+									);
+
+/** Same as setToMPC( ), for ensuring backwards compatibility.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToFast(		Options* _THIS
+									);
+
+
+/** Ensures that all options have consistent values by automatically
+ *	adjusting inconsistent ones.
+ *	Note: This routine cannot (and does not try to) ensure that values
+ *	      are set to reasonable values that make the QP solution work!
+ *	\return SUCCESSFUL_RETURN \n 
+ *		    RET_OPTIONS_ADJUSTED */
+returnValue Options_ensureConsistency(	Options* _THIS
+										);
+
+
+/** Prints values of all options.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_print(	Options* _THIS
+							);
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_OPTIONS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h
index 3c61a4d596..91a4a6f396 100644
--- a/third_party/acados/include/qpOASES_e/QProblem.h
+++ b/third_party/acados/include/qpOASES_e/QProblem.h
@@ -1,2369 +1,2369 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblem.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblem class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-
-#ifndef QPOASES_QPROBLEM_H
-#define QPOASES_QPROBLEM_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Constraints.h>
-#include <qpOASES_e/Flipper.h>
-#include <qpOASES_e/ConstraintProduct.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *auxiliaryBounds;
-	Constraints *auxiliaryConstraints;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-	real_t *ubA_new_far;
-	real_t *lbA_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-	real_t *lbA_new;
-	real_t *ubA_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-	real_t *lbA_new2;
-	real_t *ubA_new2;
-
-	real_t *delta_xFX5;
-	real_t *delta_xFR5;
-	real_t *delta_yAC5;
-	real_t *delta_yFX5;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-	real_t *lbA_original;
-	real_t *ubA_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yAC;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-	real_t *delta_lbA;
-	real_t *delta_ubA;
-
-	real_t *gMod;
-
-	real_t *aFR;
-	real_t *wZ;
-
-	real_t *delta_g2;
-	real_t *delta_xFX2;
-	real_t *delta_xFR2;
-	real_t *delta_yAC2;
-	real_t *delta_yFX2;
-	real_t *nul;
-	real_t *Arow;
-
-	real_t *xiC;
-	real_t *xiC_TMP;
-	real_t *xiB;
-	real_t *Arow2;
-	real_t *num;
-
-	real_t *w;
-	real_t *tmp;
-
-	real_t *delta_g3;
-	real_t *delta_xFX3;
-	real_t *delta_xFR3;
-	real_t *delta_yAC3;
-	real_t *delta_yFX3;
-	real_t *nul2;
-
-	real_t *xiC2;
-	real_t *xiC_TMP2;
-	real_t *xiB2;
-	real_t *num2;
-
-	real_t *Hz;
-	real_t *z;
-	real_t *ZHz;
-	real_t *r;
-
-	real_t *tmp2;
-	real_t *Hz2;
-	real_t *z2;
-	real_t *r2;
-	real_t *rhs;
-
-	real_t *delta_xFX4;
-	real_t *delta_xFR4;
-	real_t *delta_yAC4;
-	real_t *delta_yFX4;
-	real_t *nul3;
-	real_t *ek;
-	real_t *x_W;
-	real_t *As;
-	real_t *Ax_W;
-
-	real_t *num3;
-	real_t *den;
-	real_t *delta_Ax_l;
-	real_t *delta_Ax_u;
-	real_t *delta_Ax;
-	real_t *delta_x;
-
-	real_t *_A;
-
-	real_t *grad;
-	real_t *AX;
-} QProblem_ws;
-
-int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
-
-QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
-
-/**
- *	\brief Implements the online active set strategy for QPs with general constraints.
- *
- *	A class for setting up and solving quadratic programs. The main feature is
- *	the possibily to use the newly developed online active set strategy for
- * 	parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblem_ws *ws;				/**< Workspace */
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-	DenseMatrix* A;					/**< Constraint matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-	real_t *lbA;					/**< Lower constraints' bound vector. */
-	real_t *ubA;					/**< Upper constraints' bound vector. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-
-	real_t *Ax;						/**< Stores the current A*x \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
-									 *	 (for increased efficiency only). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-	real_t *tempA;					/**< Temporary for determineStepDirection. */
-	real_t *tempB;					/**< Temporary for determineStepDirection. */
-	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
-	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
-
-	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-
-	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
-} QProblem;
-
-int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
-
-QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemCON(	QProblem* _THIS,
-					int _nV,	  					/**< Number of variables. */
-					int _nC,		  				/**< Number of constraints. */
-					HessianType _hessianType 		/**< Type of Hessian matrix. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void QProblemCPY(	QProblem* FROM,
-					QProblem* TO
-					);
-
-
-/** Clears all data structures of QProblem except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblem_reset( QProblem* _THIS );
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initM(	QProblem* _THIS,
-							DenseMatrix *_H,			/**< Hessian matrix. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							DenseMatrix *_A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_init(	QProblem* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							real_t* const _A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data to be read from files and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initF(	QProblem* _THIS,
-							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const char* const g_file,	/**< Name of file where gradient vector is stored. */
-							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
-							const char* const lb_file,	/**< Name of file where lower bound vector. \n
-															If no lower bounds exist, a NULL pointer can be passed. */
-							const char* const ub_file,	/**< Name of file where upper bound vector. \n
-															If no upper bounds exist, a NULL pointer can be passed. */
-							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
-															If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
-															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initMW(	QProblem* _THIS,
-								DenseMatrix *_H, 						/**< Hessian matrix. \n
-														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g, 				/**< Gradient vector. */
-								DenseMatrix *_A, 			 			/**< Constraint matrix. */
-								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
-																		 *	 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initW(	QProblem* _THIS,
-							real_t* const _H, 						/**< Hessian matrix. \n
-														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 				/**< Gradient vector. */
-							real_t* const _A,  						/**< Constraint matrix. */
-							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																	 *	 Output: Number of performed working set recalculations. */
-							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																		 Output: CPU time spent for QP initialisation. */
-							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																		 (If a null pointer is passed, the old primal solution is kept!) */
-							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																		 (If a null pointer is passed, the old dual solution is kept!) */
-							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-							);
-
-/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initFW(	QProblem* _THIS,
-								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
-														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,				/**< Name of file where gradient vector is stored. */
-								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
-								const char* const lb_file,				/**< Name of file where lower bound vector. \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file,				/**< Name of file where upper bound vector. \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
-																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_hotstart(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *	where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartF(	QProblem* _THIS,
-								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblem_hotstartW(	QProblem* _THIS,
-								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
-								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartFW(	QProblem* _THIS,
-									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper bounds exist, a NULL pointer can be passed. */
-									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																 				 Output: Number of performed working set recalculations. */
-									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
-									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
-									);
-
-
-/** Solves using the current working set
- *	\return SUCCESSFUL_RETURN \n
- *			RET_STEPDIRECTION_FAILED_TQ \n
- *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
- *			RET_INVALID_ARGUMENTS */
-returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
-										const int n_rhs,		/**< Number of consecutive right hand sides */
-										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
-										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
-										real_t* x_out,			/**< Output: Primal solution */
-										real_t* y_out			/**< Output: Dual solution */
-										);
-
-
-
-/** Returns current constraints object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
-													Constraints* _constraints	/** Output: Constraints object. */
-													);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int QProblem_getNC( QProblem* _THIS );
-
-/** Returns the number of (implicitly defined) equality constraints.
- *	\return Number of (implicitly defined) equality constraints. */
-static inline int QProblem_getNEC( QProblem* _THIS );
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int QProblem_getNAC( QProblem* _THIS );
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int QProblem_getNIAC( QProblem* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblem_getNZ( QProblem* _THIS );
-
-
-/** Returns the dual solution vector (deep copy).
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getDualSolution(	QProblem* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Defines user-defined routine for calculating the constraint product A*x
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
-											ConstraintProduct _constraintProduct
-											);
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printProperties( QProblem* _THIS );
-
-
-
-/** Writes a vector with the state of the working set
-*	\return SUCCESSFUL_RETURN */
-returnValue QProblem_getWorkingSet(	QProblem* _THIS,
-									real_t* workingSet	/** Output: array containing state of the working set. */
-									);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getBounds(	QProblem* _THIS,
-												Bounds* _bounds		/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblem_getNV( QProblem* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblem_getNFR( QProblem* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblem_getNFX( QProblem* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblem_getNFV( QProblem* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblem_getObjVal( QProblem* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblem_getObjValX(	QProblem* _THIS,
-							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-							);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
-										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblem initialised \n
- 			BT_FALSE: QProblem not initialised */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblem solved \n
- 			BT_FALSE: QProblem not solved */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblem_getOptions( QProblem* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setPrintLevel(	QProblem* _THIS,
-									PrintLevel _printlevel	/**< New print level. */
-									);
-
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblem_getCount( QProblem* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS );
-
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printOptions( QProblem* _THIS );
-
-
-/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  working sets of bounds and constraints can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblem_solveInitialQP(	QProblem* _THIS,
-										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,				/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
-														 						 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
-																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveQP(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																	 this QP within previous solveQP() calls. This number is
-																	 always zero, except for successive calls from solveRegularisedQP()
-																	 or when using the far bound strategy. */
-								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
-											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-															 					 Output: Number of performed working set recalculations. */
-											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																				 this QP within previous solveRegularisedQP() calls. This number is
-																				 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToType( QProblem* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new		/**< New upper constraints' bounds. */
-											);
-
-/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
-
-/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *  (assumes that member AX has already been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-												const real_t* const xOpt,					/**< Optimal primal solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const real_t* const yOpt,					/**< Optimal dual solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
-												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
-												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set of constraints for auxiliary QP. */
-												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set for auxiliary QP. */
-												);
-
-/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds and constraints data structure have been resetted
- *  and the TQ factorisation has been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
-																							 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
-
-/** Sets up (constraints') bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
-												);
-
-
-/** Adds a constraint to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDCONSTRAINT_FAILED \n
-			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addConstraint(	QProblem* _THIS,
-									int number,					/**< Number of constraint to be added to active set. */
-									SubjectToStatus C_status,	/**< Status of new active constraint. */
-									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
-									);
-
-/** Checks if new active constraint to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT \n
-			 RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
-											int number			/**< Number of constraint to be added to active set. */
-											);
-
-/** Ensures linear independence of constraint matrix when a new constraint is added.
- * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
-												int number,					/**< Number of constraint to be added to active set. */
-												SubjectToStatus C_status	/**< Status of new active bound. */
-												);
-
-/** Adds a bound to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED \n
-			RET_ADDBOUND_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addBound(	QProblem* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
-								);
-
-/** Checks if new active bound to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT */
-returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
-										int number			/**< Number of bound to be added to active set. */
-										);
-
-/** Ensures linear independence of constraint matrix when a new bound is added.
- *	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
-										int number,					/**< Number of bound to be added to active set. */
-										SubjectToStatus B_status	/**< Status of new active bound. */
-										);
-
-/** Removes a constraint from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_CONSTRAINT_NOT_ACTIVE \n
-			RET_REMOVECONSTRAINT_FAILED \n
-			RET_HESSIAN_NOT_SPD */
-returnValue QProblem_removeConstraint(	QProblem* _THIS,
-										int number,						/**< Number of constraint to be removed from active set. */
-										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-										);
-
-/** Removes a bounds from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_BOUND_NOT_ACTIVE \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblem_removeBound(	QProblem* _THIS,
-									int number,						/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-									);
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-
-/** Ensure non-zero curvature by primal jump.
- *  \return SUCCESSFUL_RETURN \n
- *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
-												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
-												int remIdx,								/**< Index of bound/constraint to be removed. */
-												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
-												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
-												int* addIdx,							/**< Index of bound/constraint to be added. */
-												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
-												);
-
-
-/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveT(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_determineDataShift(	QProblem* _THIS,
-											const real_t* const g_new,		/**< New gradient vector. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
-											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
-											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
-											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_TQ \n
-			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblem_determineStepDirection(	QProblem* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
-												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
- * 			RET_QP_INFEASIBLE */
-returnValue QProblem_performStep(	QProblem* _THIS,
-									const real_t* const delta_g,		/**< Step direction of gradient. */
-									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
-									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
-									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
-									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 						/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
-									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
-									);
-
-/** Updates the active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblem_changeActiveSet(	QProblem* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
-										);
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Final gradient. */
-											const real_t* const lb_new,		/**< Final lower variable bounds. */
-											const real_t* const ub_new,		/**< Final upper variable bounds. */
-											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
-											const real_t* const ubA_new		/**< Final upper constraint bounds. */
-											);
-
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performRamping( QProblem* _THIS );
-
-
-/** ... */
-returnValue QProblem_updateFarBounds(	QProblem* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far,		/**< ... */
-										const real_t* const lbA_new,	/**< ... */
-										real_t* const lbA_new_far,		/**< ... */
-										const real_t* const ubA_new,	/**< ... */
-										real_t* const ubA_new_far		/**< ... */
-										);
-
-/** ... */
-returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
-											real_t curFarBound,				/**< ... */
-											int nRamp,						/**< ... */
-											const real_t* const lb_new,		/**< ... */
-											real_t* const lb_new_far,		/**< ... */
-											const real_t* const ub_new,		/**< ... */
-											real_t* const ub_new_far		/**< ... */
-											);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestC(	QProblem* _THIS,
-										int nIdx, 						/**< Number of ratios to be checked. */
-										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
-										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
-										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,					/**< Numerator tolerance. */
-										real_t epsDen,					/**< Denominator tolerance. */
-										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 					/**< Output: Index of blocking constraint. */
-										);
-
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performDriftCorrection( QProblem* _THIS );
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
-										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
-										);
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
-										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
-										);
-
-/** Setups internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataM(	QProblem* _THIS,
-									DenseMatrix *_H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									DenseMatrix *_A, 			 /**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-
-/** Sets up dense internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdata(	QProblem* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									real_t* const _A,  			/**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
-											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
-											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
-											);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printIteration(	QProblem* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
- 										);
-
-
-/** Sets constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setAM(	QProblem* _THIS,
-											DenseMatrix *A_new	/**< New constraint matrix. */
-											);
-
-/** Sets dense constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setA(	QProblem* _THIS,
-											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
-											);
-
-
-/** Sets constraints' lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setLBA(	QProblem* _THIS,
-											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
-											);
-
-/** Sets constraints' upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setUBA(	QProblem* _THIS,
-											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
-											);
-
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
-											const real_t* const lb,		/**< Vector of lower bounds*/
-											const real_t* const ub,		/**< Vector of upper bounds*/
-											const real_t* const lbA,	/**< Vector of lower constraints*/
-											const real_t* const ubA		/**< Vector of upper constraints*/
-											);
-
-
-/** Drops the blocking bound/constraint that led to infeasibility, or finds another
- *  bound/constraint to drop according to drop priorities.
- *  \return SUCCESSFUL_RETURN \n
- */
-returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
-										int BC_number,				/**< Number of the bound or constraint to be added */
-										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
-										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
-										real_t *xiB,
-										real_t *xiC
-										);
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblem_determineHessianType( QProblem* _THIS );
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
-																					 *	 Output: Working set for auxiliary QP. */
-													);
-
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveR(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveRrem(	QProblem* _THIS,
-									const real_t* const b,		/**< Right hand side vector. */
-									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-									real_t* const a 			/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
-												const real_t* const g_new,		/**< New gradient vector. */
-												const real_t* const lb_new,		/**< New lower bounds. */
-												const real_t* const ub_new,		/**< New upper bounds. */
-												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-												);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
-										DenseMatrix *_H,	 		/**< Hessian matrix.*/
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
-										real_t* const _H, 			/**< Hessian matrix. \n
-																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
-												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblem_regulariseHessian( QProblem* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHM(	QProblem* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setH(	QProblem* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setG(	QProblem* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setLB(	QProblem* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setUB(	QProblem* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
-												const real_t* const g_new,	/**< Final gradient. */
-												const real_t* const lb_new,	/**< Final lower variable bounds. */
-												const real_t* const ub_new	/**< Final upper variable bounds. */
-												);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestB(	QProblem* _THIS,
-										int nIdx, 					/**< Number of ratios to be checked. */
-										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,				/**< Numerator tolerance. */
-										real_t epsDen,				/**< Denominator tolerance. */
-										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 				/**< Output: Index of blocking constraint. */
-										);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,			/**< Numerator for performing the ratio test. */
-												real_t den,			/**< Denominator for performing the ratio test. */
-												real_t epsNum,		/**< Numerator tolerance. */
-												real_t epsDen,		/**< Denominator tolerance. */
-												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
-																	 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** ...
- *	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
-												const char* const filename	/**< Mat file name. */
-												);
-
-/** ...
-*	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
-													const char* const filename	/**< Mat file name. */
-													);
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblem_getNV( QProblem* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblem_getNFR( QProblem* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblem_getNFX( QProblem* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblem_getNFV( QProblem* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblem_getOptions( QProblem* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblem_getCount( QProblem* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblem_setH( _THIS,(real_t*)0 );
-	else
-		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-
-/*
- *	g e t C o n s t r a i n t s
- */
-static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	ConstraintsCPY( _THIS->constraints,_constraints );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int QProblem_getNC( QProblem* _THIS )
-{
-	return Constraints_getNC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int QProblem_getNEC( QProblem* _THIS )
-{
-	return Constraints_getNEC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int QProblem_getNAC( QProblem* _THIS )
-{
-	return Constraints_getNAC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int QProblem_getNIAC( QProblem* _THIS )
-{
-	return Constraints_getNIAC( _THIS->constraints );
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
-{
-	if ( A_new == 0 )
-		return QProblem_setA( _THIS,(real_t*)0 );
-	else
-		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
-}
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
-{
-	int j;
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( A_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
-
-	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
-
-	for( j=0; j<nC; ++j )
-	{
-		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
-		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
-
-		/* (ckirches) disable constraints with empty rows */
-		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
-			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lbA_new != 0 )
-	{
-		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower constraints' bounds are specified, set them to -infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->lbA[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->lbA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ubA_new != 0 )
-	{
-		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper constraints' bounds are specified, set them to infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->ubA[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->ubA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEM_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/QProblem.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the QProblem class which is able to use the newly
+ *	developed online active set strategy for parametric quadratic programming.
+ */
+
+
+
+#ifndef QPOASES_QPROBLEM_H
+#define QPOASES_QPROBLEM_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Options.h>
+#include <qpOASES_e/Matrices.h>
+#include <qpOASES_e/Constraints.h>
+#include <qpOASES_e/Flipper.h>
+#include <qpOASES_e/ConstraintProduct.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+typedef struct {
+	Bounds *auxiliaryBounds;
+	Constraints *auxiliaryConstraints;
+
+	real_t *ub_new_far;
+	real_t *lb_new_far;
+	real_t *ubA_new_far;
+	real_t *lbA_new_far;
+
+	real_t *g_new;
+	real_t *lb_new;
+	real_t *ub_new;
+	real_t *lbA_new;
+	real_t *ubA_new;
+
+	real_t *g_new2;
+	real_t *lb_new2;
+	real_t *ub_new2;
+	real_t *lbA_new2;
+	real_t *ubA_new2;
+
+	real_t *delta_xFX5;
+	real_t *delta_xFR5;
+	real_t *delta_yAC5;
+	real_t *delta_yFX5;
+
+	real_t *Hx;
+
+	real_t *_H;
+
+	real_t *g_original;
+	real_t *lb_original;
+	real_t *ub_original;
+	real_t *lbA_original;
+	real_t *ubA_original;
+
+	real_t *delta_xFR;
+	real_t *delta_xFX;
+	real_t *delta_yAC;
+	real_t *delta_yFX;
+	real_t *delta_g;
+	real_t *delta_lb;
+	real_t *delta_ub;
+	real_t *delta_lbA;
+	real_t *delta_ubA;
+
+	real_t *gMod;
+
+	real_t *aFR;
+	real_t *wZ;
+
+	real_t *delta_g2;
+	real_t *delta_xFX2;
+	real_t *delta_xFR2;
+	real_t *delta_yAC2;
+	real_t *delta_yFX2;
+	real_t *nul;
+	real_t *Arow;
+
+	real_t *xiC;
+	real_t *xiC_TMP;
+	real_t *xiB;
+	real_t *Arow2;
+	real_t *num;
+
+	real_t *w;
+	real_t *tmp;
+
+	real_t *delta_g3;
+	real_t *delta_xFX3;
+	real_t *delta_xFR3;
+	real_t *delta_yAC3;
+	real_t *delta_yFX3;
+	real_t *nul2;
+
+	real_t *xiC2;
+	real_t *xiC_TMP2;
+	real_t *xiB2;
+	real_t *num2;
+
+	real_t *Hz;
+	real_t *z;
+	real_t *ZHz;
+	real_t *r;
+
+	real_t *tmp2;
+	real_t *Hz2;
+	real_t *z2;
+	real_t *r2;
+	real_t *rhs;
+
+	real_t *delta_xFX4;
+	real_t *delta_xFR4;
+	real_t *delta_yAC4;
+	real_t *delta_yFX4;
+	real_t *nul3;
+	real_t *ek;
+	real_t *x_W;
+	real_t *As;
+	real_t *Ax_W;
+
+	real_t *num3;
+	real_t *den;
+	real_t *delta_Ax_l;
+	real_t *delta_Ax_u;
+	real_t *delta_Ax;
+	real_t *delta_x;
+
+	real_t *_A;
+
+	real_t *grad;
+	real_t *AX;
+} QProblem_ws;
+
+int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
+
+QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
+
+/**
+ *	\brief Implements the online active set strategy for QPs with general constraints.
+ *
+ *	A class for setting up and solving quadratic programs. The main feature is
+ *	the possibily to use the newly developed online active set strategy for
+ * 	parametric quadratic programming.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	QProblem_ws *ws;				/**< Workspace */
+	Bounds *bounds;					/**< Data structure for problem's bounds. */
+	Constraints *constraints;		/**< Data structure for problem's constraints. */
+	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
+
+	DenseMatrix* H;					/**< Hessian matrix pointer. */
+	DenseMatrix* A;					/**< Constraint matrix pointer. */
+
+	Options options;				/**< Struct containing all user-defined options for solving QPs. */
+	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
+
+	real_t *g;						/**< Gradient. */
+
+	real_t *lb;						/**< Lower bound vector (on variables). */
+	real_t *ub;						/**< Upper bound vector (on variables). */
+	real_t *lbA;					/**< Lower constraints' bound vector. */
+	real_t *ubA;					/**< Upper constraints' bound vector. */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+
+	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
+	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
+
+	real_t *Ax;						/**< Stores the current A*x \n
+									 *	 (for increased efficiency only). */
+	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
+									 *	 (for increased efficiency only). */
+	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
+									 *	 (for increased efficiency only). */
+
+	real_t *x;						/**< Primal solution vector. */
+	real_t *y;						/**< Dual solution vector. */
+
+	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
+	real_t *tempA;					/**< Temporary for determineStepDirection. */
+	real_t *tempB;					/**< Temporary for determineStepDirection. */
+	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
+	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
+	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
+	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
+
+	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
+
+	real_t tau;						/**< Last homotopy step length. */
+	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
+
+	real_t ramp0;					/**< Start value for Ramping Strategy. */
+	real_t ramp1;					/**< Final value for Ramping Strategy. */
+
+	QProblemStatus status;			/**< Current status of the solution process. */
+	HessianType hessianType;		/**< Type of Hessian matrix. */
+
+	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
+	BooleanType infeasible;			/**< QP infeasible? */
+	BooleanType unbounded;			/**< QP unbounded? */
+
+	int rampOffset;					/**< Offset index for Ramping. */
+	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
+
+	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
+} QProblem;
+
+int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
+
+QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
+
+
+/** Constructor which takes the QP dimension and Hessian type
+ *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
+ *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
+ *  is allocated for it and a NULL pointer can be passed for it
+ *  to the init() functions. */
+void QProblemCON(	QProblem* _THIS,
+					int _nV,	  					/**< Number of variables. */
+					int _nC,		  				/**< Number of constraints. */
+					HessianType _hessianType 		/**< Type of Hessian matrix. */
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void QProblemCPY(	QProblem* FROM,
+					QProblem* TO
+					);
+
+
+/** Clears all data structures of QProblem except for QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_RESET_FAILED */
+returnValue QProblem_reset( QProblem* _THIS );
+
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initM(	QProblem* _THIS,
+							DenseMatrix *_H,			/**< Hessian matrix. */
+							const real_t* const _g, 	/**< Gradient vector. */
+							DenseMatrix *_A,  			/**< Constraint matrix. */
+							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_init(	QProblem* _THIS,
+							real_t* const _H, 			/**< Hessian matrix. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g, 	/**< Gradient vector. */
+							real_t* const _A,  			/**< Constraint matrix. */
+							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a QP problem with given QP data to be read from files and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblem_initF(	QProblem* _THIS,
+							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const char* const g_file,	/**< Name of file where gradient vector is stored. */
+							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
+							const char* const lb_file,	/**< Name of file where lower bound vector. \n
+															If no lower bounds exist, a NULL pointer can be passed. */
+							const char* const ub_file,	/**< Name of file where upper bound vector. \n
+															If no upper bounds exist, a NULL pointer can be passed. */
+							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
+															If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
+															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initMW(	QProblem* _THIS,
+								DenseMatrix *_H, 						/**< Hessian matrix. \n
+														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const real_t* const _g, 				/**< Gradient vector. */
+								DenseMatrix *_A, 			 			/**< Constraint matrix. */
+								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
+																			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
+																			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
+																		 *	 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
+																			 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																			 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																			 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
+																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initW(	QProblem* _THIS,
+							real_t* const _H, 						/**< Hessian matrix. \n
+														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g, 				/**< Gradient vector. */
+							real_t* const _A,  						/**< Constraint matrix. */
+							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
+																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
+																	 *	 Output: Number of performed working set recalculations. */
+							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
+																		 Output: CPU time spent for QP initialisation. */
+							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																		 (If a null pointer is passed, the old primal solution is kept!) */
+							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																		 (If a null pointer is passed, the old dual solution is kept!) */
+							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+							);
+
+/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblem_initFW(	QProblem* _THIS,
+								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
+														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const char* const g_file,				/**< Name of file where gradient vector is stored. */
+								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
+								const char* const lb_file,				/**< Name of file where lower bound vector. \n
+																			 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file,				/**< Name of file where upper bound vector. \n
+																			 If no upper bounds exist, a NULL pointer can be passed. */
+								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
+																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
+																			 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
+																			 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																			 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																			 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_hotstart(	QProblem* _THIS,
+								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
+													 				 Output: Number of performed working set recalculations. */
+								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *	where QP data is read from files. QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_hotstartF(	QProblem* _THIS,
+								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no upper bounds exist, a NULL pointer can be passed. */
+								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
+																 Output: Number of performed working set recalculations. */
+								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblem_hotstartW(	QProblem* _THIS,
+								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
+											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
+											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
+																			 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
+								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
+																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *  where QP data is read from files.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_hotstartFW(	QProblem* _THIS,
+									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no lower bounds exist, a NULL pointer can be passed. */
+									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no upper bounds exist, a NULL pointer can be passed. */
+									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
+																 				 Output: Number of performed working set recalculations. */
+									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
+									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
+																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
+									);
+
+
+/** Solves using the current working set
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_STEPDIRECTION_FAILED_TQ \n
+ *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
+ *			RET_INVALID_ARGUMENTS */
+returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
+										const int n_rhs,		/**< Number of consecutive right hand sides */
+										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
+										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
+										real_t* x_out,			/**< Output: Primal solution */
+										real_t* y_out			/**< Output: Dual solution */
+										);
+
+
+
+/** Returns current constraints object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
+													Constraints* _constraints	/** Output: Constraints object. */
+													);
+
+
+/** Returns the number of constraints.
+ *	\return Number of constraints. */
+static inline int QProblem_getNC( QProblem* _THIS );
+
+/** Returns the number of (implicitly defined) equality constraints.
+ *	\return Number of (implicitly defined) equality constraints. */
+static inline int QProblem_getNEC( QProblem* _THIS );
+
+/** Returns the number of active constraints.
+ *	\return Number of active constraints. */
+static inline int QProblem_getNAC( QProblem* _THIS );
+
+/** Returns the number of inactive constraints.
+ *	\return Number of inactive constraints. */
+static inline int QProblem_getNIAC( QProblem* _THIS );
+
+/** Returns the dimension of null space.
+ *	\return Dimension of null space. */
+int QProblem_getNZ( QProblem* _THIS );
+
+
+/** Returns the dual solution vector (deep copy).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblem_getDualSolution(	QProblem* _THIS,
+										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
+										);
+
+
+/** Defines user-defined routine for calculating the constraint product A*x
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
+											ConstraintProduct _constraintProduct
+											);
+
+
+/** Prints concise list of properties of the current QP.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printProperties( QProblem* _THIS );
+
+
+
+/** Writes a vector with the state of the working set
+*	\return SUCCESSFUL_RETURN */
+returnValue QProblem_getWorkingSet(	QProblem* _THIS,
+									real_t* workingSet	/** Output: array containing state of the working set. */
+									);
+
+/** Writes a vector with the state of the working set of bounds
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
+											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
+											);
+
+/** Writes a vector with the state of the working set of constraints
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
+												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
+												);
+
+
+/** Returns current bounds object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_getBounds(	QProblem* _THIS,
+												Bounds* _bounds		/** Output: Bounds object. */
+												);
+
+
+/** Returns the number of variables.
+ *	\return Number of variables. */
+static inline int QProblem_getNV( QProblem* _THIS );
+
+/** Returns the number of free variables.
+ *	\return Number of free variables. */
+static inline int QProblem_getNFR( QProblem* _THIS );
+
+/** Returns the number of fixed variables.
+ *	\return Number of fixed variables. */
+static inline int QProblem_getNFX( QProblem* _THIS );
+
+/** Returns the number of implicitly fixed variables.
+ *	\return Number of implicitly fixed variables. */
+static inline int QProblem_getNFV( QProblem* _THIS );
+
+
+/** Returns the optimal objective function value.
+ *	\return finite value: Optimal objective function value (QP was solved) \n
+ 			+infinity:	  QP was not yet solved */
+real_t QProblem_getObjVal( QProblem* _THIS );
+
+/** Returns the objective function value at an arbitrary point x.
+ *	\return Objective function value at point x */
+real_t QProblem_getObjValX(	QProblem* _THIS,
+							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
+							);
+
+/** Returns the primal solution vector.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
+										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
+										);
+
+
+/** Returns status of the solution process.
+ *	\return Status of solution process. */
+static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
+
+
+/** Returns if the QProblem object is initialised.
+ *	\return BT_TRUE:  QProblem initialised \n
+ 			BT_FALSE: QProblem not initialised */
+static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
+
+/** Returns if the QP has been solved.
+ *	\return BT_TRUE:  QProblem solved \n
+ 			BT_FALSE: QProblem not solved */
+static inline BooleanType QProblem_isSolved( QProblem* _THIS );
+
+/** Returns if the QP is infeasible.
+ *	\return BT_TRUE:  QP infeasible \n
+ 			BT_FALSE: QP feasible (or not known to be infeasible!) */
+static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
+
+/** Returns if the QP is unbounded.
+ *	\return BT_TRUE:  QP unbounded \n
+ 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
+static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
+
+
+/** Returns Hessian type flag (type is not determined due to _THIS call!).
+ *	\return Hessian type. */
+static inline HessianType QProblem_getHessianType( QProblem* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
+													HessianType _hessianType /**< New Hessian type. */
+													);
+
+/** Returns if the QP has been internally regularised.
+ *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
+ 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
+static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
+
+/** Returns current options struct.
+ *	\return Current options struct. */
+static inline Options QProblem_getOptions( QProblem* _THIS );
+
+/** Overrides current options with given ones.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setOptions(	QProblem* _THIS,
+												Options _options	/**< New options. */
+												);
+
+/** Returns the print level.
+ *	\return Print level. */
+static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setPrintLevel(	QProblem* _THIS,
+									PrintLevel _printlevel	/**< New print level. */
+									);
+
+
+/** Returns the current number of QP problems solved.
+ *	\return Number of QP problems solved. */
+static inline unsigned int QProblem_getCount( QProblem* _THIS );
+
+/** Resets QP problem counter (to zero).
+ *	\return SUCCESSFUL_RETURN. */
+static inline returnValue QProblem_resetCounter( QProblem* _THIS );
+
+
+/** Prints a list of all options and their current values.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printOptions( QProblem* _THIS );
+
+
+/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
+ *  A guess for its primal/dual optimal solution vectors and the corresponding
+ *  working sets of bounds and constraints can be provided.
+ *  Note: This function is internally called by all init functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED */
+returnValue QProblem_solveInitialQP(	QProblem* _THIS,
+										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
+										const real_t* const yOpt,				/**< Optimal dual solution vector. */
+										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
+										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
+														 						 *	 Output: Number of performed working set recalculations. */
+										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
+																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+										);
+
+/** Solves QProblem using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_solveQP(	QProblem* _THIS,
+								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
+													 				 Output: Number of performed working set recalculations. */
+								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
+																	 this QP within previous solveQP() calls. This number is
+																	 always zero, except for successive calls from solveRegularisedQP()
+																	 or when using the far bound strategy. */
+								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
+								);
+
+
+/** Solves QProblem using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
+											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
+											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
+											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
+															 					 Output: Number of performed working set recalculations. */
+											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
+																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
+																				 this QP within previous solveRegularisedQP() calls. This number is
+																				 always zero, except for successive calls when using the far bound strategy. */
+											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
+											);
+
+
+/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblem_setupSubjectToType( QProblem* _THIS );
+
+/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
+											const real_t* const lb_new,		/**< New lower bounds. */
+											const real_t* const ub_new,		/**< New upper bounds. */
+											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
+											const real_t* const ubA_new		/**< New upper constraints' bounds. */
+											);
+
+/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
+
+/** Computes initial Cholesky decomposition of the projected Hessian making
+ *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
+
+/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
+
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *  (assumes that member AX has already been initialised!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
+												const real_t* const xOpt,					/**< Optimal primal solution vector.
+																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+												const real_t* const yOpt,					/**< Optimal dual solution vector.
+																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
+												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
+												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
+																							 *	 Ouput: Working set of constraints for auxiliary QP. */
+												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
+																							 *	 Ouput: Working set for auxiliary QP. */
+												);
+
+/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
+ *  (If the working set shall be setup afresh, make sure that
+ *  bounds and constraints data structure have been resetted
+ *  and the TQ factorisation has been initialised!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUP_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNOWN_BUG */
+returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
+												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
+												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
+												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
+																							 *    setup afresh or by updating the current one. */
+												);
+
+/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
+												const real_t* const xOpt,	/**< Optimal primal solution vector.
+																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
+												const real_t* const yOpt	/**< Optimal dual solution vector.
+																			 *	 If a NULL pointer is passed, all entries are set to zero. */
+												);
+
+/** Sets up gradient of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
+
+/** Sets up (constraints') bounds of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNKNOWN_BUG */
+returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
+												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
+												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
+												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
+												);
+
+
+/** Adds a constraint to active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDCONSTRAINT_FAILED \n
+			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED */
+returnValue QProblem_addConstraint(	QProblem* _THIS,
+									int number,					/**< Number of constraint to be added to active set. */
+									SubjectToStatus C_status,	/**< Status of new active constraint. */
+									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
+									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
+									);
+
+/** Checks if new active constraint to be added is linearly dependent from
+ *	from row of the active constraints matrix.
+ *	\return	 RET_LINEARLY_DEPENDENT \n
+ 			 RET_LINEARLY_INDEPENDENT \n
+			 RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
+											int number			/**< Number of constraint to be added to active set. */
+											);
+
+/** Ensures linear independence of constraint matrix when a new constraint is added.
+ * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
+ *	\return	 SUCCESSFUL_RETURN \n
+ 			 RET_LI_RESOLVED \n
+			 RET_ENSURELI_FAILED \n
+			 RET_ENSURELI_FAILED_TQ \n
+			 RET_ENSURELI_FAILED_NOINDEX \n
+			 RET_REMOVE_FROM_ACTIVESET */
+returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
+												int number,					/**< Number of constraint to be added to active set. */
+												SubjectToStatus C_status	/**< Status of new active bound. */
+												);
+
+/** Adds a bound to active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDBOUND_FAILED \n
+			RET_ADDBOUND_FAILED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED */
+returnValue QProblem_addBound(	QProblem* _THIS,
+								int number,					/**< Number of bound to be added to active set. */
+								SubjectToStatus B_status,	/**< Status of new active bound. */
+								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
+								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
+								);
+
+/** Checks if new active bound to be added is linearly dependent from
+ *	from row of the active constraints matrix.
+ *	\return	 RET_LINEARLY_DEPENDENT \n
+ 			 RET_LINEARLY_INDEPENDENT */
+returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
+										int number			/**< Number of bound to be added to active set. */
+										);
+
+/** Ensures linear independence of constraint matrix when a new bound is added.
+ *	To _THIS end a bound or constraint is removed simultaneously if necessary.
+ *	\return	 SUCCESSFUL_RETURN \n
+ 			 RET_LI_RESOLVED \n
+			 RET_ENSURELI_FAILED \n
+			 RET_ENSURELI_FAILED_TQ \n
+			 RET_ENSURELI_FAILED_NOINDEX \n
+			 RET_REMOVE_FROM_ACTIVESET */
+returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
+										int number,					/**< Number of bound to be added to active set. */
+										SubjectToStatus B_status	/**< Status of new active bound. */
+										);
+
+/** Removes a constraint from active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_CONSTRAINT_NOT_ACTIVE \n
+			RET_REMOVECONSTRAINT_FAILED \n
+			RET_HESSIAN_NOT_SPD */
+returnValue QProblem_removeConstraint(	QProblem* _THIS,
+										int number,						/**< Number of constraint to be removed from active set. */
+										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
+										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
+										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
+										);
+
+/** Removes a bounds from active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_BOUND_NOT_ACTIVE \n
+			RET_HESSIAN_NOT_SPD \n
+			RET_REMOVEBOUND_FAILED */
+returnValue QProblem_removeBound(	QProblem* _THIS,
+									int number,						/**< Number of bound to be removed from active set. */
+									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
+									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
+									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
+									);
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
+											int nIdx, 					/**< Number of ratios to be checked. */
+											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+											real_t epsNum,				/**< Numerator tolerance. */
+											real_t epsDen,				/**< Denominator tolerance. */
+											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+											int* BC_idx 				/**< Output: Index of blocking constraint. */
+											);
+
+
+/** Ensure non-zero curvature by primal jump.
+ *  \return SUCCESSFUL_RETURN \n
+ *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
+												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
+												int remIdx,								/**< Index of bound/constraint to be removed. */
+												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
+												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
+												int* addIdx,							/**< Index of bound/constraint to be added. */
+												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
+												);
+
+
+/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveT(	QProblem* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_determineDataShift(	QProblem* _THIS,
+											const real_t* const g_new,		/**< New gradient vector. */
+											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
+											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
+											const real_t* const lb_new,		/**< New lower bounds. */
+											const real_t* const ub_new,		/**< New upper bounds. */
+											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
+											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
+											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
+											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
+											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
+											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
+											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
+											);
+
+/** Determines step direction of the homotopy path.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_STEPDIRECTION_FAILED_TQ \n
+			RET_STEPDIRECTION_FAILED_CHOLESKY */
+returnValue QProblem_determineStepDirection(	QProblem* _THIS,
+												const real_t* const delta_g,	/**< Step direction of gradient vector. */
+												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
+												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
+												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
+												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
+												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
+												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
+												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
+												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
+												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
+												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
+												);
+
+/** Determines the maximum possible step length along the homotopy path
+ *  and performs _THIS step (without changing working set).
+ *	\return SUCCESSFUL_RETURN \n
+ * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
+ * 			RET_QP_INFEASIBLE */
+returnValue QProblem_performStep(	QProblem* _THIS,
+									const real_t* const delta_g,		/**< Step direction of gradient. */
+									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
+									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
+									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
+									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
+									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
+									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
+									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
+									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
+									int* BC_idx, 						/**< Output: Index of blocking constraint. */
+									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
+									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
+									);
+
+/** Updates the active set.
+ *	\return  SUCCESSFUL_RETURN \n
+ 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
+			 RET_ADD_TO_ACTIVESET_FAILED */
+returnValue QProblem_changeActiveSet(	QProblem* _THIS,
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
+										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
+										);
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
+											const real_t* const g_new,		/**< Final gradient. */
+											const real_t* const lb_new,		/**< Final lower variable bounds. */
+											const real_t* const ub_new,		/**< Final upper variable bounds. */
+											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
+											const real_t* const ubA_new		/**< Final upper constraint bounds. */
+											);
+
+
+/** Ramping Strategy to avoid ties. Modifies homotopy start without
+ *  changing current active set.
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblem_performRamping( QProblem* _THIS );
+
+
+/** ... */
+returnValue QProblem_updateFarBounds(	QProblem* _THIS,
+										real_t curFarBound,				/**< ... */
+										int nRamp,						/**< ... */
+										const real_t* const lb_new,		/**< ... */
+										real_t* const lb_new_far,		/**< ... */
+										const real_t* const ub_new,		/**< ... */
+										real_t* const ub_new_far,		/**< ... */
+										const real_t* const lbA_new,	/**< ... */
+										real_t* const lbA_new_far,		/**< ... */
+										const real_t* const ubA_new,	/**< ... */
+										real_t* const ubA_new_far		/**< ... */
+										);
+
+/** ... */
+returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
+											real_t curFarBound,				/**< ... */
+											int nRamp,						/**< ... */
+											const real_t* const lb_new,		/**< ... */
+											real_t* const lb_new_far,		/**< ... */
+											const real_t* const ub_new,		/**< ... */
+											real_t* const ub_new_far		/**< ... */
+											);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performRatioTestC(	QProblem* _THIS,
+										int nIdx, 						/**< Number of ratios to be checked. */
+										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
+										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
+										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
+										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
+										real_t epsNum,					/**< Numerator tolerance. */
+										real_t epsDen,					/**< Denominator tolerance. */
+										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
+										int* BC_idx 					/**< Output: Index of blocking constraint. */
+										);
+
+
+/** Drift correction at end of each active set iteration
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblem_performDriftCorrection( QProblem* _THIS );
+
+
+/** Updates QP vectors, working sets and internal data structures in order to
+	start from an optimal solution corresponding to initial guesses of the working
+	set for bounds and constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_SETUP_AUXILIARYQP_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
+										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
+										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
+										);
+
+/** Determines if it is more efficient to refactorise the matrices when
+ *  hotstarting or not (i.e. better to update the existing factorisations).
+ *	\return BT_TRUE iff matrices shall be refactorised afresh
+ */
+BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
+										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
+										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
+										);
+
+/** Setups internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdataM(	QProblem* _THIS,
+									DenseMatrix *_H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g, 	/**< Gradient vector. */
+									DenseMatrix *_A, 			 /**< Constraint matrix. */
+									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									);
+
+
+/** Sets up dense internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdata(	QProblem* _THIS,
+									real_t* const _H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g, 	/**< Gradient vector. */
+									real_t* const _A,  			/**< Constraint matrix. */
+									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
+											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
+											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
+											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
+											);
+
+
+/** Prints concise information on the current iteration.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printIteration(	QProblem* _THIS,
+										int iter,					/**< Number of current iteration. */
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
+										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
+										real_t homotopyLength,		/**< Current homotopy distance. */
+										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+ 										);
+
+
+/** Sets constraint matrix of the QP. \n
+	Note: Also internal vector Ax is recomputed!
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setAM(	QProblem* _THIS,
+											DenseMatrix *A_new	/**< New constraint matrix. */
+											);
+
+/** Sets dense constraint matrix of the QP. \n
+	Note: Also internal vector Ax is recomputed!
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setA(	QProblem* _THIS,
+											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
+											);
+
+
+/** Sets constraints' lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_setLBA(	QProblem* _THIS,
+											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower constraints' bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
+											);
+
+/** Sets constraints' upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_setUBA(	QProblem* _THIS,
+											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper constraints' bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
+											);
+
+
+/** Decides if lower bounds are smaller than upper bounds
+ *
+ * \return SUCCESSFUL_RETURN \n
+ * 		   RET_QP_INFEASIBLE */
+returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
+											const real_t* const lb,		/**< Vector of lower bounds*/
+											const real_t* const ub,		/**< Vector of upper bounds*/
+											const real_t* const lbA,	/**< Vector of lower constraints*/
+											const real_t* const ubA		/**< Vector of upper constraints*/
+											);
+
+
+/** Drops the blocking bound/constraint that led to infeasibility, or finds another
+ *  bound/constraint to drop according to drop priorities.
+ *  \return SUCCESSFUL_RETURN \n
+ */
+returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
+										int BC_number,				/**< Number of the bound or constraint to be added */
+										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
+										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
+										real_t *xiB,
+										real_t *xiC
+										);
+
+
+/** If Hessian type has been set by the user, nothing is done.
+ *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
+ *  HST_POSDEF (default), respectively.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_INDEFINITE */
+returnValue QProblem_determineHessianType( QProblem* _THIS );
+
+/** Computes the Cholesky decomposition of the (simply projected) Hessian
+ *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
+ *  projection matrix!
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
+													const real_t* const xOpt,		/**< Optimal primal solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													const real_t* const yOpt,		/**< Optimal dual solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
+													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
+																					 *	 Output: Working set for auxiliary QP. */
+													);
+
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveR(	QProblem* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
+ *  Special variant for the case that _THIS function is called from within "removeBound()".
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveRrem(	QProblem* _THIS,
+									const real_t* const b,		/**< Right hand side vector. */
+									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
+									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
+									real_t* const a 			/**< Output: Solution vector */
+									);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
+												const real_t* const g_new,		/**< New gradient vector. */
+												const real_t* const lb_new,		/**< New lower bounds. */
+												const real_t* const ub_new,		/**< New upper bounds. */
+												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
+												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
+												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
+												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
+												);
+
+
+/** Sets up internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
+										DenseMatrix *_H,	 		/**< Hessian matrix.*/
+										const real_t* const _g,		/**< Gradient vector. */
+										const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* const _ub		/**< Upper bounds (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+										);
+
+/** Sets up internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
+										real_t* const _H, 			/**< Hessian matrix. \n
+																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
+										const real_t* const _g,		/**< Gradient vector. */
+										const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* const _ub		/**< Upper bounds (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+										);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
+												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
+												);
+
+
+/** Sets internal infeasibility flag and throws given error in case the far bound
+ *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
+ *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED_CYCLING \n
+			RET_ENSURELI_FAILED_NOINDEX */
+returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
+											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
+											BooleanType doThrowError	/**< Flag forcing to throw an error. */
+											);
+
+
+/** Determines if next QP iteration can be performed within given CPU time limit.
+ *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
+			BT_FALSE: Sufficient CPU time for next QP iteration. */
+BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
+												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
+												real_t starttime,				/**< Start time of current QP solution. */
+												int nWSR						/**< Number of working set recalculations performed so far. */
+												);
+
+
+/** Regularise Hessian matrix by adding a scaled identity matrix to it.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_ALREADY_REGULARISED */
+returnValue QProblem_regulariseHessian( QProblem* _THIS );
+
+
+/** Sets Hessian matrix of the QP.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setHM(	QProblem* _THIS,
+											DenseMatrix* H_new	/**< New Hessian matrix. */
+											);
+
+/** Sets dense Hessian matrix of the QP.
+ *  If a null pointer is passed and
+ *  a) hessianType is HST_IDENTITY, nothing is done,
+ *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setH(	QProblem* _THIS,
+											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
+											);
+
+/** Changes gradient vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setG(	QProblem* _THIS,
+											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
+											);
+
+/** Changes lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setLB(	QProblem* _THIS,
+											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setLBn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower bound vector. */
+											);
+
+/** Changes upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setUB(	QProblem* _THIS,
+											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setUBn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper bound vector. */
+											);
+
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
+												const real_t* const g_new,	/**< Final gradient. */
+												const real_t* const lb_new,	/**< Final lower variable bounds. */
+												const real_t* const ub_new	/**< Final upper variable bounds. */
+												);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performRatioTestB(	QProblem* _THIS,
+										int nIdx, 					/**< Number of ratios to be checked. */
+										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
+										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+										real_t epsNum,				/**< Numerator tolerance. */
+										real_t epsDen,				/**< Denominator tolerance. */
+										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+										int* BC_idx 				/**< Output: Index of blocking constraint. */
+										);
+
+/** Checks whether given ratio is blocking, i.e. limits the maximum step length
+ *  along the homotopy path to a value lower than given one.
+ *	\return  SUCCESSFUL_RETURN */
+static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
+												real_t num,			/**< Numerator for performing the ratio test. */
+												real_t den,			/**< Denominator for performing the ratio test. */
+												real_t epsNum,		/**< Numerator tolerance. */
+												real_t epsDen,		/**< Denominator tolerance. */
+												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
+																	 *   Output: Updated maximum possible step length along the homotopy path. */
+												);
+
+
+/** ...
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_UNABLE_TO_OPEN_FILE */
+returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
+												const char* const filename	/**< Mat file name. */
+												);
+
+/** ...
+*	\return SUCCESSFUL_RETURN  \n
+			RET_UNABLE_TO_OPEN_FILE */
+returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
+													const char* const filename	/**< Mat file name. */
+													);
+
+
+/*
+ *	g e t B o u n d s
+ */
+static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	_bounds = _THIS->bounds;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N V
+ */
+static inline int QProblem_getNV( QProblem* _THIS )
+{
+	return Bounds_getNV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F R
+ */
+static inline int QProblem_getNFR( QProblem* _THIS )
+{
+	return Bounds_getNFR( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F X
+ */
+static inline int QProblem_getNFX( QProblem* _THIS )
+{
+	return Bounds_getNFX( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F V
+ */
+static inline int QProblem_getNFV( QProblem* _THIS )
+{
+	return Bounds_getNFV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
+{
+	return _THIS->status;
+}
+
+
+/*
+ *	i s I n i t i a l i s e d
+ */
+static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
+{
+	if ( _THIS->status == QPS_NOTINITIALISED )
+		return BT_FALSE;
+	else
+		return BT_TRUE;
+}
+
+
+/*
+ *	i s S o l v e d
+ */
+static inline BooleanType QProblem_isSolved( QProblem* _THIS )
+{
+	if ( _THIS->status == QPS_SOLVED )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	i s I n f e a s i b l e
+ */
+static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
+{
+	return _THIS->infeasible;
+}
+
+
+/*
+ *	i s U n b o u n d e d
+ */
+static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
+{
+	return _THIS->unbounded;
+}
+
+
+/*
+ *	g e t H e s s i a n T y p e
+ */
+static inline HessianType QProblem_getHessianType( QProblem* _THIS )
+{
+	return _THIS->hessianType;
+}
+
+
+/*
+ *	s e t H e s s i a n T y p e
+ */
+static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
+{
+	_THIS->hessianType = _hessianType;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	u s i n g R e g u l a r i s a t i o n
+ */
+static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
+{
+	if ( _THIS->regVal > QPOASES_ZERO )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	g e t O p t i o n s
+ */
+static inline Options QProblem_getOptions( QProblem* _THIS )
+{
+	return _THIS->options;
+}
+
+
+/*
+ *	s e t O p t i o n s
+ */
+static inline returnValue QProblem_setOptions(	QProblem* _THIS,
+												Options _options
+												)
+{
+	OptionsCPY( &_options,&(_THIS->options) );
+	Options_ensureConsistency( &(_THIS->options) );
+
+	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t P r i n t L e v e l
+ */
+static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
+{
+	return _THIS->options.printLevel;
+}
+
+
+/*
+ *	g e t C o u n t
+ */
+static inline unsigned int QProblem_getCount( QProblem* _THIS )
+{
+	return _THIS->count;
+}
+
+
+/*
+ *	r e s e t C o u n t e r
+ */
+static inline returnValue QProblem_resetCounter( QProblem* _THIS )
+{
+	_THIS->count = 0;
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
+{
+	if ( H_new == 0 )
+		return QProblem_setH( _THIS,(real_t*)0 );
+	else
+		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
+}
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
+{
+	/* if null pointer is passed, Hessian is set to zero matrix
+	 *                            (or stays identity matrix) */
+	if ( H_new == 0 )
+	{
+		if ( _THIS->hessianType == HST_IDENTITY )
+			return SUCCESSFUL_RETURN;
+
+		_THIS->hessianType = HST_ZERO;
+
+		_THIS->H = 0;
+	}
+	else
+	{
+		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t G
+ */
+static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
+{
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( g_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lb_new != 0 )
+	{
+		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower bounds are specified, set them to -infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->lb[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->lb[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ub_new != 0 )
+	{
+		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper bounds are specified, set them to infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->ub[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->ub[number] = value;
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+
+/*
+ * i s B l o c k i n g
+ */
+static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
+												real_t num,
+												real_t den,
+												real_t epsNum,
+												real_t epsDen,
+												real_t* t
+												)
+{
+	if ( ( den >= epsDen ) && ( num >= epsNum ) )
+	{
+		if ( num < (*t)*den )
+			return BT_TRUE;
+	}
+
+	return BT_FALSE;
+}
+
+
+
+/*
+ *	g e t C o n s t r a i n t s
+ */
+static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	ConstraintsCPY( _THIS->constraints,_constraints );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*
+ *	g e t N C
+ */
+static inline int QProblem_getNC( QProblem* _THIS )
+{
+	return Constraints_getNC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N E C
+ */
+static inline int QProblem_getNEC( QProblem* _THIS )
+{
+	return Constraints_getNEC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N A C
+ */
+static inline int QProblem_getNAC( QProblem* _THIS )
+{
+	return Constraints_getNAC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N I A C
+ */
+static inline int QProblem_getNIAC( QProblem* _THIS )
+{
+	return Constraints_getNIAC( _THIS->constraints );
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t A
+ */
+static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
+{
+	if ( A_new == 0 )
+		return QProblem_setA( _THIS,(real_t*)0 );
+	else
+		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
+}
+
+
+/*
+ *	s e t A
+ */
+static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
+{
+	int j;
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( A_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
+
+	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
+
+	for( j=0; j<nC; ++j )
+	{
+		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
+		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
+
+		/* (ckirches) disable constraints with empty rows */
+		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
+			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B A
+ */
+static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lbA_new != 0 )
+	{
+		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower constraints' bounds are specified, set them to -infinity */
+		for( i=0; i<nC; ++i )
+			_THIS->lbA[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B A
+ */
+static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nC ) )
+	{
+		_THIS->lbA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t U B A
+ */
+static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ubA_new != 0 )
+	{
+		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper constraints' bounds are specified, set them to infinity */
+		for( i=0; i<nC; ++i )
+			_THIS->ubA[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B A
+ */
+static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nC ) )
+	{
+		_THIS->ubA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_QPROBLEM_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h
index 1e452097f8..fc042aed82 100644
--- a/third_party/acados/include/qpOASES_e/Types.h
+++ b/third_party/acados/include/qpOASES_e/Types.h
@@ -1,310 +1,310 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Types.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_H
-#define QPOASES_TYPES_H
-
-#ifdef USE_ACADOS_TYPES
-#include "acados/utils/types.h"
-#endif
-
-/* If your compiler does not support the snprintf() function,
- * uncomment the following line and try to compile again. */
-/* #define __NO_SNPRINTF__ */
-
-
-/* Uncomment the following line for setting the __DSPACE__ flag. */
-/* #define __DSPACE__ */
-
-/* Uncomment the following line for setting the __XPCTARGET__ flag. */
-/* #define __XPCTARGET__ */
-
-
-/* Uncomment the following line for setting the __NO_FMATH__ flag. */
-/* #define __NO_FMATH__ */
-
-/* Uncomment the following line to enable debug information. */
-/* #define __DEBUG__ */
-
-/* Uncomment the following line to enable suppress any kind of console output. */
-/* #define __SUPPRESSANYOUTPUT__ */
-
-
-/** Forces to always include all implicitly fixed bounds and all equality constraints
- *  into the initial working set when setting up an auxiliary QP. */
-#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
-
-/* Uncomment the following line to activate the use of an alternative Givens
- * plane rotation requiring only three multiplications. */
-/* #define __USE_THREE_MULTS_GIVENS__ */
-
-/* Uncomment the following line to activate the use of single precision arithmetic. */
-/* #define __USE_SINGLE_PRECISION__ */
-
-/* The inline keyword is skipped by default as it is not part of the C90 standard.
- * However, by uncommenting the following line, use of the inline keyword can be enforced. */
-/* #define __USE_INLINE__ */
-
-
-/* Work-around for Borland BCC 5.5 compiler. */
-#ifdef __BORLANDC__
-#if __BORLANDC__ < 0x0561
-  #define __STDC__ 1
-#endif
-#endif
-
-
-/* Work-around for Microsoft compilers. */
-#ifdef _MSC_VER
-  #define __NO_SNPRINTF__
-  #pragma warning( disable : 4061 4100 4250 4514 4996 )
-#endif
-
-
-/* Apply pre-processor settings when using qpOASES within auto-generated code. */
-#ifdef __CODE_GENERATION__
-  #define __NO_COPYRIGHT__
-  #define __EXTERNAL_DIMENSIONS__
-#endif /* __CODE_GENERATION__ */
-
-
-/* Avoid using static variables declaration within functions. */
-#ifdef __NO_STATIC__
-  #define myStatic
-#else
-  #define myStatic static
-#endif /* __NO_STATIC__ */
-
-
-/* Skip inline keyword if not specified otherwise. */
-#ifndef __USE_INLINE__
-  #define inline
-#endif
-
-
-/* Avoid any printing on embedded platforms. */
-#if defined(__DSPACE__) || defined(__XPCTARGET__)
-  #define __SUPPRESSANYOUTPUT__
-  #define __NO_SNPRINTF__
-#endif
-
-
-#ifdef __NO_SNPRINTF__
-  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
-    /* If snprintf is not available, provide an empty implementation... */
-    int snprintf( char* s, size_t n, const char* format, ... );
-  #else
-	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
-    #define snprintf _snprintf
-  #endif
-#endif /* __NO_SNPRINTF__ */
-
-
-/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
-#define BEGIN_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the end of the qpOASES namespace definition. */
-#define END_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the use of the qpOASES namespace. */
-#define USING_NAMESPACE_QPOASES
-
-/** Macro for switching on/off references to the qpOASES namespace. */
-#define REFER_NAMESPACE_QPOASES /*::*/
-
-
-/** Macro for accessing the Cholesky factor R. */
-#define RR( I,J )  _THIS->R[(I)+nV*(J)]
-
-/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
-#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
-
-/** Macro for accessing the triangular matrix T of the QT factorisation. */
-#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Defines real_t for facilitating switching between double and float. */
-
-#ifndef USE_ACADOS_TYPES
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  typedef float real_t;
-  #else
-  typedef double real_t;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-#endif /* USE_ACADOS_TYPES */
-
-/** Summarises all possible logical values. */
-typedef enum
-{
-	BT_FALSE = 0,				/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-} BooleanType;
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-typedef enum
-{
-	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
-	PL_TABULAR,					/**< Tabular output. */
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-} PrintLevel;
-
-
-/** Defines visibility status of a message. */
-typedef enum
-{
-	VS_HIDDEN,					/**< Message not visible. */
-	VS_VISIBLE					/**< Message visible. */
-} VisibilityStatus;
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-typedef enum
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-} QProblemStatus;
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-typedef enum
-{
-	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
-	HST_IDENTITY,			/**< Hessian is identity matrix. */
-	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
-	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
-	HST_INDEF,				/**< Hessian is indefinite. */
-	HST_UNKNOWN				/**< Hessian type is unknown. */
-} HessianType;
-
-
-/** Summarises all possible types of bounds and constraints. */
-typedef enum
-{
-	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
-	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
-} SubjectToType;
-
-
-/** Summarises all possible states of bounds and constraints. */
-typedef enum
-{
-	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
-	ST_INACTIVE,			/**< Bound/constraint is inactive. */
-	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
-	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
-	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
-	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
-} SubjectToStatus;
-
-
-/**
- *	\brief Stores internal information for tabular (debugging) output.
- *
- *	Struct storing internal information for tabular (debugging) output
- *	when using the (S)QProblem(B) objects.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	int idxAddB;		/**< Index of bound that has been added to working set. */
-	int idxRemB;		/**< Index of bound that has been removed from working set. */
-	int idxAddC;		/**< Index of constraint that has been added to working set. */
-	int idxRemC;		/**< Index of constraint that has been removed from working set. */
-	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
-	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
-	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
-	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
-} TabularOutput;
-
-/**
- *	\brief Struct containing the variable header for mat file.
- *
- *	Struct storing the header of a variable to be stored in
- *	Matlab's binary format (using the outdated Level 4 variant
- *  for simplictiy).
- *
- *  Note, this code snippet has been inspired from the document
- *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	long numericFormat;		/**< Flag indicating numerical format. */
-	long nRows;				/**< Number of rows. */
-	long nCols;				/**< Number of rows. */
-	long imaginaryPart;		/**< (to be documented) */
-	long nCharName;			/**< Number of character in name. */
-} MatMatrixHeader;
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_TYPES_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Types.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of all non-built-in types (except for classes).
+ */
+
+
+#ifndef QPOASES_TYPES_H
+#define QPOASES_TYPES_H
+
+#ifdef USE_ACADOS_TYPES
+#include "acados/utils/types.h"
+#endif
+
+/* If your compiler does not support the snprintf() function,
+ * uncomment the following line and try to compile again. */
+/* #define __NO_SNPRINTF__ */
+
+
+/* Uncomment the following line for setting the __DSPACE__ flag. */
+/* #define __DSPACE__ */
+
+/* Uncomment the following line for setting the __XPCTARGET__ flag. */
+/* #define __XPCTARGET__ */
+
+
+/* Uncomment the following line for setting the __NO_FMATH__ flag. */
+/* #define __NO_FMATH__ */
+
+/* Uncomment the following line to enable debug information. */
+/* #define __DEBUG__ */
+
+/* Uncomment the following line to enable suppress any kind of console output. */
+/* #define __SUPPRESSANYOUTPUT__ */
+
+
+/** Forces to always include all implicitly fixed bounds and all equality constraints
+ *  into the initial working set when setting up an auxiliary QP. */
+#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
+
+/* Uncomment the following line to activate the use of an alternative Givens
+ * plane rotation requiring only three multiplications. */
+/* #define __USE_THREE_MULTS_GIVENS__ */
+
+/* Uncomment the following line to activate the use of single precision arithmetic. */
+/* #define __USE_SINGLE_PRECISION__ */
+
+/* The inline keyword is skipped by default as it is not part of the C90 standard.
+ * However, by uncommenting the following line, use of the inline keyword can be enforced. */
+/* #define __USE_INLINE__ */
+
+
+/* Work-around for Borland BCC 5.5 compiler. */
+#ifdef __BORLANDC__
+#if __BORLANDC__ < 0x0561
+  #define __STDC__ 1
+#endif
+#endif
+
+
+/* Work-around for Microsoft compilers. */
+#ifdef _MSC_VER
+  #define __NO_SNPRINTF__
+  #pragma warning( disable : 4061 4100 4250 4514 4996 )
+#endif
+
+
+/* Apply pre-processor settings when using qpOASES within auto-generated code. */
+#ifdef __CODE_GENERATION__
+  #define __NO_COPYRIGHT__
+  #define __EXTERNAL_DIMENSIONS__
+#endif /* __CODE_GENERATION__ */
+
+
+/* Avoid using static variables declaration within functions. */
+#ifdef __NO_STATIC__
+  #define myStatic
+#else
+  #define myStatic static
+#endif /* __NO_STATIC__ */
+
+
+/* Skip inline keyword if not specified otherwise. */
+#ifndef __USE_INLINE__
+  #define inline
+#endif
+
+
+/* Avoid any printing on embedded platforms. */
+#if defined(__DSPACE__) || defined(__XPCTARGET__)
+  #define __SUPPRESSANYOUTPUT__
+  #define __NO_SNPRINTF__
+#endif
+
+
+#ifdef __NO_SNPRINTF__
+  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
+    /* If snprintf is not available, provide an empty implementation... */
+    int snprintf( char* s, size_t n, const char* format, ... );
+  #else
+	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
+    #define snprintf _snprintf
+  #endif
+#endif /* __NO_SNPRINTF__ */
+
+
+/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
+#define BEGIN_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the end of the qpOASES namespace definition. */
+#define END_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the use of the qpOASES namespace. */
+#define USING_NAMESPACE_QPOASES
+
+/** Macro for switching on/off references to the qpOASES namespace. */
+#define REFER_NAMESPACE_QPOASES /*::*/
+
+
+/** Macro for accessing the Cholesky factor R. */
+#define RR( I,J )  _THIS->R[(I)+nV*(J)]
+
+/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
+#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
+
+/** Macro for accessing the triangular matrix T of the QT factorisation. */
+#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Defines real_t for facilitating switching between double and float. */
+
+#ifndef USE_ACADOS_TYPES
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  typedef float real_t;
+  #else
+  typedef double real_t;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+#endif /* USE_ACADOS_TYPES */
+
+/** Summarises all possible logical values. */
+typedef enum
+{
+	BT_FALSE = 0,				/**< Logical value for "false". */
+	BT_TRUE						/**< Logical value for "true". */
+} BooleanType;
+
+
+/** Summarises all possible print levels. Print levels are used to describe
+ *	the desired amount of output during runtime of qpOASES. */
+typedef enum
+{
+	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
+	PL_TABULAR,					/**< Tabular output. */
+	PL_NONE,					/**< No output. */
+	PL_LOW,						/**< Print error messages only. */
+	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
+	PL_HIGH						/**< Print all messages with full details. */
+} PrintLevel;
+
+
+/** Defines visibility status of a message. */
+typedef enum
+{
+	VS_HIDDEN,					/**< Message not visible. */
+	VS_VISIBLE					/**< Message visible. */
+} VisibilityStatus;
+
+
+/** Summarises all possible states of the (S)QProblem(B) object during the
+solution process of a QP sequence. */
+typedef enum
+{
+	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
+	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
+								 *   set strategy is performed. */
+	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
+	QPS_SOLVED					/**< The solution of the actual QP was found. */
+} QProblemStatus;
+
+
+/** Summarises all possible types of the QP's Hessian matrix. */
+typedef enum
+{
+	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
+	HST_IDENTITY,			/**< Hessian is identity matrix. */
+	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
+	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
+	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
+	HST_INDEF,				/**< Hessian is indefinite. */
+	HST_UNKNOWN				/**< Hessian type is unknown. */
+} HessianType;
+
+
+/** Summarises all possible types of bounds and constraints. */
+typedef enum
+{
+	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
+	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
+	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
+	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
+	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
+} SubjectToType;
+
+
+/** Summarises all possible states of bounds and constraints. */
+typedef enum
+{
+	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
+	ST_INACTIVE,			/**< Bound/constraint is inactive. */
+	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
+	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
+	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
+	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
+} SubjectToStatus;
+
+
+/**
+ *	\brief Stores internal information for tabular (debugging) output.
+ *
+ *	Struct storing internal information for tabular (debugging) output
+ *	when using the (S)QProblem(B) objects.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	int idxAddB;		/**< Index of bound that has been added to working set. */
+	int idxRemB;		/**< Index of bound that has been removed from working set. */
+	int idxAddC;		/**< Index of constraint that has been added to working set. */
+	int idxRemC;		/**< Index of constraint that has been removed from working set. */
+	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
+	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
+	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
+	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
+} TabularOutput;
+
+/**
+ *	\brief Struct containing the variable header for mat file.
+ *
+ *	Struct storing the header of a variable to be stored in
+ *	Matlab's binary format (using the outdated Level 4 variant
+ *  for simplictiy).
+ *
+ *  Note, this code snippet has been inspired from the document
+ *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	long numericFormat;		/**< Flag indicating numerical format. */
+	long nRows;				/**< Number of rows. */
+	long nCols;				/**< Number of rows. */
+	long imaginaryPart;		/**< (to be documented) */
+	long nCharName;			/**< Number of character in name. */
+} MatMatrixHeader;
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_TYPES_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h
index 3fb31129a5..dbff201039 100644
--- a/third_party/acados/include/qpOASES_e/UnitTesting.h
+++ b/third_party/acados/include/qpOASES_e/UnitTesting.h
@@ -1,79 +1,79 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/UnitTesting.h
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2014-2015
- *
- *	Definition of auxiliary functions/macros for unit testing.
- */
-
-
-#ifndef QPOASES_UNIT_TESTING_H
-#define QPOASES_UNIT_TESTING_H
-
-
-#ifndef TEST_TOL_FACTOR
-#define TEST_TOL_FACTOR 1
-#endif
-
-
-/** Return value for tests that passed. */
-#define TEST_PASSED 0
-
-/** Return value for tests that failed. */
-#define TEST_FAILED 1
-
-/** Return value for tests that could not run due to missing external data. */
-#define TEST_DATA_NOT_FOUND 99
-
-
-/** Macro verifying that two numerical values are equal in order to pass unit test. */
-#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
-
-/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
-#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
-
-/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
-#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
-
-/** Macro verifying that a logical expression holds in order to pass unit test. */
-#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UNIT_TESTING_H */
-
-
-/*
- *	end of file
- */
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/UnitTesting.h
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2014-2015
+ *
+ *	Definition of auxiliary functions/macros for unit testing.
+ */
+
+
+#ifndef QPOASES_UNIT_TESTING_H
+#define QPOASES_UNIT_TESTING_H
+
+
+#ifndef TEST_TOL_FACTOR
+#define TEST_TOL_FACTOR 1
+#endif
+
+
+/** Return value for tests that passed. */
+#define TEST_PASSED 0
+
+/** Return value for tests that failed. */
+#define TEST_FAILED 1
+
+/** Return value for tests that could not run due to missing external data. */
+#define TEST_DATA_NOT_FOUND 99
+
+
+/** Macro verifying that two numerical values are equal in order to pass unit test. */
+#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
+
+/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
+#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
+
+/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
+#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
+
+/** Macro verifying that a logical expression holds in order to pass unit test. */
+#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_UNIT_TESTING_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
index 9a28b4c9d6..a081e31ab1 100644
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index ae5fc363f2..4e80f7c76b 100644
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index 676ff67e98..26d5a3dbe9 100644
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index 8d026b1185..40e2e4e7d4 100644
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diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
index d84fc762c8..e995a209b7 100755
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diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg
index 61f2720db4..692a27ea55 100644
--- a/third_party/bootstrap/bootstrap-icons.svg
+++ b/third_party/bootstrap/bootstrap-icons.svg
@@ -1 +1,3 @@
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\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ecfaac355e51c9b95319fdf4681cf4c423109fd477e961af588b92607a76da
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diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
index d2a12427b2..6a31e5b0ca 100644
--- a/third_party/catch2/include/catch2/catch.hpp
+++ b/third_party/catch2/include/catch2/catch.hpp
@@ -1,17970 +1,3 @@
-/*
- *  Catch v2.13.9
- *  Generated: 2022-04-12 22:37:23.260201
- *  ----------------------------------------------------------
- *  This file has been merged from multiple headers. Please don't edit it directly
- *  Copyright (c) 2022 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-// start catch.hpp
-
-
-#define CATCH_VERSION_MAJOR 2
-#define CATCH_VERSION_MINOR 13
-#define CATCH_VERSION_PATCH 9
-
-#ifdef __clang__
-#    pragma clang system_header
-#elif defined __GNUC__
-#    pragma GCC system_header
-#endif
-
-// start catch_suppress_warnings.h
-
-#ifdef __clang__
-#   ifdef __ICC // icpc defines the __clang__ macro
-#       pragma warning(push)
-#       pragma warning(disable: 161 1682)
-#   else // __ICC
-#       pragma clang diagnostic push
-#       pragma clang diagnostic ignored "-Wpadded"
-#       pragma clang diagnostic ignored "-Wswitch-enum"
-#       pragma clang diagnostic ignored "-Wcovered-switch-default"
-#    endif
-#elif defined __GNUC__
-     // Because REQUIREs trigger GCC's -Wparentheses, and because still
-     // supported version of g++ have only buggy support for _Pragmas,
-     // Wparentheses have to be suppressed globally.
-#    pragma GCC diagnostic ignored "-Wparentheses" // See #674 for details
-
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wunused-variable"
-#    pragma GCC diagnostic ignored "-Wpadded"
-#endif
-// end catch_suppress_warnings.h
-#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER)
-#  define CATCH_IMPL
-#  define CATCH_CONFIG_ALL_PARTS
-#endif
-
-// In the impl file, we want to have access to all parts of the headers
-// Can also be used to sanely support PCHs
-#if defined(CATCH_CONFIG_ALL_PARTS)
-#  define CATCH_CONFIG_EXTERNAL_INTERFACES
-#  if defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#    undef CATCH_CONFIG_DISABLE_MATCHERS
-#  endif
-#  if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#    define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#  endif
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-// start catch_platform.h
-
-// See e.g.:
-// https://opensource.apple.com/source/CarbonHeaders/CarbonHeaders-18.1/TargetConditionals.h.auto.html
-#ifdef __APPLE__
-#  include <TargetConditionals.h>
-#  if (defined(TARGET_OS_OSX) && TARGET_OS_OSX == 1) || \
-      (defined(TARGET_OS_MAC) && TARGET_OS_MAC == 1)
-#    define CATCH_PLATFORM_MAC
-#  elif (defined(TARGET_OS_IPHONE) && TARGET_OS_IPHONE == 1)
-#    define CATCH_PLATFORM_IPHONE
-#  endif
-
-#elif defined(linux) || defined(__linux) || defined(__linux__)
-#  define CATCH_PLATFORM_LINUX
-
-#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__)
-#  define CATCH_PLATFORM_WINDOWS
-#endif
-
-// end catch_platform.h
-
-#ifdef CATCH_IMPL
-#  ifndef CLARA_CONFIG_MAIN
-#    define CLARA_CONFIG_MAIN_NOT_DEFINED
-#    define CLARA_CONFIG_MAIN
-#  endif
-#endif
-
-// start catch_user_interfaces.h
-
-namespace Catch {
-    unsigned int rngSeed();
-}
-
-// end catch_user_interfaces.h
-// start catch_tag_alias_autoregistrar.h
-
-// start catch_common.h
-
-// start catch_compiler_capabilities.h
-
-// Detect a number of compiler features - by compiler
-// The following features are defined:
-//
-// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported?
-// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported?
-// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported?
-// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled?
-// ****************
-// Note to maintainers: if new toggles are added please document them
-// in configuration.md, too
-// ****************
-
-// In general each macro has a _NO_<feature name> form
-// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature.
-// Many features, at point of detection, define an _INTERNAL_ macro, so they
-// can be combined, en-mass, with the _NO_ forms later.
-
-#ifdef __cplusplus
-
-#  if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L)
-#    define CATCH_CPP14_OR_GREATER
-#  endif
-
-#  if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L)
-#    define CATCH_CPP17_OR_GREATER
-#  endif
-
-#endif
-
-// Only GCC compiler should be used in this block, so other compilers trying to
-// mask themselves as GCC should be ignored.
-#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC) && !defined(__CUDACC__) && !defined(__LCC__)
-#    define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic push" )
-#    define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  _Pragma( "GCC diagnostic pop" )
-
-#    define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__)
-
-#endif
-
-#if defined(__clang__)
-
-#    define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic push" )
-#    define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  _Pragma( "clang diagnostic pop" )
-
-// As of this writing, IBM XL's implementation of __builtin_constant_p has a bug
-// which results in calls to destructors being emitted for each temporary,
-// without a matching initialization. In practice, this can result in something
-// like `std::string::~string` being called on an uninitialized value.
-//
-// For example, this code will likely segfault under IBM XL:
-// ```
-// REQUIRE(std::string("12") + "34" == "1234")
-// ```
-//
-// Therefore, `CATCH_INTERNAL_IGNORE_BUT_WARN` is not implemented.
-#  if !defined(__ibmxl__) && !defined(__CUDACC__)
-#    define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) /* NOLINT(cppcoreguidelines-pro-type-vararg, hicpp-vararg) */
-#  endif
-
-#    define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \
-         _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"")
-
-#    define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wparentheses\"" )
-
-#    define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" )
-
-#    define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" )
-
-#    define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wunused-template\"" )
-
-#endif // __clang__
-
-////////////////////////////////////////////////////////////////////////////////
-// Assume that non-Windows platforms support posix signals by default
-#if !defined(CATCH_PLATFORM_WINDOWS)
-    #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// We know some environments not to support full POSIX signals
-#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__)
-    #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#endif
-
-#ifdef __OS400__
-#       define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#       define CATCH_CONFIG_COLOUR_NONE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Android somehow still does not support std::to_string
-#if defined(__ANDROID__)
-#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-#    define CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Not all Windows environments support SEH properly
-#if defined(__MINGW32__)
-#    define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// PS4
-#if defined(__ORBIS__)
-#    define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Cygwin
-#ifdef __CYGWIN__
-
-// Required for some versions of Cygwin to declare gettimeofday
-// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin
-#   define _BSD_SOURCE
-// some versions of cygwin (most) do not support std::to_string. Use the libstd check.
-// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813
-# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \
-           && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF))
-
-#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-
-# endif
-#endif // __CYGWIN__
-
-////////////////////////////////////////////////////////////////////////////////
-// Visual C++
-#if defined(_MSC_VER)
-
-// Universal Windows platform does not support SEH
-// Or console colours (or console at all...)
-#  if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP)
-#    define CATCH_CONFIG_COLOUR_NONE
-#  else
-#    define CATCH_INTERNAL_CONFIG_WINDOWS_SEH
-#  endif
-
-#  if !defined(__clang__) // Handle Clang masquerading for msvc
-
-// MSVC traditional preprocessor needs some workaround for __VA_ARGS__
-// _MSVC_TRADITIONAL == 0 means new conformant preprocessor
-// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor
-#    if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL)
-#      define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#    endif // MSVC_TRADITIONAL
-
-// Only do this if we're not using clang on Windows, which uses `diagnostic push` & `diagnostic pop`
-#    define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) )
-#    define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  __pragma( warning(pop) )
-#  endif // __clang__
-
-#endif // _MSC_VER
-
-#if defined(_REENTRANT) || defined(_MSC_VER)
-// Enable async processing, as -pthread is specified or no additional linking is required
-# define CATCH_INTERNAL_CONFIG_USE_ASYNC
-#endif // _MSC_VER
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if we are compiled with -fno-exceptions or equivalent
-#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND)
-#  define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// DJGPP
-#ifdef __DJGPP__
-#  define CATCH_INTERNAL_CONFIG_NO_WCHAR
-#endif // __DJGPP__
-
-////////////////////////////////////////////////////////////////////////////////
-// Embarcadero C++Build
-#if defined(__BORLANDC__)
-    #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-
-// Use of __COUNTER__ is suppressed during code analysis in
-// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly
-// handled by it.
-// Otherwise all supported compilers support COUNTER macro,
-// but user still might want to turn it off
-#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L )
-    #define CATCH_INTERNAL_CONFIG_COUNTER
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-
-// RTX is a special version of Windows that is real time.
-// This means that it is detected as Windows, but does not provide
-// the same set of capabilities as real Windows does.
-#if defined(UNDER_RTSS) || defined(RTX64_BUILD)
-    #define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
-    #define CATCH_INTERNAL_CONFIG_NO_ASYNC
-    #define CATCH_CONFIG_COLOUR_NONE
-#endif
-
-#if !defined(_GLIBCXX_USE_C99_MATH_TR1)
-#define CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER
-#endif
-
-// Various stdlib support checks that require __has_include
-#if defined(__has_include)
-  // Check if string_view is available and usable
-  #if __has_include(<string_view>) && defined(CATCH_CPP17_OR_GREATER)
-  #    define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW
-  #endif
-
-  // Check if optional is available and usable
-  #  if __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
-  #    define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL
-  #  endif // __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
-
-  // Check if byte is available and usable
-  #  if __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
-  #    include <cstddef>
-  #    if defined(__cpp_lib_byte) && (__cpp_lib_byte > 0)
-  #      define CATCH_INTERNAL_CONFIG_CPP17_BYTE
-  #    endif
-  #  endif // __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
-
-  // Check if variant is available and usable
-  #  if __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-  #    if defined(__clang__) && (__clang_major__ < 8)
-         // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852
-         // fix should be in clang 8, workaround in libstdc++ 8.2
-  #      include <ciso646>
-  #      if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-  #        define CATCH_CONFIG_NO_CPP17_VARIANT
-  #      else
-  #        define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
-  #      endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-  #    else
-  #      define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
-  #    endif // defined(__clang__) && (__clang_major__ < 8)
-  #  endif // __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-#endif // defined(__has_include)
-
-#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER)
-#   define CATCH_CONFIG_COUNTER
-#endif
-#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH)
-#   define CATCH_CONFIG_WINDOWS_SEH
-#endif
-// This is set by default, because we assume that unix compilers are posix-signal-compatible by default.
-#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS)
-#   define CATCH_CONFIG_POSIX_SIGNALS
-#endif
-// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions.
-#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR)
-#   define CATCH_CONFIG_WCHAR
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING)
-#    define CATCH_CONFIG_CPP11_TO_STRING
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_NO_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_CPP17_OPTIONAL)
-#  define CATCH_CONFIG_CPP17_OPTIONAL
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW)
-#  define CATCH_CONFIG_CPP17_STRING_VIEW
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT)
-#  define CATCH_CONFIG_CPP17_VARIANT
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_BYTE) && !defined(CATCH_CONFIG_NO_CPP17_BYTE) && !defined(CATCH_CONFIG_CPP17_BYTE)
-#  define CATCH_CONFIG_CPP17_BYTE
-#endif
-
-#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-#  define CATCH_INTERNAL_CONFIG_NEW_CAPTURE
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE)
-#  define CATCH_CONFIG_NEW_CAPTURE
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#  define CATCH_CONFIG_DISABLE_EXCEPTIONS
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-#  define CATCH_CONFIG_POLYFILL_ISNAN
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_USE_ASYNC)  && !defined(CATCH_INTERNAL_CONFIG_NO_ASYNC) && !defined(CATCH_CONFIG_NO_USE_ASYNC) && !defined(CATCH_CONFIG_USE_ASYNC)
-#  define CATCH_CONFIG_USE_ASYNC
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_NO_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_ANDROID_LOGWRITE)
-#  define CATCH_CONFIG_ANDROID_LOGWRITE
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_NO_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
-#  define CATCH_CONFIG_GLOBAL_NEXTAFTER
-#endif
-
-// Even if we do not think the compiler has that warning, we still have
-// to provide a macro that can be used by the code.
-#if !defined(CATCH_INTERNAL_START_WARNINGS_SUPPRESSION)
-#   define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION
-#endif
-#if !defined(CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION)
-#   define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS
-#endif
-
-// The goal of this macro is to avoid evaluation of the arguments, but
-// still have the compiler warn on problems inside...
-#if !defined(CATCH_INTERNAL_IGNORE_BUT_WARN)
-#   define CATCH_INTERNAL_IGNORE_BUT_WARN(...)
-#endif
-
-#if defined(__APPLE__) && defined(__apple_build_version__) && (__clang_major__ < 10)
-#   undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
-#elif defined(__clang__) && (__clang_major__ < 5)
-#   undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
-#endif
-
-#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
-#endif
-
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#define CATCH_TRY if ((true))
-#define CATCH_CATCH_ALL if ((false))
-#define CATCH_CATCH_ANON(type) if ((false))
-#else
-#define CATCH_TRY try
-#define CATCH_CATCH_ALL catch (...)
-#define CATCH_CATCH_ANON(type) catch (type)
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR)
-#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#endif
-
-// end catch_compiler_capabilities.h
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line )
-#ifdef CATCH_CONFIG_COUNTER
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ )
-#else
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ )
-#endif
-
-#include <iosfwd>
-#include <string>
-#include <cstdint>
-
-// We need a dummy global operator<< so we can bring it into Catch namespace later
-struct Catch_global_namespace_dummy {};
-std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy);
-
-namespace Catch {
-
-    struct CaseSensitive { enum Choice {
-        Yes,
-        No
-    }; };
-
-    class NonCopyable {
-        NonCopyable( NonCopyable const& )              = delete;
-        NonCopyable( NonCopyable && )                  = delete;
-        NonCopyable& operator = ( NonCopyable const& ) = delete;
-        NonCopyable& operator = ( NonCopyable && )     = delete;
-
-    protected:
-        NonCopyable();
-        virtual ~NonCopyable();
-    };
-
-    struct SourceLineInfo {
-
-        SourceLineInfo() = delete;
-        SourceLineInfo( char const* _file, std::size_t _line ) noexcept
-        :   file( _file ),
-            line( _line )
-        {}
-
-        SourceLineInfo( SourceLineInfo const& other )            = default;
-        SourceLineInfo& operator = ( SourceLineInfo const& )     = default;
-        SourceLineInfo( SourceLineInfo&& )              noexcept = default;
-        SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default;
-
-        bool empty() const noexcept { return file[0] == '\0'; }
-        bool operator == ( SourceLineInfo const& other ) const noexcept;
-        bool operator < ( SourceLineInfo const& other ) const noexcept;
-
-        char const* file;
-        std::size_t line;
-    };
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info );
-
-    // Bring in operator<< from global namespace into Catch namespace
-    // This is necessary because the overload of operator<< above makes
-    // lookup stop at namespace Catch
-    using ::operator<<;
-
-    // Use this in variadic streaming macros to allow
-    //    >> +StreamEndStop
-    // as well as
-    //    >> stuff +StreamEndStop
-    struct StreamEndStop {
-        std::string operator+() const;
-    };
-    template<typename T>
-    T const& operator + ( T const& value, StreamEndStop ) {
-        return value;
-    }
-}
-
-#define CATCH_INTERNAL_LINEINFO \
-    ::Catch::SourceLineInfo( __FILE__, static_cast<std::size_t>( __LINE__ ) )
-
-// end catch_common.h
-namespace Catch {
-
-    struct RegistrarForTagAliases {
-        RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo );
-    };
-
-} // end namespace Catch
-
-#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-// end catch_tag_alias_autoregistrar.h
-// start catch_test_registry.h
-
-// start catch_interfaces_testcase.h
-
-#include <vector>
-
-namespace Catch {
-
-    class TestSpec;
-
-    struct ITestInvoker {
-        virtual void invoke () const = 0;
-        virtual ~ITestInvoker();
-    };
-
-    class TestCase;
-    struct IConfig;
-
-    struct ITestCaseRegistry {
-        virtual ~ITestCaseRegistry();
-        virtual std::vector<TestCase> const& getAllTests() const = 0;
-        virtual std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const = 0;
-    };
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-}
-
-// end catch_interfaces_testcase.h
-// start catch_stringref.h
-
-#include <cstddef>
-#include <string>
-#include <iosfwd>
-#include <cassert>
-
-namespace Catch {
-
-    /// A non-owning string class (similar to the forthcoming std::string_view)
-    /// Note that, because a StringRef may be a substring of another string,
-    /// it may not be null terminated.
-    class StringRef {
-    public:
-        using size_type = std::size_t;
-        using const_iterator = const char*;
-
-    private:
-        static constexpr char const* const s_empty = "";
-
-        char const* m_start = s_empty;
-        size_type m_size = 0;
-
-    public: // construction
-        constexpr StringRef() noexcept = default;
-
-        StringRef( char const* rawChars ) noexcept;
-
-        constexpr StringRef( char const* rawChars, size_type size ) noexcept
-        :   m_start( rawChars ),
-            m_size( size )
-        {}
-
-        StringRef( std::string const& stdString ) noexcept
-        :   m_start( stdString.c_str() ),
-            m_size( stdString.size() )
-        {}
-
-        explicit operator std::string() const {
-            return std::string(m_start, m_size);
-        }
-
-    public: // operators
-        auto operator == ( StringRef const& other ) const noexcept -> bool;
-        auto operator != (StringRef const& other) const noexcept -> bool {
-            return !(*this == other);
-        }
-
-        auto operator[] ( size_type index ) const noexcept -> char {
-            assert(index < m_size);
-            return m_start[index];
-        }
-
-    public: // named queries
-        constexpr auto empty() const noexcept -> bool {
-            return m_size == 0;
-        }
-        constexpr auto size() const noexcept -> size_type {
-            return m_size;
-        }
-
-        // Returns the current start pointer. If the StringRef is not
-        // null-terminated, throws std::domain_exception
-        auto c_str() const -> char const*;
-
-    public: // substrings and searches
-        // Returns a substring of [start, start + length).
-        // If start + length > size(), then the substring is [start, size()).
-        // If start > size(), then the substring is empty.
-        auto substr( size_type start, size_type length ) const noexcept -> StringRef;
-
-        // Returns the current start pointer. May not be null-terminated.
-        auto data() const noexcept -> char const*;
-
-        constexpr auto isNullTerminated() const noexcept -> bool {
-            return m_start[m_size] == '\0';
-        }
-
-    public: // iterators
-        constexpr const_iterator begin() const { return m_start; }
-        constexpr const_iterator end() const { return m_start + m_size; }
-    };
-
-    auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&;
-    auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&;
-
-    constexpr auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef {
-        return StringRef( rawChars, size );
-    }
-} // namespace Catch
-
-constexpr auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef {
-    return Catch::StringRef( rawChars, size );
-}
-
-// end catch_stringref.h
-// start catch_preprocessor.hpp
-
-
-#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__
-#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__)))
-
-#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__
-// MSVC needs more evaluations
-#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__)))
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__))
-#else
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL5(__VA_ARGS__)
-#endif
-
-#define CATCH_REC_END(...)
-#define CATCH_REC_OUT
-
-#define CATCH_EMPTY()
-#define CATCH_DEFER(id) id CATCH_EMPTY()
-
-#define CATCH_REC_GET_END2() 0, CATCH_REC_END
-#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2
-#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1
-#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT
-#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0)
-#define CATCH_REC_NEXT(test, next)  CATCH_REC_NEXT1(CATCH_REC_GET_END test, next)
-
-#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2(f, x, peek, ...)   f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-
-#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...)   f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-
-// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results,
-// and passes userdata as the first parameter to each invocation,
-// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c)
-#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param)
-#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__
-#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__
-#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
-#define INTERNAL_CATCH_STRINGIZE(...) INTERNAL_CATCH_STRINGIZE2(__VA_ARGS__)
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_STRINGIZE2(...) #__VA_ARGS__
-#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param))
-#else
-// MSVC is adding extra space and needs another indirection to expand INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
-#define INTERNAL_CATCH_STRINGIZE2(...) INTERNAL_CATCH_STRINGIZE3(__VA_ARGS__)
-#define INTERNAL_CATCH_STRINGIZE3(...) #__VA_ARGS__
-#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) (INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) + 1)
-#endif
-
-#define INTERNAL_CATCH_MAKE_NAMESPACE2(...) ns_##__VA_ARGS__
-#define INTERNAL_CATCH_MAKE_NAMESPACE(name) INTERNAL_CATCH_MAKE_NAMESPACE2(name)
-
-#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__)
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>())
-#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))
-#else
-#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) INTERNAL_CATCH_EXPAND_VARGS(decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>()))
-#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)))
-#endif
-
-#define INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(...)\
-    CATCH_REC_LIST(INTERNAL_CATCH_MAKE_TYPE_LIST,__VA_ARGS__)
-
-#define INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_0) INTERNAL_CATCH_REMOVE_PARENS(_0)
-#define INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_0, _1) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_1)
-#define INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_0, _1, _2) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_1, _2)
-#define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3)
-#define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4)
-#define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5)
-#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _3, _4, _5, _6)
-#define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7)
-#define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8)
-#define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9)
-#define INTERNAL_CATCH_REMOVE_PARENS_11_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10)
-
-#define INTERNAL_CATCH_VA_NARGS_IMPL(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
-
-#define INTERNAL_CATCH_TYPE_GEN\
-    template<typename...> struct TypeList {};\
-    template<typename...Ts>\
-    constexpr auto get_wrapper() noexcept -> TypeList<Ts...> { return {}; }\
-    template<template<typename...> class...> struct TemplateTypeList{};\
-    template<template<typename...> class...Cs>\
-    constexpr auto get_wrapper() noexcept -> TemplateTypeList<Cs...> { return {}; }\
-    template<typename...>\
-    struct append;\
-    template<typename...>\
-    struct rewrap;\
-    template<template<typename...> class, typename...>\
-    struct create;\
-    template<template<typename...> class, typename>\
-    struct convert;\
-    \
-    template<typename T> \
-    struct append<T> { using type = T; };\
-    template< template<typename...> class L1, typename...E1, template<typename...> class L2, typename...E2, typename...Rest>\
-    struct append<L1<E1...>, L2<E2...>, Rest...> { using type = typename append<L1<E1...,E2...>, Rest...>::type; };\
-    template< template<typename...> class L1, typename...E1, typename...Rest>\
-    struct append<L1<E1...>, TypeList<mpl_::na>, Rest...> { using type = L1<E1...>; };\
-    \
-    template< template<typename...> class Container, template<typename...> class List, typename...elems>\
-    struct rewrap<TemplateTypeList<Container>, List<elems...>> { using type = TypeList<Container<elems...>>; };\
-    template< template<typename...> class Container, template<typename...> class List, class...Elems, typename...Elements>\
-    struct rewrap<TemplateTypeList<Container>, List<Elems...>, Elements...> { using type = typename append<TypeList<Container<Elems...>>, typename rewrap<TemplateTypeList<Container>, Elements...>::type>::type; };\
-    \
-    template<template <typename...> class Final, template< typename...> class...Containers, typename...Types>\
-    struct create<Final, TemplateTypeList<Containers...>, TypeList<Types...>> { using type = typename append<Final<>, typename rewrap<TemplateTypeList<Containers>, Types...>::type...>::type; };\
-    template<template <typename...> class Final, template <typename...> class List, typename...Ts>\
-    struct convert<Final, List<Ts...>> { using type = typename append<Final<>,TypeList<Ts>...>::type; };
-
-#define INTERNAL_CATCH_NTTP_1(signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> struct Nttp{};\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    constexpr auto get_wrapper() noexcept -> Nttp<__VA_ARGS__> { return {}; } \
-    template<template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...> struct NttpTemplateTypeList{};\
-    template<template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...Cs>\
-    constexpr auto get_wrapper() noexcept -> NttpTemplateTypeList<Cs...> { return {}; } \
-    \
-    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    struct rewrap<NttpTemplateTypeList<Container>, List<__VA_ARGS__>> { using type = TypeList<Container<__VA_ARGS__>>; };\
-    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature), typename...Elements>\
-    struct rewrap<NttpTemplateTypeList<Container>, List<__VA_ARGS__>, Elements...> { using type = typename append<TypeList<Container<__VA_ARGS__>>, typename rewrap<NttpTemplateTypeList<Container>, Elements...>::type>::type; };\
-    template<template <typename...> class Final, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...Containers, typename...Types>\
-    struct create<Final, NttpTemplateTypeList<Containers...>, TypeList<Types...>> { using type = typename append<Final<>, typename rewrap<NttpTemplateTypeList<Containers>, Types...>::type...>::type; };
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST0(TestName)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST1(TestName, signature)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_X(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-
-#define INTERNAL_CATCH_DEFINE_SIG_TEST0(TestName)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST1(TestName, signature)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_X(TestName, signature,...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-
-#define INTERNAL_CATCH_NTTP_REGISTER0(TestFunc, signature)\
-    template<typename Type>\
-    void reg_test(TypeList<Type>, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<Type>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER(TestFunc, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    void reg_test(Nttp<__VA_ARGS__>, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<__VA_ARGS__>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER_METHOD0(TestName, signature, ...)\
-    template<typename Type>\
-    void reg_test(TypeList<Type>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestName<Type>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER_METHOD(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    void reg_test(Nttp<__VA_ARGS__>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestName<__VA_ARGS__>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0(TestName, ClassName)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1(TestName, ClassName, signature)\
-    template<typename TestType> \
-    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<TestType> { \
-        void test();\
-    }
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X(TestName, ClassName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
-    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<__VA_ARGS__> { \
-        void test();\
-    }
-
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0(TestName)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1(TestName, signature)\
-    template<typename TestType> \
-    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<TestType>::test()
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
-    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<__VA_ARGS__>::test()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_NTTP_0
-#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__),INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_0)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__)
-#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__)
-#else
-#define INTERNAL_CATCH_NTTP_0(signature)
-#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1,INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_0)( __VA_ARGS__))
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__))
-#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__))
-#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__))
-#endif
-
-// end catch_preprocessor.hpp
-// start catch_meta.hpp
-
-
-#include <type_traits>
-
-namespace Catch {
-    template<typename T>
-    struct always_false : std::false_type {};
-
-    template <typename> struct true_given : std::true_type {};
-    struct is_callable_tester {
-        template <typename Fun, typename... Args>
-        true_given<decltype(std::declval<Fun>()(std::declval<Args>()...))> static test(int);
-        template <typename...>
-        std::false_type static test(...);
-    };
-
-    template <typename T>
-    struct is_callable;
-
-    template <typename Fun, typename... Args>
-    struct is_callable<Fun(Args...)> : decltype(is_callable_tester::test<Fun, Args...>(0)) {};
-
-#if defined(__cpp_lib_is_invocable) && __cpp_lib_is_invocable >= 201703
-    // std::result_of is deprecated in C++17 and removed in C++20. Hence, it is
-    // replaced with std::invoke_result here.
-    template <typename Func, typename... U>
-    using FunctionReturnType = std::remove_reference_t<std::remove_cv_t<std::invoke_result_t<Func, U...>>>;
-#else
-    // Keep ::type here because we still support C++11
-    template <typename Func, typename... U>
-    using FunctionReturnType = typename std::remove_reference<typename std::remove_cv<typename std::result_of<Func(U...)>::type>::type>::type;
-#endif
-
-} // namespace Catch
-
-namespace mpl_{
-    struct na;
-}
-
-// end catch_meta.hpp
-namespace Catch {
-
-template<typename C>
-class TestInvokerAsMethod : public ITestInvoker {
-    void (C::*m_testAsMethod)();
-public:
-    TestInvokerAsMethod( void (C::*testAsMethod)() ) noexcept : m_testAsMethod( testAsMethod ) {}
-
-    void invoke() const override {
-        C obj;
-        (obj.*m_testAsMethod)();
-    }
-};
-
-auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker*;
-
-template<typename C>
-auto makeTestInvoker( void (C::*testAsMethod)() ) noexcept -> ITestInvoker* {
-    return new(std::nothrow) TestInvokerAsMethod<C>( testAsMethod );
-}
-
-struct NameAndTags {
-    NameAndTags( StringRef const& name_ = StringRef(), StringRef const& tags_ = StringRef() ) noexcept;
-    StringRef name;
-    StringRef tags;
-};
-
-struct AutoReg : NonCopyable {
-    AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept;
-    ~AutoReg();
-};
-
-} // end namespace Catch
-
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TESTCASE_NO_REGISTRATION( TestName, ... ) \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION( TestName, ClassName, ... ) \
-        namespace{                        \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test();              \
-            };                            \
-        }                                 \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( TestName, TestFunc, Name, Tags, Signature, ... )  \
-        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... )    \
-        namespace{                                                                                  \
-            namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                      \
-            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-        }                                                                                           \
-        }                                                                                           \
-        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
-    #endif
-#endif
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TESTCASE2( TestName, ... ) \
-        static void TestName(); \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &TestName ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE( ... ) \
-        INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &QualifiedMethod ), CATCH_INTERNAL_LINEINFO, "&" #QualifiedMethod, Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestName, ClassName, ... )\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test(); \
-            }; \
-            Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        } \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \
-        INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), ClassName, __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( Function ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_2(TestName, TestFunc, Name, Tags, Signature, ... )\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        INTERNAL_CATCH_DECLARE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
-            INTERNAL_CATCH_TYPE_GEN\
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            INTERNAL_CATCH_NTTP_REG_GEN(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types> \
-            struct TestName{\
-                TestName(){\
-                    int index = 0;                                    \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
-                    using expander = int[];\
-                    (void)expander{(reg_test(Types{}, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-            TestName<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
-            return 0;\
-        }();\
-        }\
-        }\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(TestName, TestFuncName, Name, Tags, Signature, TmplTypes, TypesList) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION                      \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS                      \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS                \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS              \
-        template<typename TestType> static void TestFuncName();       \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                     \
-            INTERNAL_CATCH_TYPE_GEN                                                  \
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))         \
-            template<typename... Types>                               \
-            struct TestName {                                         \
-                void reg_tests() {                                          \
-                    int index = 0;                                    \
-                    using expander = int[];                           \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
-                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
-                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFuncName<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++)... };/* NOLINT */\
-                }                                                     \
-            };                                                        \
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
-                using TestInit = typename create<TestName, decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>()), TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>>::type; \
-                TestInit t;                                           \
-                t.reg_tests();                                        \
-                return 0;                                             \
-            }();                                                      \
-        }                                                             \
-        }                                                             \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION                       \
-        template<typename TestType>                                   \
-        static void TestFuncName()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename T,__VA_ARGS__)
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, typename T, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__)
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2(TestName, TestFunc, Name, Tags, TmplList)\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        template<typename TestType> static void TestFunc();       \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
-        INTERNAL_CATCH_TYPE_GEN\
-        template<typename... Types>                               \
-        struct TestName {                                         \
-            void reg_tests() {                                          \
-                int index = 0;                                    \
-                using expander = int[];                           \
-                (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFunc<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++)... };/* NOLINT */\
-            }                                                     \
-        };\
-        static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
-                using TestInit = typename convert<TestName, TmplList>::type; \
-                TestInit t;                                           \
-                t.reg_tests();                                        \
-                return 0;                                             \
-            }();                                                      \
-        }}\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION                       \
-        template<typename TestType>                                   \
-        static void TestFunc()
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(Name, Tags, TmplList) \
-        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), Name, Tags, TmplList )
-
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... ) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
-            INTERNAL_CATCH_TYPE_GEN\
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-            INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types> \
-            struct TestNameClass{\
-                TestNameClass(){\
-                    int index = 0;                                    \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
-                    using expander = int[];\
-                    (void)expander{(reg_test(Types{}, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                TestNameClass<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
-                return 0;\
-        }();\
-        }\
-        }\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_C_L_A_S_S_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2(TestNameClass, TestName, ClassName, Name, Tags, Signature, TmplTypes, TypesList)\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        template<typename TestType> \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
-                void test();\
-            };\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestNameClass) {\
-            INTERNAL_CATCH_TYPE_GEN                  \
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types>\
-            struct TestNameClass{\
-                void reg_tests(){\
-                    int index = 0;\
-                    using expander = int[];\
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
-                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
-                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                using TestInit = typename create<TestNameClass, decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>()), TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>>::type;\
-                TestInit t;\
-                t.reg_tests();\
-                return 0;\
-            }(); \
-        }\
-        }\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        template<typename TestType> \
-        void TestName<TestType>::test()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, typename T, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, typename T,__VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, Signature,__VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, TmplList) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        template<typename TestType> \
-        struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
-            void test();\
-        };\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
-            INTERNAL_CATCH_TYPE_GEN\
-            template<typename...Types>\
-            struct TestNameClass{\
-                void reg_tests(){\
-                    int index = 0;\
-                    using expander = int[];\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                using TestInit = typename convert<TestNameClass, TmplList>::type;\
-                TestInit t;\
-                t.reg_tests();\
-                return 0;\
-            }(); \
-        }}\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        template<typename TestType> \
-        void TestName<TestType>::test()
-
-#define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD(ClassName, Name, Tags, TmplList) \
-        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_ ), INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_M_P_L_A_T_E_T_E_S_T_F_U_N_C_ ), ClassName, Name, Tags, TmplList )
-
-// end catch_test_registry.h
-// start catch_capture.hpp
-
-// start catch_assertionhandler.h
-
-// start catch_assertioninfo.h
-
-// start catch_result_type.h
-
-namespace Catch {
-
-    // ResultWas::OfType enum
-    struct ResultWas { enum OfType {
-        Unknown = -1,
-        Ok = 0,
-        Info = 1,
-        Warning = 2,
-
-        FailureBit = 0x10,
-
-        ExpressionFailed = FailureBit | 1,
-        ExplicitFailure = FailureBit | 2,
-
-        Exception = 0x100 | FailureBit,
-
-        ThrewException = Exception | 1,
-        DidntThrowException = Exception | 2,
-
-        FatalErrorCondition = 0x200 | FailureBit
-
-    }; };
-
-    bool isOk( ResultWas::OfType resultType );
-    bool isJustInfo( int flags );
-
-    // ResultDisposition::Flags enum
-    struct ResultDisposition { enum Flags {
-        Normal = 0x01,
-
-        ContinueOnFailure = 0x02,   // Failures fail test, but execution continues
-        FalseTest = 0x04,           // Prefix expression with !
-        SuppressFail = 0x08         // Failures are reported but do not fail the test
-    }; };
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs );
-
-    bool shouldContinueOnFailure( int flags );
-    inline bool isFalseTest( int flags ) { return ( flags & ResultDisposition::FalseTest ) != 0; }
-    bool shouldSuppressFailure( int flags );
-
-} // end namespace Catch
-
-// end catch_result_type.h
-namespace Catch {
-
-    struct AssertionInfo
-    {
-        StringRef macroName;
-        SourceLineInfo lineInfo;
-        StringRef capturedExpression;
-        ResultDisposition::Flags resultDisposition;
-
-        // We want to delete this constructor but a compiler bug in 4.8 means
-        // the struct is then treated as non-aggregate
-        //AssertionInfo() = delete;
-    };
-
-} // end namespace Catch
-
-// end catch_assertioninfo.h
-// start catch_decomposer.h
-
-// start catch_tostring.h
-
-#include <vector>
-#include <cstddef>
-#include <type_traits>
-#include <string>
-// start catch_stream.h
-
-#include <iosfwd>
-#include <cstddef>
-#include <ostream>
-
-namespace Catch {
-
-    std::ostream& cout();
-    std::ostream& cerr();
-    std::ostream& clog();
-
-    class StringRef;
-
-    struct IStream {
-        virtual ~IStream();
-        virtual std::ostream& stream() const = 0;
-    };
-
-    auto makeStream( StringRef const &filename ) -> IStream const*;
-
-    class ReusableStringStream : NonCopyable {
-        std::size_t m_index;
-        std::ostream* m_oss;
-    public:
-        ReusableStringStream();
-        ~ReusableStringStream();
-
-        auto str() const -> std::string;
-
-        template<typename T>
-        auto operator << ( T const& value ) -> ReusableStringStream& {
-            *m_oss << value;
-            return *this;
-        }
-        auto get() -> std::ostream& { return *m_oss; }
-    };
-}
-
-// end catch_stream.h
-// start catch_interfaces_enum_values_registry.h
-
-#include <vector>
-
-namespace Catch {
-
-    namespace Detail {
-        struct EnumInfo {
-            StringRef m_name;
-            std::vector<std::pair<int, StringRef>> m_values;
-
-            ~EnumInfo();
-
-            StringRef lookup( int value ) const;
-        };
-    } // namespace Detail
-
-    struct IMutableEnumValuesRegistry {
-        virtual ~IMutableEnumValuesRegistry();
-
-        virtual Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values ) = 0;
-
-        template<typename E>
-        Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::initializer_list<E> values ) {
-            static_assert(sizeof(int) >= sizeof(E), "Cannot serialize enum to int");
-            std::vector<int> intValues;
-            intValues.reserve( values.size() );
-            for( auto enumValue : values )
-                intValues.push_back( static_cast<int>( enumValue ) );
-            return registerEnum( enumName, allEnums, intValues );
-        }
-    };
-
-} // Catch
-
-// end catch_interfaces_enum_values_registry.h
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-#include <string_view>
-#endif
-
-#ifdef __OBJC__
-// start catch_objc_arc.hpp
-
-#import <Foundation/Foundation.h>
-
-#ifdef __has_feature
-#define CATCH_ARC_ENABLED __has_feature(objc_arc)
-#else
-#define CATCH_ARC_ENABLED 0
-#endif
-
-void arcSafeRelease( NSObject* obj );
-id performOptionalSelector( id obj, SEL sel );
-
-#if !CATCH_ARC_ENABLED
-inline void arcSafeRelease( NSObject* obj ) {
-    [obj release];
-}
-inline id performOptionalSelector( id obj, SEL sel ) {
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED
-#define CATCH_ARC_STRONG
-#else
-inline void arcSafeRelease( NSObject* ){}
-inline id performOptionalSelector( id obj, SEL sel ) {
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Warc-performSelector-leaks"
-#endif
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED __unsafe_unretained
-#define CATCH_ARC_STRONG __strong
-#endif
-
-// end catch_objc_arc.hpp
-#endif
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4180) // We attempt to stream a function (address) by const&, which MSVC complains about but is harmless
-#endif
-
-namespace Catch {
-    namespace Detail {
-
-        extern const std::string unprintableString;
-
-        std::string rawMemoryToString( const void *object, std::size_t size );
-
-        template<typename T>
-        std::string rawMemoryToString( const T& object ) {
-          return rawMemoryToString( &object, sizeof(object) );
-        }
-
-        template<typename T>
-        class IsStreamInsertable {
-            template<typename Stream, typename U>
-            static auto test(int)
-                -> decltype(std::declval<Stream&>() << std::declval<U>(), std::true_type());
-
-            template<typename, typename>
-            static auto test(...)->std::false_type;
-
-        public:
-            static const bool value = decltype(test<std::ostream, const T&>(0))::value;
-        };
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e );
-
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && !std::is_base_of<std::exception, T>::value,
-        std::string>::type convertUnstreamable( T const& ) {
-            return Detail::unprintableString;
-        }
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && std::is_base_of<std::exception, T>::value,
-         std::string>::type convertUnstreamable(T const& ex) {
-            return ex.what();
-        }
-
-        template<typename T>
-        typename std::enable_if<
-            std::is_enum<T>::value
-        , std::string>::type convertUnstreamable( T const& value ) {
-            return convertUnknownEnumToString( value );
-        }
-
-#if defined(_MANAGED)
-        //! Convert a CLR string to a utf8 std::string
-        template<typename T>
-        std::string clrReferenceToString( T^ ref ) {
-            if (ref == nullptr)
-                return std::string("null");
-            auto bytes = System::Text::Encoding::UTF8->GetBytes(ref->ToString());
-            cli::pin_ptr<System::Byte> p = &bytes[0];
-            return std::string(reinterpret_cast<char const *>(p), bytes->Length);
-        }
-#endif
-
-    } // namespace Detail
-
-    // If we decide for C++14, change these to enable_if_ts
-    template <typename T, typename = void>
-    struct StringMaker {
-        template <typename Fake = T>
-        static
-        typename std::enable_if<::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert(const Fake& value) {
-                ReusableStringStream rss;
-                // NB: call using the function-like syntax to avoid ambiguity with
-                // user-defined templated operator<< under clang.
-                rss.operator<<(value);
-                return rss.str();
-        }
-
-        template <typename Fake = T>
-        static
-        typename std::enable_if<!::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert( const Fake& value ) {
-#if !defined(CATCH_CONFIG_FALLBACK_STRINGIFIER)
-            return Detail::convertUnstreamable(value);
-#else
-            return CATCH_CONFIG_FALLBACK_STRINGIFIER(value);
-#endif
-        }
-    };
-
-    namespace Detail {
-
-        // This function dispatches all stringification requests inside of Catch.
-        // Should be preferably called fully qualified, like ::Catch::Detail::stringify
-        template <typename T>
-        std::string stringify(const T& e) {
-            return ::Catch::StringMaker<typename std::remove_cv<typename std::remove_reference<T>::type>::type>::convert(e);
-        }
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e ) {
-            return ::Catch::Detail::stringify(static_cast<typename std::underlying_type<E>::type>(e));
-        }
-
-#if defined(_MANAGED)
-        template <typename T>
-        std::string stringify( T^ e ) {
-            return ::Catch::StringMaker<T^>::convert(e);
-        }
-#endif
-
-    } // namespace Detail
-
-    // Some predefined specializations
-
-    template<>
-    struct StringMaker<std::string> {
-        static std::string convert(const std::string& str);
-    };
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::string_view> {
-        static std::string convert(std::string_view str);
-    };
-#endif
-
-    template<>
-    struct StringMaker<char const *> {
-        static std::string convert(char const * str);
-    };
-    template<>
-    struct StringMaker<char *> {
-        static std::string convert(char * str);
-    };
-
-#ifdef CATCH_CONFIG_WCHAR
-    template<>
-    struct StringMaker<std::wstring> {
-        static std::string convert(const std::wstring& wstr);
-    };
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::wstring_view> {
-        static std::string convert(std::wstring_view str);
-    };
-# endif
-
-    template<>
-    struct StringMaker<wchar_t const *> {
-        static std::string convert(wchar_t const * str);
-    };
-    template<>
-    struct StringMaker<wchar_t *> {
-        static std::string convert(wchar_t * str);
-    };
-#endif
-
-    // TBD: Should we use `strnlen` to ensure that we don't go out of the buffer,
-    //      while keeping string semantics?
-    template<int SZ>
-    struct StringMaker<char[SZ]> {
-        static std::string convert(char const* str) {
-            return ::Catch::Detail::stringify(std::string{ str });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<signed char[SZ]> {
-        static std::string convert(signed char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<unsigned char[SZ]> {
-        static std::string convert(unsigned char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-
-#if defined(CATCH_CONFIG_CPP17_BYTE)
-    template<>
-    struct StringMaker<std::byte> {
-        static std::string convert(std::byte value);
-    };
-#endif // defined(CATCH_CONFIG_CPP17_BYTE)
-    template<>
-    struct StringMaker<int> {
-        static std::string convert(int value);
-    };
-    template<>
-    struct StringMaker<long> {
-        static std::string convert(long value);
-    };
-    template<>
-    struct StringMaker<long long> {
-        static std::string convert(long long value);
-    };
-    template<>
-    struct StringMaker<unsigned int> {
-        static std::string convert(unsigned int value);
-    };
-    template<>
-    struct StringMaker<unsigned long> {
-        static std::string convert(unsigned long value);
-    };
-    template<>
-    struct StringMaker<unsigned long long> {
-        static std::string convert(unsigned long long value);
-    };
-
-    template<>
-    struct StringMaker<bool> {
-        static std::string convert(bool b);
-    };
-
-    template<>
-    struct StringMaker<char> {
-        static std::string convert(char c);
-    };
-    template<>
-    struct StringMaker<signed char> {
-        static std::string convert(signed char c);
-    };
-    template<>
-    struct StringMaker<unsigned char> {
-        static std::string convert(unsigned char c);
-    };
-
-    template<>
-    struct StringMaker<std::nullptr_t> {
-        static std::string convert(std::nullptr_t);
-    };
-
-    template<>
-    struct StringMaker<float> {
-        static std::string convert(float value);
-        static int precision;
-    };
-
-    template<>
-    struct StringMaker<double> {
-        static std::string convert(double value);
-        static int precision;
-    };
-
-    template <typename T>
-    struct StringMaker<T*> {
-        template <typename U>
-        static std::string convert(U* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-    template <typename R, typename C>
-    struct StringMaker<R C::*> {
-        static std::string convert(R C::* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-#if defined(_MANAGED)
-    template <typename T>
-    struct StringMaker<T^> {
-        static std::string convert( T^ ref ) {
-            return ::Catch::Detail::clrReferenceToString(ref);
-        }
-    };
-#endif
-
-    namespace Detail {
-        template<typename InputIterator, typename Sentinel = InputIterator>
-        std::string rangeToString(InputIterator first, Sentinel last) {
-            ReusableStringStream rss;
-            rss << "{ ";
-            if (first != last) {
-                rss << ::Catch::Detail::stringify(*first);
-                for (++first; first != last; ++first)
-                    rss << ", " << ::Catch::Detail::stringify(*first);
-            }
-            rss << " }";
-            return rss.str();
-        }
-    }
-
-#ifdef __OBJC__
-    template<>
-    struct StringMaker<NSString*> {
-        static std::string convert(NSString * nsstring) {
-            if (!nsstring)
-                return "nil";
-            return std::string("@") + [nsstring UTF8String];
-        }
-    };
-    template<>
-    struct StringMaker<NSObject*> {
-        static std::string convert(NSObject* nsObject) {
-            return ::Catch::Detail::stringify([nsObject description]);
-        }
-
-    };
-    namespace Detail {
-        inline std::string stringify( NSString* nsstring ) {
-            return StringMaker<NSString*>::convert( nsstring );
-        }
-
-    } // namespace Detail
-#endif // __OBJC__
-
-} // namespace Catch
-
-//////////////////////////////////////////////////////
-// Separate std-lib types stringification, so it can be selectively enabled
-// This means that we do not bring in
-
-#if defined(CATCH_CONFIG_ENABLE_ALL_STRINGMAKERS)
-#  define CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
-#endif
-
-// Separate std::pair specialization
-#if defined(CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER)
-#include <utility>
-namespace Catch {
-    template<typename T1, typename T2>
-    struct StringMaker<std::pair<T1, T2> > {
-        static std::string convert(const std::pair<T1, T2>& pair) {
-            ReusableStringStream rss;
-            rss << "{ "
-                << ::Catch::Detail::stringify(pair.first)
-                << ", "
-                << ::Catch::Detail::stringify(pair.second)
-                << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-
-#if defined(CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_OPTIONAL)
-#include <optional>
-namespace Catch {
-    template<typename T>
-    struct StringMaker<std::optional<T> > {
-        static std::string convert(const std::optional<T>& optional) {
-            ReusableStringStream rss;
-            if (optional.has_value()) {
-                rss << ::Catch::Detail::stringify(*optional);
-            } else {
-                rss << "{ }";
-            }
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
-
-// Separate std::tuple specialization
-#if defined(CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER)
-#include <tuple>
-namespace Catch {
-    namespace Detail {
-        template<
-            typename Tuple,
-            std::size_t N = 0,
-            bool = (N < std::tuple_size<Tuple>::value)
-            >
-            struct TupleElementPrinter {
-            static void print(const Tuple& tuple, std::ostream& os) {
-                os << (N ? ", " : " ")
-                    << ::Catch::Detail::stringify(std::get<N>(tuple));
-                TupleElementPrinter<Tuple, N + 1>::print(tuple, os);
-            }
-        };
-
-        template<
-            typename Tuple,
-            std::size_t N
-        >
-            struct TupleElementPrinter<Tuple, N, false> {
-            static void print(const Tuple&, std::ostream&) {}
-        };
-
-    }
-
-    template<typename ...Types>
-    struct StringMaker<std::tuple<Types...>> {
-        static std::string convert(const std::tuple<Types...>& tuple) {
-            ReusableStringStream rss;
-            rss << '{';
-            Detail::TupleElementPrinter<std::tuple<Types...>>::print(tuple, rss.get());
-            rss << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-
-#if defined(CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_VARIANT)
-#include <variant>
-namespace Catch {
-    template<>
-    struct StringMaker<std::monostate> {
-        static std::string convert(const std::monostate&) {
-            return "{ }";
-        }
-    };
-
-    template<typename... Elements>
-    struct StringMaker<std::variant<Elements...>> {
-        static std::string convert(const std::variant<Elements...>& variant) {
-            if (variant.valueless_by_exception()) {
-                return "{valueless variant}";
-            } else {
-                return std::visit(
-                    [](const auto& value) {
-                        return ::Catch::Detail::stringify(value);
-                    },
-                    variant
-                );
-            }
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-
-namespace Catch {
-    // Import begin/ end from std here
-    using std::begin;
-    using std::end;
-
-    namespace detail {
-        template <typename...>
-        struct void_type {
-            using type = void;
-        };
-
-        template <typename T, typename = void>
-        struct is_range_impl : std::false_type {
-        };
-
-        template <typename T>
-        struct is_range_impl<T, typename void_type<decltype(begin(std::declval<T>()))>::type> : std::true_type {
-        };
-    } // namespace detail
-
-    template <typename T>
-    struct is_range : detail::is_range_impl<T> {
-    };
-
-#if defined(_MANAGED) // Managed types are never ranges
-    template <typename T>
-    struct is_range<T^> {
-        static const bool value = false;
-    };
-#endif
-
-    template<typename Range>
-    std::string rangeToString( Range const& range ) {
-        return ::Catch::Detail::rangeToString( begin( range ), end( range ) );
-    }
-
-    // Handle vector<bool> specially
-    template<typename Allocator>
-    std::string rangeToString( std::vector<bool, Allocator> const& v ) {
-        ReusableStringStream rss;
-        rss << "{ ";
-        bool first = true;
-        for( bool b : v ) {
-            if( first )
-                first = false;
-            else
-                rss << ", ";
-            rss << ::Catch::Detail::stringify( b );
-        }
-        rss << " }";
-        return rss.str();
-    }
-
-    template<typename R>
-    struct StringMaker<R, typename std::enable_if<is_range<R>::value && !::Catch::Detail::IsStreamInsertable<R>::value>::type> {
-        static std::string convert( R const& range ) {
-            return rangeToString( range );
-        }
-    };
-
-    template <typename T, int SZ>
-    struct StringMaker<T[SZ]> {
-        static std::string convert(T const(&arr)[SZ]) {
-            return rangeToString(arr);
-        }
-    };
-
-} // namespace Catch
-
-// Separate std::chrono::duration specialization
-#if defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#include <ctime>
-#include <ratio>
-#include <chrono>
-
-namespace Catch {
-
-template <class Ratio>
-struct ratio_string {
-    static std::string symbol();
-};
-
-template <class Ratio>
-std::string ratio_string<Ratio>::symbol() {
-    Catch::ReusableStringStream rss;
-    rss << '[' << Ratio::num << '/'
-        << Ratio::den << ']';
-    return rss.str();
-}
-template <>
-struct ratio_string<std::atto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::femto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::pico> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::nano> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::micro> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::milli> {
-    static std::string symbol();
-};
-
-    ////////////
-    // std::chrono::duration specializations
-    template<typename Value, typename Ratio>
-    struct StringMaker<std::chrono::duration<Value, Ratio>> {
-        static std::string convert(std::chrono::duration<Value, Ratio> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << ' ' << ratio_string<Ratio>::symbol() << 's';
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<1>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<1>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " s";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<60>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<60>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " m";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<3600>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<3600>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " h";
-            return rss.str();
-        }
-    };
-
-    ////////////
-    // std::chrono::time_point specialization
-    // Generic time_point cannot be specialized, only std::chrono::time_point<system_clock>
-    template<typename Clock, typename Duration>
-    struct StringMaker<std::chrono::time_point<Clock, Duration>> {
-        static std::string convert(std::chrono::time_point<Clock, Duration> const& time_point) {
-            return ::Catch::Detail::stringify(time_point.time_since_epoch()) + " since epoch";
-        }
-    };
-    // std::chrono::time_point<system_clock> specialization
-    template<typename Duration>
-    struct StringMaker<std::chrono::time_point<std::chrono::system_clock, Duration>> {
-        static std::string convert(std::chrono::time_point<std::chrono::system_clock, Duration> const& time_point) {
-            auto converted = std::chrono::system_clock::to_time_t(time_point);
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &converted);
-#else
-            std::tm* timeInfo = std::gmtime(&converted);
-#endif
-
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp);
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-
-#define INTERNAL_CATCH_REGISTER_ENUM( enumName, ... ) \
-namespace Catch { \
-    template<> struct StringMaker<enumName> { \
-        static std::string convert( enumName value ) { \
-            static const auto& enumInfo = ::Catch::getMutableRegistryHub().getMutableEnumValuesRegistry().registerEnum( #enumName, #__VA_ARGS__, { __VA_ARGS__ } ); \
-            return static_cast<std::string>(enumInfo.lookup( static_cast<int>( value ) )); \
-        } \
-    }; \
-}
-
-#define CATCH_REGISTER_ENUM( enumName, ... ) INTERNAL_CATCH_REGISTER_ENUM( enumName, __VA_ARGS__ )
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_tostring.h
-#include <iosfwd>
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4389) // '==' : signed/unsigned mismatch
-#pragma warning(disable:4018) // more "signed/unsigned mismatch"
-#pragma warning(disable:4312) // Converting int to T* using reinterpret_cast (issue on x64 platform)
-#pragma warning(disable:4180) // qualifier applied to function type has no meaning
-#pragma warning(disable:4800) // Forcing result to true or false
-#endif
-
-namespace Catch {
-
-    struct ITransientExpression {
-        auto isBinaryExpression() const -> bool { return m_isBinaryExpression; }
-        auto getResult() const -> bool { return m_result; }
-        virtual void streamReconstructedExpression( std::ostream &os ) const = 0;
-
-        ITransientExpression( bool isBinaryExpression, bool result )
-        :   m_isBinaryExpression( isBinaryExpression ),
-            m_result( result )
-        {}
-
-        // We don't actually need a virtual destructor, but many static analysers
-        // complain if it's not here :-(
-        virtual ~ITransientExpression();
-
-        bool m_isBinaryExpression;
-        bool m_result;
-
-    };
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs );
-
-    template<typename LhsT, typename RhsT>
-    class BinaryExpr  : public ITransientExpression {
-        LhsT m_lhs;
-        StringRef m_op;
-        RhsT m_rhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            formatReconstructedExpression
-                    ( os, Catch::Detail::stringify( m_lhs ), m_op, Catch::Detail::stringify( m_rhs ) );
-        }
-
-    public:
-        BinaryExpr( bool comparisonResult, LhsT lhs, StringRef op, RhsT rhs )
-        :   ITransientExpression{ true, comparisonResult },
-            m_lhs( lhs ),
-            m_op( op ),
-            m_rhs( rhs )
-        {}
-
-        template<typename T>
-        auto operator && ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator || ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator == ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator != ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator > ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator < ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator >= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator <= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-    };
-
-    template<typename LhsT>
-    class UnaryExpr : public ITransientExpression {
-        LhsT m_lhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            os << Catch::Detail::stringify( m_lhs );
-        }
-
-    public:
-        explicit UnaryExpr( LhsT lhs )
-        :   ITransientExpression{ false, static_cast<bool>(lhs) },
-            m_lhs( lhs )
-        {}
-    };
-
-    // Specialised comparison functions to handle equality comparisons between ints and pointers (NULL deduces as an int)
-    template<typename LhsT, typename RhsT>
-    auto compareEqual( LhsT const& lhs, RhsT const& rhs ) -> bool { return static_cast<bool>(lhs == rhs); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, int rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, long rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-    template<typename T>
-    auto compareEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-
-    template<typename LhsT, typename RhsT>
-    auto compareNotEqual( LhsT const& lhs, RhsT&& rhs ) -> bool { return static_cast<bool>(lhs != rhs); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, int rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, long rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-    template<typename T>
-    auto compareNotEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-
-    template<typename LhsT>
-    class ExprLhs {
-        LhsT m_lhs;
-    public:
-        explicit ExprLhs( LhsT lhs ) : m_lhs( lhs ) {}
-
-        template<typename RhsT>
-        auto operator == ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareEqual( m_lhs, rhs ), m_lhs, "==", rhs };
-        }
-        auto operator == ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs == rhs, m_lhs, "==", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator != ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareNotEqual( m_lhs, rhs ), m_lhs, "!=", rhs };
-        }
-        auto operator != ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs != rhs, m_lhs, "!=", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator > ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs > rhs), m_lhs, ">", rhs };
-        }
-        template<typename RhsT>
-        auto operator < ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs < rhs), m_lhs, "<", rhs };
-        }
-        template<typename RhsT>
-        auto operator >= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs >= rhs), m_lhs, ">=", rhs };
-        }
-        template<typename RhsT>
-        auto operator <= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs <= rhs), m_lhs, "<=", rhs };
-        }
-        template <typename RhsT>
-        auto operator | (RhsT const& rhs) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs | rhs), m_lhs, "|", rhs };
-        }
-        template <typename RhsT>
-        auto operator & (RhsT const& rhs) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs & rhs), m_lhs, "&", rhs };
-        }
-        template <typename RhsT>
-        auto operator ^ (RhsT const& rhs) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs ^ rhs), m_lhs, "^", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator && ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<RhsT>::value,
-            "operator&& is not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename RhsT>
-        auto operator || ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<RhsT>::value,
-            "operator|| is not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        auto makeUnaryExpr() const -> UnaryExpr<LhsT> {
-            return UnaryExpr<LhsT>{ m_lhs };
-        }
-    };
-
-    void handleExpression( ITransientExpression const& expr );
-
-    template<typename T>
-    void handleExpression( ExprLhs<T> const& expr ) {
-        handleExpression( expr.makeUnaryExpr() );
-    }
-
-    struct Decomposer {
-        template<typename T>
-        auto operator <= ( T const& lhs ) -> ExprLhs<T const&> {
-            return ExprLhs<T const&>{ lhs };
-        }
-
-        auto operator <=( bool value ) -> ExprLhs<bool> {
-            return ExprLhs<bool>{ value };
-        }
-    };
-
-} // end namespace Catch
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_decomposer.h
-// start catch_interfaces_capture.h
-
-#include <string>
-#include <chrono>
-
-namespace Catch {
-
-    class AssertionResult;
-    struct AssertionInfo;
-    struct SectionInfo;
-    struct SectionEndInfo;
-    struct MessageInfo;
-    struct MessageBuilder;
-    struct Counts;
-    struct AssertionReaction;
-    struct SourceLineInfo;
-
-    struct ITransientExpression;
-    struct IGeneratorTracker;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    struct BenchmarkInfo;
-    template <typename Duration = std::chrono::duration<double, std::nano>>
-    struct BenchmarkStats;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    struct IResultCapture {
-
-        virtual ~IResultCapture();
-
-        virtual bool sectionStarted(    SectionInfo const& sectionInfo,
-                                        Counts& assertions ) = 0;
-        virtual void sectionEnded( SectionEndInfo const& endInfo ) = 0;
-        virtual void sectionEndedEarly( SectionEndInfo const& endInfo ) = 0;
-
-        virtual auto acquireGeneratorTracker( StringRef generatorName, SourceLineInfo const& lineInfo ) -> IGeneratorTracker& = 0;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        virtual void benchmarkPreparing( std::string const& name ) = 0;
-        virtual void benchmarkStarting( BenchmarkInfo const& info ) = 0;
-        virtual void benchmarkEnded( BenchmarkStats<> const& stats ) = 0;
-        virtual void benchmarkFailed( std::string const& error ) = 0;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        virtual void pushScopedMessage( MessageInfo const& message ) = 0;
-        virtual void popScopedMessage( MessageInfo const& message ) = 0;
-
-        virtual void emplaceUnscopedMessage( MessageBuilder const& builder ) = 0;
-
-        virtual void handleFatalErrorCondition( StringRef message ) = 0;
-
-        virtual void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleIncomplete
-                (   AssertionInfo const& info ) = 0;
-        virtual void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) = 0;
-
-        virtual bool lastAssertionPassed() = 0;
-        virtual void assertionPassed() = 0;
-
-        // Deprecated, do not use:
-        virtual std::string getCurrentTestName() const = 0;
-        virtual const AssertionResult* getLastResult() const = 0;
-        virtual void exceptionEarlyReported() = 0;
-    };
-
-    IResultCapture& getResultCapture();
-}
-
-// end catch_interfaces_capture.h
-namespace Catch {
-
-    struct TestFailureException{};
-    struct AssertionResultData;
-    struct IResultCapture;
-    class RunContext;
-
-    class LazyExpression {
-        friend class AssertionHandler;
-        friend struct AssertionStats;
-        friend class RunContext;
-
-        ITransientExpression const* m_transientExpression = nullptr;
-        bool m_isNegated;
-    public:
-        LazyExpression( bool isNegated );
-        LazyExpression( LazyExpression const& other );
-        LazyExpression& operator = ( LazyExpression const& ) = delete;
-
-        explicit operator bool() const;
-
-        friend auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream&;
-    };
-
-    struct AssertionReaction {
-        bool shouldDebugBreak = false;
-        bool shouldThrow = false;
-    };
-
-    class AssertionHandler {
-        AssertionInfo m_assertionInfo;
-        AssertionReaction m_reaction;
-        bool m_completed = false;
-        IResultCapture& m_resultCapture;
-
-    public:
-        AssertionHandler
-            (   StringRef const& macroName,
-                SourceLineInfo const& lineInfo,
-                StringRef capturedExpression,
-                ResultDisposition::Flags resultDisposition );
-        ~AssertionHandler() {
-            if ( !m_completed ) {
-                m_resultCapture.handleIncomplete( m_assertionInfo );
-            }
-        }
-
-        template<typename T>
-        void handleExpr( ExprLhs<T> const& expr ) {
-            handleExpr( expr.makeUnaryExpr() );
-        }
-        void handleExpr( ITransientExpression const& expr );
-
-        void handleMessage(ResultWas::OfType resultType, StringRef const& message);
-
-        void handleExceptionThrownAsExpected();
-        void handleUnexpectedExceptionNotThrown();
-        void handleExceptionNotThrownAsExpected();
-        void handleThrowingCallSkipped();
-        void handleUnexpectedInflightException();
-
-        void complete();
-        void setCompleted();
-
-        // query
-        auto allowThrows() const -> bool;
-    };
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString );
-
-} // namespace Catch
-
-// end catch_assertionhandler.h
-// start catch_message.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-
-    struct MessageInfo {
-        MessageInfo(    StringRef const& _macroName,
-                        SourceLineInfo const& _lineInfo,
-                        ResultWas::OfType _type );
-
-        StringRef macroName;
-        std::string message;
-        SourceLineInfo lineInfo;
-        ResultWas::OfType type;
-        unsigned int sequence;
-
-        bool operator == ( MessageInfo const& other ) const;
-        bool operator < ( MessageInfo const& other ) const;
-    private:
-        static unsigned int globalCount;
-    };
-
-    struct MessageStream {
-
-        template<typename T>
-        MessageStream& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        ReusableStringStream m_stream;
-    };
-
-    struct MessageBuilder : MessageStream {
-        MessageBuilder( StringRef const& macroName,
-                        SourceLineInfo const& lineInfo,
-                        ResultWas::OfType type );
-
-        template<typename T>
-        MessageBuilder& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        MessageInfo m_info;
-    };
-
-    class ScopedMessage {
-    public:
-        explicit ScopedMessage( MessageBuilder const& builder );
-        ScopedMessage( ScopedMessage& duplicate ) = delete;
-        ScopedMessage( ScopedMessage&& old );
-        ~ScopedMessage();
-
-        MessageInfo m_info;
-        bool m_moved;
-    };
-
-    class Capturer {
-        std::vector<MessageInfo> m_messages;
-        IResultCapture& m_resultCapture = getResultCapture();
-        size_t m_captured = 0;
-    public:
-        Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names );
-        ~Capturer();
-
-        void captureValue( size_t index, std::string const& value );
-
-        template<typename T>
-        void captureValues( size_t index, T const& value ) {
-            captureValue( index, Catch::Detail::stringify( value ) );
-        }
-
-        template<typename T, typename... Ts>
-        void captureValues( size_t index, T const& value, Ts const&... values ) {
-            captureValue( index, Catch::Detail::stringify(value) );
-            captureValues( index+1, values... );
-        }
-    };
-
-} // end namespace Catch
-
-// end catch_message.h
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#if !defined(CATCH_CONFIG_DISABLE_STRINGIFICATION)
-  #define CATCH_INTERNAL_STRINGIFY(...) #__VA_ARGS__
-#else
-  #define CATCH_INTERNAL_STRINGIFY(...) "Disabled by CATCH_CONFIG_DISABLE_STRINGIFICATION"
-#endif
-
-#if defined(CATCH_CONFIG_FAST_COMPILE) || defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-
-///////////////////////////////////////////////////////////////////////////////
-// Another way to speed-up compilation is to omit local try-catch for REQUIRE*
-// macros.
-#define INTERNAL_CATCH_TRY
-#define INTERNAL_CATCH_CATCH( capturer )
-
-#else // CATCH_CONFIG_FAST_COMPILE
-
-#define INTERNAL_CATCH_TRY try
-#define INTERNAL_CATCH_CATCH( handler ) catch(...) { handler.handleUnexpectedInflightException(); }
-
-#endif
-
-#define INTERNAL_CATCH_REACT( handler ) handler.complete();
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TEST( macroName, resultDisposition, ... ) \
-    do { \
-        CATCH_INTERNAL_IGNORE_BUT_WARN(__VA_ARGS__); \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-            CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-            catchAssertionHandler.handleExpr( Catch::Decomposer() <= __VA_ARGS__ ); \
-            CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( (void)0, (false) && static_cast<bool>( !!(__VA_ARGS__) ) )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_IF( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_ELSE( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( !Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_NO_THROW( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        try { \
-            static_cast<void>(__VA_ARGS__); \
-            catchAssertionHandler.handleExceptionNotThrownAsExpected(); \
-        } \
-        catch( ... ) { \
-            catchAssertionHandler.handleUnexpectedInflightException(); \
-        } \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_AS( macroName, exceptionType, resultDisposition, expr ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr) ", " CATCH_INTERNAL_STRINGIFY(exceptionType), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(expr); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_MSG( macroName, messageType, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::StringRef(), resultDisposition ); \
-        catchAssertionHandler.handleMessage( messageType, ( Catch::MessageStream() << __VA_ARGS__ + ::Catch::StreamEndStop() ).m_stream.str() ); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_CAPTURE( varName, macroName, ... ) \
-    auto varName = Catch::Capturer( macroName, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info, #__VA_ARGS__ ); \
-    varName.captureValues( 0, __VA_ARGS__ )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_INFO( macroName, log ) \
-    Catch::ScopedMessage INTERNAL_CATCH_UNIQUE_NAME( scopedMessage )( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log );
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_UNSCOPED_INFO( macroName, log ) \
-    Catch::getResultCapture().emplaceUnscopedMessage( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log )
-
-///////////////////////////////////////////////////////////////////////////////
-// Although this is matcher-based, it can be used with just a string
-#define INTERNAL_CATCH_THROWS_STR_MATCHES( macroName, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                Catch::handleExceptionMatchExpr( catchAssertionHandler, matcher, #matcher##_catch_sr ); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_capture.hpp
-// start catch_section.h
-
-// start catch_section_info.h
-
-// start catch_totals.h
-
-#include <cstddef>
-
-namespace Catch {
-
-    struct Counts {
-        Counts operator - ( Counts const& other ) const;
-        Counts& operator += ( Counts const& other );
-
-        std::size_t total() const;
-        bool allPassed() const;
-        bool allOk() const;
-
-        std::size_t passed = 0;
-        std::size_t failed = 0;
-        std::size_t failedButOk = 0;
-    };
-
-    struct Totals {
-
-        Totals operator - ( Totals const& other ) const;
-        Totals& operator += ( Totals const& other );
-
-        Totals delta( Totals const& prevTotals ) const;
-
-        int error = 0;
-        Counts assertions;
-        Counts testCases;
-    };
-}
-
-// end catch_totals.h
-#include <string>
-
-namespace Catch {
-
-    struct SectionInfo {
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name );
-
-        // Deprecated
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name,
-                std::string const& ) : SectionInfo( _lineInfo, _name ) {}
-
-        std::string name;
-        std::string description; // !Deprecated: this will always be empty
-        SourceLineInfo lineInfo;
-    };
-
-    struct SectionEndInfo {
-        SectionInfo sectionInfo;
-        Counts prevAssertions;
-        double durationInSeconds;
-    };
-
-} // end namespace Catch
-
-// end catch_section_info.h
-// start catch_timer.h
-
-#include <cstdint>
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t;
-    auto getEstimatedClockResolution() -> uint64_t;
-
-    class Timer {
-        uint64_t m_nanoseconds = 0;
-    public:
-        void start();
-        auto getElapsedNanoseconds() const -> uint64_t;
-        auto getElapsedMicroseconds() const -> uint64_t;
-        auto getElapsedMilliseconds() const -> unsigned int;
-        auto getElapsedSeconds() const -> double;
-    };
-
-} // namespace Catch
-
-// end catch_timer.h
-#include <string>
-
-namespace Catch {
-
-    class Section : NonCopyable {
-    public:
-        Section( SectionInfo const& info );
-        ~Section();
-
-        // This indicates whether the section should be executed or not
-        explicit operator bool() const;
-
-    private:
-        SectionInfo m_info;
-
-        std::string m_name;
-        Counts m_assertions;
-        bool m_sectionIncluded;
-        Timer m_timer;
-    };
-
-} // end namespace Catch
-
-#define INTERNAL_CATCH_SECTION( ... ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, __VA_ARGS__ ) ) \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-#define INTERNAL_CATCH_DYNAMIC_SECTION( ... ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, (Catch::ReusableStringStream() << __VA_ARGS__).str() ) ) \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-// end catch_section.h
-// start catch_interfaces_exception.h
-
-// start catch_interfaces_registry_hub.h
-
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class TestCase;
-    struct ITestCaseRegistry;
-    struct IExceptionTranslatorRegistry;
-    struct IExceptionTranslator;
-    struct IReporterRegistry;
-    struct IReporterFactory;
-    struct ITagAliasRegistry;
-    struct IMutableEnumValuesRegistry;
-
-    class StartupExceptionRegistry;
-
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IRegistryHub {
-        virtual ~IRegistryHub();
-
-        virtual IReporterRegistry const& getReporterRegistry() const = 0;
-        virtual ITestCaseRegistry const& getTestCaseRegistry() const = 0;
-        virtual ITagAliasRegistry const& getTagAliasRegistry() const = 0;
-        virtual IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const = 0;
-
-        virtual StartupExceptionRegistry const& getStartupExceptionRegistry() const = 0;
-    };
-
-    struct IMutableRegistryHub {
-        virtual ~IMutableRegistryHub();
-        virtual void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerListener( IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerTest( TestCase const& testInfo ) = 0;
-        virtual void registerTranslator( const IExceptionTranslator* translator ) = 0;
-        virtual void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) = 0;
-        virtual void registerStartupException() noexcept = 0;
-        virtual IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() = 0;
-    };
-
-    IRegistryHub const& getRegistryHub();
-    IMutableRegistryHub& getMutableRegistryHub();
-    void cleanUp();
-    std::string translateActiveException();
-
-}
-
-// end catch_interfaces_registry_hub.h
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( translatorName, signature) \
-        static std::string translatorName( signature )
-#endif
-
-#include <exception>
-#include <string>
-#include <vector>
-
-namespace Catch {
-    using exceptionTranslateFunction = std::string(*)();
-
-    struct IExceptionTranslator;
-    using ExceptionTranslators = std::vector<std::unique_ptr<IExceptionTranslator const>>;
-
-    struct IExceptionTranslator {
-        virtual ~IExceptionTranslator();
-        virtual std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const = 0;
-    };
-
-    struct IExceptionTranslatorRegistry {
-        virtual ~IExceptionTranslatorRegistry();
-
-        virtual std::string translateActiveException() const = 0;
-    };
-
-    class ExceptionTranslatorRegistrar {
-        template<typename T>
-        class ExceptionTranslator : public IExceptionTranslator {
-        public:
-
-            ExceptionTranslator( std::string(*translateFunction)( T& ) )
-            : m_translateFunction( translateFunction )
-            {}
-
-            std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const override {
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-                return "";
-#else
-                try {
-                    if( it == itEnd )
-                        std::rethrow_exception(std::current_exception());
-                    else
-                        return (*it)->translate( it+1, itEnd );
-                }
-                catch( T& ex ) {
-                    return m_translateFunction( ex );
-                }
-#endif
-            }
-
-        protected:
-            std::string(*m_translateFunction)( T& );
-        };
-
-    public:
-        template<typename T>
-        ExceptionTranslatorRegistrar( std::string(*translateFunction)( T& ) ) {
-            getMutableRegistryHub().registerTranslator
-                ( new ExceptionTranslator<T>( translateFunction ) );
-        }
-    };
-}
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION2( translatorName, signature ) \
-    static std::string translatorName( signature ); \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::ExceptionTranslatorRegistrar INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionRegistrar )( &translatorName ); } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-    static std::string translatorName( signature )
-
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION2( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// end catch_interfaces_exception.h
-// start catch_approx.h
-
-#include <type_traits>
-
-namespace Catch {
-namespace Detail {
-
-    class Approx {
-    private:
-        bool equalityComparisonImpl(double other) const;
-        // Validates the new margin (margin >= 0)
-        // out-of-line to avoid including stdexcept in the header
-        void setMargin(double margin);
-        // Validates the new epsilon (0 < epsilon < 1)
-        // out-of-line to avoid including stdexcept in the header
-        void setEpsilon(double epsilon);
-
-    public:
-        explicit Approx ( double value );
-
-        static Approx custom();
-
-        Approx operator-() const;
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx operator()( T const& value ) const {
-            Approx approx( static_cast<double>(value) );
-            approx.m_epsilon = m_epsilon;
-            approx.m_margin = m_margin;
-            approx.m_scale = m_scale;
-            return approx;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        explicit Approx( T const& value ): Approx(static_cast<double>(value))
-        {}
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( const T& lhs, Approx const& rhs ) {
-            auto lhs_v = static_cast<double>(lhs);
-            return rhs.equalityComparisonImpl(lhs_v);
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( Approx const& lhs, const T& rhs ) {
-            return operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( T const& lhs, Approx const& rhs ) {
-            return !operator==( lhs, rhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( Approx const& lhs, T const& rhs ) {
-            return !operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) < rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value < static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) > rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value > static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& epsilon( T const& newEpsilon ) {
-            double epsilonAsDouble = static_cast<double>(newEpsilon);
-            setEpsilon(epsilonAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& margin( T const& newMargin ) {
-            double marginAsDouble = static_cast<double>(newMargin);
-            setMargin(marginAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& scale( T const& newScale ) {
-            m_scale = static_cast<double>(newScale);
-            return *this;
-        }
-
-        std::string toString() const;
-
-    private:
-        double m_epsilon;
-        double m_margin;
-        double m_scale;
-        double m_value;
-    };
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val);
-    Detail::Approx operator "" _a(unsigned long long val);
-} // end namespace literals
-
-template<>
-struct StringMaker<Catch::Detail::Approx> {
-    static std::string convert(Catch::Detail::Approx const& value);
-};
-
-} // end namespace Catch
-
-// end catch_approx.h
-// start catch_string_manip.h
-
-#include <string>
-#include <iosfwd>
-#include <vector>
-
-namespace Catch {
-
-    bool startsWith( std::string const& s, std::string const& prefix );
-    bool startsWith( std::string const& s, char prefix );
-    bool endsWith( std::string const& s, std::string const& suffix );
-    bool endsWith( std::string const& s, char suffix );
-    bool contains( std::string const& s, std::string const& infix );
-    void toLowerInPlace( std::string& s );
-    std::string toLower( std::string const& s );
-    //! Returns a new string without whitespace at the start/end
-    std::string trim( std::string const& str );
-    //! Returns a substring of the original ref without whitespace. Beware lifetimes!
-    StringRef trim(StringRef ref);
-
-    // !!! Be aware, returns refs into original string - make sure original string outlives them
-    std::vector<StringRef> splitStringRef( StringRef str, char delimiter );
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis );
-
-    struct pluralise {
-        pluralise( std::size_t count, std::string const& label );
-
-        friend std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser );
-
-        std::size_t m_count;
-        std::string m_label;
-    };
-}
-
-// end catch_string_manip.h
-#ifndef CATCH_CONFIG_DISABLE_MATCHERS
-// start catch_capture_matchers.h
-
-// start catch_matchers.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        template<typename ArgT> struct MatchAllOf;
-        template<typename ArgT> struct MatchAnyOf;
-        template<typename ArgT> struct MatchNotOf;
-
-        class MatcherUntypedBase {
-        public:
-            MatcherUntypedBase() = default;
-            MatcherUntypedBase ( MatcherUntypedBase const& ) = default;
-            MatcherUntypedBase& operator = ( MatcherUntypedBase const& ) = delete;
-            std::string toString() const;
-
-        protected:
-            virtual ~MatcherUntypedBase();
-            virtual std::string describe() const = 0;
-            mutable std::string m_cachedToString;
-        };
-
-#ifdef __clang__
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wnon-virtual-dtor"
-#endif
-
-        template<typename ObjectT>
-        struct MatcherMethod {
-            virtual bool match( ObjectT const& arg ) const = 0;
-        };
-
-#if defined(__OBJC__)
-        // Hack to fix Catch GH issue #1661. Could use id for generic Object support.
-        // use of const for Object pointers is very uncommon and under ARC it causes some kind of signature mismatch that breaks compilation
-        template<>
-        struct MatcherMethod<NSString*> {
-            virtual bool match( NSString* arg ) const = 0;
-        };
-#endif
-
-#ifdef __clang__
-#    pragma clang diagnostic pop
-#endif
-
-        template<typename T>
-        struct MatcherBase : MatcherUntypedBase, MatcherMethod<T> {
-
-            MatchAllOf<T> operator && ( MatcherBase const& other ) const;
-            MatchAnyOf<T> operator || ( MatcherBase const& other ) const;
-            MatchNotOf<T> operator ! () const;
-        };
-
-        template<typename ArgT>
-        struct MatchAllOf : MatcherBase<ArgT> {
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (!matcher->match(arg))
-                        return false;
-                }
-                return true;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " and ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAllOf<ArgT> operator && ( MatcherBase<ArgT> const& other ) {
-                auto copy(*this);
-                copy.m_matchers.push_back( &other );
-                return copy;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-        template<typename ArgT>
-        struct MatchAnyOf : MatcherBase<ArgT> {
-
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (matcher->match(arg))
-                        return true;
-                }
-                return false;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " or ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAnyOf<ArgT> operator || ( MatcherBase<ArgT> const& other ) {
-                auto copy(*this);
-                copy.m_matchers.push_back( &other );
-                return copy;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-
-        template<typename ArgT>
-        struct MatchNotOf : MatcherBase<ArgT> {
-
-            MatchNotOf( MatcherBase<ArgT> const& underlyingMatcher ) : m_underlyingMatcher( underlyingMatcher ) {}
-
-            bool match( ArgT const& arg ) const override {
-                return !m_underlyingMatcher.match( arg );
-            }
-
-            std::string describe() const override {
-                return "not " + m_underlyingMatcher.toString();
-            }
-            MatcherBase<ArgT> const& m_underlyingMatcher;
-        };
-
-        template<typename T>
-        MatchAllOf<T> MatcherBase<T>::operator && ( MatcherBase const& other ) const {
-            return MatchAllOf<T>() && *this && other;
-        }
-        template<typename T>
-        MatchAnyOf<T> MatcherBase<T>::operator || ( MatcherBase const& other ) const {
-            return MatchAnyOf<T>() || *this || other;
-        }
-        template<typename T>
-        MatchNotOf<T> MatcherBase<T>::operator ! () const {
-            return MatchNotOf<T>( *this );
-        }
-
-    } // namespace Impl
-
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-
-// end catch_matchers.h
-// start catch_matchers_exception.hpp
-
-namespace Catch {
-namespace Matchers {
-namespace Exception {
-
-class ExceptionMessageMatcher : public MatcherBase<std::exception> {
-    std::string m_message;
-public:
-
-    ExceptionMessageMatcher(std::string const& message):
-        m_message(message)
-    {}
-
-    bool match(std::exception const& ex) const override;
-
-    std::string describe() const override;
-};
-
-} // namespace Exception
-
-Exception::ExceptionMessageMatcher Message(std::string const& message);
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_exception.hpp
-// start catch_matchers_floating.h
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Floating {
-
-        enum class FloatingPointKind : uint8_t;
-
-        struct WithinAbsMatcher : MatcherBase<double> {
-            WithinAbsMatcher(double target, double margin);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            double m_margin;
-        };
-
-        struct WithinUlpsMatcher : MatcherBase<double> {
-            WithinUlpsMatcher(double target, uint64_t ulps, FloatingPointKind baseType);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            uint64_t m_ulps;
-            FloatingPointKind m_type;
-        };
-
-        // Given IEEE-754 format for floats and doubles, we can assume
-        // that float -> double promotion is lossless. Given this, we can
-        // assume that if we do the standard relative comparison of
-        // |lhs - rhs| <= epsilon * max(fabs(lhs), fabs(rhs)), then we get
-        // the same result if we do this for floats, as if we do this for
-        // doubles that were promoted from floats.
-        struct WithinRelMatcher : MatcherBase<double> {
-            WithinRelMatcher(double target, double epsilon);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            double m_epsilon;
-        };
-
-    } // namespace Floating
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-    Floating::WithinUlpsMatcher WithinULP(double target, uint64_t maxUlpDiff);
-    Floating::WithinUlpsMatcher WithinULP(float target, uint64_t maxUlpDiff);
-    Floating::WithinAbsMatcher WithinAbs(double target, double margin);
-    Floating::WithinRelMatcher WithinRel(double target, double eps);
-    // defaults epsilon to 100*numeric_limits<double>::epsilon()
-    Floating::WithinRelMatcher WithinRel(double target);
-    Floating::WithinRelMatcher WithinRel(float target, float eps);
-    // defaults epsilon to 100*numeric_limits<float>::epsilon()
-    Floating::WithinRelMatcher WithinRel(float target);
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_floating.h
-// start catch_matchers_generic.hpp
-
-#include <functional>
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-namespace Generic {
-
-namespace Detail {
-    std::string finalizeDescription(const std::string& desc);
-}
-
-template <typename T>
-class PredicateMatcher : public MatcherBase<T> {
-    std::function<bool(T const&)> m_predicate;
-    std::string m_description;
-public:
-
-    PredicateMatcher(std::function<bool(T const&)> const& elem, std::string const& descr)
-        :m_predicate(std::move(elem)),
-        m_description(Detail::finalizeDescription(descr))
-    {}
-
-    bool match( T const& item ) const override {
-        return m_predicate(item);
-    }
-
-    std::string describe() const override {
-        return m_description;
-    }
-};
-
-} // namespace Generic
-
-    // The following functions create the actual matcher objects.
-    // The user has to explicitly specify type to the function, because
-    // inferring std::function<bool(T const&)> is hard (but possible) and
-    // requires a lot of TMP.
-    template<typename T>
-    Generic::PredicateMatcher<T> Predicate(std::function<bool(T const&)> const& predicate, std::string const& description = "") {
-        return Generic::PredicateMatcher<T>(predicate, description);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_generic.hpp
-// start catch_matchers_string.h
-
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        struct CasedString
-        {
-            CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity );
-            std::string adjustString( std::string const& str ) const;
-            std::string caseSensitivitySuffix() const;
-
-            CaseSensitive::Choice m_caseSensitivity;
-            std::string m_str;
-        };
-
-        struct StringMatcherBase : MatcherBase<std::string> {
-            StringMatcherBase( std::string const& operation, CasedString const& comparator );
-            std::string describe() const override;
-
-            CasedString m_comparator;
-            std::string m_operation;
-        };
-
-        struct EqualsMatcher : StringMatcherBase {
-            EqualsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct ContainsMatcher : StringMatcherBase {
-            ContainsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct StartsWithMatcher : StringMatcherBase {
-            StartsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct EndsWithMatcher : StringMatcherBase {
-            EndsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-
-        struct RegexMatcher : MatcherBase<std::string> {
-            RegexMatcher( std::string regex, CaseSensitive::Choice caseSensitivity );
-            bool match( std::string const& matchee ) const override;
-            std::string describe() const override;
-
-        private:
-            std::string m_regex;
-            CaseSensitive::Choice m_caseSensitivity;
-        };
-
-    } // namespace StdString
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::RegexMatcher Matches( std::string const& regex, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_string.h
-// start catch_matchers_vector.h
-
-#include <algorithm>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Vector {
-        template<typename T, typename Alloc>
-        struct ContainsElementMatcher : MatcherBase<std::vector<T, Alloc>> {
-
-            ContainsElementMatcher(T const &comparator) : m_comparator( comparator) {}
-
-            bool match(std::vector<T, Alloc> const &v) const override {
-                for (auto const& el : v) {
-                    if (el == m_comparator) {
-                        return true;
-                    }
-                }
-                return false;
-            }
-
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            T const& m_comparator;
-        };
-
-        template<typename T, typename AllocComp, typename AllocMatch>
-        struct ContainsMatcher : MatcherBase<std::vector<T, AllocMatch>> {
-
-            ContainsMatcher(std::vector<T, AllocComp> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T, AllocMatch> const &v) const override {
-                // !TBD: see note in EqualsMatcher
-                if (m_comparator.size() > v.size())
-                    return false;
-                for (auto const& comparator : m_comparator) {
-                    auto present = false;
-                    for (const auto& el : v) {
-                        if (el == comparator) {
-                            present = true;
-                            break;
-                        }
-                    }
-                    if (!present) {
-                        return false;
-                    }
-                }
-                return true;
-            }
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            std::vector<T, AllocComp> const& m_comparator;
-        };
-
-        template<typename T, typename AllocComp, typename AllocMatch>
-        struct EqualsMatcher : MatcherBase<std::vector<T, AllocMatch>> {
-
-            EqualsMatcher(std::vector<T, AllocComp> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T, AllocMatch> const &v) const override {
-                // !TBD: This currently works if all elements can be compared using !=
-                // - a more general approach would be via a compare template that defaults
-                // to using !=. but could be specialised for, e.g. std::vector<T, Alloc> etc
-                // - then just call that directly
-                if (m_comparator.size() != v.size())
-                    return false;
-                for (std::size_t i = 0; i < v.size(); ++i)
-                    if (m_comparator[i] != v[i])
-                        return false;
-                return true;
-            }
-            std::string describe() const override {
-                return "Equals: " + ::Catch::Detail::stringify( m_comparator );
-            }
-            std::vector<T, AllocComp> const& m_comparator;
-        };
-
-        template<typename T, typename AllocComp, typename AllocMatch>
-        struct ApproxMatcher : MatcherBase<std::vector<T, AllocMatch>> {
-
-            ApproxMatcher(std::vector<T, AllocComp> const& comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T, AllocMatch> const &v) const override {
-                if (m_comparator.size() != v.size())
-                    return false;
-                for (std::size_t i = 0; i < v.size(); ++i)
-                    if (m_comparator[i] != approx(v[i]))
-                        return false;
-                return true;
-            }
-            std::string describe() const override {
-                return "is approx: " + ::Catch::Detail::stringify( m_comparator );
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& epsilon( T const& newEpsilon ) {
-                approx.epsilon(newEpsilon);
-                return *this;
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& margin( T const& newMargin ) {
-                approx.margin(newMargin);
-                return *this;
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& scale( T const& newScale ) {
-                approx.scale(newScale);
-                return *this;
-            }
-
-            std::vector<T, AllocComp> const& m_comparator;
-            mutable Catch::Detail::Approx approx = Catch::Detail::Approx::custom();
-        };
-
-        template<typename T, typename AllocComp, typename AllocMatch>
-        struct UnorderedEqualsMatcher : MatcherBase<std::vector<T, AllocMatch>> {
-            UnorderedEqualsMatcher(std::vector<T, AllocComp> const& target) : m_target(target) {}
-            bool match(std::vector<T, AllocMatch> const& vec) const override {
-                if (m_target.size() != vec.size()) {
-                    return false;
-                }
-                return std::is_permutation(m_target.begin(), m_target.end(), vec.begin());
-            }
-
-            std::string describe() const override {
-                return "UnorderedEquals: " + ::Catch::Detail::stringify(m_target);
-            }
-        private:
-            std::vector<T, AllocComp> const& m_target;
-        };
-
-    } // namespace Vector
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    template<typename T, typename AllocComp = std::allocator<T>, typename AllocMatch = AllocComp>
-    Vector::ContainsMatcher<T, AllocComp, AllocMatch> Contains( std::vector<T, AllocComp> const& comparator ) {
-        return Vector::ContainsMatcher<T, AllocComp, AllocMatch>( comparator );
-    }
-
-    template<typename T, typename Alloc = std::allocator<T>>
-    Vector::ContainsElementMatcher<T, Alloc> VectorContains( T const& comparator ) {
-        return Vector::ContainsElementMatcher<T, Alloc>( comparator );
-    }
-
-    template<typename T, typename AllocComp = std::allocator<T>, typename AllocMatch = AllocComp>
-    Vector::EqualsMatcher<T, AllocComp, AllocMatch> Equals( std::vector<T, AllocComp> const& comparator ) {
-        return Vector::EqualsMatcher<T, AllocComp, AllocMatch>( comparator );
-    }
-
-    template<typename T, typename AllocComp = std::allocator<T>, typename AllocMatch = AllocComp>
-    Vector::ApproxMatcher<T, AllocComp, AllocMatch> Approx( std::vector<T, AllocComp> const& comparator ) {
-        return Vector::ApproxMatcher<T, AllocComp, AllocMatch>( comparator );
-    }
-
-    template<typename T, typename AllocComp = std::allocator<T>, typename AllocMatch = AllocComp>
-    Vector::UnorderedEqualsMatcher<T, AllocComp, AllocMatch> UnorderedEquals(std::vector<T, AllocComp> const& target) {
-        return Vector::UnorderedEqualsMatcher<T, AllocComp, AllocMatch>( target );
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_vector.h
-namespace Catch {
-
-    template<typename ArgT, typename MatcherT>
-    class MatchExpr : public ITransientExpression {
-        ArgT const& m_arg;
-        MatcherT m_matcher;
-        StringRef m_matcherString;
-    public:
-        MatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString )
-        :   ITransientExpression{ true, matcher.match( arg ) },
-            m_arg( arg ),
-            m_matcher( matcher ),
-            m_matcherString( matcherString )
-        {}
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            auto matcherAsString = m_matcher.toString();
-            os << Catch::Detail::stringify( m_arg ) << ' ';
-            if( matcherAsString == Detail::unprintableString )
-                os << m_matcherString;
-            else
-                os << matcherAsString;
-        }
-    };
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  );
-
-    template<typename ArgT, typename MatcherT>
-    auto makeMatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString  ) -> MatchExpr<ArgT, MatcherT> {
-        return MatchExpr<ArgT, MatcherT>( arg, matcher, matcherString );
-    }
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CHECK_THAT( macroName, matcher, resultDisposition, arg ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(arg) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            catchAssertionHandler.handleExpr( Catch::makeMatchExpr( arg, matcher, #matcher##_catch_sr ) ); \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_MATCHES( macroName, exceptionType, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(exceptionType) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__ ); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ex ) { \
-                catchAssertionHandler.handleExpr( Catch::makeMatchExpr( ex, matcher, #matcher##_catch_sr ) ); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-// end catch_capture_matchers.h
-#endif
-// start catch_generators.hpp
-
-// start catch_interfaces_generatortracker.h
-
-
-#include <memory>
-
-namespace Catch {
-
-    namespace Generators {
-        class GeneratorUntypedBase {
-        public:
-            GeneratorUntypedBase() = default;
-            virtual ~GeneratorUntypedBase();
-            // Attempts to move the generator to the next element
-             //
-             // Returns true iff the move succeeded (and a valid element
-             // can be retrieved).
-            virtual bool next() = 0;
-        };
-        using GeneratorBasePtr = std::unique_ptr<GeneratorUntypedBase>;
-
-    } // namespace Generators
-
-    struct IGeneratorTracker {
-        virtual ~IGeneratorTracker();
-        virtual auto hasGenerator() const -> bool = 0;
-        virtual auto getGenerator() const -> Generators::GeneratorBasePtr const& = 0;
-        virtual void setGenerator( Generators::GeneratorBasePtr&& generator ) = 0;
-    };
-
-} // namespace Catch
-
-// end catch_interfaces_generatortracker.h
-// start catch_enforce.h
-
-#include <exception>
-
-namespace Catch {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    template <typename Ex>
-    [[noreturn]]
-    void throw_exception(Ex const& e) {
-        throw e;
-    }
-#else // ^^ Exceptions are enabled //  Exceptions are disabled vv
-    [[noreturn]]
-    void throw_exception(std::exception const& e);
-#endif
-
-    [[noreturn]]
-    void throw_logic_error(std::string const& msg);
-    [[noreturn]]
-    void throw_domain_error(std::string const& msg);
-    [[noreturn]]
-    void throw_runtime_error(std::string const& msg);
-
-} // namespace Catch;
-
-#define CATCH_MAKE_MSG(...) \
-    (Catch::ReusableStringStream() << __VA_ARGS__).str()
-
-#define CATCH_INTERNAL_ERROR(...) \
-    Catch::throw_logic_error(CATCH_MAKE_MSG( CATCH_INTERNAL_LINEINFO << ": Internal Catch2 error: " << __VA_ARGS__))
-
-#define CATCH_ERROR(...) \
-    Catch::throw_domain_error(CATCH_MAKE_MSG( __VA_ARGS__ ))
-
-#define CATCH_RUNTIME_ERROR(...) \
-    Catch::throw_runtime_error(CATCH_MAKE_MSG( __VA_ARGS__ ))
-
-#define CATCH_ENFORCE( condition, ... ) \
-    do{ if( !(condition) ) CATCH_ERROR( __VA_ARGS__ ); } while(false)
-
-// end catch_enforce.h
-#include <memory>
-#include <vector>
-#include <cassert>
-
-#include <utility>
-#include <exception>
-
-namespace Catch {
-
-class GeneratorException : public std::exception {
-    const char* const m_msg = "";
-
-public:
-    GeneratorException(const char* msg):
-        m_msg(msg)
-    {}
-
-    const char* what() const noexcept override final;
-};
-
-namespace Generators {
-
-    // !TBD move this into its own location?
-    namespace pf{
-        template<typename T, typename... Args>
-        std::unique_ptr<T> make_unique( Args&&... args ) {
-            return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
-        }
-    }
-
-    template<typename T>
-    struct IGenerator : GeneratorUntypedBase {
-        virtual ~IGenerator() = default;
-
-        // Returns the current element of the generator
-        //
-        // \Precondition The generator is either freshly constructed,
-        // or the last call to `next()` returned true
-        virtual T const& get() const = 0;
-        using type = T;
-    };
-
-    template<typename T>
-    class SingleValueGenerator final : public IGenerator<T> {
-        T m_value;
-    public:
-        SingleValueGenerator(T&& value) : m_value(std::move(value)) {}
-
-        T const& get() const override {
-            return m_value;
-        }
-        bool next() override {
-            return false;
-        }
-    };
-
-    template<typename T>
-    class FixedValuesGenerator final : public IGenerator<T> {
-        static_assert(!std::is_same<T, bool>::value,
-            "FixedValuesGenerator does not support bools because of std::vector<bool>"
-            "specialization, use SingleValue Generator instead.");
-        std::vector<T> m_values;
-        size_t m_idx = 0;
-    public:
-        FixedValuesGenerator( std::initializer_list<T> values ) : m_values( values ) {}
-
-        T const& get() const override {
-            return m_values[m_idx];
-        }
-        bool next() override {
-            ++m_idx;
-            return m_idx < m_values.size();
-        }
-    };
-
-    template <typename T>
-    class GeneratorWrapper final {
-        std::unique_ptr<IGenerator<T>> m_generator;
-    public:
-        GeneratorWrapper(std::unique_ptr<IGenerator<T>> generator):
-            m_generator(std::move(generator))
-        {}
-        T const& get() const {
-            return m_generator->get();
-        }
-        bool next() {
-            return m_generator->next();
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> value(T&& value) {
-        return GeneratorWrapper<T>(pf::make_unique<SingleValueGenerator<T>>(std::forward<T>(value)));
-    }
-    template <typename T>
-    GeneratorWrapper<T> values(std::initializer_list<T> values) {
-        return GeneratorWrapper<T>(pf::make_unique<FixedValuesGenerator<T>>(values));
-    }
-
-    template<typename T>
-    class Generators : public IGenerator<T> {
-        std::vector<GeneratorWrapper<T>> m_generators;
-        size_t m_current = 0;
-
-        void populate(GeneratorWrapper<T>&& generator) {
-            m_generators.emplace_back(std::move(generator));
-        }
-        void populate(T&& val) {
-            m_generators.emplace_back(value(std::forward<T>(val)));
-        }
-        template<typename U>
-        void populate(U&& val) {
-            populate(T(std::forward<U>(val)));
-        }
-        template<typename U, typename... Gs>
-        void populate(U&& valueOrGenerator, Gs &&... moreGenerators) {
-            populate(std::forward<U>(valueOrGenerator));
-            populate(std::forward<Gs>(moreGenerators)...);
-        }
-
-    public:
-        template <typename... Gs>
-        Generators(Gs &&... moreGenerators) {
-            m_generators.reserve(sizeof...(Gs));
-            populate(std::forward<Gs>(moreGenerators)...);
-        }
-
-        T const& get() const override {
-            return m_generators[m_current].get();
-        }
-
-        bool next() override {
-            if (m_current >= m_generators.size()) {
-                return false;
-            }
-            const bool current_status = m_generators[m_current].next();
-            if (!current_status) {
-                ++m_current;
-            }
-            return m_current < m_generators.size();
-        }
-    };
-
-    template<typename... Ts>
-    GeneratorWrapper<std::tuple<Ts...>> table( std::initializer_list<std::tuple<typename std::decay<Ts>::type...>> tuples ) {
-        return values<std::tuple<Ts...>>( tuples );
-    }
-
-    // Tag type to signal that a generator sequence should convert arguments to a specific type
-    template <typename T>
-    struct as {};
-
-    template<typename T, typename... Gs>
-    auto makeGenerators( GeneratorWrapper<T>&& generator, Gs &&... moreGenerators ) -> Generators<T> {
-        return Generators<T>(std::move(generator), std::forward<Gs>(moreGenerators)...);
-    }
-    template<typename T>
-    auto makeGenerators( GeneratorWrapper<T>&& generator ) -> Generators<T> {
-        return Generators<T>(std::move(generator));
-    }
-    template<typename T, typename... Gs>
-    auto makeGenerators( T&& val, Gs &&... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( std::forward<T>( val ) ), std::forward<Gs>( moreGenerators )... );
-    }
-    template<typename T, typename U, typename... Gs>
-    auto makeGenerators( as<T>, U&& val, Gs &&... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( T( std::forward<U>( val ) ) ), std::forward<Gs>( moreGenerators )... );
-    }
-
-    auto acquireGeneratorTracker( StringRef generatorName, SourceLineInfo const& lineInfo ) -> IGeneratorTracker&;
-
-    template<typename L>
-    // Note: The type after -> is weird, because VS2015 cannot parse
-    //       the expression used in the typedef inside, when it is in
-    //       return type. Yeah.
-    auto generate( StringRef generatorName, SourceLineInfo const& lineInfo, L const& generatorExpression ) -> decltype(std::declval<decltype(generatorExpression())>().get()) {
-        using UnderlyingType = typename decltype(generatorExpression())::type;
-
-        IGeneratorTracker& tracker = acquireGeneratorTracker( generatorName, lineInfo );
-        if (!tracker.hasGenerator()) {
-            tracker.setGenerator(pf::make_unique<Generators<UnderlyingType>>(generatorExpression()));
-        }
-
-        auto const& generator = static_cast<IGenerator<UnderlyingType> const&>( *tracker.getGenerator() );
-        return generator.get();
-    }
-
-} // namespace Generators
-} // namespace Catch
-
-#define GENERATE( ... ) \
-    Catch::Generators::generate( INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_UNIQUE_NAME(generator)), \
-                                 CATCH_INTERNAL_LINEINFO, \
-                                 [ ]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
-#define GENERATE_COPY( ... ) \
-    Catch::Generators::generate( INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_UNIQUE_NAME(generator)), \
-                                 CATCH_INTERNAL_LINEINFO, \
-                                 [=]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
-#define GENERATE_REF( ... ) \
-    Catch::Generators::generate( INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_UNIQUE_NAME(generator)), \
-                                 CATCH_INTERNAL_LINEINFO, \
-                                 [&]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
-
-// end catch_generators.hpp
-// start catch_generators_generic.hpp
-
-namespace Catch {
-namespace Generators {
-
-    template <typename T>
-    class TakeGenerator : public IGenerator<T> {
-        GeneratorWrapper<T> m_generator;
-        size_t m_returned = 0;
-        size_t m_target;
-    public:
-        TakeGenerator(size_t target, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_target(target)
-        {
-            assert(target != 0 && "Empty generators are not allowed");
-        }
-        T const& get() const override {
-            return m_generator.get();
-        }
-        bool next() override {
-            ++m_returned;
-            if (m_returned >= m_target) {
-                return false;
-            }
-
-            const auto success = m_generator.next();
-            // If the underlying generator does not contain enough values
-            // then we cut short as well
-            if (!success) {
-                m_returned = m_target;
-            }
-            return success;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> take(size_t target, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(pf::make_unique<TakeGenerator<T>>(target, std::move(generator)));
-    }
-
-    template <typename T, typename Predicate>
-    class FilterGenerator : public IGenerator<T> {
-        GeneratorWrapper<T> m_generator;
-        Predicate m_predicate;
-    public:
-        template <typename P = Predicate>
-        FilterGenerator(P&& pred, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_predicate(std::forward<P>(pred))
-        {
-            if (!m_predicate(m_generator.get())) {
-                // It might happen that there are no values that pass the
-                // filter. In that case we throw an exception.
-                auto has_initial_value = nextImpl();
-                if (!has_initial_value) {
-                    Catch::throw_exception(GeneratorException("No valid value found in filtered generator"));
-                }
-            }
-        }
-
-        T const& get() const override {
-            return m_generator.get();
-        }
-
-        bool next() override {
-            return nextImpl();
-        }
-
-    private:
-        bool nextImpl() {
-            bool success = m_generator.next();
-            if (!success) {
-                return false;
-            }
-            while (!m_predicate(m_generator.get()) && (success = m_generator.next()) == true);
-            return success;
-        }
-    };
-
-    template <typename T, typename Predicate>
-    GeneratorWrapper<T> filter(Predicate&& pred, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(std::unique_ptr<IGenerator<T>>(pf::make_unique<FilterGenerator<T, Predicate>>(std::forward<Predicate>(pred), std::move(generator))));
-    }
-
-    template <typename T>
-    class RepeatGenerator : public IGenerator<T> {
-        static_assert(!std::is_same<T, bool>::value,
-            "RepeatGenerator currently does not support bools"
-            "because of std::vector<bool> specialization");
-        GeneratorWrapper<T> m_generator;
-        mutable std::vector<T> m_returned;
-        size_t m_target_repeats;
-        size_t m_current_repeat = 0;
-        size_t m_repeat_index = 0;
-    public:
-        RepeatGenerator(size_t repeats, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_target_repeats(repeats)
-        {
-            assert(m_target_repeats > 0 && "Repeat generator must repeat at least once");
-        }
-
-        T const& get() const override {
-            if (m_current_repeat == 0) {
-                m_returned.push_back(m_generator.get());
-                return m_returned.back();
-            }
-            return m_returned[m_repeat_index];
-        }
-
-        bool next() override {
-            // There are 2 basic cases:
-            // 1) We are still reading the generator
-            // 2) We are reading our own cache
-
-            // In the first case, we need to poke the underlying generator.
-            // If it happily moves, we are left in that state, otherwise it is time to start reading from our cache
-            if (m_current_repeat == 0) {
-                const auto success = m_generator.next();
-                if (!success) {
-                    ++m_current_repeat;
-                }
-                return m_current_repeat < m_target_repeats;
-            }
-
-            // In the second case, we need to move indices forward and check that we haven't run up against the end
-            ++m_repeat_index;
-            if (m_repeat_index == m_returned.size()) {
-                m_repeat_index = 0;
-                ++m_current_repeat;
-            }
-            return m_current_repeat < m_target_repeats;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> repeat(size_t repeats, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(pf::make_unique<RepeatGenerator<T>>(repeats, std::move(generator)));
-    }
-
-    template <typename T, typename U, typename Func>
-    class MapGenerator : public IGenerator<T> {
-        // TBD: provide static assert for mapping function, for friendly error message
-        GeneratorWrapper<U> m_generator;
-        Func m_function;
-        // To avoid returning dangling reference, we have to save the values
-        T m_cache;
-    public:
-        template <typename F2 = Func>
-        MapGenerator(F2&& function, GeneratorWrapper<U>&& generator) :
-            m_generator(std::move(generator)),
-            m_function(std::forward<F2>(function)),
-            m_cache(m_function(m_generator.get()))
-        {}
-
-        T const& get() const override {
-            return m_cache;
-        }
-        bool next() override {
-            const auto success = m_generator.next();
-            if (success) {
-                m_cache = m_function(m_generator.get());
-            }
-            return success;
-        }
-    };
-
-    template <typename Func, typename U, typename T = FunctionReturnType<Func, U>>
-    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
-        return GeneratorWrapper<T>(
-            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
-        );
-    }
-
-    template <typename T, typename U, typename Func>
-    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
-        return GeneratorWrapper<T>(
-            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
-        );
-    }
-
-    template <typename T>
-    class ChunkGenerator final : public IGenerator<std::vector<T>> {
-        std::vector<T> m_chunk;
-        size_t m_chunk_size;
-        GeneratorWrapper<T> m_generator;
-        bool m_used_up = false;
-    public:
-        ChunkGenerator(size_t size, GeneratorWrapper<T> generator) :
-            m_chunk_size(size), m_generator(std::move(generator))
-        {
-            m_chunk.reserve(m_chunk_size);
-            if (m_chunk_size != 0) {
-                m_chunk.push_back(m_generator.get());
-                for (size_t i = 1; i < m_chunk_size; ++i) {
-                    if (!m_generator.next()) {
-                        Catch::throw_exception(GeneratorException("Not enough values to initialize the first chunk"));
-                    }
-                    m_chunk.push_back(m_generator.get());
-                }
-            }
-        }
-        std::vector<T> const& get() const override {
-            return m_chunk;
-        }
-        bool next() override {
-            m_chunk.clear();
-            for (size_t idx = 0; idx < m_chunk_size; ++idx) {
-                if (!m_generator.next()) {
-                    return false;
-                }
-                m_chunk.push_back(m_generator.get());
-            }
-            return true;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<std::vector<T>> chunk(size_t size, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<std::vector<T>>(
-            pf::make_unique<ChunkGenerator<T>>(size, std::move(generator))
-        );
-    }
-
-} // namespace Generators
-} // namespace Catch
-
-// end catch_generators_generic.hpp
-// start catch_generators_specific.hpp
-
-// start catch_context.h
-
-#include <memory>
-
-namespace Catch {
-
-    struct IResultCapture;
-    struct IRunner;
-    struct IConfig;
-    struct IMutableContext;
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-
-    struct IContext
-    {
-        virtual ~IContext();
-
-        virtual IResultCapture* getResultCapture() = 0;
-        virtual IRunner* getRunner() = 0;
-        virtual IConfigPtr const& getConfig() const = 0;
-    };
-
-    struct IMutableContext : IContext
-    {
-        virtual ~IMutableContext();
-        virtual void setResultCapture( IResultCapture* resultCapture ) = 0;
-        virtual void setRunner( IRunner* runner ) = 0;
-        virtual void setConfig( IConfigPtr const& config ) = 0;
-
-    private:
-        static IMutableContext *currentContext;
-        friend IMutableContext& getCurrentMutableContext();
-        friend void cleanUpContext();
-        static void createContext();
-    };
-
-    inline IMutableContext& getCurrentMutableContext()
-    {
-        if( !IMutableContext::currentContext )
-            IMutableContext::createContext();
-        // NOLINTNEXTLINE(clang-analyzer-core.uninitialized.UndefReturn)
-        return *IMutableContext::currentContext;
-    }
-
-    inline IContext& getCurrentContext()
-    {
-        return getCurrentMutableContext();
-    }
-
-    void cleanUpContext();
-
-    class SimplePcg32;
-    SimplePcg32& rng();
-}
-
-// end catch_context.h
-// start catch_interfaces_config.h
-
-// start catch_option.hpp
-
-namespace Catch {
-
-    // An optional type
-    template<typename T>
-    class Option {
-    public:
-        Option() : nullableValue( nullptr ) {}
-        Option( T const& _value )
-        : nullableValue( new( storage ) T( _value ) )
-        {}
-        Option( Option const& _other )
-        : nullableValue( _other ? new( storage ) T( *_other ) : nullptr )
-        {}
-
-        ~Option() {
-            reset();
-        }
-
-        Option& operator= ( Option const& _other ) {
-            if( &_other != this ) {
-                reset();
-                if( _other )
-                    nullableValue = new( storage ) T( *_other );
-            }
-            return *this;
-        }
-        Option& operator = ( T const& _value ) {
-            reset();
-            nullableValue = new( storage ) T( _value );
-            return *this;
-        }
-
-        void reset() {
-            if( nullableValue )
-                nullableValue->~T();
-            nullableValue = nullptr;
-        }
-
-        T& operator*() { return *nullableValue; }
-        T const& operator*() const { return *nullableValue; }
-        T* operator->() { return nullableValue; }
-        const T* operator->() const { return nullableValue; }
-
-        T valueOr( T const& defaultValue ) const {
-            return nullableValue ? *nullableValue : defaultValue;
-        }
-
-        bool some() const { return nullableValue != nullptr; }
-        bool none() const { return nullableValue == nullptr; }
-
-        bool operator !() const { return nullableValue == nullptr; }
-        explicit operator bool() const {
-            return some();
-        }
-
-    private:
-        T *nullableValue;
-        alignas(alignof(T)) char storage[sizeof(T)];
-    };
-
-} // end namespace Catch
-
-// end catch_option.hpp
-#include <chrono>
-#include <iosfwd>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    enum class Verbosity {
-        Quiet = 0,
-        Normal,
-        High
-    };
-
-    struct WarnAbout { enum What {
-        Nothing = 0x00,
-        NoAssertions = 0x01,
-        NoTests = 0x02
-    }; };
-
-    struct ShowDurations { enum OrNot {
-        DefaultForReporter,
-        Always,
-        Never
-    }; };
-    struct RunTests { enum InWhatOrder {
-        InDeclarationOrder,
-        InLexicographicalOrder,
-        InRandomOrder
-    }; };
-    struct UseColour { enum YesOrNo {
-        Auto,
-        Yes,
-        No
-    }; };
-    struct WaitForKeypress { enum When {
-        Never,
-        BeforeStart = 1,
-        BeforeExit = 2,
-        BeforeStartAndExit = BeforeStart | BeforeExit
-    }; };
-
-    class TestSpec;
-
-    struct IConfig : NonCopyable {
-
-        virtual ~IConfig();
-
-        virtual bool allowThrows() const = 0;
-        virtual std::ostream& stream() const = 0;
-        virtual std::string name() const = 0;
-        virtual bool includeSuccessfulResults() const = 0;
-        virtual bool shouldDebugBreak() const = 0;
-        virtual bool warnAboutMissingAssertions() const = 0;
-        virtual bool warnAboutNoTests() const = 0;
-        virtual int abortAfter() const = 0;
-        virtual bool showInvisibles() const = 0;
-        virtual ShowDurations::OrNot showDurations() const = 0;
-        virtual double minDuration() const = 0;
-        virtual TestSpec const& testSpec() const = 0;
-        virtual bool hasTestFilters() const = 0;
-        virtual std::vector<std::string> const& getTestsOrTags() const = 0;
-        virtual RunTests::InWhatOrder runOrder() const = 0;
-        virtual unsigned int rngSeed() const = 0;
-        virtual UseColour::YesOrNo useColour() const = 0;
-        virtual std::vector<std::string> const& getSectionsToRun() const = 0;
-        virtual Verbosity verbosity() const = 0;
-
-        virtual bool benchmarkNoAnalysis() const = 0;
-        virtual int benchmarkSamples() const = 0;
-        virtual double benchmarkConfidenceInterval() const = 0;
-        virtual unsigned int benchmarkResamples() const = 0;
-        virtual std::chrono::milliseconds benchmarkWarmupTime() const = 0;
-    };
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-}
-
-// end catch_interfaces_config.h
-// start catch_random_number_generator.h
-
-#include <cstdint>
-
-namespace Catch {
-
-    // This is a simple implementation of C++11 Uniform Random Number
-    // Generator. It does not provide all operators, because Catch2
-    // does not use it, but it should behave as expected inside stdlib's
-    // distributions.
-    // The implementation is based on the PCG family (http://pcg-random.org)
-    class SimplePcg32 {
-        using state_type = std::uint64_t;
-    public:
-        using result_type = std::uint32_t;
-        static constexpr result_type (min)() {
-            return 0;
-        }
-        static constexpr result_type (max)() {
-            return static_cast<result_type>(-1);
-        }
-
-        // Provide some default initial state for the default constructor
-        SimplePcg32():SimplePcg32(0xed743cc4U) {}
-
-        explicit SimplePcg32(result_type seed_);
-
-        void seed(result_type seed_);
-        void discard(uint64_t skip);
-
-        result_type operator()();
-
-    private:
-        friend bool operator==(SimplePcg32 const& lhs, SimplePcg32 const& rhs);
-        friend bool operator!=(SimplePcg32 const& lhs, SimplePcg32 const& rhs);
-
-        // In theory we also need operator<< and operator>>
-        // In practice we do not use them, so we will skip them for now
-
-        std::uint64_t m_state;
-        // This part of the state determines which "stream" of the numbers
-        // is chosen -- we take it as a constant for Catch2, so we only
-        // need to deal with seeding the main state.
-        // Picked by reading 8 bytes from `/dev/random` :-)
-        static const std::uint64_t s_inc = (0x13ed0cc53f939476ULL << 1ULL) | 1ULL;
-    };
-
-} // end namespace Catch
-
-// end catch_random_number_generator.h
-#include <random>
-
-namespace Catch {
-namespace Generators {
-
-template <typename Float>
-class RandomFloatingGenerator final : public IGenerator<Float> {
-    Catch::SimplePcg32& m_rng;
-    std::uniform_real_distribution<Float> m_dist;
-    Float m_current_number;
-public:
-
-    RandomFloatingGenerator(Float a, Float b):
-        m_rng(rng()),
-        m_dist(a, b) {
-        static_cast<void>(next());
-    }
-
-    Float const& get() const override {
-        return m_current_number;
-    }
-    bool next() override {
-        m_current_number = m_dist(m_rng);
-        return true;
-    }
-};
-
-template <typename Integer>
-class RandomIntegerGenerator final : public IGenerator<Integer> {
-    Catch::SimplePcg32& m_rng;
-    std::uniform_int_distribution<Integer> m_dist;
-    Integer m_current_number;
-public:
-
-    RandomIntegerGenerator(Integer a, Integer b):
-        m_rng(rng()),
-        m_dist(a, b) {
-        static_cast<void>(next());
-    }
-
-    Integer const& get() const override {
-        return m_current_number;
-    }
-    bool next() override {
-        m_current_number = m_dist(m_rng);
-        return true;
-    }
-};
-
-// TODO: Ideally this would be also constrained against the various char types,
-//       but I don't expect users to run into that in practice.
-template <typename T>
-typename std::enable_if<std::is_integral<T>::value && !std::is_same<T, bool>::value,
-GeneratorWrapper<T>>::type
-random(T a, T b) {
-    return GeneratorWrapper<T>(
-        pf::make_unique<RandomIntegerGenerator<T>>(a, b)
-    );
-}
-
-template <typename T>
-typename std::enable_if<std::is_floating_point<T>::value,
-GeneratorWrapper<T>>::type
-random(T a, T b) {
-    return GeneratorWrapper<T>(
-        pf::make_unique<RandomFloatingGenerator<T>>(a, b)
-    );
-}
-
-template <typename T>
-class RangeGenerator final : public IGenerator<T> {
-    T m_current;
-    T m_end;
-    T m_step;
-    bool m_positive;
-
-public:
-    RangeGenerator(T const& start, T const& end, T const& step):
-        m_current(start),
-        m_end(end),
-        m_step(step),
-        m_positive(m_step > T(0))
-    {
-        assert(m_current != m_end && "Range start and end cannot be equal");
-        assert(m_step != T(0) && "Step size cannot be zero");
-        assert(((m_positive && m_current <= m_end) || (!m_positive && m_current >= m_end)) && "Step moves away from end");
-    }
-
-    RangeGenerator(T const& start, T const& end):
-        RangeGenerator(start, end, (start < end) ? T(1) : T(-1))
-    {}
-
-    T const& get() const override {
-        return m_current;
-    }
-
-    bool next() override {
-        m_current += m_step;
-        return (m_positive) ? (m_current < m_end) : (m_current > m_end);
-    }
-};
-
-template <typename T>
-GeneratorWrapper<T> range(T const& start, T const& end, T const& step) {
-    static_assert(std::is_arithmetic<T>::value && !std::is_same<T, bool>::value, "Type must be numeric");
-    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end, step));
-}
-
-template <typename T>
-GeneratorWrapper<T> range(T const& start, T const& end) {
-    static_assert(std::is_integral<T>::value && !std::is_same<T, bool>::value, "Type must be an integer");
-    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end));
-}
-
-template <typename T>
-class IteratorGenerator final : public IGenerator<T> {
-    static_assert(!std::is_same<T, bool>::value,
-        "IteratorGenerator currently does not support bools"
-        "because of std::vector<bool> specialization");
-
-    std::vector<T> m_elems;
-    size_t m_current = 0;
-public:
-    template <typename InputIterator, typename InputSentinel>
-    IteratorGenerator(InputIterator first, InputSentinel last):m_elems(first, last) {
-        if (m_elems.empty()) {
-            Catch::throw_exception(GeneratorException("IteratorGenerator received no valid values"));
-        }
-    }
-
-    T const& get() const override {
-        return m_elems[m_current];
-    }
-
-    bool next() override {
-        ++m_current;
-        return m_current != m_elems.size();
-    }
-};
-
-template <typename InputIterator,
-          typename InputSentinel,
-          typename ResultType = typename std::iterator_traits<InputIterator>::value_type>
-GeneratorWrapper<ResultType> from_range(InputIterator from, InputSentinel to) {
-    return GeneratorWrapper<ResultType>(pf::make_unique<IteratorGenerator<ResultType>>(from, to));
-}
-
-template <typename Container,
-          typename ResultType = typename Container::value_type>
-GeneratorWrapper<ResultType> from_range(Container const& cnt) {
-    return GeneratorWrapper<ResultType>(pf::make_unique<IteratorGenerator<ResultType>>(cnt.begin(), cnt.end()));
-}
-
-} // namespace Generators
-} // namespace Catch
-
-// end catch_generators_specific.hpp
-
-// These files are included here so the single_include script doesn't put them
-// in the conditionally compiled sections
-// start catch_test_case_info.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct ITestInvoker;
-
-    struct TestCaseInfo {
-        enum SpecialProperties{
-            None = 0,
-            IsHidden = 1 << 1,
-            ShouldFail = 1 << 2,
-            MayFail = 1 << 3,
-            Throws = 1 << 4,
-            NonPortable = 1 << 5,
-            Benchmark = 1 << 6
-        };
-
-        TestCaseInfo(   std::string const& _name,
-                        std::string const& _className,
-                        std::string const& _description,
-                        std::vector<std::string> const& _tags,
-                        SourceLineInfo const& _lineInfo );
-
-        friend void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags );
-
-        bool isHidden() const;
-        bool throws() const;
-        bool okToFail() const;
-        bool expectedToFail() const;
-
-        std::string tagsAsString() const;
-
-        std::string name;
-        std::string className;
-        std::string description;
-        std::vector<std::string> tags;
-        std::vector<std::string> lcaseTags;
-        SourceLineInfo lineInfo;
-        SpecialProperties properties;
-    };
-
-    class TestCase : public TestCaseInfo {
-    public:
-
-        TestCase( ITestInvoker* testCase, TestCaseInfo&& info );
-
-        TestCase withName( std::string const& _newName ) const;
-
-        void invoke() const;
-
-        TestCaseInfo const& getTestCaseInfo() const;
-
-        bool operator == ( TestCase const& other ) const;
-        bool operator < ( TestCase const& other ) const;
-
-    private:
-        std::shared_ptr<ITestInvoker> test;
-    };
-
-    TestCase makeTestCase(  ITestInvoker* testCase,
-                            std::string const& className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& lineInfo );
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_case_info.h
-// start catch_interfaces_runner.h
-
-namespace Catch {
-
-    struct IRunner {
-        virtual ~IRunner();
-        virtual bool aborting() const = 0;
-    };
-}
-
-// end catch_interfaces_runner.h
-
-#ifdef __OBJC__
-// start catch_objc.hpp
-
-#import <objc/runtime.h>
-
-#include <string>
-
-// NB. Any general catch headers included here must be included
-// in catch.hpp first to make sure they are included by the single
-// header for non obj-usage
-
-///////////////////////////////////////////////////////////////////////////////
-// This protocol is really only here for (self) documenting purposes, since
-// all its methods are optional.
-@protocol OcFixture
-
-@optional
-
--(void) setUp;
--(void) tearDown;
-
-@end
-
-namespace Catch {
-
-    class OcMethod : public ITestInvoker {
-
-    public:
-        OcMethod( Class cls, SEL sel ) : m_cls( cls ), m_sel( sel ) {}
-
-        virtual void invoke() const {
-            id obj = [[m_cls alloc] init];
-
-            performOptionalSelector( obj, @selector(setUp)  );
-            performOptionalSelector( obj, m_sel );
-            performOptionalSelector( obj, @selector(tearDown)  );
-
-            arcSafeRelease( obj );
-        }
-    private:
-        virtual ~OcMethod() {}
-
-        Class m_cls;
-        SEL m_sel;
-    };
-
-    namespace Detail{
-
-        inline std::string getAnnotation(   Class cls,
-                                            std::string const& annotationName,
-                                            std::string const& testCaseName ) {
-            NSString* selStr = [[NSString alloc] initWithFormat:@"Catch_%s_%s", annotationName.c_str(), testCaseName.c_str()];
-            SEL sel = NSSelectorFromString( selStr );
-            arcSafeRelease( selStr );
-            id value = performOptionalSelector( cls, sel );
-            if( value )
-                return [(NSString*)value UTF8String];
-            return "";
-        }
-    }
-
-    inline std::size_t registerTestMethods() {
-        std::size_t noTestMethods = 0;
-        int noClasses = objc_getClassList( nullptr, 0 );
-
-        Class* classes = (CATCH_UNSAFE_UNRETAINED Class *)malloc( sizeof(Class) * noClasses);
-        objc_getClassList( classes, noClasses );
-
-        for( int c = 0; c < noClasses; c++ ) {
-            Class cls = classes[c];
-            {
-                u_int count;
-                Method* methods = class_copyMethodList( cls, &count );
-                for( u_int m = 0; m < count ; m++ ) {
-                    SEL selector = method_getName(methods[m]);
-                    std::string methodName = sel_getName(selector);
-                    if( startsWith( methodName, "Catch_TestCase_" ) ) {
-                        std::string testCaseName = methodName.substr( 15 );
-                        std::string name = Detail::getAnnotation( cls, "Name", testCaseName );
-                        std::string desc = Detail::getAnnotation( cls, "Description", testCaseName );
-                        const char* className = class_getName( cls );
-
-                        getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), className, NameAndTags( name.c_str(), desc.c_str() ), SourceLineInfo("",0) ) );
-                        noTestMethods++;
-                    }
-                }
-                free(methods);
-            }
-        }
-        return noTestMethods;
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-
-    namespace Matchers {
-        namespace Impl {
-        namespace NSStringMatchers {
-
-            struct StringHolder : MatcherBase<NSString*>{
-                StringHolder( NSString* substr ) : m_substr( [substr copy] ){}
-                StringHolder( StringHolder const& other ) : m_substr( [other.m_substr copy] ){}
-                StringHolder() {
-                    arcSafeRelease( m_substr );
-                }
-
-                bool match( NSString* str ) const override {
-                    return false;
-                }
-
-                NSString* CATCH_ARC_STRONG m_substr;
-            };
-
-            struct Equals : StringHolder {
-                Equals( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str isEqualToString:m_substr];
-                }
-
-                std::string describe() const override {
-                    return "equals string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct Contains : StringHolder {
-                Contains( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location != NSNotFound;
-                }
-
-                std::string describe() const override {
-                    return "contains string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct StartsWith : StringHolder {
-                StartsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == 0;
-                }
-
-                std::string describe() const override {
-                    return "starts with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-            struct EndsWith : StringHolder {
-                EndsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == [str length] - [m_substr length];
-                }
-
-                std::string describe() const override {
-                    return "ends with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-        } // namespace NSStringMatchers
-        } // namespace Impl
-
-        inline Impl::NSStringMatchers::Equals
-            Equals( NSString* substr ){ return Impl::NSStringMatchers::Equals( substr ); }
-
-        inline Impl::NSStringMatchers::Contains
-            Contains( NSString* substr ){ return Impl::NSStringMatchers::Contains( substr ); }
-
-        inline Impl::NSStringMatchers::StartsWith
-            StartsWith( NSString* substr ){ return Impl::NSStringMatchers::StartsWith( substr ); }
-
-        inline Impl::NSStringMatchers::EndsWith
-            EndsWith( NSString* substr ){ return Impl::NSStringMatchers::EndsWith( substr ); }
-
-    } // namespace Matchers
-
-    using namespace Matchers;
-
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define OC_MAKE_UNIQUE_NAME( root, uniqueSuffix ) root##uniqueSuffix
-#define OC_TEST_CASE2( name, desc, uniqueSuffix ) \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Name_test_, uniqueSuffix ) \
-{ \
-return @ name; \
-} \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Description_test_, uniqueSuffix ) \
-{ \
-return @ desc; \
-} \
--(void) OC_MAKE_UNIQUE_NAME( Catch_TestCase_test_, uniqueSuffix )
-
-#define OC_TEST_CASE( name, desc ) OC_TEST_CASE2( name, desc, __LINE__ )
-
-// end catch_objc.hpp
-#endif
-
-// Benchmarking needs the externally-facing parts of reporters to work
-#if defined(CATCH_CONFIG_EXTERNAL_INTERFACES) || defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_external_interfaces.h
-
-// start catch_reporter_bases.hpp
-
-// start catch_interfaces_reporter.h
-
-// start catch_config.hpp
-
-// start catch_test_spec_parser.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_test_spec.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_wildcard_pattern.h
-
-namespace Catch
-{
-    class WildcardPattern {
-        enum WildcardPosition {
-            NoWildcard = 0,
-            WildcardAtStart = 1,
-            WildcardAtEnd = 2,
-            WildcardAtBothEnds = WildcardAtStart | WildcardAtEnd
-        };
-
-    public:
-
-        WildcardPattern( std::string const& pattern, CaseSensitive::Choice caseSensitivity );
-        virtual ~WildcardPattern() = default;
-        virtual bool matches( std::string const& str ) const;
-
-    private:
-        std::string normaliseString( std::string const& str ) const;
-        CaseSensitive::Choice m_caseSensitivity;
-        WildcardPosition m_wildcard = NoWildcard;
-        std::string m_pattern;
-    };
-}
-
-// end catch_wildcard_pattern.h
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    struct IConfig;
-
-    class TestSpec {
-        class Pattern {
-        public:
-            explicit Pattern( std::string const& name );
-            virtual ~Pattern();
-            virtual bool matches( TestCaseInfo const& testCase ) const = 0;
-            std::string const& name() const;
-        private:
-            std::string const m_name;
-        };
-        using PatternPtr = std::shared_ptr<Pattern>;
-
-        class NamePattern : public Pattern {
-        public:
-            explicit NamePattern( std::string const& name, std::string const& filterString );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            WildcardPattern m_wildcardPattern;
-        };
-
-        class TagPattern : public Pattern {
-        public:
-            explicit TagPattern( std::string const& tag, std::string const& filterString );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            std::string m_tag;
-        };
-
-        class ExcludedPattern : public Pattern {
-        public:
-            explicit ExcludedPattern( PatternPtr const& underlyingPattern );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            PatternPtr m_underlyingPattern;
-        };
-
-        struct Filter {
-            std::vector<PatternPtr> m_patterns;
-
-            bool matches( TestCaseInfo const& testCase ) const;
-            std::string name() const;
-        };
-
-    public:
-        struct FilterMatch {
-            std::string name;
-            std::vector<TestCase const*> tests;
-        };
-        using Matches = std::vector<FilterMatch>;
-        using vectorStrings = std::vector<std::string>;
-
-        bool hasFilters() const;
-        bool matches( TestCaseInfo const& testCase ) const;
-        Matches matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const;
-        const vectorStrings & getInvalidArgs() const;
-
-    private:
-        std::vector<Filter> m_filters;
-        std::vector<std::string> m_invalidArgs;
-        friend class TestSpecParser;
-    };
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec.h
-// start catch_interfaces_tag_alias_registry.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias;
-
-    struct ITagAliasRegistry {
-        virtual ~ITagAliasRegistry();
-        // Nullptr if not present
-        virtual TagAlias const* find( std::string const& alias ) const = 0;
-        virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const = 0;
-
-        static ITagAliasRegistry const& get();
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_tag_alias_registry.h
-namespace Catch {
-
-    class TestSpecParser {
-        enum Mode{ None, Name, QuotedName, Tag, EscapedName };
-        Mode m_mode = None;
-        Mode lastMode = None;
-        bool m_exclusion = false;
-        std::size_t m_pos = 0;
-        std::size_t m_realPatternPos = 0;
-        std::string m_arg;
-        std::string m_substring;
-        std::string m_patternName;
-        std::vector<std::size_t> m_escapeChars;
-        TestSpec::Filter m_currentFilter;
-        TestSpec m_testSpec;
-        ITagAliasRegistry const* m_tagAliases = nullptr;
-
-    public:
-        TestSpecParser( ITagAliasRegistry const& tagAliases );
-
-        TestSpecParser& parse( std::string const& arg );
-        TestSpec testSpec();
-
-    private:
-        bool visitChar( char c );
-        void startNewMode( Mode mode );
-        bool processNoneChar( char c );
-        void processNameChar( char c );
-        bool processOtherChar( char c );
-        void endMode();
-        void escape();
-        bool isControlChar( char c ) const;
-        void saveLastMode();
-        void revertBackToLastMode();
-        void addFilter();
-        bool separate();
-
-        // Handles common preprocessing of the pattern for name/tag patterns
-        std::string preprocessPattern();
-        // Adds the current pattern as a test name
-        void addNamePattern();
-        // Adds the current pattern as a tag
-        void addTagPattern();
-
-        inline void addCharToPattern(char c) {
-            m_substring += c;
-            m_patternName += c;
-            m_realPatternPos++;
-        }
-
-    };
-    TestSpec parseTestSpec( std::string const& arg );
-
-} // namespace Catch
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec_parser.h
-// Libstdc++ doesn't like incomplete classes for unique_ptr
-
-#include <memory>
-#include <vector>
-#include <string>
-
-#ifndef CATCH_CONFIG_CONSOLE_WIDTH
-#define CATCH_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-
-    struct IStream;
-
-    struct ConfigData {
-        bool listTests = false;
-        bool listTags = false;
-        bool listReporters = false;
-        bool listTestNamesOnly = false;
-
-        bool showSuccessfulTests = false;
-        bool shouldDebugBreak = false;
-        bool noThrow = false;
-        bool showHelp = false;
-        bool showInvisibles = false;
-        bool filenamesAsTags = false;
-        bool libIdentify = false;
-
-        int abortAfter = -1;
-        unsigned int rngSeed = 0;
-
-        bool benchmarkNoAnalysis = false;
-        unsigned int benchmarkSamples = 100;
-        double benchmarkConfidenceInterval = 0.95;
-        unsigned int benchmarkResamples = 100000;
-        std::chrono::milliseconds::rep benchmarkWarmupTime = 100;
-
-        Verbosity verbosity = Verbosity::Normal;
-        WarnAbout::What warnings = WarnAbout::Nothing;
-        ShowDurations::OrNot showDurations = ShowDurations::DefaultForReporter;
-        double minDuration = -1;
-        RunTests::InWhatOrder runOrder = RunTests::InDeclarationOrder;
-        UseColour::YesOrNo useColour = UseColour::Auto;
-        WaitForKeypress::When waitForKeypress = WaitForKeypress::Never;
-
-        std::string outputFilename;
-        std::string name;
-        std::string processName;
-#ifndef CATCH_CONFIG_DEFAULT_REPORTER
-#define CATCH_CONFIG_DEFAULT_REPORTER "console"
-#endif
-        std::string reporterName = CATCH_CONFIG_DEFAULT_REPORTER;
-#undef CATCH_CONFIG_DEFAULT_REPORTER
-
-        std::vector<std::string> testsOrTags;
-        std::vector<std::string> sectionsToRun;
-    };
-
-    class Config : public IConfig {
-    public:
-
-        Config() = default;
-        Config( ConfigData const& data );
-        virtual ~Config() = default;
-
-        std::string const& getFilename() const;
-
-        bool listTests() const;
-        bool listTestNamesOnly() const;
-        bool listTags() const;
-        bool listReporters() const;
-
-        std::string getProcessName() const;
-        std::string const& getReporterName() const;
-
-        std::vector<std::string> const& getTestsOrTags() const override;
-        std::vector<std::string> const& getSectionsToRun() const override;
-
-        TestSpec const& testSpec() const override;
-        bool hasTestFilters() const override;
-
-        bool showHelp() const;
-
-        // IConfig interface
-        bool allowThrows() const override;
-        std::ostream& stream() const override;
-        std::string name() const override;
-        bool includeSuccessfulResults() const override;
-        bool warnAboutMissingAssertions() const override;
-        bool warnAboutNoTests() const override;
-        ShowDurations::OrNot showDurations() const override;
-        double minDuration() const override;
-        RunTests::InWhatOrder runOrder() const override;
-        unsigned int rngSeed() const override;
-        UseColour::YesOrNo useColour() const override;
-        bool shouldDebugBreak() const override;
-        int abortAfter() const override;
-        bool showInvisibles() const override;
-        Verbosity verbosity() const override;
-        bool benchmarkNoAnalysis() const override;
-        int benchmarkSamples() const override;
-        double benchmarkConfidenceInterval() const override;
-        unsigned int benchmarkResamples() const override;
-        std::chrono::milliseconds benchmarkWarmupTime() const override;
-
-    private:
-
-        IStream const* openStream();
-        ConfigData m_data;
-
-        std::unique_ptr<IStream const> m_stream;
-        TestSpec m_testSpec;
-        bool m_hasTestFilters = false;
-    };
-
-} // end namespace Catch
-
-// end catch_config.hpp
-// start catch_assertionresult.h
-
-#include <string>
-
-namespace Catch {
-
-    struct AssertionResultData
-    {
-        AssertionResultData() = delete;
-
-        AssertionResultData( ResultWas::OfType _resultType, LazyExpression const& _lazyExpression );
-
-        std::string message;
-        mutable std::string reconstructedExpression;
-        LazyExpression lazyExpression;
-        ResultWas::OfType resultType;
-
-        std::string reconstructExpression() const;
-    };
-
-    class AssertionResult {
-    public:
-        AssertionResult() = delete;
-        AssertionResult( AssertionInfo const& info, AssertionResultData const& data );
-
-        bool isOk() const;
-        bool succeeded() const;
-        ResultWas::OfType getResultType() const;
-        bool hasExpression() const;
-        bool hasMessage() const;
-        std::string getExpression() const;
-        std::string getExpressionInMacro() const;
-        bool hasExpandedExpression() const;
-        std::string getExpandedExpression() const;
-        std::string getMessage() const;
-        SourceLineInfo getSourceInfo() const;
-        StringRef getTestMacroName() const;
-
-    //protected:
-        AssertionInfo m_info;
-        AssertionResultData m_resultData;
-    };
-
-} // end namespace Catch
-
-// end catch_assertionresult.h
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_estimate.hpp
-
- // Statistics estimates
-
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct Estimate {
-            Duration point;
-            Duration lower_bound;
-            Duration upper_bound;
-            double confidence_interval;
-
-            template <typename Duration2>
-            operator Estimate<Duration2>() const {
-                return { point, lower_bound, upper_bound, confidence_interval };
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_estimate.hpp
-// start catch_outlier_classification.hpp
-
-// Outlier information
-
-namespace Catch {
-    namespace Benchmark {
-        struct OutlierClassification {
-            int samples_seen = 0;
-            int low_severe = 0;     // more than 3 times IQR below Q1
-            int low_mild = 0;       // 1.5 to 3 times IQR below Q1
-            int high_mild = 0;      // 1.5 to 3 times IQR above Q3
-            int high_severe = 0;    // more than 3 times IQR above Q3
-
-            int total() const {
-                return low_severe + low_mild + high_mild + high_severe;
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_outlier_classification.hpp
-
-#include <iterator>
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-#include <string>
-#include <iosfwd>
-#include <map>
-#include <set>
-#include <memory>
-#include <algorithm>
-
-namespace Catch {
-
-    struct ReporterConfig {
-        explicit ReporterConfig( IConfigPtr const& _fullConfig );
-
-        ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream );
-
-        std::ostream& stream() const;
-        IConfigPtr fullConfig() const;
-
-    private:
-        std::ostream* m_stream;
-        IConfigPtr m_fullConfig;
-    };
-
-    struct ReporterPreferences {
-        bool shouldRedirectStdOut = false;
-        bool shouldReportAllAssertions = false;
-    };
-
-    template<typename T>
-    struct LazyStat : Option<T> {
-        LazyStat& operator=( T const& _value ) {
-            Option<T>::operator=( _value );
-            used = false;
-            return *this;
-        }
-        void reset() {
-            Option<T>::reset();
-            used = false;
-        }
-        bool used = false;
-    };
-
-    struct TestRunInfo {
-        TestRunInfo( std::string const& _name );
-        std::string name;
-    };
-    struct GroupInfo {
-        GroupInfo(  std::string const& _name,
-                    std::size_t _groupIndex,
-                    std::size_t _groupsCount );
-
-        std::string name;
-        std::size_t groupIndex;
-        std::size_t groupsCounts;
-    };
-
-    struct AssertionStats {
-        AssertionStats( AssertionResult const& _assertionResult,
-                        std::vector<MessageInfo> const& _infoMessages,
-                        Totals const& _totals );
-
-        AssertionStats( AssertionStats const& )              = default;
-        AssertionStats( AssertionStats && )                  = default;
-        AssertionStats& operator = ( AssertionStats const& ) = delete;
-        AssertionStats& operator = ( AssertionStats && )     = delete;
-        virtual ~AssertionStats();
-
-        AssertionResult assertionResult;
-        std::vector<MessageInfo> infoMessages;
-        Totals totals;
-    };
-
-    struct SectionStats {
-        SectionStats(   SectionInfo const& _sectionInfo,
-                        Counts const& _assertions,
-                        double _durationInSeconds,
-                        bool _missingAssertions );
-        SectionStats( SectionStats const& )              = default;
-        SectionStats( SectionStats && )                  = default;
-        SectionStats& operator = ( SectionStats const& ) = default;
-        SectionStats& operator = ( SectionStats && )     = default;
-        virtual ~SectionStats();
-
-        SectionInfo sectionInfo;
-        Counts assertions;
-        double durationInSeconds;
-        bool missingAssertions;
-    };
-
-    struct TestCaseStats {
-        TestCaseStats(  TestCaseInfo const& _testInfo,
-                        Totals const& _totals,
-                        std::string const& _stdOut,
-                        std::string const& _stdErr,
-                        bool _aborting );
-
-        TestCaseStats( TestCaseStats const& )              = default;
-        TestCaseStats( TestCaseStats && )                  = default;
-        TestCaseStats& operator = ( TestCaseStats const& ) = default;
-        TestCaseStats& operator = ( TestCaseStats && )     = default;
-        virtual ~TestCaseStats();
-
-        TestCaseInfo testInfo;
-        Totals totals;
-        std::string stdOut;
-        std::string stdErr;
-        bool aborting;
-    };
-
-    struct TestGroupStats {
-        TestGroupStats( GroupInfo const& _groupInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-        TestGroupStats( GroupInfo const& _groupInfo );
-
-        TestGroupStats( TestGroupStats const& )              = default;
-        TestGroupStats( TestGroupStats && )                  = default;
-        TestGroupStats& operator = ( TestGroupStats const& ) = default;
-        TestGroupStats& operator = ( TestGroupStats && )     = default;
-        virtual ~TestGroupStats();
-
-        GroupInfo groupInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-    struct TestRunStats {
-        TestRunStats(   TestRunInfo const& _runInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-
-        TestRunStats( TestRunStats const& )              = default;
-        TestRunStats( TestRunStats && )                  = default;
-        TestRunStats& operator = ( TestRunStats const& ) = default;
-        TestRunStats& operator = ( TestRunStats && )     = default;
-        virtual ~TestRunStats();
-
-        TestRunInfo runInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    struct BenchmarkInfo {
-        std::string name;
-        double estimatedDuration;
-        int iterations;
-        int samples;
-        unsigned int resamples;
-        double clockResolution;
-        double clockCost;
-    };
-
-    template <class Duration>
-    struct BenchmarkStats {
-        BenchmarkInfo info;
-
-        std::vector<Duration> samples;
-        Benchmark::Estimate<Duration> mean;
-        Benchmark::Estimate<Duration> standardDeviation;
-        Benchmark::OutlierClassification outliers;
-        double outlierVariance;
-
-        template <typename Duration2>
-        operator BenchmarkStats<Duration2>() const {
-            std::vector<Duration2> samples2;
-            samples2.reserve(samples.size());
-            std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
-            return {
-                info,
-                std::move(samples2),
-                mean,
-                standardDeviation,
-                outliers,
-                outlierVariance,
-            };
-        }
-    };
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    struct IStreamingReporter {
-        virtual ~IStreamingReporter() = default;
-
-        // Implementing class must also provide the following static methods:
-        // static std::string getDescription();
-        // static std::set<Verbosity> getSupportedVerbosities()
-
-        virtual ReporterPreferences getPreferences() const = 0;
-
-        virtual void noMatchingTestCases( std::string const& spec ) = 0;
-
-        virtual void reportInvalidArguments(std::string const&) {}
-
-        virtual void testRunStarting( TestRunInfo const& testRunInfo ) = 0;
-        virtual void testGroupStarting( GroupInfo const& groupInfo ) = 0;
-
-        virtual void testCaseStarting( TestCaseInfo const& testInfo ) = 0;
-        virtual void sectionStarting( SectionInfo const& sectionInfo ) = 0;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        virtual void benchmarkPreparing( std::string const& ) {}
-        virtual void benchmarkStarting( BenchmarkInfo const& ) {}
-        virtual void benchmarkEnded( BenchmarkStats<> const& ) {}
-        virtual void benchmarkFailed( std::string const& ) {}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        virtual void assertionStarting( AssertionInfo const& assertionInfo ) = 0;
-
-        // The return value indicates if the messages buffer should be cleared:
-        virtual bool assertionEnded( AssertionStats const& assertionStats ) = 0;
-
-        virtual void sectionEnded( SectionStats const& sectionStats ) = 0;
-        virtual void testCaseEnded( TestCaseStats const& testCaseStats ) = 0;
-        virtual void testGroupEnded( TestGroupStats const& testGroupStats ) = 0;
-        virtual void testRunEnded( TestRunStats const& testRunStats ) = 0;
-
-        virtual void skipTest( TestCaseInfo const& testInfo ) = 0;
-
-        // Default empty implementation provided
-        virtual void fatalErrorEncountered( StringRef name );
-
-        virtual bool isMulti() const;
-    };
-    using IStreamingReporterPtr = std::unique_ptr<IStreamingReporter>;
-
-    struct IReporterFactory {
-        virtual ~IReporterFactory();
-        virtual IStreamingReporterPtr create( ReporterConfig const& config ) const = 0;
-        virtual std::string getDescription() const = 0;
-    };
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IReporterRegistry {
-        using FactoryMap = std::map<std::string, IReporterFactoryPtr>;
-        using Listeners = std::vector<IReporterFactoryPtr>;
-
-        virtual ~IReporterRegistry();
-        virtual IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const = 0;
-        virtual FactoryMap const& getFactories() const = 0;
-        virtual Listeners const& getListeners() const = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_reporter.h
-#include <algorithm>
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-#include <ostream>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result);
-
-    // Returns double formatted as %.3f (format expected on output)
-    std::string getFormattedDuration( double duration );
-
-    //! Should the reporter show
-    bool shouldShowDuration( IConfig const& config, double duration );
-
-    std::string serializeFilters( std::vector<std::string> const& container );
-
-    template<typename DerivedT>
-    struct StreamingReporterBase : IStreamingReporter {
-
-        StreamingReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        ~StreamingReporterBase() override = default;
-
-        void noMatchingTestCases(std::string const&) override {}
-
-        void reportInvalidArguments(std::string const&) override {}
-
-        void testRunStarting(TestRunInfo const& _testRunInfo) override {
-            currentTestRunInfo = _testRunInfo;
-        }
-
-        void testGroupStarting(GroupInfo const& _groupInfo) override {
-            currentGroupInfo = _groupInfo;
-        }
-
-        void testCaseStarting(TestCaseInfo const& _testInfo) override  {
-            currentTestCaseInfo = _testInfo;
-        }
-        void sectionStarting(SectionInfo const& _sectionInfo) override {
-            m_sectionStack.push_back(_sectionInfo);
-        }
-
-        void sectionEnded(SectionStats const& /* _sectionStats */) override {
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& /* _testCaseStats */) override {
-            currentTestCaseInfo.reset();
-        }
-        void testGroupEnded(TestGroupStats const& /* _testGroupStats */) override {
-            currentGroupInfo.reset();
-        }
-        void testRunEnded(TestRunStats const& /* _testRunStats */) override {
-            currentTestCaseInfo.reset();
-            currentGroupInfo.reset();
-            currentTestRunInfo.reset();
-        }
-
-        void skipTest(TestCaseInfo const&) override {
-            // Don't do anything with this by default.
-            // It can optionally be overridden in the derived class.
-        }
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-
-        LazyStat<TestRunInfo> currentTestRunInfo;
-        LazyStat<GroupInfo> currentGroupInfo;
-        LazyStat<TestCaseInfo> currentTestCaseInfo;
-
-        std::vector<SectionInfo> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<typename DerivedT>
-    struct CumulativeReporterBase : IStreamingReporter {
-        template<typename T, typename ChildNodeT>
-        struct Node {
-            explicit Node( T const& _value ) : value( _value ) {}
-            virtual ~Node() {}
-
-            using ChildNodes = std::vector<std::shared_ptr<ChildNodeT>>;
-            T value;
-            ChildNodes children;
-        };
-        struct SectionNode {
-            explicit SectionNode(SectionStats const& _stats) : stats(_stats) {}
-            virtual ~SectionNode() = default;
-
-            bool operator == (SectionNode const& other) const {
-                return stats.sectionInfo.lineInfo == other.stats.sectionInfo.lineInfo;
-            }
-            bool operator == (std::shared_ptr<SectionNode> const& other) const {
-                return operator==(*other);
-            }
-
-            SectionStats stats;
-            using ChildSections = std::vector<std::shared_ptr<SectionNode>>;
-            using Assertions = std::vector<AssertionStats>;
-            ChildSections childSections;
-            Assertions assertions;
-            std::string stdOut;
-            std::string stdErr;
-        };
-
-        struct BySectionInfo {
-            BySectionInfo( SectionInfo const& other ) : m_other( other ) {}
-            BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {}
-            bool operator() (std::shared_ptr<SectionNode> const& node) const {
-                return ((node->stats.sectionInfo.name == m_other.name) &&
-                        (node->stats.sectionInfo.lineInfo == m_other.lineInfo));
-            }
-            void operator=(BySectionInfo const&) = delete;
-
-        private:
-            SectionInfo const& m_other;
-        };
-
-        using TestCaseNode = Node<TestCaseStats, SectionNode>;
-        using TestGroupNode = Node<TestGroupStats, TestCaseNode>;
-        using TestRunNode = Node<TestRunStats, TestGroupNode>;
-
-        CumulativeReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-        ~CumulativeReporterBase() override = default;
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void testRunStarting( TestRunInfo const& ) override {}
-        void testGroupStarting( GroupInfo const& ) override {}
-
-        void testCaseStarting( TestCaseInfo const& ) override {}
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            SectionStats incompleteStats( sectionInfo, Counts(), 0, false );
-            std::shared_ptr<SectionNode> node;
-            if( m_sectionStack.empty() ) {
-                if( !m_rootSection )
-                    m_rootSection = std::make_shared<SectionNode>( incompleteStats );
-                node = m_rootSection;
-            }
-            else {
-                SectionNode& parentNode = *m_sectionStack.back();
-                auto it =
-                    std::find_if(   parentNode.childSections.begin(),
-                                    parentNode.childSections.end(),
-                                    BySectionInfo( sectionInfo ) );
-                if( it == parentNode.childSections.end() ) {
-                    node = std::make_shared<SectionNode>( incompleteStats );
-                    parentNode.childSections.push_back( node );
-                }
-                else
-                    node = *it;
-            }
-            m_sectionStack.push_back( node );
-            m_deepestSection = std::move(node);
-        }
-
-        void assertionStarting(AssertionInfo const&) override {}
-
-        bool assertionEnded(AssertionStats const& assertionStats) override {
-            assert(!m_sectionStack.empty());
-            // AssertionResult holds a pointer to a temporary DecomposedExpression,
-            // which getExpandedExpression() calls to build the expression string.
-            // Our section stack copy of the assertionResult will likely outlive the
-            // temporary, so it must be expanded or discarded now to avoid calling
-            // a destroyed object later.
-            prepareExpandedExpression(const_cast<AssertionResult&>( assertionStats.assertionResult ) );
-            SectionNode& sectionNode = *m_sectionStack.back();
-            sectionNode.assertions.push_back(assertionStats);
-            return true;
-        }
-        void sectionEnded(SectionStats const& sectionStats) override {
-            assert(!m_sectionStack.empty());
-            SectionNode& node = *m_sectionStack.back();
-            node.stats = sectionStats;
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& testCaseStats) override {
-            auto node = std::make_shared<TestCaseNode>(testCaseStats);
-            assert(m_sectionStack.size() == 0);
-            node->children.push_back(m_rootSection);
-            m_testCases.push_back(node);
-            m_rootSection.reset();
-
-            assert(m_deepestSection);
-            m_deepestSection->stdOut = testCaseStats.stdOut;
-            m_deepestSection->stdErr = testCaseStats.stdErr;
-        }
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            auto node = std::make_shared<TestGroupNode>(testGroupStats);
-            node->children.swap(m_testCases);
-            m_testGroups.push_back(node);
-        }
-        void testRunEnded(TestRunStats const& testRunStats) override {
-            auto node = std::make_shared<TestRunNode>(testRunStats);
-            node->children.swap(m_testGroups);
-            m_testRuns.push_back(node);
-            testRunEndedCumulative();
-        }
-        virtual void testRunEndedCumulative() = 0;
-
-        void skipTest(TestCaseInfo const&) override {}
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-        std::vector<AssertionStats> m_assertions;
-        std::vector<std::vector<std::shared_ptr<SectionNode>>> m_sections;
-        std::vector<std::shared_ptr<TestCaseNode>> m_testCases;
-        std::vector<std::shared_ptr<TestGroupNode>> m_testGroups;
-
-        std::vector<std::shared_ptr<TestRunNode>> m_testRuns;
-
-        std::shared_ptr<SectionNode> m_rootSection;
-        std::shared_ptr<SectionNode> m_deepestSection;
-        std::vector<std::shared_ptr<SectionNode>> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<char C>
-    char const* getLineOfChars() {
-        static char line[CATCH_CONFIG_CONSOLE_WIDTH] = {0};
-        if( !*line ) {
-            std::memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 );
-            line[CATCH_CONFIG_CONSOLE_WIDTH-1] = 0;
-        }
-        return line;
-    }
-
-    struct TestEventListenerBase : StreamingReporterBase<TestEventListenerBase> {
-        TestEventListenerBase( ReporterConfig const& _config );
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-        void assertionStarting(AssertionInfo const&) override;
-        bool assertionEnded(AssertionStats const&) override;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_bases.hpp
-// start catch_console_colour.h
-
-namespace Catch {
-
-    struct Colour {
-        enum Code {
-            None = 0,
-
-            White,
-            Red,
-            Green,
-            Blue,
-            Cyan,
-            Yellow,
-            Grey,
-
-            Bright = 0x10,
-
-            BrightRed = Bright | Red,
-            BrightGreen = Bright | Green,
-            LightGrey = Bright | Grey,
-            BrightWhite = Bright | White,
-            BrightYellow = Bright | Yellow,
-
-            // By intention
-            FileName = LightGrey,
-            Warning = BrightYellow,
-            ResultError = BrightRed,
-            ResultSuccess = BrightGreen,
-            ResultExpectedFailure = Warning,
-
-            Error = BrightRed,
-            Success = Green,
-
-            OriginalExpression = Cyan,
-            ReconstructedExpression = BrightYellow,
-
-            SecondaryText = LightGrey,
-            Headers = White
-        };
-
-        // Use constructed object for RAII guard
-        Colour( Code _colourCode );
-        Colour( Colour&& other ) noexcept;
-        Colour& operator=( Colour&& other ) noexcept;
-        ~Colour();
-
-        // Use static method for one-shot changes
-        static void use( Code _colourCode );
-
-    private:
-        bool m_moved = false;
-    };
-
-    std::ostream& operator << ( std::ostream& os, Colour const& );
-
-} // end namespace Catch
-
-// end catch_console_colour.h
-// start catch_reporter_registrars.hpp
-
-
-namespace Catch {
-
-    template<typename T>
-    class ReporterRegistrar {
-
-        class ReporterFactory : public IReporterFactory {
-
-            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-
-            std::string getDescription() const override {
-                return T::getDescription();
-            }
-        };
-
-    public:
-
-        explicit ReporterRegistrar( std::string const& name ) {
-            getMutableRegistryHub().registerReporter( name, std::make_shared<ReporterFactory>() );
-        }
-    };
-
-    template<typename T>
-    class ListenerRegistrar {
-
-        class ListenerFactory : public IReporterFactory {
-
-            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-            std::string getDescription() const override {
-                return std::string();
-            }
-        };
-
-    public:
-
-        ListenerRegistrar() {
-            getMutableRegistryHub().registerListener( std::make_shared<ListenerFactory>() );
-        }
-    };
-}
-
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#define CATCH_REGISTER_REPORTER( name, reporterType ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION         \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS          \
-    namespace{ Catch::ReporterRegistrar<reporterType> catch_internal_RegistrarFor##reporterType( name ); } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-#define CATCH_REGISTER_LISTENER( listenerType ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION   \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS    \
-    namespace{ Catch::ListenerRegistrar<listenerType> catch_internal_RegistrarFor##listenerType; } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-#else // CATCH_CONFIG_DISABLE
-
-#define CATCH_REGISTER_REPORTER(name, reporterType)
-#define CATCH_REGISTER_LISTENER(listenerType)
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_reporter_registrars.hpp
-// Allow users to base their work off existing reporters
-// start catch_reporter_compact.h
-
-namespace Catch {
-
-    struct CompactReporter : StreamingReporterBase<CompactReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        ~CompactReporter() override;
-
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_compact.h
-// start catch_reporter_console.h
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    // Fwd decls
-    struct SummaryColumn;
-    class TablePrinter;
-
-    struct ConsoleReporter : StreamingReporterBase<ConsoleReporter> {
-        std::unique_ptr<TablePrinter> m_tablePrinter;
-
-        ConsoleReporter(ReporterConfig const& config);
-        ~ConsoleReporter() override;
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void reportInvalidArguments(std::string const&arg) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionStarting(SectionInfo const& _sectionInfo) override;
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting(BenchmarkInfo const& info) override;
-        void benchmarkEnded(BenchmarkStats<> const& stats) override;
-        void benchmarkFailed(std::string const& error) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void testCaseEnded(TestCaseStats const& _testCaseStats) override;
-        void testGroupEnded(TestGroupStats const& _testGroupStats) override;
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-        void testRunStarting(TestRunInfo const& _testRunInfo) override;
-    private:
-
-        void lazyPrint();
-
-        void lazyPrintWithoutClosingBenchmarkTable();
-        void lazyPrintRunInfo();
-        void lazyPrintGroupInfo();
-        void printTestCaseAndSectionHeader();
-
-        void printClosedHeader(std::string const& _name);
-        void printOpenHeader(std::string const& _name);
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        void printHeaderString(std::string const& _string, std::size_t indent = 0);
-
-        void printTotals(Totals const& totals);
-        void printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row);
-
-        void printTotalsDivider(Totals const& totals);
-        void printSummaryDivider();
-        void printTestFilters();
-
-    private:
-        bool m_headerPrinted = false;
-    };
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-// end catch_reporter_console.h
-// start catch_reporter_junit.h
-
-// start catch_xmlwriter.h
-
-#include <vector>
-
-namespace Catch {
-    enum class XmlFormatting {
-        None = 0x00,
-        Indent = 0x01,
-        Newline = 0x02,
-    };
-
-    XmlFormatting operator | (XmlFormatting lhs, XmlFormatting rhs);
-    XmlFormatting operator & (XmlFormatting lhs, XmlFormatting rhs);
-
-    class XmlEncode {
-    public:
-        enum ForWhat { ForTextNodes, ForAttributes };
-
-        XmlEncode( std::string const& str, ForWhat forWhat = ForTextNodes );
-
-        void encodeTo( std::ostream& os ) const;
-
-        friend std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode );
-
-    private:
-        std::string m_str;
-        ForWhat m_forWhat;
-    };
-
-    class XmlWriter {
-    public:
-
-        class ScopedElement {
-        public:
-            ScopedElement( XmlWriter* writer, XmlFormatting fmt );
-
-            ScopedElement( ScopedElement&& other ) noexcept;
-            ScopedElement& operator=( ScopedElement&& other ) noexcept;
-
-            ~ScopedElement();
-
-            ScopedElement& writeText( std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent );
-
-            template<typename T>
-            ScopedElement& writeAttribute( std::string const& name, T const& attribute ) {
-                m_writer->writeAttribute( name, attribute );
-                return *this;
-            }
-
-        private:
-            mutable XmlWriter* m_writer = nullptr;
-            XmlFormatting m_fmt;
-        };
-
-        XmlWriter( std::ostream& os = Catch::cout() );
-        ~XmlWriter();
-
-        XmlWriter( XmlWriter const& ) = delete;
-        XmlWriter& operator=( XmlWriter const& ) = delete;
-
-        XmlWriter& startElement( std::string const& name, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        ScopedElement scopedElement( std::string const& name, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        XmlWriter& endElement(XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        XmlWriter& writeAttribute( std::string const& name, std::string const& attribute );
-
-        XmlWriter& writeAttribute( std::string const& name, bool attribute );
-
-        template<typename T>
-        XmlWriter& writeAttribute( std::string const& name, T const& attribute ) {
-            ReusableStringStream rss;
-            rss << attribute;
-            return writeAttribute( name, rss.str() );
-        }
-
-        XmlWriter& writeText( std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        XmlWriter& writeComment(std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        void writeStylesheetRef( std::string const& url );
-
-        XmlWriter& writeBlankLine();
-
-        void ensureTagClosed();
-
-    private:
-
-        void applyFormatting(XmlFormatting fmt);
-
-        void writeDeclaration();
-
-        void newlineIfNecessary();
-
-        bool m_tagIsOpen = false;
-        bool m_needsNewline = false;
-        std::vector<std::string> m_tags;
-        std::string m_indent;
-        std::ostream& m_os;
-    };
-
-}
-
-// end catch_xmlwriter.h
-namespace Catch {
-
-    class JunitReporter : public CumulativeReporterBase<JunitReporter> {
-    public:
-        JunitReporter(ReporterConfig const& _config);
-
-        ~JunitReporter() override;
-
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& /*spec*/) override;
-
-        void testRunStarting(TestRunInfo const& runInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testCaseInfo) override;
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEndedCumulative() override;
-
-        void writeGroup(TestGroupNode const& groupNode, double suiteTime);
-
-        void writeTestCase(TestCaseNode const& testCaseNode);
-
-        void writeSection( std::string const& className,
-                           std::string const& rootName,
-                           SectionNode const& sectionNode,
-                           bool testOkToFail );
-
-        void writeAssertions(SectionNode const& sectionNode);
-        void writeAssertion(AssertionStats const& stats);
-
-        XmlWriter xml;
-        Timer suiteTimer;
-        std::string stdOutForSuite;
-        std::string stdErrForSuite;
-        unsigned int unexpectedExceptions = 0;
-        bool m_okToFail = false;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_junit.h
-// start catch_reporter_xml.h
-
-namespace Catch {
-    class XmlReporter : public StreamingReporterBase<XmlReporter> {
-    public:
-        XmlReporter(ReporterConfig const& _config);
-
-        ~XmlReporter() override;
-
-        static std::string getDescription();
-
-        virtual std::string getStylesheetRef() const;
-
-        void writeSourceInfo(SourceLineInfo const& sourceInfo);
-
-    public: // StreamingReporterBase
-
-        void noMatchingTestCases(std::string const& s) override;
-
-        void testRunStarting(TestRunInfo const& testInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testInfo) override;
-
-        void sectionStarting(SectionInfo const& sectionInfo) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void sectionEnded(SectionStats const& sectionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEnded(TestRunStats const& testRunStats) override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting(BenchmarkInfo const&) override;
-        void benchmarkEnded(BenchmarkStats<> const&) override;
-        void benchmarkFailed(std::string const&) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    private:
-        Timer m_testCaseTimer;
-        XmlWriter m_xml;
-        int m_sectionDepth = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_xml.h
-
-// end catch_external_interfaces.h
-#endif
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_benchmarking_all.hpp
-
-// A proxy header that includes all of the benchmarking headers to allow
-// concise include of the benchmarking features. You should prefer the
-// individual includes in standard use.
-
-// start catch_benchmark.hpp
-
- // Benchmark
-
-// start catch_chronometer.hpp
-
-// User-facing chronometer
-
-
-// start catch_clock.hpp
-
-// Clocks
-
-
-#include <chrono>
-#include <ratio>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Clock>
-        using ClockDuration = typename Clock::duration;
-        template <typename Clock>
-        using FloatDuration = std::chrono::duration<double, typename Clock::period>;
-
-        template <typename Clock>
-        using TimePoint = typename Clock::time_point;
-
-        using default_clock = std::chrono::steady_clock;
-
-        template <typename Clock>
-        struct now {
-            TimePoint<Clock> operator()() const {
-                return Clock::now();
-            }
-        };
-
-        using fp_seconds = std::chrono::duration<double, std::ratio<1>>;
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_clock.hpp
-// start catch_optimizer.hpp
-
- // Hinting the optimizer
-
-
-#if defined(_MSC_VER)
-#   include <atomic> // atomic_thread_fence
-#endif
-
-namespace Catch {
-    namespace Benchmark {
-#if defined(__GNUC__) || defined(__clang__)
-        template <typename T>
-        inline void keep_memory(T* p) {
-            asm volatile("" : : "g"(p) : "memory");
-        }
-        inline void keep_memory() {
-            asm volatile("" : : : "memory");
-        }
-
-        namespace Detail {
-            inline void optimizer_barrier() { keep_memory(); }
-        } // namespace Detail
-#elif defined(_MSC_VER)
-
-#pragma optimize("", off)
-        template <typename T>
-        inline void keep_memory(T* p) {
-            // thanks @milleniumbug
-            *reinterpret_cast<char volatile*>(p) = *reinterpret_cast<char const volatile*>(p);
-        }
-        // TODO equivalent keep_memory()
-#pragma optimize("", on)
-
-        namespace Detail {
-            inline void optimizer_barrier() {
-                std::atomic_thread_fence(std::memory_order_seq_cst);
-            }
-        } // namespace Detail
-
-#endif
-
-        template <typename T>
-        inline void deoptimize_value(T&& x) {
-            keep_memory(&x);
-        }
-
-        template <typename Fn, typename... Args>
-        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<!std::is_same<void, decltype(fn(args...))>::value>::type {
-            deoptimize_value(std::forward<Fn>(fn) (std::forward<Args...>(args...)));
-        }
-
-        template <typename Fn, typename... Args>
-        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<std::is_same<void, decltype(fn(args...))>::value>::type {
-            std::forward<Fn>(fn) (std::forward<Args...>(args...));
-        }
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_optimizer.hpp
-// start catch_complete_invoke.hpp
-
-// Invoke with a special case for void
-
-
-#include <type_traits>
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T>
-            struct CompleteType { using type = T; };
-            template <>
-            struct CompleteType<void> { struct type {}; };
-
-            template <typename T>
-            using CompleteType_t = typename CompleteType<T>::type;
-
-            template <typename Result>
-            struct CompleteInvoker {
-                template <typename Fun, typename... Args>
-                static Result invoke(Fun&& fun, Args&&... args) {
-                    return std::forward<Fun>(fun)(std::forward<Args>(args)...);
-                }
-            };
-            template <>
-            struct CompleteInvoker<void> {
-                template <typename Fun, typename... Args>
-                static CompleteType_t<void> invoke(Fun&& fun, Args&&... args) {
-                    std::forward<Fun>(fun)(std::forward<Args>(args)...);
-                    return {};
-                }
-            };
-
-            // invoke and not return void :(
-            template <typename Fun, typename... Args>
-            CompleteType_t<FunctionReturnType<Fun, Args...>> complete_invoke(Fun&& fun, Args&&... args) {
-                return CompleteInvoker<FunctionReturnType<Fun, Args...>>::invoke(std::forward<Fun>(fun), std::forward<Args>(args)...);
-            }
-
-            const std::string benchmarkErrorMsg = "a benchmark failed to run successfully";
-        } // namespace Detail
-
-        template <typename Fun>
-        Detail::CompleteType_t<FunctionReturnType<Fun>> user_code(Fun&& fun) {
-            CATCH_TRY{
-                return Detail::complete_invoke(std::forward<Fun>(fun));
-            } CATCH_CATCH_ALL{
-                getResultCapture().benchmarkFailed(translateActiveException());
-                CATCH_RUNTIME_ERROR(Detail::benchmarkErrorMsg);
-            }
-        }
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_complete_invoke.hpp
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            struct ChronometerConcept {
-                virtual void start() = 0;
-                virtual void finish() = 0;
-                virtual ~ChronometerConcept() = default;
-            };
-            template <typename Clock>
-            struct ChronometerModel final : public ChronometerConcept {
-                void start() override { started = Clock::now(); }
-                void finish() override { finished = Clock::now(); }
-
-                ClockDuration<Clock> elapsed() const { return finished - started; }
-
-                TimePoint<Clock> started;
-                TimePoint<Clock> finished;
-            };
-        } // namespace Detail
-
-        struct Chronometer {
-        public:
-            template <typename Fun>
-            void measure(Fun&& fun) { measure(std::forward<Fun>(fun), is_callable<Fun(int)>()); }
-
-            int runs() const { return k; }
-
-            Chronometer(Detail::ChronometerConcept& meter, int k)
-                : impl(&meter)
-                , k(k) {}
-
-        private:
-            template <typename Fun>
-            void measure(Fun&& fun, std::false_type) {
-                measure([&fun](int) { return fun(); }, std::true_type());
-            }
-
-            template <typename Fun>
-            void measure(Fun&& fun, std::true_type) {
-                Detail::optimizer_barrier();
-                impl->start();
-                for (int i = 0; i < k; ++i) invoke_deoptimized(fun, i);
-                impl->finish();
-                Detail::optimizer_barrier();
-            }
-
-            Detail::ChronometerConcept* impl;
-            int k;
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_chronometer.hpp
-// start catch_environment.hpp
-
-// Environment information
-
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct EnvironmentEstimate {
-            Duration mean;
-            OutlierClassification outliers;
-
-            template <typename Duration2>
-            operator EnvironmentEstimate<Duration2>() const {
-                return { mean, outliers };
-            }
-        };
-        template <typename Clock>
-        struct Environment {
-            using clock_type = Clock;
-            EnvironmentEstimate<FloatDuration<Clock>> clock_resolution;
-            EnvironmentEstimate<FloatDuration<Clock>> clock_cost;
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_environment.hpp
-// start catch_execution_plan.hpp
-
- // Execution plan
-
-
-// start catch_benchmark_function.hpp
-
- // Dumb std::function implementation for consistent call overhead
-
-
-#include <cassert>
-#include <type_traits>
-#include <utility>
-#include <memory>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T>
-            using Decay = typename std::decay<T>::type;
-            template <typename T, typename U>
-            struct is_related
-                : std::is_same<Decay<T>, Decay<U>> {};
-
-            /// We need to reinvent std::function because every piece of code that might add overhead
-            /// in a measurement context needs to have consistent performance characteristics so that we
-            /// can account for it in the measurement.
-            /// Implementations of std::function with optimizations that aren't always applicable, like
-            /// small buffer optimizations, are not uncommon.
-            /// This is effectively an implementation of std::function without any such optimizations;
-            /// it may be slow, but it is consistently slow.
-            struct BenchmarkFunction {
-            private:
-                struct callable {
-                    virtual void call(Chronometer meter) const = 0;
-                    virtual callable* clone() const = 0;
-                    virtual ~callable() = default;
-                };
-                template <typename Fun>
-                struct model : public callable {
-                    model(Fun&& fun) : fun(std::move(fun)) {}
-                    model(Fun const& fun) : fun(fun) {}
-
-                    model<Fun>* clone() const override { return new model<Fun>(*this); }
-
-                    void call(Chronometer meter) const override {
-                        call(meter, is_callable<Fun(Chronometer)>());
-                    }
-                    void call(Chronometer meter, std::true_type) const {
-                        fun(meter);
-                    }
-                    void call(Chronometer meter, std::false_type) const {
-                        meter.measure(fun);
-                    }
-
-                    Fun fun;
-                };
-
-                struct do_nothing { void operator()() const {} };
-
-                template <typename T>
-                BenchmarkFunction(model<T>* c) : f(c) {}
-
-            public:
-                BenchmarkFunction()
-                    : f(new model<do_nothing>{ {} }) {}
-
-                template <typename Fun,
-                    typename std::enable_if<!is_related<Fun, BenchmarkFunction>::value, int>::type = 0>
-                    BenchmarkFunction(Fun&& fun)
-                    : f(new model<typename std::decay<Fun>::type>(std::forward<Fun>(fun))) {}
-
-                BenchmarkFunction(BenchmarkFunction&& that)
-                    : f(std::move(that.f)) {}
-
-                BenchmarkFunction(BenchmarkFunction const& that)
-                    : f(that.f->clone()) {}
-
-                BenchmarkFunction& operator=(BenchmarkFunction&& that) {
-                    f = std::move(that.f);
-                    return *this;
-                }
-
-                BenchmarkFunction& operator=(BenchmarkFunction const& that) {
-                    f.reset(that.f->clone());
-                    return *this;
-                }
-
-                void operator()(Chronometer meter) const { f->call(meter); }
-
-            private:
-                std::unique_ptr<callable> f;
-            };
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_benchmark_function.hpp
-// start catch_repeat.hpp
-
-// repeat algorithm
-
-
-#include <type_traits>
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Fun>
-            struct repeater {
-                void operator()(int k) const {
-                    for (int i = 0; i < k; ++i) {
-                        fun();
-                    }
-                }
-                Fun fun;
-            };
-            template <typename Fun>
-            repeater<typename std::decay<Fun>::type> repeat(Fun&& fun) {
-                return { std::forward<Fun>(fun) };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_repeat.hpp
-// start catch_run_for_at_least.hpp
-
-// Run a function for a minimum amount of time
-
-
-// start catch_measure.hpp
-
-// Measure
-
-
-// start catch_timing.hpp
-
-// Timing
-
-
-#include <tuple>
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration, typename Result>
-        struct Timing {
-            Duration elapsed;
-            Result result;
-            int iterations;
-        };
-        template <typename Clock, typename Func, typename... Args>
-        using TimingOf = Timing<ClockDuration<Clock>, Detail::CompleteType_t<FunctionReturnType<Func, Args...>>>;
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_timing.hpp
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock, typename Fun, typename... Args>
-            TimingOf<Clock, Fun, Args...> measure(Fun&& fun, Args&&... args) {
-                auto start = Clock::now();
-                auto&& r = Detail::complete_invoke(fun, std::forward<Args>(args)...);
-                auto end = Clock::now();
-                auto delta = end - start;
-                return { delta, std::forward<decltype(r)>(r), 1 };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_measure.hpp
-#include <utility>
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun, int> measure_one(Fun&& fun, int iters, std::false_type) {
-                return Detail::measure<Clock>(fun, iters);
-            }
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun, Chronometer> measure_one(Fun&& fun, int iters, std::true_type) {
-                Detail::ChronometerModel<Clock> meter;
-                auto&& result = Detail::complete_invoke(fun, Chronometer(meter, iters));
-
-                return { meter.elapsed(), std::move(result), iters };
-            }
-
-            template <typename Clock, typename Fun>
-            using run_for_at_least_argument_t = typename std::conditional<is_callable<Fun(Chronometer)>::value, Chronometer, int>::type;
-
-            struct optimized_away_error : std::exception {
-                const char* what() const noexcept override {
-                    return "could not measure benchmark, maybe it was optimized away";
-                }
-            };
-
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun, run_for_at_least_argument_t<Clock, Fun>> run_for_at_least(ClockDuration<Clock> how_long, int seed, Fun&& fun) {
-                auto iters = seed;
-                while (iters < (1 << 30)) {
-                    auto&& Timing = measure_one<Clock>(fun, iters, is_callable<Fun(Chronometer)>());
-
-                    if (Timing.elapsed >= how_long) {
-                        return { Timing.elapsed, std::move(Timing.result), iters };
-                    }
-                    iters *= 2;
-                }
-                Catch::throw_exception(optimized_away_error{});
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_run_for_at_least.hpp
-#include <algorithm>
-#include <iterator>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct ExecutionPlan {
-            int iterations_per_sample;
-            Duration estimated_duration;
-            Detail::BenchmarkFunction benchmark;
-            Duration warmup_time;
-            int warmup_iterations;
-
-            template <typename Duration2>
-            operator ExecutionPlan<Duration2>() const {
-                return { iterations_per_sample, estimated_duration, benchmark, warmup_time, warmup_iterations };
-            }
-
-            template <typename Clock>
-            std::vector<FloatDuration<Clock>> run(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
-                // warmup a bit
-                Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_iterations, Detail::repeat(now<Clock>{}));
-
-                std::vector<FloatDuration<Clock>> times;
-                times.reserve(cfg.benchmarkSamples());
-                std::generate_n(std::back_inserter(times), cfg.benchmarkSamples(), [this, env] {
-                    Detail::ChronometerModel<Clock> model;
-                    this->benchmark(Chronometer(model, iterations_per_sample));
-                    auto sample_time = model.elapsed() - env.clock_cost.mean;
-                    if (sample_time < FloatDuration<Clock>::zero()) sample_time = FloatDuration<Clock>::zero();
-                    return sample_time / iterations_per_sample;
-                });
-                return times;
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_execution_plan.hpp
-// start catch_estimate_clock.hpp
-
- // Environment measurement
-
-
-// start catch_stats.hpp
-
-// Statistical analysis tools
-
-
-#include <algorithm>
-#include <functional>
-#include <vector>
-#include <iterator>
-#include <numeric>
-#include <tuple>
-#include <cmath>
-#include <utility>
-#include <cstddef>
-#include <random>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            using sample = std::vector<double>;
-
-            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last);
-
-            template <typename Iterator>
-            OutlierClassification classify_outliers(Iterator first, Iterator last) {
-                std::vector<double> copy(first, last);
-
-                auto q1 = weighted_average_quantile(1, 4, copy.begin(), copy.end());
-                auto q3 = weighted_average_quantile(3, 4, copy.begin(), copy.end());
-                auto iqr = q3 - q1;
-                auto los = q1 - (iqr * 3.);
-                auto lom = q1 - (iqr * 1.5);
-                auto him = q3 + (iqr * 1.5);
-                auto his = q3 + (iqr * 3.);
-
-                OutlierClassification o;
-                for (; first != last; ++first) {
-                    auto&& t = *first;
-                    if (t < los) ++o.low_severe;
-                    else if (t < lom) ++o.low_mild;
-                    else if (t > his) ++o.high_severe;
-                    else if (t > him) ++o.high_mild;
-                    ++o.samples_seen;
-                }
-                return o;
-            }
-
-            template <typename Iterator>
-            double mean(Iterator first, Iterator last) {
-                auto count = last - first;
-                double sum = std::accumulate(first, last, 0.);
-                return sum / count;
-            }
-
-            template <typename URng, typename Iterator, typename Estimator>
-            sample resample(URng& rng, int resamples, Iterator first, Iterator last, Estimator& estimator) {
-                auto n = last - first;
-                std::uniform_int_distribution<decltype(n)> dist(0, n - 1);
-
-                sample out;
-                out.reserve(resamples);
-                std::generate_n(std::back_inserter(out), resamples, [n, first, &estimator, &dist, &rng] {
-                    std::vector<double> resampled;
-                    resampled.reserve(n);
-                    std::generate_n(std::back_inserter(resampled), n, [first, &dist, &rng] { return first[dist(rng)]; });
-                    return estimator(resampled.begin(), resampled.end());
-                });
-                std::sort(out.begin(), out.end());
-                return out;
-            }
-
-            template <typename Estimator, typename Iterator>
-            sample jackknife(Estimator&& estimator, Iterator first, Iterator last) {
-                auto n = last - first;
-                auto second = std::next(first);
-                sample results;
-                results.reserve(n);
-
-                for (auto it = first; it != last; ++it) {
-                    std::iter_swap(it, first);
-                    results.push_back(estimator(second, last));
-                }
-
-                return results;
-            }
-
-            inline double normal_cdf(double x) {
-                return std::erfc(-x / std::sqrt(2.0)) / 2.0;
-            }
-
-            double erfc_inv(double x);
-
-            double normal_quantile(double p);
-
-            template <typename Iterator, typename Estimator>
-            Estimate<double> bootstrap(double confidence_level, Iterator first, Iterator last, sample const& resample, Estimator&& estimator) {
-                auto n_samples = last - first;
-
-                double point = estimator(first, last);
-                // Degenerate case with a single sample
-                if (n_samples == 1) return { point, point, point, confidence_level };
-
-                sample jack = jackknife(estimator, first, last);
-                double jack_mean = mean(jack.begin(), jack.end());
-                double sum_squares, sum_cubes;
-                std::tie(sum_squares, sum_cubes) = std::accumulate(jack.begin(), jack.end(), std::make_pair(0., 0.), [jack_mean](std::pair<double, double> sqcb, double x) -> std::pair<double, double> {
-                    auto d = jack_mean - x;
-                    auto d2 = d * d;
-                    auto d3 = d2 * d;
-                    return { sqcb.first + d2, sqcb.second + d3 };
-                });
-
-                double accel = sum_cubes / (6 * std::pow(sum_squares, 1.5));
-                int n = static_cast<int>(resample.size());
-                double prob_n = std::count_if(resample.begin(), resample.end(), [point](double x) { return x < point; }) / (double)n;
-                // degenerate case with uniform samples
-                if (prob_n == 0) return { point, point, point, confidence_level };
-
-                double bias = normal_quantile(prob_n);
-                double z1 = normal_quantile((1. - confidence_level) / 2.);
-
-                auto cumn = [n](double x) -> int {
-                    return std::lround(normal_cdf(x) * n); };
-                auto a = [bias, accel](double b) { return bias + b / (1. - accel * b); };
-                double b1 = bias + z1;
-                double b2 = bias - z1;
-                double a1 = a(b1);
-                double a2 = a(b2);
-                auto lo = (std::max)(cumn(a1), 0);
-                auto hi = (std::min)(cumn(a2), n - 1);
-
-                return { point, resample[lo], resample[hi], confidence_level };
-            }
-
-            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n);
-
-            struct bootstrap_analysis {
-                Estimate<double> mean;
-                Estimate<double> standard_deviation;
-                double outlier_variance;
-            };
-
-            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last);
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_stats.hpp
-#include <algorithm>
-#include <iterator>
-#include <tuple>
-#include <vector>
-#include <cmath>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock>
-            std::vector<double> resolution(int k) {
-                std::vector<TimePoint<Clock>> times;
-                times.reserve(k + 1);
-                std::generate_n(std::back_inserter(times), k + 1, now<Clock>{});
-
-                std::vector<double> deltas;
-                deltas.reserve(k);
-                std::transform(std::next(times.begin()), times.end(), times.begin(),
-                    std::back_inserter(deltas),
-                    [](TimePoint<Clock> a, TimePoint<Clock> b) { return static_cast<double>((a - b).count()); });
-
-                return deltas;
-            }
-
-            const auto warmup_iterations = 10000;
-            const auto warmup_time = std::chrono::milliseconds(100);
-            const auto minimum_ticks = 1000;
-            const auto warmup_seed = 10000;
-            const auto clock_resolution_estimation_time = std::chrono::milliseconds(500);
-            const auto clock_cost_estimation_time_limit = std::chrono::seconds(1);
-            const auto clock_cost_estimation_tick_limit = 100000;
-            const auto clock_cost_estimation_time = std::chrono::milliseconds(10);
-            const auto clock_cost_estimation_iterations = 10000;
-
-            template <typename Clock>
-            int warmup() {
-                return run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_seed, &resolution<Clock>)
-                    .iterations;
-            }
-            template <typename Clock>
-            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_resolution(int iterations) {
-                auto r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_resolution_estimation_time), iterations, &resolution<Clock>)
-                    .result;
-                return {
-                    FloatDuration<Clock>(mean(r.begin(), r.end())),
-                    classify_outliers(r.begin(), r.end()),
-                };
-            }
-            template <typename Clock>
-            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_cost(FloatDuration<Clock> resolution) {
-                auto time_limit = (std::min)(
-                    resolution * clock_cost_estimation_tick_limit,
-                    FloatDuration<Clock>(clock_cost_estimation_time_limit));
-                auto time_clock = [](int k) {
-                    return Detail::measure<Clock>([k] {
-                        for (int i = 0; i < k; ++i) {
-                            volatile auto ignored = Clock::now();
-                            (void)ignored;
-                        }
-                    }).elapsed;
-                };
-                time_clock(1);
-                int iters = clock_cost_estimation_iterations;
-                auto&& r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_cost_estimation_time), iters, time_clock);
-                std::vector<double> times;
-                int nsamples = static_cast<int>(std::ceil(time_limit / r.elapsed));
-                times.reserve(nsamples);
-                std::generate_n(std::back_inserter(times), nsamples, [time_clock, &r] {
-                    return static_cast<double>((time_clock(r.iterations) / r.iterations).count());
-                });
-                return {
-                    FloatDuration<Clock>(mean(times.begin(), times.end())),
-                    classify_outliers(times.begin(), times.end()),
-                };
-            }
-
-            template <typename Clock>
-            Environment<FloatDuration<Clock>> measure_environment() {
-                static Environment<FloatDuration<Clock>>* env = nullptr;
-                if (env) {
-                    return *env;
-                }
-
-                auto iters = Detail::warmup<Clock>();
-                auto resolution = Detail::estimate_clock_resolution<Clock>(iters);
-                auto cost = Detail::estimate_clock_cost<Clock>(resolution.mean);
-
-                env = new Environment<FloatDuration<Clock>>{ resolution, cost };
-                return *env;
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_estimate_clock.hpp
-// start catch_analyse.hpp
-
- // Run and analyse one benchmark
-
-
-// start catch_sample_analysis.hpp
-
-// Benchmark results
-
-
-#include <algorithm>
-#include <vector>
-#include <string>
-#include <iterator>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct SampleAnalysis {
-            std::vector<Duration> samples;
-            Estimate<Duration> mean;
-            Estimate<Duration> standard_deviation;
-            OutlierClassification outliers;
-            double outlier_variance;
-
-            template <typename Duration2>
-            operator SampleAnalysis<Duration2>() const {
-                std::vector<Duration2> samples2;
-                samples2.reserve(samples.size());
-                std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
-                return {
-                    std::move(samples2),
-                    mean,
-                    standard_deviation,
-                    outliers,
-                    outlier_variance,
-                };
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_sample_analysis.hpp
-#include <algorithm>
-#include <iterator>
-#include <vector>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Duration, typename Iterator>
-            SampleAnalysis<Duration> analyse(const IConfig &cfg, Environment<Duration>, Iterator first, Iterator last) {
-                if (!cfg.benchmarkNoAnalysis()) {
-                    std::vector<double> samples;
-                    samples.reserve(last - first);
-                    std::transform(first, last, std::back_inserter(samples), [](Duration d) { return d.count(); });
-
-                    auto analysis = Catch::Benchmark::Detail::analyse_samples(cfg.benchmarkConfidenceInterval(), cfg.benchmarkResamples(), samples.begin(), samples.end());
-                    auto outliers = Catch::Benchmark::Detail::classify_outliers(samples.begin(), samples.end());
-
-                    auto wrap_estimate = [](Estimate<double> e) {
-                        return Estimate<Duration> {
-                            Duration(e.point),
-                                Duration(e.lower_bound),
-                                Duration(e.upper_bound),
-                                e.confidence_interval,
-                        };
-                    };
-                    std::vector<Duration> samples2;
-                    samples2.reserve(samples.size());
-                    std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](double d) { return Duration(d); });
-                    return {
-                        std::move(samples2),
-                        wrap_estimate(analysis.mean),
-                        wrap_estimate(analysis.standard_deviation),
-                        outliers,
-                        analysis.outlier_variance,
-                    };
-                } else {
-                    std::vector<Duration> samples;
-                    samples.reserve(last - first);
-
-                    Duration mean = Duration(0);
-                    int i = 0;
-                    for (auto it = first; it < last; ++it, ++i) {
-                        samples.push_back(Duration(*it));
-                        mean += Duration(*it);
-                    }
-                    mean /= i;
-
-                    return {
-                        std::move(samples),
-                        Estimate<Duration>{mean, mean, mean, 0.0},
-                        Estimate<Duration>{Duration(0), Duration(0), Duration(0), 0.0},
-                        OutlierClassification{},
-                        0.0
-                    };
-                }
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_analyse.hpp
-#include <algorithm>
-#include <functional>
-#include <string>
-#include <vector>
-#include <cmath>
-
-namespace Catch {
-    namespace Benchmark {
-        struct Benchmark {
-            Benchmark(std::string &&name)
-                : name(std::move(name)) {}
-
-            template <class FUN>
-            Benchmark(std::string &&name, FUN &&func)
-                : fun(std::move(func)), name(std::move(name)) {}
-
-            template <typename Clock>
-            ExecutionPlan<FloatDuration<Clock>> prepare(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
-                auto min_time = env.clock_resolution.mean * Detail::minimum_ticks;
-                auto run_time = std::max(min_time, std::chrono::duration_cast<decltype(min_time)>(cfg.benchmarkWarmupTime()));
-                auto&& test = Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(run_time), 1, fun);
-                int new_iters = static_cast<int>(std::ceil(min_time * test.iterations / test.elapsed));
-                return { new_iters, test.elapsed / test.iterations * new_iters * cfg.benchmarkSamples(), fun, std::chrono::duration_cast<FloatDuration<Clock>>(cfg.benchmarkWarmupTime()), Detail::warmup_iterations };
-            }
-
-            template <typename Clock = default_clock>
-            void run() {
-                IConfigPtr cfg = getCurrentContext().getConfig();
-
-                auto env = Detail::measure_environment<Clock>();
-
-                getResultCapture().benchmarkPreparing(name);
-                CATCH_TRY{
-                    auto plan = user_code([&] {
-                        return prepare<Clock>(*cfg, env);
-                    });
-
-                    BenchmarkInfo info {
-                        name,
-                        plan.estimated_duration.count(),
-                        plan.iterations_per_sample,
-                        cfg->benchmarkSamples(),
-                        cfg->benchmarkResamples(),
-                        env.clock_resolution.mean.count(),
-                        env.clock_cost.mean.count()
-                    };
-
-                    getResultCapture().benchmarkStarting(info);
-
-                    auto samples = user_code([&] {
-                        return plan.template run<Clock>(*cfg, env);
-                    });
-
-                    auto analysis = Detail::analyse(*cfg, env, samples.begin(), samples.end());
-                    BenchmarkStats<FloatDuration<Clock>> stats{ info, analysis.samples, analysis.mean, analysis.standard_deviation, analysis.outliers, analysis.outlier_variance };
-                    getResultCapture().benchmarkEnded(stats);
-
-                } CATCH_CATCH_ALL{
-                    if (translateActiveException() != Detail::benchmarkErrorMsg) // benchmark errors have been reported, otherwise rethrow.
-                        std::rethrow_exception(std::current_exception());
-                }
-            }
-
-            // sets lambda to be used in fun *and* executes benchmark!
-            template <typename Fun,
-                typename std::enable_if<!Detail::is_related<Fun, Benchmark>::value, int>::type = 0>
-                Benchmark & operator=(Fun func) {
-                fun = Detail::BenchmarkFunction(func);
-                run();
-                return *this;
-            }
-
-            explicit operator bool() {
-                return true;
-            }
-
-        private:
-            Detail::BenchmarkFunction fun;
-            std::string name;
-        };
-    }
-} // namespace Catch
-
-#define INTERNAL_CATCH_GET_1_ARG(arg1, arg2, ...) arg1
-#define INTERNAL_CATCH_GET_2_ARG(arg1, arg2, ...) arg2
-
-#define INTERNAL_CATCH_BENCHMARK(BenchmarkName, name, benchmarkIndex)\
-    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
-        BenchmarkName = [&](int benchmarkIndex)
-
-#define INTERNAL_CATCH_BENCHMARK_ADVANCED(BenchmarkName, name)\
-    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
-        BenchmarkName = [&]
-
-// end catch_benchmark.hpp
-// start catch_constructor.hpp
-
-// Constructor and destructor helpers
-
-
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T, bool Destruct>
-            struct ObjectStorage
-            {
-                using TStorage = typename std::aligned_storage<sizeof(T), std::alignment_of<T>::value>::type;
-
-                ObjectStorage() : data() {}
-
-                ObjectStorage(const ObjectStorage& other)
-                {
-                    new(&data) T(other.stored_object());
-                }
-
-                ObjectStorage(ObjectStorage&& other)
-                {
-                    new(&data) T(std::move(other.stored_object()));
-                }
-
-                ~ObjectStorage() { destruct_on_exit<T>(); }
-
-                template <typename... Args>
-                void construct(Args&&... args)
-                {
-                    new (&data) T(std::forward<Args>(args)...);
-                }
-
-                template <bool AllowManualDestruction = !Destruct>
-                typename std::enable_if<AllowManualDestruction>::type destruct()
-                {
-                    stored_object().~T();
-                }
-
-            private:
-                // If this is a constructor benchmark, destruct the underlying object
-                template <typename U>
-                void destruct_on_exit(typename std::enable_if<Destruct, U>::type* = 0) { destruct<true>(); }
-                // Otherwise, don't
-                template <typename U>
-                void destruct_on_exit(typename std::enable_if<!Destruct, U>::type* = 0) { }
-
-                T& stored_object() {
-                    return *static_cast<T*>(static_cast<void*>(&data));
-                }
-
-                T const& stored_object() const {
-                    return *static_cast<T*>(static_cast<void*>(&data));
-                }
-
-                TStorage data;
-            };
-        }
-
-        template <typename T>
-        using storage_for = Detail::ObjectStorage<T, true>;
-
-        template <typename T>
-        using destructable_object = Detail::ObjectStorage<T, false>;
-    }
-}
-
-// end catch_constructor.hpp
-// end catch_benchmarking_all.hpp
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-#ifdef CATCH_IMPL
-// start catch_impl.hpp
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#endif
-
-// Keep these here for external reporters
-// start catch_test_case_tracker.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    struct NameAndLocation {
-        std::string name;
-        SourceLineInfo location;
-
-        NameAndLocation( std::string const& _name, SourceLineInfo const& _location );
-        friend bool operator==(NameAndLocation const& lhs, NameAndLocation const& rhs) {
-            return lhs.name == rhs.name
-                && lhs.location == rhs.location;
-        }
-    };
-
-    class ITracker;
-
-    using ITrackerPtr = std::shared_ptr<ITracker>;
-
-    class  ITracker {
-        NameAndLocation m_nameAndLocation;
-
-    public:
-        ITracker(NameAndLocation const& nameAndLoc) :
-            m_nameAndLocation(nameAndLoc)
-        {}
-
-        // static queries
-        NameAndLocation const& nameAndLocation() const {
-            return m_nameAndLocation;
-        }
-
-        virtual ~ITracker();
-
-        // dynamic queries
-        virtual bool isComplete() const = 0; // Successfully completed or failed
-        virtual bool isSuccessfullyCompleted() const = 0;
-        virtual bool isOpen() const = 0; // Started but not complete
-        virtual bool hasChildren() const = 0;
-        virtual bool hasStarted() const = 0;
-
-        virtual ITracker& parent() = 0;
-
-        // actions
-        virtual void close() = 0; // Successfully complete
-        virtual void fail() = 0;
-        virtual void markAsNeedingAnotherRun() = 0;
-
-        virtual void addChild( ITrackerPtr const& child ) = 0;
-        virtual ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) = 0;
-        virtual void openChild() = 0;
-
-        // Debug/ checking
-        virtual bool isSectionTracker() const = 0;
-        virtual bool isGeneratorTracker() const = 0;
-    };
-
-    class TrackerContext {
-
-        enum RunState {
-            NotStarted,
-            Executing,
-            CompletedCycle
-        };
-
-        ITrackerPtr m_rootTracker;
-        ITracker* m_currentTracker = nullptr;
-        RunState m_runState = NotStarted;
-
-    public:
-
-        ITracker& startRun();
-        void endRun();
-
-        void startCycle();
-        void completeCycle();
-
-        bool completedCycle() const;
-        ITracker& currentTracker();
-        void setCurrentTracker( ITracker* tracker );
-    };
-
-    class TrackerBase : public ITracker {
-    protected:
-        enum CycleState {
-            NotStarted,
-            Executing,
-            ExecutingChildren,
-            NeedsAnotherRun,
-            CompletedSuccessfully,
-            Failed
-        };
-
-        using Children = std::vector<ITrackerPtr>;
-        TrackerContext& m_ctx;
-        ITracker* m_parent;
-        Children m_children;
-        CycleState m_runState = NotStarted;
-
-    public:
-        TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        bool isComplete() const override;
-        bool isSuccessfullyCompleted() const override;
-        bool isOpen() const override;
-        bool hasChildren() const override;
-        bool hasStarted() const override {
-            return m_runState != NotStarted;
-        }
-
-        void addChild( ITrackerPtr const& child ) override;
-
-        ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) override;
-        ITracker& parent() override;
-
-        void openChild() override;
-
-        bool isSectionTracker() const override;
-        bool isGeneratorTracker() const override;
-
-        void open();
-
-        void close() override;
-        void fail() override;
-        void markAsNeedingAnotherRun() override;
-
-    private:
-        void moveToParent();
-        void moveToThis();
-    };
-
-    class SectionTracker : public TrackerBase {
-        std::vector<std::string> m_filters;
-        std::string m_trimmed_name;
-    public:
-        SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        bool isSectionTracker() const override;
-
-        bool isComplete() const override;
-
-        static SectionTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation );
-
-        void tryOpen();
-
-        void addInitialFilters( std::vector<std::string> const& filters );
-        void addNextFilters( std::vector<std::string> const& filters );
-        //! Returns filters active in this tracker
-        std::vector<std::string> const& getFilters() const;
-        //! Returns whitespace-trimmed name of the tracked section
-        std::string const& trimmedName() const;
-    };
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-
-} // namespace Catch
-
-// end catch_test_case_tracker.h
-
-// start catch_leak_detector.h
-
-namespace Catch {
-
-    struct LeakDetector {
-        LeakDetector();
-        ~LeakDetector();
-    };
-
-}
-// end catch_leak_detector.h
-// Cpp files will be included in the single-header file here
-// start catch_stats.cpp
-
-// Statistical analysis tools
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-
-#include <cassert>
-#include <random>
-
-#if defined(CATCH_CONFIG_USE_ASYNC)
-#include <future>
-#endif
-
-namespace {
-    double erf_inv(double x) {
-        // Code accompanying the article "Approximating the erfinv function" in GPU Computing Gems, Volume 2
-        double w, p;
-
-        w = -log((1.0 - x) * (1.0 + x));
-
-        if (w < 6.250000) {
-            w = w - 3.125000;
-            p = -3.6444120640178196996e-21;
-            p = -1.685059138182016589e-19 + p * w;
-            p = 1.2858480715256400167e-18 + p * w;
-            p = 1.115787767802518096e-17 + p * w;
-            p = -1.333171662854620906e-16 + p * w;
-            p = 2.0972767875968561637e-17 + p * w;
-            p = 6.6376381343583238325e-15 + p * w;
-            p = -4.0545662729752068639e-14 + p * w;
-            p = -8.1519341976054721522e-14 + p * w;
-            p = 2.6335093153082322977e-12 + p * w;
-            p = -1.2975133253453532498e-11 + p * w;
-            p = -5.4154120542946279317e-11 + p * w;
-            p = 1.051212273321532285e-09 + p * w;
-            p = -4.1126339803469836976e-09 + p * w;
-            p = -2.9070369957882005086e-08 + p * w;
-            p = 4.2347877827932403518e-07 + p * w;
-            p = -1.3654692000834678645e-06 + p * w;
-            p = -1.3882523362786468719e-05 + p * w;
-            p = 0.0001867342080340571352 + p * w;
-            p = -0.00074070253416626697512 + p * w;
-            p = -0.0060336708714301490533 + p * w;
-            p = 0.24015818242558961693 + p * w;
-            p = 1.6536545626831027356 + p * w;
-        } else if (w < 16.000000) {
-            w = sqrt(w) - 3.250000;
-            p = 2.2137376921775787049e-09;
-            p = 9.0756561938885390979e-08 + p * w;
-            p = -2.7517406297064545428e-07 + p * w;
-            p = 1.8239629214389227755e-08 + p * w;
-            p = 1.5027403968909827627e-06 + p * w;
-            p = -4.013867526981545969e-06 + p * w;
-            p = 2.9234449089955446044e-06 + p * w;
-            p = 1.2475304481671778723e-05 + p * w;
-            p = -4.7318229009055733981e-05 + p * w;
-            p = 6.8284851459573175448e-05 + p * w;
-            p = 2.4031110387097893999e-05 + p * w;
-            p = -0.0003550375203628474796 + p * w;
-            p = 0.00095328937973738049703 + p * w;
-            p = -0.0016882755560235047313 + p * w;
-            p = 0.0024914420961078508066 + p * w;
-            p = -0.0037512085075692412107 + p * w;
-            p = 0.005370914553590063617 + p * w;
-            p = 1.0052589676941592334 + p * w;
-            p = 3.0838856104922207635 + p * w;
-        } else {
-            w = sqrt(w) - 5.000000;
-            p = -2.7109920616438573243e-11;
-            p = -2.5556418169965252055e-10 + p * w;
-            p = 1.5076572693500548083e-09 + p * w;
-            p = -3.7894654401267369937e-09 + p * w;
-            p = 7.6157012080783393804e-09 + p * w;
-            p = -1.4960026627149240478e-08 + p * w;
-            p = 2.9147953450901080826e-08 + p * w;
-            p = -6.7711997758452339498e-08 + p * w;
-            p = 2.2900482228026654717e-07 + p * w;
-            p = -9.9298272942317002539e-07 + p * w;
-            p = 4.5260625972231537039e-06 + p * w;
-            p = -1.9681778105531670567e-05 + p * w;
-            p = 7.5995277030017761139e-05 + p * w;
-            p = -0.00021503011930044477347 + p * w;
-            p = -0.00013871931833623122026 + p * w;
-            p = 1.0103004648645343977 + p * w;
-            p = 4.8499064014085844221 + p * w;
-        }
-        return p * x;
-    }
-
-    double standard_deviation(std::vector<double>::iterator first, std::vector<double>::iterator last) {
-        auto m = Catch::Benchmark::Detail::mean(first, last);
-        double variance = std::accumulate(first, last, 0., [m](double a, double b) {
-            double diff = b - m;
-            return a + diff * diff;
-            }) / (last - first);
-            return std::sqrt(variance);
-    }
-
-}
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-
-            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last) {
-                auto count = last - first;
-                double idx = (count - 1) * k / static_cast<double>(q);
-                int j = static_cast<int>(idx);
-                double g = idx - j;
-                std::nth_element(first, first + j, last);
-                auto xj = first[j];
-                if (g == 0) return xj;
-
-                auto xj1 = *std::min_element(first + (j + 1), last);
-                return xj + g * (xj1 - xj);
-            }
-
-            double erfc_inv(double x) {
-                return erf_inv(1.0 - x);
-            }
-
-            double normal_quantile(double p) {
-                static const double ROOT_TWO = std::sqrt(2.0);
-
-                double result = 0.0;
-                assert(p >= 0 && p <= 1);
-                if (p < 0 || p > 1) {
-                    return result;
-                }
-
-                result = -erfc_inv(2.0 * p);
-                // result *= normal distribution standard deviation (1.0) * sqrt(2)
-                result *= /*sd * */ ROOT_TWO;
-                // result += normal disttribution mean (0)
-                return result;
-            }
-
-            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n) {
-                double sb = stddev.point;
-                double mn = mean.point / n;
-                double mg_min = mn / 2.;
-                double sg = (std::min)(mg_min / 4., sb / std::sqrt(n));
-                double sg2 = sg * sg;
-                double sb2 = sb * sb;
-
-                auto c_max = [n, mn, sb2, sg2](double x) -> double {
-                    double k = mn - x;
-                    double d = k * k;
-                    double nd = n * d;
-                    double k0 = -n * nd;
-                    double k1 = sb2 - n * sg2 + nd;
-                    double det = k1 * k1 - 4 * sg2 * k0;
-                    return (int)(-2. * k0 / (k1 + std::sqrt(det)));
-                };
-
-                auto var_out = [n, sb2, sg2](double c) {
-                    double nc = n - c;
-                    return (nc / n) * (sb2 - nc * sg2);
-                };
-
-                return (std::min)(var_out(1), var_out((std::min)(c_max(0.), c_max(mg_min)))) / sb2;
-            }
-
-            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last) {
-                CATCH_INTERNAL_START_WARNINGS_SUPPRESSION
-                CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-                static std::random_device entropy;
-                CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-                auto n = static_cast<int>(last - first); // seriously, one can't use integral types without hell in C++
-
-                auto mean = &Detail::mean<std::vector<double>::iterator>;
-                auto stddev = &standard_deviation;
-
-#if defined(CATCH_CONFIG_USE_ASYNC)
-                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
-                    auto seed = entropy();
-                    return std::async(std::launch::async, [=] {
-                        std::mt19937 rng(seed);
-                        auto resampled = resample(rng, n_resamples, first, last, f);
-                        return bootstrap(confidence_level, first, last, resampled, f);
-                    });
-                };
-
-                auto mean_future = Estimate(mean);
-                auto stddev_future = Estimate(stddev);
-
-                auto mean_estimate = mean_future.get();
-                auto stddev_estimate = stddev_future.get();
-#else
-                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
-                    auto seed = entropy();
-                    std::mt19937 rng(seed);
-                    auto resampled = resample(rng, n_resamples, first, last, f);
-                    return bootstrap(confidence_level, first, last, resampled, f);
-                };
-
-                auto mean_estimate = Estimate(mean);
-                auto stddev_estimate = Estimate(stddev);
-#endif // CATCH_USE_ASYNC
-
-                double outlier_variance = Detail::outlier_variance(mean_estimate, stddev_estimate, n);
-
-                return { mean_estimate, stddev_estimate, outlier_variance };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-// end catch_stats.cpp
-// start catch_approx.cpp
-
-#include <cmath>
-#include <limits>
-
-namespace {
-
-// Performs equivalent check of std::fabs(lhs - rhs) <= margin
-// But without the subtraction to allow for INFINITY in comparison
-bool marginComparison(double lhs, double rhs, double margin) {
-    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
-}
-
-}
-
-namespace Catch {
-namespace Detail {
-
-    Approx::Approx ( double value )
-    :   m_epsilon( std::numeric_limits<float>::epsilon()*100 ),
-        m_margin( 0.0 ),
-        m_scale( 0.0 ),
-        m_value( value )
-    {}
-
-    Approx Approx::custom() {
-        return Approx( 0 );
-    }
-
-    Approx Approx::operator-() const {
-        auto temp(*this);
-        temp.m_value = -temp.m_value;
-        return temp;
-    }
-
-    std::string Approx::toString() const {
-        ReusableStringStream rss;
-        rss << "Approx( " << ::Catch::Detail::stringify( m_value ) << " )";
-        return rss.str();
-    }
-
-    bool Approx::equalityComparisonImpl(const double other) const {
-        // First try with fixed margin, then compute margin based on epsilon, scale and Approx's value
-        // Thanks to Richard Harris for his help refining the scaled margin value
-        return marginComparison(m_value, other, m_margin)
-            || marginComparison(m_value, other, m_epsilon * (m_scale + std::fabs(std::isinf(m_value)? 0 : m_value)));
-    }
-
-    void Approx::setMargin(double newMargin) {
-        CATCH_ENFORCE(newMargin >= 0,
-            "Invalid Approx::margin: " << newMargin << '.'
-            << " Approx::Margin has to be non-negative.");
-        m_margin = newMargin;
-    }
-
-    void Approx::setEpsilon(double newEpsilon) {
-        CATCH_ENFORCE(newEpsilon >= 0 && newEpsilon <= 1.0,
-            "Invalid Approx::epsilon: " << newEpsilon << '.'
-            << " Approx::epsilon has to be in [0, 1]");
-        m_epsilon = newEpsilon;
-    }
-
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val) {
-        return Detail::Approx(val);
-    }
-    Detail::Approx operator "" _a(unsigned long long val) {
-        return Detail::Approx(val);
-    }
-} // end namespace literals
-
-std::string StringMaker<Catch::Detail::Approx>::convert(Catch::Detail::Approx const& value) {
-    return value.toString();
-}
-
-} // end namespace Catch
-// end catch_approx.cpp
-// start catch_assertionhandler.cpp
-
-// start catch_debugger.h
-
-namespace Catch {
-    bool isDebuggerActive();
-}
-
-#ifdef CATCH_PLATFORM_MAC
-
-    #if defined(__i386__) || defined(__x86_64__)
-        #define CATCH_TRAP() __asm__("int $3\n" : : ) /* NOLINT */
-    #elif defined(__aarch64__)
-        #define CATCH_TRAP()  __asm__(".inst 0xd4200000")
-    #endif
-
-#elif defined(CATCH_PLATFORM_IPHONE)
-
-    // use inline assembler
-    #if defined(__i386__) || defined(__x86_64__)
-        #define CATCH_TRAP()  __asm__("int $3")
-    #elif defined(__aarch64__)
-        #define CATCH_TRAP()  __asm__(".inst 0xd4200000")
-    #elif defined(__arm__) && !defined(__thumb__)
-        #define CATCH_TRAP()  __asm__(".inst 0xe7f001f0")
-    #elif defined(__arm__) &&  defined(__thumb__)
-        #define CATCH_TRAP()  __asm__(".inst 0xde01")
-    #endif
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    // If we can use inline assembler, do it because this allows us to break
-    // directly at the location of the failing check instead of breaking inside
-    // raise() called from it, i.e. one stack frame below.
-    #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64))
-        #define CATCH_TRAP() asm volatile ("int $3") /* NOLINT */
-    #else // Fall back to the generic way.
-        #include <signal.h>
-
-        #define CATCH_TRAP() raise(SIGTRAP)
-    #endif
-#elif defined(_MSC_VER)
-    #define CATCH_TRAP() __debugbreak()
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) void __stdcall DebugBreak();
-    #define CATCH_TRAP() DebugBreak()
-#endif
-
-#ifndef CATCH_BREAK_INTO_DEBUGGER
-    #ifdef CATCH_TRAP
-        #define CATCH_BREAK_INTO_DEBUGGER() []{ if( Catch::isDebuggerActive() ) { CATCH_TRAP(); } }()
-    #else
-        #define CATCH_BREAK_INTO_DEBUGGER() []{}()
-    #endif
-#endif
-
-// end catch_debugger.h
-// start catch_run_context.h
-
-// start catch_fatal_condition.h
-
-#include <cassert>
-
-namespace Catch {
-
-    // Wrapper for platform-specific fatal error (signals/SEH) handlers
-    //
-    // Tries to be cooperative with other handlers, and not step over
-    // other handlers. This means that unknown structured exceptions
-    // are passed on, previous signal handlers are called, and so on.
-    //
-    // Can only be instantiated once, and assumes that once a signal
-    // is caught, the binary will end up terminating. Thus, there
-    class FatalConditionHandler {
-        bool m_started = false;
-
-        // Install/disengage implementation for specific platform.
-        // Should be if-defed to work on current platform, can assume
-        // engage-disengage 1:1 pairing.
-        void engage_platform();
-        void disengage_platform();
-    public:
-        // Should also have platform-specific implementations as needed
-        FatalConditionHandler();
-        ~FatalConditionHandler();
-
-        void engage() {
-            assert(!m_started && "Handler cannot be installed twice.");
-            m_started = true;
-            engage_platform();
-        }
-
-        void disengage() {
-            assert(m_started && "Handler cannot be uninstalled without being installed first");
-            m_started = false;
-            disengage_platform();
-        }
-    };
-
-    //! Simple RAII guard for (dis)engaging the FatalConditionHandler
-    class FatalConditionHandlerGuard {
-        FatalConditionHandler* m_handler;
-    public:
-        FatalConditionHandlerGuard(FatalConditionHandler* handler):
-            m_handler(handler) {
-            m_handler->engage();
-        }
-        ~FatalConditionHandlerGuard() {
-            m_handler->disengage();
-        }
-    };
-
-} // end namespace Catch
-
-// end catch_fatal_condition.h
-#include <string>
-
-namespace Catch {
-
-    struct IMutableContext;
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class RunContext : public IResultCapture, public IRunner {
-
-    public:
-        RunContext( RunContext const& ) = delete;
-        RunContext& operator =( RunContext const& ) = delete;
-
-        explicit RunContext( IConfigPtr const& _config, IStreamingReporterPtr&& reporter );
-
-        ~RunContext() override;
-
-        void testGroupStarting( std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount );
-        void testGroupEnded( std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount );
-
-        Totals runTest(TestCase const& testCase);
-
-        IConfigPtr config() const;
-        IStreamingReporter& reporter() const;
-
-    public: // IResultCapture
-
-        // Assertion handlers
-        void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) override;
-        void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) override;
-        void handleIncomplete
-                (   AssertionInfo const& info ) override;
-        void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) override;
-
-        bool sectionStarted( SectionInfo const& sectionInfo, Counts& assertions ) override;
-
-        void sectionEnded( SectionEndInfo const& endInfo ) override;
-        void sectionEndedEarly( SectionEndInfo const& endInfo ) override;
-
-        auto acquireGeneratorTracker( StringRef generatorName, SourceLineInfo const& lineInfo ) -> IGeneratorTracker& override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing( std::string const& name ) override;
-        void benchmarkStarting( BenchmarkInfo const& info ) override;
-        void benchmarkEnded( BenchmarkStats<> const& stats ) override;
-        void benchmarkFailed( std::string const& error ) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void pushScopedMessage( MessageInfo const& message ) override;
-        void popScopedMessage( MessageInfo const& message ) override;
-
-        void emplaceUnscopedMessage( MessageBuilder const& builder ) override;
-
-        std::string getCurrentTestName() const override;
-
-        const AssertionResult* getLastResult() const override;
-
-        void exceptionEarlyReported() override;
-
-        void handleFatalErrorCondition( StringRef message ) override;
-
-        bool lastAssertionPassed() override;
-
-        void assertionPassed() override;
-
-    public:
-        // !TBD We need to do this another way!
-        bool aborting() const final;
-
-    private:
-
-        void runCurrentTest( std::string& redirectedCout, std::string& redirectedCerr );
-        void invokeActiveTestCase();
-
-        void resetAssertionInfo();
-        bool testForMissingAssertions( Counts& assertions );
-
-        void assertionEnded( AssertionResult const& result );
-        void reportExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    ITransientExpression const *expr,
-                    bool negated );
-
-        void populateReaction( AssertionReaction& reaction );
-
-    private:
-
-        void handleUnfinishedSections();
-
-        TestRunInfo m_runInfo;
-        IMutableContext& m_context;
-        TestCase const* m_activeTestCase = nullptr;
-        ITracker* m_testCaseTracker = nullptr;
-        Option<AssertionResult> m_lastResult;
-
-        IConfigPtr m_config;
-        Totals m_totals;
-        IStreamingReporterPtr m_reporter;
-        std::vector<MessageInfo> m_messages;
-        std::vector<ScopedMessage> m_messageScopes; /* Keeps owners of so-called unscoped messages. */
-        AssertionInfo m_lastAssertionInfo;
-        std::vector<SectionEndInfo> m_unfinishedSections;
-        std::vector<ITracker*> m_activeSections;
-        TrackerContext m_trackerContext;
-        FatalConditionHandler m_fatalConditionhandler;
-        bool m_lastAssertionPassed = false;
-        bool m_shouldReportUnexpected = true;
-        bool m_includeSuccessfulResults;
-    };
-
-    void seedRng(IConfig const& config);
-    unsigned int rngSeed();
-} // end namespace Catch
-
-// end catch_run_context.h
-namespace Catch {
-
-    namespace {
-        auto operator <<( std::ostream& os, ITransientExpression const& expr ) -> std::ostream& {
-            expr.streamReconstructedExpression( os );
-            return os;
-        }
-    }
-
-    LazyExpression::LazyExpression( bool isNegated )
-    :   m_isNegated( isNegated )
-    {}
-
-    LazyExpression::LazyExpression( LazyExpression const& other ) : m_isNegated( other.m_isNegated ) {}
-
-    LazyExpression::operator bool() const {
-        return m_transientExpression != nullptr;
-    }
-
-    auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream& {
-        if( lazyExpr.m_isNegated )
-            os << "!";
-
-        if( lazyExpr ) {
-            if( lazyExpr.m_isNegated && lazyExpr.m_transientExpression->isBinaryExpression() )
-                os << "(" << *lazyExpr.m_transientExpression << ")";
-            else
-                os << *lazyExpr.m_transientExpression;
-        }
-        else {
-            os << "{** error - unchecked empty expression requested **}";
-        }
-        return os;
-    }
-
-    AssertionHandler::AssertionHandler
-        (   StringRef const& macroName,
-            SourceLineInfo const& lineInfo,
-            StringRef capturedExpression,
-            ResultDisposition::Flags resultDisposition )
-    :   m_assertionInfo{ macroName, lineInfo, capturedExpression, resultDisposition },
-        m_resultCapture( getResultCapture() )
-    {}
-
-    void AssertionHandler::handleExpr( ITransientExpression const& expr ) {
-        m_resultCapture.handleExpr( m_assertionInfo, expr, m_reaction );
-    }
-    void AssertionHandler::handleMessage(ResultWas::OfType resultType, StringRef const& message) {
-        m_resultCapture.handleMessage( m_assertionInfo, resultType, message, m_reaction );
-    }
-
-    auto AssertionHandler::allowThrows() const -> bool {
-        return getCurrentContext().getConfig()->allowThrows();
-    }
-
-    void AssertionHandler::complete() {
-        setCompleted();
-        if( m_reaction.shouldDebugBreak ) {
-
-            // If you find your debugger stopping you here then go one level up on the
-            // call-stack for the code that caused it (typically a failed assertion)
-
-            // (To go back to the test and change execution, jump over the throw, next)
-            CATCH_BREAK_INTO_DEBUGGER();
-        }
-        if (m_reaction.shouldThrow) {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-            throw Catch::TestFailureException();
-#else
-            CATCH_ERROR( "Test failure requires aborting test!" );
-#endif
-        }
-    }
-    void AssertionHandler::setCompleted() {
-        m_completed = true;
-    }
-
-    void AssertionHandler::handleUnexpectedInflightException() {
-        m_resultCapture.handleUnexpectedInflightException( m_assertionInfo, Catch::translateActiveException(), m_reaction );
-    }
-
-    void AssertionHandler::handleExceptionThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-    void AssertionHandler::handleExceptionNotThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    void AssertionHandler::handleUnexpectedExceptionNotThrown() {
-        m_resultCapture.handleUnexpectedExceptionNotThrown( m_assertionInfo, m_reaction );
-    }
-
-    void AssertionHandler::handleThrowingCallSkipped() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    // This is the overload that takes a string and infers the Equals matcher from it
-    // The more general overload, that takes any string matcher, is in catch_capture_matchers.cpp
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString  ) {
-        handleExceptionMatchExpr( handler, Matchers::Equals( str ), matcherString );
-    }
-
-} // namespace Catch
-// end catch_assertionhandler.cpp
-// start catch_assertionresult.cpp
-
-namespace Catch {
-    AssertionResultData::AssertionResultData(ResultWas::OfType _resultType, LazyExpression const & _lazyExpression):
-        lazyExpression(_lazyExpression),
-        resultType(_resultType) {}
-
-    std::string AssertionResultData::reconstructExpression() const {
-
-        if( reconstructedExpression.empty() ) {
-            if( lazyExpression ) {
-                ReusableStringStream rss;
-                rss << lazyExpression;
-                reconstructedExpression = rss.str();
-            }
-        }
-        return reconstructedExpression;
-    }
-
-    AssertionResult::AssertionResult( AssertionInfo const& info, AssertionResultData const& data )
-    :   m_info( info ),
-        m_resultData( data )
-    {}
-
-    // Result was a success
-    bool AssertionResult::succeeded() const {
-        return Catch::isOk( m_resultData.resultType );
-    }
-
-    // Result was a success, or failure is suppressed
-    bool AssertionResult::isOk() const {
-        return Catch::isOk( m_resultData.resultType ) || shouldSuppressFailure( m_info.resultDisposition );
-    }
-
-    ResultWas::OfType AssertionResult::getResultType() const {
-        return m_resultData.resultType;
-    }
-
-    bool AssertionResult::hasExpression() const {
-        return !m_info.capturedExpression.empty();
-    }
-
-    bool AssertionResult::hasMessage() const {
-        return !m_resultData.message.empty();
-    }
-
-    std::string AssertionResult::getExpression() const {
-        // Possibly overallocating by 3 characters should be basically free
-        std::string expr; expr.reserve(m_info.capturedExpression.size() + 3);
-        if (isFalseTest(m_info.resultDisposition)) {
-            expr += "!(";
-        }
-        expr += m_info.capturedExpression;
-        if (isFalseTest(m_info.resultDisposition)) {
-            expr += ')';
-        }
-        return expr;
-    }
-
-    std::string AssertionResult::getExpressionInMacro() const {
-        std::string expr;
-        if( m_info.macroName.empty() )
-            expr = static_cast<std::string>(m_info.capturedExpression);
-        else {
-            expr.reserve( m_info.macroName.size() + m_info.capturedExpression.size() + 4 );
-            expr += m_info.macroName;
-            expr += "( ";
-            expr += m_info.capturedExpression;
-            expr += " )";
-        }
-        return expr;
-    }
-
-    bool AssertionResult::hasExpandedExpression() const {
-        return hasExpression() && getExpandedExpression() != getExpression();
-    }
-
-    std::string AssertionResult::getExpandedExpression() const {
-        std::string expr = m_resultData.reconstructExpression();
-        return expr.empty()
-                ? getExpression()
-                : expr;
-    }
-
-    std::string AssertionResult::getMessage() const {
-        return m_resultData.message;
-    }
-    SourceLineInfo AssertionResult::getSourceInfo() const {
-        return m_info.lineInfo;
-    }
-
-    StringRef AssertionResult::getTestMacroName() const {
-        return m_info.macroName;
-    }
-
-} // end namespace Catch
-// end catch_assertionresult.cpp
-// start catch_capture_matchers.cpp
-
-namespace Catch {
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    // This is the general overload that takes a any string matcher
-    // There is another overload, in catch_assertionhandler.h/.cpp, that only takes a string and infers
-    // the Equals matcher (so the header does not mention matchers)
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  ) {
-        std::string exceptionMessage = Catch::translateActiveException();
-        MatchExpr<std::string, StringMatcher const&> expr( exceptionMessage, matcher, matcherString );
-        handler.handleExpr( expr );
-    }
-
-} // namespace Catch
-// end catch_capture_matchers.cpp
-// start catch_commandline.cpp
-
-// start catch_commandline.h
-
-// start catch_clara.h
-
-// Use Catch's value for console width (store Clara's off to the side, if present)
-#ifdef CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#undef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#endif
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CONFIG_CONSOLE_WIDTH-1
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#pragma clang diagnostic ignored "-Wexit-time-destructors"
-#pragma clang diagnostic ignored "-Wshadow"
-#endif
-
-// start clara.hpp
-// Copyright 2017 Two Blue Cubes Ltd. All rights reserved.
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// See https://github.com/philsquared/Clara for more details
-
-// Clara v1.1.5
-
-
-#ifndef CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-#ifndef CLARA_CONFIG_OPTIONAL_TYPE
-#ifdef __has_include
-#if __has_include(<optional>) && __cplusplus >= 201703L
-#include <optional>
-#define CLARA_CONFIG_OPTIONAL_TYPE std::optional
-#endif
-#endif
-#endif
-
-// ----------- #included from clara_textflow.hpp -----------
-
-// TextFlowCpp
-//
-// A single-header library for wrapping and laying out basic text, by Phil Nash
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// This project is hosted at https://github.com/philsquared/textflowcpp
-
-
-#include <cassert>
-#include <ostream>
-#include <sstream>
-#include <vector>
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-namespace clara {
-namespace TextFlow {
-
-inline auto isWhitespace(char c) -> bool {
-	static std::string chars = " \t\n\r";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableBefore(char c) -> bool {
-	static std::string chars = "[({<|";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableAfter(char c) -> bool {
-	static std::string chars = "])}>.,:;*+-=&/\\";
-	return chars.find(c) != std::string::npos;
-}
-
-class Columns;
-
-class Column {
-	std::vector<std::string> m_strings;
-	size_t m_width = CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH;
-	size_t m_indent = 0;
-	size_t m_initialIndent = std::string::npos;
-
-public:
-	class iterator {
-		friend Column;
-
-		Column const& m_column;
-		size_t m_stringIndex = 0;
-		size_t m_pos = 0;
-
-		size_t m_len = 0;
-		size_t m_end = 0;
-		bool m_suffix = false;
-
-		iterator(Column const& column, size_t stringIndex)
-			: m_column(column),
-			m_stringIndex(stringIndex) {}
-
-		auto line() const -> std::string const& { return m_column.m_strings[m_stringIndex]; }
-
-		auto isBoundary(size_t at) const -> bool {
-			assert(at > 0);
-			assert(at <= line().size());
-
-			return at == line().size() ||
-				(isWhitespace(line()[at]) && !isWhitespace(line()[at - 1])) ||
-				isBreakableBefore(line()[at]) ||
-				isBreakableAfter(line()[at - 1]);
-		}
-
-		void calcLength() {
-			assert(m_stringIndex < m_column.m_strings.size());
-
-			m_suffix = false;
-			auto width = m_column.m_width - indent();
-			m_end = m_pos;
-			if (line()[m_pos] == '\n') {
-				++m_end;
-			}
-			while (m_end < line().size() && line()[m_end] != '\n')
-				++m_end;
-
-			if (m_end < m_pos + width) {
-				m_len = m_end - m_pos;
-			} else {
-				size_t len = width;
-				while (len > 0 && !isBoundary(m_pos + len))
-					--len;
-				while (len > 0 && isWhitespace(line()[m_pos + len - 1]))
-					--len;
-
-				if (len > 0) {
-					m_len = len;
-				} else {
-					m_suffix = true;
-					m_len = width - 1;
-				}
-			}
-		}
-
-		auto indent() const -> size_t {
-			auto initial = m_pos == 0 && m_stringIndex == 0 ? m_column.m_initialIndent : std::string::npos;
-			return initial == std::string::npos ? m_column.m_indent : initial;
-		}
-
-		auto addIndentAndSuffix(std::string const &plain) const -> std::string {
-			return std::string(indent(), ' ') + (m_suffix ? plain + "-" : plain);
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Column const& column) : m_column(column) {
-			assert(m_column.m_width > m_column.m_indent);
-			assert(m_column.m_initialIndent == std::string::npos || m_column.m_width > m_column.m_initialIndent);
-			calcLength();
-			if (m_len == 0)
-				m_stringIndex++; // Empty string
-		}
-
-		auto operator *() const -> std::string {
-			assert(m_stringIndex < m_column.m_strings.size());
-			assert(m_pos <= m_end);
-			return addIndentAndSuffix(line().substr(m_pos, m_len));
-		}
-
-		auto operator ++() -> iterator& {
-			m_pos += m_len;
-			if (m_pos < line().size() && line()[m_pos] == '\n')
-				m_pos += 1;
-			else
-				while (m_pos < line().size() && isWhitespace(line()[m_pos]))
-					++m_pos;
-
-			if (m_pos == line().size()) {
-				m_pos = 0;
-				++m_stringIndex;
-			}
-			if (m_stringIndex < m_column.m_strings.size())
-				calcLength();
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return
-				m_pos == other.m_pos &&
-				m_stringIndex == other.m_stringIndex &&
-				&m_column == &other.m_column;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return !operator==(other);
-		}
-	};
-	using const_iterator = iterator;
-
-	explicit Column(std::string const& text) { m_strings.push_back(text); }
-
-	auto width(size_t newWidth) -> Column& {
-		assert(newWidth > 0);
-		m_width = newWidth;
-		return *this;
-	}
-	auto indent(size_t newIndent) -> Column& {
-		m_indent = newIndent;
-		return *this;
-	}
-	auto initialIndent(size_t newIndent) -> Column& {
-		m_initialIndent = newIndent;
-		return *this;
-	}
-
-	auto width() const -> size_t { return m_width; }
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, m_strings.size() }; }
-
-	inline friend std::ostream& operator << (std::ostream& os, Column const& col) {
-		bool first = true;
-		for (auto line : col) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto operator + (Column const& other)->Columns;
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-class Spacer : public Column {
-
-public:
-	explicit Spacer(size_t spaceWidth) : Column("") {
-		width(spaceWidth);
-	}
-};
-
-class Columns {
-	std::vector<Column> m_columns;
-
-public:
-
-	class iterator {
-		friend Columns;
-		struct EndTag {};
-
-		std::vector<Column> const& m_columns;
-		std::vector<Column::iterator> m_iterators;
-		size_t m_activeIterators;
-
-		iterator(Columns const& columns, EndTag)
-			: m_columns(columns.m_columns),
-			m_activeIterators(0) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.end());
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Columns const& columns)
-			: m_columns(columns.m_columns),
-			m_activeIterators(m_columns.size()) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.begin());
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return m_iterators == other.m_iterators;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return m_iterators != other.m_iterators;
-		}
-		auto operator *() const -> std::string {
-			std::string row, padding;
-
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				auto width = m_columns[i].width();
-				if (m_iterators[i] != m_columns[i].end()) {
-					std::string col = *m_iterators[i];
-					row += padding + col;
-					if (col.size() < width)
-						padding = std::string(width - col.size(), ' ');
-					else
-						padding = "";
-				} else {
-					padding += std::string(width, ' ');
-				}
-			}
-			return row;
-		}
-		auto operator ++() -> iterator& {
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				if (m_iterators[i] != m_columns[i].end())
-					++m_iterators[i];
-			}
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-	};
-	using const_iterator = iterator;
-
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, iterator::EndTag() }; }
-
-	auto operator += (Column const& col) -> Columns& {
-		m_columns.push_back(col);
-		return *this;
-	}
-	auto operator + (Column const& col) -> Columns {
-		Columns combined = *this;
-		combined += col;
-		return combined;
-	}
-
-	inline friend std::ostream& operator << (std::ostream& os, Columns const& cols) {
-
-		bool first = true;
-		for (auto line : cols) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-inline auto Column::operator + (Column const& other) -> Columns {
-	Columns cols;
-	cols += *this;
-	cols += other;
-	return cols;
-}
-}
-
-}
-}
-
-// ----------- end of #include from clara_textflow.hpp -----------
-// ........... back in clara.hpp
-
-#include <cctype>
-#include <string>
-#include <memory>
-#include <set>
-#include <algorithm>
-
-#if !defined(CATCH_PLATFORM_WINDOWS) && ( defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) )
-#define CATCH_PLATFORM_WINDOWS
-#endif
-
-namespace Catch { namespace clara {
-namespace detail {
-
-    // Traits for extracting arg and return type of lambdas (for single argument lambdas)
-    template<typename L>
-    struct UnaryLambdaTraits : UnaryLambdaTraits<decltype( &L::operator() )> {};
-
-    template<typename ClassT, typename ReturnT, typename... Args>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( Args... ) const> {
-        static const bool isValid = false;
-    };
-
-    template<typename ClassT, typename ReturnT, typename ArgT>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( ArgT ) const> {
-        static const bool isValid = true;
-        using ArgType = typename std::remove_const<typename std::remove_reference<ArgT>::type>::type;
-        using ReturnType = ReturnT;
-    };
-
-    class TokenStream;
-
-    // Transport for raw args (copied from main args, or supplied via init list for testing)
-    class Args {
-        friend TokenStream;
-        std::string m_exeName;
-        std::vector<std::string> m_args;
-
-    public:
-        Args( int argc, char const* const* argv )
-            : m_exeName(argv[0]),
-              m_args(argv + 1, argv + argc) {}
-
-        Args( std::initializer_list<std::string> args )
-        :   m_exeName( *args.begin() ),
-            m_args( args.begin()+1, args.end() )
-        {}
-
-        auto exeName() const -> std::string {
-            return m_exeName;
-        }
-    };
-
-    // Wraps a token coming from a token stream. These may not directly correspond to strings as a single string
-    // may encode an option + its argument if the : or = form is used
-    enum class TokenType {
-        Option, Argument
-    };
-    struct Token {
-        TokenType type;
-        std::string token;
-    };
-
-    inline auto isOptPrefix( char c ) -> bool {
-        return c == '-'
-#ifdef CATCH_PLATFORM_WINDOWS
-            || c == '/'
-#endif
-        ;
-    }
-
-    // Abstracts iterators into args as a stream of tokens, with option arguments uniformly handled
-    class TokenStream {
-        using Iterator = std::vector<std::string>::const_iterator;
-        Iterator it;
-        Iterator itEnd;
-        std::vector<Token> m_tokenBuffer;
-
-        void loadBuffer() {
-            m_tokenBuffer.resize( 0 );
-
-            // Skip any empty strings
-            while( it != itEnd && it->empty() )
-                ++it;
-
-            if( it != itEnd ) {
-                auto const &next = *it;
-                if( isOptPrefix( next[0] ) ) {
-                    auto delimiterPos = next.find_first_of( " :=" );
-                    if( delimiterPos != std::string::npos ) {
-                        m_tokenBuffer.push_back( { TokenType::Option, next.substr( 0, delimiterPos ) } );
-                        m_tokenBuffer.push_back( { TokenType::Argument, next.substr( delimiterPos + 1 ) } );
-                    } else {
-                        if( next[1] != '-' && next.size() > 2 ) {
-                            std::string opt = "- ";
-                            for( size_t i = 1; i < next.size(); ++i ) {
-                                opt[1] = next[i];
-                                m_tokenBuffer.push_back( { TokenType::Option, opt } );
-                            }
-                        } else {
-                            m_tokenBuffer.push_back( { TokenType::Option, next } );
-                        }
-                    }
-                } else {
-                    m_tokenBuffer.push_back( { TokenType::Argument, next } );
-                }
-            }
-        }
-
-    public:
-        explicit TokenStream( Args const &args ) : TokenStream( args.m_args.begin(), args.m_args.end() ) {}
-
-        TokenStream( Iterator it, Iterator itEnd ) : it( it ), itEnd( itEnd ) {
-            loadBuffer();
-        }
-
-        explicit operator bool() const {
-            return !m_tokenBuffer.empty() || it != itEnd;
-        }
-
-        auto count() const -> size_t { return m_tokenBuffer.size() + (itEnd - it); }
-
-        auto operator*() const -> Token {
-            assert( !m_tokenBuffer.empty() );
-            return m_tokenBuffer.front();
-        }
-
-        auto operator->() const -> Token const * {
-            assert( !m_tokenBuffer.empty() );
-            return &m_tokenBuffer.front();
-        }
-
-        auto operator++() -> TokenStream & {
-            if( m_tokenBuffer.size() >= 2 ) {
-                m_tokenBuffer.erase( m_tokenBuffer.begin() );
-            } else {
-                if( it != itEnd )
-                    ++it;
-                loadBuffer();
-            }
-            return *this;
-        }
-    };
-
-    class ResultBase {
-    public:
-        enum Type {
-            Ok, LogicError, RuntimeError
-        };
-
-    protected:
-        ResultBase( Type type ) : m_type( type ) {}
-        virtual ~ResultBase() = default;
-
-        virtual void enforceOk() const = 0;
-
-        Type m_type;
-    };
-
-    template<typename T>
-    class ResultValueBase : public ResultBase {
-    public:
-        auto value() const -> T const & {
-            enforceOk();
-            return m_value;
-        }
-
-    protected:
-        ResultValueBase( Type type ) : ResultBase( type ) {}
-
-        ResultValueBase( ResultValueBase const &other ) : ResultBase( other ) {
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-        }
-
-        ResultValueBase( Type, T const &value ) : ResultBase( Ok ) {
-            new( &m_value ) T( value );
-        }
-
-        auto operator=( ResultValueBase const &other ) -> ResultValueBase & {
-            if( m_type == ResultBase::Ok )
-                m_value.~T();
-            ResultBase::operator=(other);
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-            return *this;
-        }
-
-        ~ResultValueBase() override {
-            if( m_type == Ok )
-                m_value.~T();
-        }
-
-        union {
-            T m_value;
-        };
-    };
-
-    template<>
-    class ResultValueBase<void> : public ResultBase {
-    protected:
-        using ResultBase::ResultBase;
-    };
-
-    template<typename T = void>
-    class BasicResult : public ResultValueBase<T> {
-    public:
-        template<typename U>
-        explicit BasicResult( BasicResult<U> const &other )
-        :   ResultValueBase<T>( other.type() ),
-            m_errorMessage( other.errorMessage() )
-        {
-            assert( type() != ResultBase::Ok );
-        }
-
-        template<typename U>
-        static auto ok( U const &value ) -> BasicResult { return { ResultBase::Ok, value }; }
-        static auto ok() -> BasicResult { return { ResultBase::Ok }; }
-        static auto logicError( std::string const &message ) -> BasicResult { return { ResultBase::LogicError, message }; }
-        static auto runtimeError( std::string const &message ) -> BasicResult { return { ResultBase::RuntimeError, message }; }
-
-        explicit operator bool() const { return m_type == ResultBase::Ok; }
-        auto type() const -> ResultBase::Type { return m_type; }
-        auto errorMessage() const -> std::string { return m_errorMessage; }
-
-    protected:
-        void enforceOk() const override {
-
-            // Errors shouldn't reach this point, but if they do
-            // the actual error message will be in m_errorMessage
-            assert( m_type != ResultBase::LogicError );
-            assert( m_type != ResultBase::RuntimeError );
-            if( m_type != ResultBase::Ok )
-                std::abort();
-        }
-
-        std::string m_errorMessage; // Only populated if resultType is an error
-
-        BasicResult( ResultBase::Type type, std::string const &message )
-        :   ResultValueBase<T>(type),
-            m_errorMessage(message)
-        {
-            assert( m_type != ResultBase::Ok );
-        }
-
-        using ResultValueBase<T>::ResultValueBase;
-        using ResultBase::m_type;
-    };
-
-    enum class ParseResultType {
-        Matched, NoMatch, ShortCircuitAll, ShortCircuitSame
-    };
-
-    class ParseState {
-    public:
-
-        ParseState( ParseResultType type, TokenStream const &remainingTokens )
-        : m_type(type),
-          m_remainingTokens( remainingTokens )
-        {}
-
-        auto type() const -> ParseResultType { return m_type; }
-        auto remainingTokens() const -> TokenStream { return m_remainingTokens; }
-
-    private:
-        ParseResultType m_type;
-        TokenStream m_remainingTokens;
-    };
-
-    using Result = BasicResult<void>;
-    using ParserResult = BasicResult<ParseResultType>;
-    using InternalParseResult = BasicResult<ParseState>;
-
-    struct HelpColumns {
-        std::string left;
-        std::string right;
-    };
-
-    template<typename T>
-    inline auto convertInto( std::string const &source, T& target ) -> ParserResult {
-        std::stringstream ss;
-        ss << source;
-        ss >> target;
-        if( ss.fail() )
-            return ParserResult::runtimeError( "Unable to convert '" + source + "' to destination type" );
-        else
-            return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, std::string& target ) -> ParserResult {
-        target = source;
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, bool &target ) -> ParserResult {
-        std::string srcLC = source;
-        std::transform( srcLC.begin(), srcLC.end(), srcLC.begin(), []( unsigned char c ) { return static_cast<char>( std::tolower(c) ); } );
-        if (srcLC == "y" || srcLC == "1" || srcLC == "true" || srcLC == "yes" || srcLC == "on")
-            target = true;
-        else if (srcLC == "n" || srcLC == "0" || srcLC == "false" || srcLC == "no" || srcLC == "off")
-            target = false;
-        else
-            return ParserResult::runtimeError( "Expected a boolean value but did not recognise: '" + source + "'" );
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-#ifdef CLARA_CONFIG_OPTIONAL_TYPE
-    template<typename T>
-    inline auto convertInto( std::string const &source, CLARA_CONFIG_OPTIONAL_TYPE<T>& target ) -> ParserResult {
-        T temp;
-        auto result = convertInto( source, temp );
-        if( result )
-            target = std::move(temp);
-        return result;
-    }
-#endif // CLARA_CONFIG_OPTIONAL_TYPE
-
-    struct NonCopyable {
-        NonCopyable() = default;
-        NonCopyable( NonCopyable const & ) = delete;
-        NonCopyable( NonCopyable && ) = delete;
-        NonCopyable &operator=( NonCopyable const & ) = delete;
-        NonCopyable &operator=( NonCopyable && ) = delete;
-    };
-
-    struct BoundRef : NonCopyable {
-        virtual ~BoundRef() = default;
-        virtual auto isContainer() const -> bool { return false; }
-        virtual auto isFlag() const -> bool { return false; }
-    };
-    struct BoundValueRefBase : BoundRef {
-        virtual auto setValue( std::string const &arg ) -> ParserResult = 0;
-    };
-    struct BoundFlagRefBase : BoundRef {
-        virtual auto setFlag( bool flag ) -> ParserResult = 0;
-        virtual auto isFlag() const -> bool { return true; }
-    };
-
-    template<typename T>
-    struct BoundValueRef : BoundValueRefBase {
-        T &m_ref;
-
-        explicit BoundValueRef( T &ref ) : m_ref( ref ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return convertInto( arg, m_ref );
-        }
-    };
-
-    template<typename T>
-    struct BoundValueRef<std::vector<T>> : BoundValueRefBase {
-        std::vector<T> &m_ref;
-
-        explicit BoundValueRef( std::vector<T> &ref ) : m_ref( ref ) {}
-
-        auto isContainer() const -> bool override { return true; }
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            T temp;
-            auto result = convertInto( arg, temp );
-            if( result )
-                m_ref.push_back( temp );
-            return result;
-        }
-    };
-
-    struct BoundFlagRef : BoundFlagRefBase {
-        bool &m_ref;
-
-        explicit BoundFlagRef( bool &ref ) : m_ref( ref ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            m_ref = flag;
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ReturnType>
-    struct LambdaInvoker {
-        static_assert( std::is_same<ReturnType, ParserResult>::value, "Lambda must return void or clara::ParserResult" );
-
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            return lambda( arg );
-        }
-    };
-
-    template<>
-    struct LambdaInvoker<void> {
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            lambda( arg );
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ArgType, typename L>
-    inline auto invokeLambda( L const &lambda, std::string const &arg ) -> ParserResult {
-        ArgType temp{};
-        auto result = convertInto( arg, temp );
-        return !result
-           ? result
-           : LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( lambda, temp );
-    }
-
-    template<typename L>
-    struct BoundLambda : BoundValueRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        explicit BoundLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return invokeLambda<typename UnaryLambdaTraits<L>::ArgType>( m_lambda, arg );
-        }
-    };
-
-    template<typename L>
-    struct BoundFlagLambda : BoundFlagRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        static_assert( std::is_same<typename UnaryLambdaTraits<L>::ArgType, bool>::value, "flags must be boolean" );
-
-        explicit BoundFlagLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            return LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( m_lambda, flag );
-        }
-    };
-
-    enum class Optionality { Optional, Required };
-
-    struct Parser;
-
-    class ParserBase {
-    public:
-        virtual ~ParserBase() = default;
-        virtual auto validate() const -> Result { return Result::ok(); }
-        virtual auto parse( std::string const& exeName, TokenStream const &tokens) const -> InternalParseResult  = 0;
-        virtual auto cardinality() const -> size_t { return 1; }
-
-        auto parse( Args const &args ) const -> InternalParseResult {
-            return parse( args.exeName(), TokenStream( args ) );
-        }
-    };
-
-    template<typename DerivedT>
-    class ComposableParserImpl : public ParserBase {
-    public:
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser;
-
-		template<typename T>
-        auto operator+( T const &other ) const -> Parser;
-    };
-
-    // Common code and state for Args and Opts
-    template<typename DerivedT>
-    class ParserRefImpl : public ComposableParserImpl<DerivedT> {
-    protected:
-        Optionality m_optionality = Optionality::Optional;
-        std::shared_ptr<BoundRef> m_ref;
-        std::string m_hint;
-        std::string m_description;
-
-        explicit ParserRefImpl( std::shared_ptr<BoundRef> const &ref ) : m_ref( ref ) {}
-
-    public:
-        template<typename T>
-        ParserRefImpl( T &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundValueRef<T>>( ref ) ),
-            m_hint( hint )
-        {}
-
-        template<typename LambdaT>
-        ParserRefImpl( LambdaT const &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundLambda<LambdaT>>( ref ) ),
-            m_hint(hint)
-        {}
-
-        auto operator()( std::string const &description ) -> DerivedT & {
-            m_description = description;
-            return static_cast<DerivedT &>( *this );
-        }
-
-        auto optional() -> DerivedT & {
-            m_optionality = Optionality::Optional;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto required() -> DerivedT & {
-            m_optionality = Optionality::Required;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto isOptional() const -> bool {
-            return m_optionality == Optionality::Optional;
-        }
-
-        auto cardinality() const -> size_t override {
-            if( m_ref->isContainer() )
-                return 0;
-            else
-                return 1;
-        }
-
-        auto hint() const -> std::string { return m_hint; }
-    };
-
-    class ExeName : public ComposableParserImpl<ExeName> {
-        std::shared_ptr<std::string> m_name;
-        std::shared_ptr<BoundValueRefBase> m_ref;
-
-        template<typename LambdaT>
-        static auto makeRef(LambdaT const &lambda) -> std::shared_ptr<BoundValueRefBase> {
-            return std::make_shared<BoundLambda<LambdaT>>( lambda) ;
-        }
-
-    public:
-        ExeName() : m_name( std::make_shared<std::string>( "<executable>" ) ) {}
-
-        explicit ExeName( std::string &ref ) : ExeName() {
-            m_ref = std::make_shared<BoundValueRef<std::string>>( ref );
-        }
-
-        template<typename LambdaT>
-        explicit ExeName( LambdaT const& lambda ) : ExeName() {
-            m_ref = std::make_shared<BoundLambda<LambdaT>>( lambda );
-        }
-
-        // The exe name is not parsed out of the normal tokens, but is handled specially
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-        }
-
-        auto name() const -> std::string { return *m_name; }
-        auto set( std::string const& newName ) -> ParserResult {
-
-            auto lastSlash = newName.find_last_of( "\\/" );
-            auto filename = ( lastSlash == std::string::npos )
-                    ? newName
-                    : newName.substr( lastSlash+1 );
-
-            *m_name = filename;
-            if( m_ref )
-                return m_ref->setValue( filename );
-            else
-                return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    class Arg : public ParserRefImpl<Arg> {
-    public:
-        using ParserRefImpl::ParserRefImpl;
-
-        auto parse( std::string const &, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            auto const &token = *remainingTokens;
-            if( token.type != TokenType::Argument )
-                return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-
-            assert( !m_ref->isFlag() );
-            auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-
-            auto result = valueRef->setValue( remainingTokens->token );
-            if( !result )
-                return InternalParseResult( result );
-            else
-                return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-        }
-    };
-
-    inline auto normaliseOpt( std::string const &optName ) -> std::string {
-#ifdef CATCH_PLATFORM_WINDOWS
-        if( optName[0] == '/' )
-            return "-" + optName.substr( 1 );
-        else
-#endif
-            return optName;
-    }
-
-    class Opt : public ParserRefImpl<Opt> {
-    protected:
-        std::vector<std::string> m_optNames;
-
-    public:
-        template<typename LambdaT>
-        explicit Opt( LambdaT const &ref ) : ParserRefImpl( std::make_shared<BoundFlagLambda<LambdaT>>( ref ) ) {}
-
-        explicit Opt( bool &ref ) : ParserRefImpl( std::make_shared<BoundFlagRef>( ref ) ) {}
-
-        template<typename LambdaT>
-        Opt( LambdaT const &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        template<typename T>
-        Opt( T &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        auto operator[]( std::string const &optName ) -> Opt & {
-            m_optNames.push_back( optName );
-            return *this;
-        }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::ostringstream oss;
-            bool first = true;
-            for( auto const &opt : m_optNames ) {
-                if (first)
-                    first = false;
-                else
-                    oss << ", ";
-                oss << opt;
-            }
-            if( !m_hint.empty() )
-                oss << " <" << m_hint << ">";
-            return { { oss.str(), m_description } };
-        }
-
-        auto isMatch( std::string const &optToken ) const -> bool {
-            auto normalisedToken = normaliseOpt( optToken );
-            for( auto const &name : m_optNames ) {
-                if( normaliseOpt( name ) == normalisedToken )
-                    return true;
-            }
-            return false;
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            if( remainingTokens && remainingTokens->type == TokenType::Option ) {
-                auto const &token = *remainingTokens;
-                if( isMatch(token.token ) ) {
-                    if( m_ref->isFlag() ) {
-                        auto flagRef = static_cast<detail::BoundFlagRefBase*>( m_ref.get() );
-                        auto result = flagRef->setFlag( true );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    } else {
-                        auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-                        ++remainingTokens;
-                        if( !remainingTokens )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto const &argToken = *remainingTokens;
-                        if( argToken.type != TokenType::Argument )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto result = valueRef->setValue( argToken.token );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    }
-                    return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-                }
-            }
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-        }
-
-        auto validate() const -> Result override {
-            if( m_optNames.empty() )
-                return Result::logicError( "No options supplied to Opt" );
-            for( auto const &name : m_optNames ) {
-                if( name.empty() )
-                    return Result::logicError( "Option name cannot be empty" );
-#ifdef CATCH_PLATFORM_WINDOWS
-                if( name[0] != '-' && name[0] != '/' )
-                    return Result::logicError( "Option name must begin with '-' or '/'" );
-#else
-                if( name[0] != '-' )
-                    return Result::logicError( "Option name must begin with '-'" );
-#endif
-            }
-            return ParserRefImpl::validate();
-        }
-    };
-
-    struct Help : Opt {
-        Help( bool &showHelpFlag )
-        :   Opt([&]( bool flag ) {
-                showHelpFlag = flag;
-                return ParserResult::ok( ParseResultType::ShortCircuitAll );
-            })
-        {
-            static_cast<Opt &>( *this )
-                    ("display usage information")
-                    ["-?"]["-h"]["--help"]
-                    .optional();
-        }
-    };
-
-    struct Parser : ParserBase {
-
-        mutable ExeName m_exeName;
-        std::vector<Opt> m_options;
-        std::vector<Arg> m_args;
-
-        auto operator|=( ExeName const &exeName ) -> Parser & {
-            m_exeName = exeName;
-            return *this;
-        }
-
-        auto operator|=( Arg const &arg ) -> Parser & {
-            m_args.push_back(arg);
-            return *this;
-        }
-
-        auto operator|=( Opt const &opt ) -> Parser & {
-            m_options.push_back(opt);
-            return *this;
-        }
-
-        auto operator|=( Parser const &other ) -> Parser & {
-            m_options.insert(m_options.end(), other.m_options.begin(), other.m_options.end());
-            m_args.insert(m_args.end(), other.m_args.begin(), other.m_args.end());
-            return *this;
-        }
-
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser {
-            return Parser( *this ) |= other;
-        }
-
-        // Forward deprecated interface with '+' instead of '|'
-        template<typename T>
-        auto operator+=( T const &other ) -> Parser & { return operator|=( other ); }
-        template<typename T>
-        auto operator+( T const &other ) const -> Parser { return operator|( other ); }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::vector<HelpColumns> cols;
-            for (auto const &o : m_options) {
-                auto childCols = o.getHelpColumns();
-                cols.insert( cols.end(), childCols.begin(), childCols.end() );
-            }
-            return cols;
-        }
-
-        void writeToStream( std::ostream &os ) const {
-            if (!m_exeName.name().empty()) {
-                os << "usage:\n" << "  " << m_exeName.name() << " ";
-                bool required = true, first = true;
-                for( auto const &arg : m_args ) {
-                    if (first)
-                        first = false;
-                    else
-                        os << " ";
-                    if( arg.isOptional() && required ) {
-                        os << "[";
-                        required = false;
-                    }
-                    os << "<" << arg.hint() << ">";
-                    if( arg.cardinality() == 0 )
-                        os << " ... ";
-                }
-                if( !required )
-                    os << "]";
-                if( !m_options.empty() )
-                    os << " options";
-                os << "\n\nwhere options are:" << std::endl;
-            }
-
-            auto rows = getHelpColumns();
-            size_t consoleWidth = CATCH_CLARA_CONFIG_CONSOLE_WIDTH;
-            size_t optWidth = 0;
-            for( auto const &cols : rows )
-                optWidth = (std::max)(optWidth, cols.left.size() + 2);
-
-            optWidth = (std::min)(optWidth, consoleWidth/2);
-
-            for( auto const &cols : rows ) {
-                auto row =
-                        TextFlow::Column( cols.left ).width( optWidth ).indent( 2 ) +
-                        TextFlow::Spacer(4) +
-                        TextFlow::Column( cols.right ).width( consoleWidth - 7 - optWidth );
-                os << row << std::endl;
-            }
-        }
-
-        friend auto operator<<( std::ostream &os, Parser const &parser ) -> std::ostream& {
-            parser.writeToStream( os );
-            return os;
-        }
-
-        auto validate() const -> Result override {
-            for( auto const &opt : m_options ) {
-                auto result = opt.validate();
-                if( !result )
-                    return result;
-            }
-            for( auto const &arg : m_args ) {
-                auto result = arg.validate();
-                if( !result )
-                    return result;
-            }
-            return Result::ok();
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const& exeName, TokenStream const &tokens ) const -> InternalParseResult override {
-
-            struct ParserInfo {
-                ParserBase const* parser = nullptr;
-                size_t count = 0;
-            };
-            const size_t totalParsers = m_options.size() + m_args.size();
-            assert( totalParsers < 512 );
-            // ParserInfo parseInfos[totalParsers]; // <-- this is what we really want to do
-            ParserInfo parseInfos[512];
-
-            {
-                size_t i = 0;
-                for (auto const &opt : m_options) parseInfos[i++].parser = &opt;
-                for (auto const &arg : m_args) parseInfos[i++].parser = &arg;
-            }
-
-            m_exeName.set( exeName );
-
-            auto result = InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-            while( result.value().remainingTokens() ) {
-                bool tokenParsed = false;
-
-                for( size_t i = 0; i < totalParsers; ++i ) {
-                    auto&  parseInfo = parseInfos[i];
-                    if( parseInfo.parser->cardinality() == 0 || parseInfo.count < parseInfo.parser->cardinality() ) {
-                        result = parseInfo.parser->parse(exeName, result.value().remainingTokens());
-                        if (!result)
-                            return result;
-                        if (result.value().type() != ParseResultType::NoMatch) {
-                            tokenParsed = true;
-                            ++parseInfo.count;
-                            break;
-                        }
-                    }
-                }
-
-                if( result.value().type() == ParseResultType::ShortCircuitAll )
-                    return result;
-                if( !tokenParsed )
-                    return InternalParseResult::runtimeError( "Unrecognised token: " + result.value().remainingTokens()->token );
-            }
-            // !TBD Check missing required options
-            return result;
-        }
-    };
-
-    template<typename DerivedT>
-    template<typename T>
-    auto ComposableParserImpl<DerivedT>::operator|( T const &other ) const -> Parser {
-        return Parser() | static_cast<DerivedT const &>( *this ) | other;
-    }
-} // namespace detail
-
-// A Combined parser
-using detail::Parser;
-
-// A parser for options
-using detail::Opt;
-
-// A parser for arguments
-using detail::Arg;
-
-// Wrapper for argc, argv from main()
-using detail::Args;
-
-// Specifies the name of the executable
-using detail::ExeName;
-
-// Convenience wrapper for option parser that specifies the help option
-using detail::Help;
-
-// enum of result types from a parse
-using detail::ParseResultType;
-
-// Result type for parser operation
-using detail::ParserResult;
-
-}} // namespace Catch::clara
-
-// end clara.hpp
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// Restore Clara's value for console width, if present
-#ifdef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#undef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-// end catch_clara.h
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config );
-
-} // end namespace Catch
-
-// end catch_commandline.h
-#include <fstream>
-#include <ctime>
-
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config ) {
-
-        using namespace clara;
-
-        auto const setWarning = [&]( std::string const& warning ) {
-                auto warningSet = [&]() {
-                    if( warning == "NoAssertions" )
-                        return WarnAbout::NoAssertions;
-
-                    if ( warning == "NoTests" )
-                        return WarnAbout::NoTests;
-
-                    return WarnAbout::Nothing;
-                }();
-
-                if (warningSet == WarnAbout::Nothing)
-                    return ParserResult::runtimeError( "Unrecognised warning: '" + warning + "'" );
-                config.warnings = static_cast<WarnAbout::What>( config.warnings | warningSet );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const loadTestNamesFromFile = [&]( std::string const& filename ) {
-                std::ifstream f( filename.c_str() );
-                if( !f.is_open() )
-                    return ParserResult::runtimeError( "Unable to load input file: '" + filename + "'" );
-
-                std::string line;
-                while( std::getline( f, line ) ) {
-                    line = trim(line);
-                    if( !line.empty() && !startsWith( line, '#' ) ) {
-                        if( !startsWith( line, '"' ) )
-                            line = '"' + line + '"';
-                        config.testsOrTags.push_back( line );
-                        config.testsOrTags.emplace_back( "," );
-                    }
-                }
-                //Remove comma in the end
-                if(!config.testsOrTags.empty())
-                    config.testsOrTags.erase( config.testsOrTags.end()-1 );
-
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setTestOrder = [&]( std::string const& order ) {
-                if( startsWith( "declared", order ) )
-                    config.runOrder = RunTests::InDeclarationOrder;
-                else if( startsWith( "lexical", order ) )
-                    config.runOrder = RunTests::InLexicographicalOrder;
-                else if( startsWith( "random", order ) )
-                    config.runOrder = RunTests::InRandomOrder;
-                else
-                    return clara::ParserResult::runtimeError( "Unrecognised ordering: '" + order + "'" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setRngSeed = [&]( std::string const& seed ) {
-                if( seed != "time" )
-                    return clara::detail::convertInto( seed, config.rngSeed );
-                config.rngSeed = static_cast<unsigned int>( std::time(nullptr) );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setColourUsage = [&]( std::string const& useColour ) {
-                    auto mode = toLower( useColour );
-
-                    if( mode == "yes" )
-                        config.useColour = UseColour::Yes;
-                    else if( mode == "no" )
-                        config.useColour = UseColour::No;
-                    else if( mode == "auto" )
-                        config.useColour = UseColour::Auto;
-                    else
-                        return ParserResult::runtimeError( "colour mode must be one of: auto, yes or no. '" + useColour + "' not recognised" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setWaitForKeypress = [&]( std::string const& keypress ) {
-                auto keypressLc = toLower( keypress );
-                if (keypressLc == "never")
-                    config.waitForKeypress = WaitForKeypress::Never;
-                else if( keypressLc == "start" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStart;
-                else if( keypressLc == "exit" )
-                    config.waitForKeypress = WaitForKeypress::BeforeExit;
-                else if( keypressLc == "both" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStartAndExit;
-                else
-                    return ParserResult::runtimeError( "keypress argument must be one of: never, start, exit or both. '" + keypress + "' not recognised" );
-            return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setVerbosity = [&]( std::string const& verbosity ) {
-            auto lcVerbosity = toLower( verbosity );
-            if( lcVerbosity == "quiet" )
-                config.verbosity = Verbosity::Quiet;
-            else if( lcVerbosity == "normal" )
-                config.verbosity = Verbosity::Normal;
-            else if( lcVerbosity == "high" )
-                config.verbosity = Verbosity::High;
-            else
-                return ParserResult::runtimeError( "Unrecognised verbosity, '" + verbosity + "'" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-        auto const setReporter = [&]( std::string const& reporter ) {
-            IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-
-            auto lcReporter = toLower( reporter );
-            auto result = factories.find( lcReporter );
-
-            if( factories.end() != result )
-                config.reporterName = lcReporter;
-            else
-                return ParserResult::runtimeError( "Unrecognized reporter, '" + reporter + "'. Check available with --list-reporters" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-
-        auto cli
-            = ExeName( config.processName )
-            | Help( config.showHelp )
-            | Opt( config.listTests )
-                ["-l"]["--list-tests"]
-                ( "list all/matching test cases" )
-            | Opt( config.listTags )
-                ["-t"]["--list-tags"]
-                ( "list all/matching tags" )
-            | Opt( config.showSuccessfulTests )
-                ["-s"]["--success"]
-                ( "include successful tests in output" )
-            | Opt( config.shouldDebugBreak )
-                ["-b"]["--break"]
-                ( "break into debugger on failure" )
-            | Opt( config.noThrow )
-                ["-e"]["--nothrow"]
-                ( "skip exception tests" )
-            | Opt( config.showInvisibles )
-                ["-i"]["--invisibles"]
-                ( "show invisibles (tabs, newlines)" )
-            | Opt( config.outputFilename, "filename" )
-                ["-o"]["--out"]
-                ( "output filename" )
-            | Opt( setReporter, "name" )
-                ["-r"]["--reporter"]
-                ( "reporter to use (defaults to console)" )
-            | Opt( config.name, "name" )
-                ["-n"]["--name"]
-                ( "suite name" )
-            | Opt( [&]( bool ){ config.abortAfter = 1; } )
-                ["-a"]["--abort"]
-                ( "abort at first failure" )
-            | Opt( [&]( int x ){ config.abortAfter = x; }, "no. failures" )
-                ["-x"]["--abortx"]
-                ( "abort after x failures" )
-            | Opt( setWarning, "warning name" )
-                ["-w"]["--warn"]
-                ( "enable warnings" )
-            | Opt( [&]( bool flag ) { config.showDurations = flag ? ShowDurations::Always : ShowDurations::Never; }, "yes|no" )
-                ["-d"]["--durations"]
-                ( "show test durations" )
-            | Opt( config.minDuration, "seconds" )
-                ["-D"]["--min-duration"]
-                ( "show test durations for tests taking at least the given number of seconds" )
-            | Opt( loadTestNamesFromFile, "filename" )
-                ["-f"]["--input-file"]
-                ( "load test names to run from a file" )
-            | Opt( config.filenamesAsTags )
-                ["-#"]["--filenames-as-tags"]
-                ( "adds a tag for the filename" )
-            | Opt( config.sectionsToRun, "section name" )
-                ["-c"]["--section"]
-                ( "specify section to run" )
-            | Opt( setVerbosity, "quiet|normal|high" )
-                ["-v"]["--verbosity"]
-                ( "set output verbosity" )
-            | Opt( config.listTestNamesOnly )
-                ["--list-test-names-only"]
-                ( "list all/matching test cases names only" )
-            | Opt( config.listReporters )
-                ["--list-reporters"]
-                ( "list all reporters" )
-            | Opt( setTestOrder, "decl|lex|rand" )
-                ["--order"]
-                ( "test case order (defaults to decl)" )
-            | Opt( setRngSeed, "'time'|number" )
-                ["--rng-seed"]
-                ( "set a specific seed for random numbers" )
-            | Opt( setColourUsage, "yes|no" )
-                ["--use-colour"]
-                ( "should output be colourised" )
-            | Opt( config.libIdentify )
-                ["--libidentify"]
-                ( "report name and version according to libidentify standard" )
-            | Opt( setWaitForKeypress, "never|start|exit|both" )
-                ["--wait-for-keypress"]
-                ( "waits for a keypress before exiting" )
-            | Opt( config.benchmarkSamples, "samples" )
-                ["--benchmark-samples"]
-                ( "number of samples to collect (default: 100)" )
-            | Opt( config.benchmarkResamples, "resamples" )
-                ["--benchmark-resamples"]
-                ( "number of resamples for the bootstrap (default: 100000)" )
-            | Opt( config.benchmarkConfidenceInterval, "confidence interval" )
-                ["--benchmark-confidence-interval"]
-                ( "confidence interval for the bootstrap (between 0 and 1, default: 0.95)" )
-            | Opt( config.benchmarkNoAnalysis )
-                ["--benchmark-no-analysis"]
-                ( "perform only measurements; do not perform any analysis" )
-            | Opt( config.benchmarkWarmupTime, "benchmarkWarmupTime" )
-                ["--benchmark-warmup-time"]
-                ( "amount of time in milliseconds spent on warming up each test (default: 100)" )
-            | Arg( config.testsOrTags, "test name|pattern|tags" )
-                ( "which test or tests to use" );
-
-        return cli;
-    }
-
-} // end namespace Catch
-// end catch_commandline.cpp
-// start catch_common.cpp
-
-#include <cstring>
-#include <ostream>
-
-namespace Catch {
-
-    bool SourceLineInfo::operator == ( SourceLineInfo const& other ) const noexcept {
-        return line == other.line && (file == other.file || std::strcmp(file, other.file) == 0);
-    }
-    bool SourceLineInfo::operator < ( SourceLineInfo const& other ) const noexcept {
-        // We can assume that the same file will usually have the same pointer.
-        // Thus, if the pointers are the same, there is no point in calling the strcmp
-        return line < other.line || ( line == other.line && file != other.file && (std::strcmp(file, other.file) < 0));
-    }
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ) {
-#ifndef __GNUG__
-        os << info.file << '(' << info.line << ')';
-#else
-        os << info.file << ':' << info.line;
-#endif
-        return os;
-    }
-
-    std::string StreamEndStop::operator+() const {
-        return std::string();
-    }
-
-    NonCopyable::NonCopyable() = default;
-    NonCopyable::~NonCopyable() = default;
-
-}
-// end catch_common.cpp
-// start catch_config.cpp
-
-namespace Catch {
-
-    Config::Config( ConfigData const& data )
-    :   m_data( data ),
-        m_stream( openStream() )
-    {
-        // We need to trim filter specs to avoid trouble with superfluous
-        // whitespace (esp. important for bdd macros, as those are manually
-        // aligned with whitespace).
-
-        for (auto& elem : m_data.testsOrTags) {
-            elem = trim(elem);
-        }
-        for (auto& elem : m_data.sectionsToRun) {
-            elem = trim(elem);
-        }
-
-        TestSpecParser parser(ITagAliasRegistry::get());
-        if (!m_data.testsOrTags.empty()) {
-            m_hasTestFilters = true;
-            for (auto const& testOrTags : m_data.testsOrTags) {
-                parser.parse(testOrTags);
-            }
-        }
-        m_testSpec = parser.testSpec();
-    }
-
-    std::string const& Config::getFilename() const {
-        return m_data.outputFilename ;
-    }
-
-    bool Config::listTests() const          { return m_data.listTests; }
-    bool Config::listTestNamesOnly() const  { return m_data.listTestNamesOnly; }
-    bool Config::listTags() const           { return m_data.listTags; }
-    bool Config::listReporters() const      { return m_data.listReporters; }
-
-    std::string Config::getProcessName() const { return m_data.processName; }
-    std::string const& Config::getReporterName() const { return m_data.reporterName; }
-
-    std::vector<std::string> const& Config::getTestsOrTags() const { return m_data.testsOrTags; }
-    std::vector<std::string> const& Config::getSectionsToRun() const { return m_data.sectionsToRun; }
-
-    TestSpec const& Config::testSpec() const { return m_testSpec; }
-    bool Config::hasTestFilters() const { return m_hasTestFilters; }
-
-    bool Config::showHelp() const { return m_data.showHelp; }
-
-    // IConfig interface
-    bool Config::allowThrows() const                   { return !m_data.noThrow; }
-    std::ostream& Config::stream() const               { return m_stream->stream(); }
-    std::string Config::name() const                   { return m_data.name.empty() ? m_data.processName : m_data.name; }
-    bool Config::includeSuccessfulResults() const      { return m_data.showSuccessfulTests; }
-    bool Config::warnAboutMissingAssertions() const    { return !!(m_data.warnings & WarnAbout::NoAssertions); }
-    bool Config::warnAboutNoTests() const              { return !!(m_data.warnings & WarnAbout::NoTests); }
-    ShowDurations::OrNot Config::showDurations() const { return m_data.showDurations; }
-    double Config::minDuration() const                 { return m_data.minDuration; }
-    RunTests::InWhatOrder Config::runOrder() const     { return m_data.runOrder; }
-    unsigned int Config::rngSeed() const               { return m_data.rngSeed; }
-    UseColour::YesOrNo Config::useColour() const       { return m_data.useColour; }
-    bool Config::shouldDebugBreak() const              { return m_data.shouldDebugBreak; }
-    int Config::abortAfter() const                     { return m_data.abortAfter; }
-    bool Config::showInvisibles() const                { return m_data.showInvisibles; }
-    Verbosity Config::verbosity() const                { return m_data.verbosity; }
-
-    bool Config::benchmarkNoAnalysis() const                      { return m_data.benchmarkNoAnalysis; }
-    int Config::benchmarkSamples() const                          { return m_data.benchmarkSamples; }
-    double Config::benchmarkConfidenceInterval() const            { return m_data.benchmarkConfidenceInterval; }
-    unsigned int Config::benchmarkResamples() const               { return m_data.benchmarkResamples; }
-    std::chrono::milliseconds Config::benchmarkWarmupTime() const { return std::chrono::milliseconds(m_data.benchmarkWarmupTime); }
-
-    IStream const* Config::openStream() {
-        return Catch::makeStream(m_data.outputFilename);
-    }
-
-} // end namespace Catch
-// end catch_config.cpp
-// start catch_console_colour.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-// start catch_errno_guard.h
-
-namespace Catch {
-
-    class ErrnoGuard {
-    public:
-        ErrnoGuard();
-        ~ErrnoGuard();
-    private:
-        int m_oldErrno;
-    };
-
-}
-
-// end catch_errno_guard.h
-// start catch_windows_h_proxy.h
-
-
-#if defined(CATCH_PLATFORM_WINDOWS)
-
-#if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX)
-#  define CATCH_DEFINED_NOMINMAX
-#  define NOMINMAX
-#endif
-#if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN)
-#  define CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  define WIN32_LEAN_AND_MEAN
-#endif
-
-#ifdef __AFXDLL
-#include <AfxWin.h>
-#else
-#include <windows.h>
-#endif
-
-#ifdef CATCH_DEFINED_NOMINMAX
-#  undef NOMINMAX
-#endif
-#ifdef CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  undef WIN32_LEAN_AND_MEAN
-#endif
-
-#endif // defined(CATCH_PLATFORM_WINDOWS)
-
-// end catch_windows_h_proxy.h
-#include <sstream>
-
-namespace Catch {
-    namespace {
-
-        struct IColourImpl {
-            virtual ~IColourImpl() = default;
-            virtual void use( Colour::Code _colourCode ) = 0;
-        };
-
-        struct NoColourImpl : IColourImpl {
-            void use( Colour::Code ) override {}
-
-            static IColourImpl* instance() {
-                static NoColourImpl s_instance;
-                return &s_instance;
-            }
-        };
-
-    } // anon namespace
-} // namespace Catch
-
-#if !defined( CATCH_CONFIG_COLOUR_NONE ) && !defined( CATCH_CONFIG_COLOUR_WINDOWS ) && !defined( CATCH_CONFIG_COLOUR_ANSI )
-#   ifdef CATCH_PLATFORM_WINDOWS
-#       define CATCH_CONFIG_COLOUR_WINDOWS
-#   else
-#       define CATCH_CONFIG_COLOUR_ANSI
-#   endif
-#endif
-
-#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) /////////////////////////////////////////
-
-namespace Catch {
-namespace {
-
-    class Win32ColourImpl : public IColourImpl {
-    public:
-        Win32ColourImpl() : stdoutHandle( GetStdHandle(STD_OUTPUT_HANDLE) )
-        {
-            CONSOLE_SCREEN_BUFFER_INFO csbiInfo;
-            GetConsoleScreenBufferInfo( stdoutHandle, &csbiInfo );
-            originalForegroundAttributes = csbiInfo.wAttributes & ~( BACKGROUND_GREEN | BACKGROUND_RED | BACKGROUND_BLUE | BACKGROUND_INTENSITY );
-            originalBackgroundAttributes = csbiInfo.wAttributes & ~( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE | FOREGROUND_INTENSITY );
-        }
-
-        void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:      return setTextAttribute( originalForegroundAttributes );
-                case Colour::White:     return setTextAttribute( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::Red:       return setTextAttribute( FOREGROUND_RED );
-                case Colour::Green:     return setTextAttribute( FOREGROUND_GREEN );
-                case Colour::Blue:      return setTextAttribute( FOREGROUND_BLUE );
-                case Colour::Cyan:      return setTextAttribute( FOREGROUND_BLUE | FOREGROUND_GREEN );
-                case Colour::Yellow:    return setTextAttribute( FOREGROUND_RED | FOREGROUND_GREEN );
-                case Colour::Grey:      return setTextAttribute( 0 );
-
-                case Colour::LightGrey:     return setTextAttribute( FOREGROUND_INTENSITY );
-                case Colour::BrightRed:     return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED );
-                case Colour::BrightGreen:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN );
-                case Colour::BrightWhite:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::BrightYellow:  return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED | FOREGROUND_GREEN );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-
-                default:
-                    CATCH_ERROR( "Unknown colour requested" );
-            }
-        }
-
-    private:
-        void setTextAttribute( WORD _textAttribute ) {
-            SetConsoleTextAttribute( stdoutHandle, _textAttribute | originalBackgroundAttributes );
-        }
-        HANDLE stdoutHandle;
-        WORD originalForegroundAttributes;
-        WORD originalBackgroundAttributes;
-    };
-
-    IColourImpl* platformColourInstance() {
-        static Win32ColourImpl s_instance;
-
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = UseColour::Yes;
-        return colourMode == UseColour::Yes
-            ? &s_instance
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#elif defined( CATCH_CONFIG_COLOUR_ANSI ) //////////////////////////////////////
-
-#include <unistd.h>
-
-namespace Catch {
-namespace {
-
-    // use POSIX/ ANSI console terminal codes
-    // Thanks to Adam Strzelecki for original contribution
-    // (http://github.com/nanoant)
-    // https://github.com/philsquared/Catch/pull/131
-    class PosixColourImpl : public IColourImpl {
-    public:
-        void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:
-                case Colour::White:     return setColour( "[0m" );
-                case Colour::Red:       return setColour( "[0;31m" );
-                case Colour::Green:     return setColour( "[0;32m" );
-                case Colour::Blue:      return setColour( "[0;34m" );
-                case Colour::Cyan:      return setColour( "[0;36m" );
-                case Colour::Yellow:    return setColour( "[0;33m" );
-                case Colour::Grey:      return setColour( "[1;30m" );
-
-                case Colour::LightGrey:     return setColour( "[0;37m" );
-                case Colour::BrightRed:     return setColour( "[1;31m" );
-                case Colour::BrightGreen:   return setColour( "[1;32m" );
-                case Colour::BrightWhite:   return setColour( "[1;37m" );
-                case Colour::BrightYellow:  return setColour( "[1;33m" );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-                default: CATCH_INTERNAL_ERROR( "Unknown colour requested" );
-            }
-        }
-        static IColourImpl* instance() {
-            static PosixColourImpl s_instance;
-            return &s_instance;
-        }
-
-    private:
-        void setColour( const char* _escapeCode ) {
-            getCurrentContext().getConfig()->stream()
-                << '\033' << _escapeCode;
-        }
-    };
-
-    bool useColourOnPlatform() {
-        return
-#if defined(CATCH_PLATFORM_MAC) || defined(CATCH_PLATFORM_IPHONE)
-            !isDebuggerActive() &&
-#endif
-#if !(defined(__DJGPP__) && defined(__STRICT_ANSI__))
-            isatty(STDOUT_FILENO)
-#else
-            false
-#endif
-            ;
-    }
-    IColourImpl* platformColourInstance() {
-        ErrnoGuard guard;
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = useColourOnPlatform()
-                ? UseColour::Yes
-                : UseColour::No;
-        return colourMode == UseColour::Yes
-            ? PosixColourImpl::instance()
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#else  // not Windows or ANSI ///////////////////////////////////////////////
-
-namespace Catch {
-
-    static IColourImpl* platformColourInstance() { return NoColourImpl::instance(); }
-
-} // end namespace Catch
-
-#endif // Windows/ ANSI/ None
-
-namespace Catch {
-
-    Colour::Colour( Code _colourCode ) { use( _colourCode ); }
-    Colour::Colour( Colour&& other ) noexcept {
-        m_moved = other.m_moved;
-        other.m_moved = true;
-    }
-    Colour& Colour::operator=( Colour&& other ) noexcept {
-        m_moved = other.m_moved;
-        other.m_moved  = true;
-        return *this;
-    }
-
-    Colour::~Colour(){ if( !m_moved ) use( None ); }
-
-    void Colour::use( Code _colourCode ) {
-        static IColourImpl* impl = platformColourInstance();
-        // Strictly speaking, this cannot possibly happen.
-        // However, under some conditions it does happen (see #1626),
-        // and this change is small enough that we can let practicality
-        // triumph over purity in this case.
-        if (impl != nullptr) {
-            impl->use( _colourCode );
-        }
-    }
-
-    std::ostream& operator << ( std::ostream& os, Colour const& ) {
-        return os;
-    }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_console_colour.cpp
-// start catch_context.cpp
-
-namespace Catch {
-
-    class Context : public IMutableContext, NonCopyable {
-
-    public: // IContext
-        IResultCapture* getResultCapture() override {
-            return m_resultCapture;
-        }
-        IRunner* getRunner() override {
-            return m_runner;
-        }
-
-        IConfigPtr const& getConfig() const override {
-            return m_config;
-        }
-
-        ~Context() override;
-
-    public: // IMutableContext
-        void setResultCapture( IResultCapture* resultCapture ) override {
-            m_resultCapture = resultCapture;
-        }
-        void setRunner( IRunner* runner ) override {
-            m_runner = runner;
-        }
-        void setConfig( IConfigPtr const& config ) override {
-            m_config = config;
-        }
-
-        friend IMutableContext& getCurrentMutableContext();
-
-    private:
-        IConfigPtr m_config;
-        IRunner* m_runner = nullptr;
-        IResultCapture* m_resultCapture = nullptr;
-    };
-
-    IMutableContext *IMutableContext::currentContext = nullptr;
-
-    void IMutableContext::createContext()
-    {
-        currentContext = new Context();
-    }
-
-    void cleanUpContext() {
-        delete IMutableContext::currentContext;
-        IMutableContext::currentContext = nullptr;
-    }
-    IContext::~IContext() = default;
-    IMutableContext::~IMutableContext() = default;
-    Context::~Context() = default;
-
-    SimplePcg32& rng() {
-        static SimplePcg32 s_rng;
-        return s_rng;
-    }
-
-}
-// end catch_context.cpp
-// start catch_debug_console.cpp
-
-// start catch_debug_console.h
-
-#include <string>
-
-namespace Catch {
-    void writeToDebugConsole( std::string const& text );
-}
-
-// end catch_debug_console.h
-#if defined(CATCH_CONFIG_ANDROID_LOGWRITE)
-#include <android/log.h>
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            __android_log_write( ANDROID_LOG_DEBUG, "Catch", text.c_str() );
-        }
-    }
-
-#elif defined(CATCH_PLATFORM_WINDOWS)
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            ::OutputDebugStringA( text.c_str() );
-        }
-    }
-
-#else
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            // !TBD: Need a version for Mac/ XCode and other IDEs
-            Catch::cout() << text;
-        }
-    }
-
-#endif // Platform
-// end catch_debug_console.cpp
-// start catch_debugger.cpp
-
-#if defined(CATCH_PLATFORM_MAC) || defined(CATCH_PLATFORM_IPHONE)
-
-#  include <cassert>
-#  include <sys/types.h>
-#  include <unistd.h>
-#  include <cstddef>
-#  include <ostream>
-
-#ifdef __apple_build_version__
-    // These headers will only compile with AppleClang (XCode)
-    // For other compilers (Clang, GCC, ... ) we need to exclude them
-#  include <sys/sysctl.h>
-#endif
-
-    namespace Catch {
-        #ifdef __apple_build_version__
-        // The following function is taken directly from the following technical note:
-        // https://developer.apple.com/library/archive/qa/qa1361/_index.html
-
-        // Returns true if the current process is being debugged (either
-        // running under the debugger or has a debugger attached post facto).
-        bool isDebuggerActive(){
-            int                 mib[4];
-            struct kinfo_proc   info;
-            std::size_t         size;
-
-            // Initialize the flags so that, if sysctl fails for some bizarre
-            // reason, we get a predictable result.
-
-            info.kp_proc.p_flag = 0;
-
-            // Initialize mib, which tells sysctl the info we want, in this case
-            // we're looking for information about a specific process ID.
-
-            mib[0] = CTL_KERN;
-            mib[1] = KERN_PROC;
-            mib[2] = KERN_PROC_PID;
-            mib[3] = getpid();
-
-            // Call sysctl.
-
-            size = sizeof(info);
-            if( sysctl(mib, sizeof(mib) / sizeof(*mib), &info, &size, nullptr, 0) != 0 ) {
-                Catch::cerr() << "\n** Call to sysctl failed - unable to determine if debugger is active **\n" << std::endl;
-                return false;
-            }
-
-            // We're being debugged if the P_TRACED flag is set.
-
-            return ( (info.kp_proc.p_flag & P_TRACED) != 0 );
-        }
-        #else
-        bool isDebuggerActive() {
-            // We need to find another way to determine this for non-appleclang compilers on macOS
-            return false;
-        }
-        #endif
-    } // namespace Catch
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    #include <fstream>
-    #include <string>
-
-    namespace Catch{
-        // The standard POSIX way of detecting a debugger is to attempt to
-        // ptrace() the process, but this needs to be done from a child and not
-        // this process itself to still allow attaching to this process later
-        // if wanted, so is rather heavy. Under Linux we have the PID of the
-        // "debugger" (which doesn't need to be gdb, of course, it could also
-        // be strace, for example) in /proc/$PID/status, so just get it from
-        // there instead.
-        bool isDebuggerActive(){
-            // Libstdc++ has a bug, where std::ifstream sets errno to 0
-            // This way our users can properly assert over errno values
-            ErrnoGuard guard;
-            std::ifstream in("/proc/self/status");
-            for( std::string line; std::getline(in, line); ) {
-                static const int PREFIX_LEN = 11;
-                if( line.compare(0, PREFIX_LEN, "TracerPid:\t") == 0 ) {
-                    // We're traced if the PID is not 0 and no other PID starts
-                    // with 0 digit, so it's enough to check for just a single
-                    // character.
-                    return line.length() > PREFIX_LEN && line[PREFIX_LEN] != '0';
-                }
-            }
-
-            return false;
-        }
-    } // namespace Catch
-#elif defined(_MSC_VER)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#else
-    namespace Catch {
-       bool isDebuggerActive() { return false; }
-    }
-#endif // Platform
-// end catch_debugger.cpp
-// start catch_decomposer.cpp
-
-namespace Catch {
-
-    ITransientExpression::~ITransientExpression() = default;
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs ) {
-        if( lhs.size() + rhs.size() < 40 &&
-                lhs.find('\n') == std::string::npos &&
-                rhs.find('\n') == std::string::npos )
-            os << lhs << " " << op << " " << rhs;
-        else
-            os << lhs << "\n" << op << "\n" << rhs;
-    }
-}
-// end catch_decomposer.cpp
-// start catch_enforce.cpp
-
-#include <stdexcept>
-
-namespace Catch {
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS_CUSTOM_HANDLER)
-    [[noreturn]]
-    void throw_exception(std::exception const& e) {
-        Catch::cerr() << "Catch will terminate because it needed to throw an exception.\n"
-                      << "The message was: " << e.what() << '\n';
-        std::terminate();
-    }
-#endif
-
-    [[noreturn]]
-    void throw_logic_error(std::string const& msg) {
-        throw_exception(std::logic_error(msg));
-    }
-
-    [[noreturn]]
-    void throw_domain_error(std::string const& msg) {
-        throw_exception(std::domain_error(msg));
-    }
-
-    [[noreturn]]
-    void throw_runtime_error(std::string const& msg) {
-        throw_exception(std::runtime_error(msg));
-    }
-
-} // namespace Catch;
-// end catch_enforce.cpp
-// start catch_enum_values_registry.cpp
-// start catch_enum_values_registry.h
-
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    namespace Detail {
-
-        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values );
-
-        class EnumValuesRegistry : public IMutableEnumValuesRegistry {
-
-            std::vector<std::unique_ptr<EnumInfo>> m_enumInfos;
-
-            EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values) override;
-        };
-
-        std::vector<StringRef> parseEnums( StringRef enums );
-
-    } // Detail
-
-} // Catch
-
-// end catch_enum_values_registry.h
-
-#include <map>
-#include <cassert>
-
-namespace Catch {
-
-    IMutableEnumValuesRegistry::~IMutableEnumValuesRegistry() {}
-
-    namespace Detail {
-
-        namespace {
-            // Extracts the actual name part of an enum instance
-            // In other words, it returns the Blue part of Bikeshed::Colour::Blue
-            StringRef extractInstanceName(StringRef enumInstance) {
-                // Find last occurrence of ":"
-                size_t name_start = enumInstance.size();
-                while (name_start > 0 && enumInstance[name_start - 1] != ':') {
-                    --name_start;
-                }
-                return enumInstance.substr(name_start, enumInstance.size() - name_start);
-            }
-        }
-
-        std::vector<StringRef> parseEnums( StringRef enums ) {
-            auto enumValues = splitStringRef( enums, ',' );
-            std::vector<StringRef> parsed;
-            parsed.reserve( enumValues.size() );
-            for( auto const& enumValue : enumValues ) {
-                parsed.push_back(trim(extractInstanceName(enumValue)));
-            }
-            return parsed;
-        }
-
-        EnumInfo::~EnumInfo() {}
-
-        StringRef EnumInfo::lookup( int value ) const {
-            for( auto const& valueToName : m_values ) {
-                if( valueToName.first == value )
-                    return valueToName.second;
-            }
-            return "{** unexpected enum value **}"_sr;
-        }
-
-        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
-            std::unique_ptr<EnumInfo> enumInfo( new EnumInfo );
-            enumInfo->m_name = enumName;
-            enumInfo->m_values.reserve( values.size() );
-
-            const auto valueNames = Catch::Detail::parseEnums( allValueNames );
-            assert( valueNames.size() == values.size() );
-            std::size_t i = 0;
-            for( auto value : values )
-                enumInfo->m_values.emplace_back(value, valueNames[i++]);
-
-            return enumInfo;
-        }
-
-        EnumInfo const& EnumValuesRegistry::registerEnum( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
-            m_enumInfos.push_back(makeEnumInfo(enumName, allValueNames, values));
-            return *m_enumInfos.back();
-        }
-
-    } // Detail
-} // Catch
-
-// end catch_enum_values_registry.cpp
-// start catch_errno_guard.cpp
-
-#include <cerrno>
-
-namespace Catch {
-        ErrnoGuard::ErrnoGuard():m_oldErrno(errno){}
-        ErrnoGuard::~ErrnoGuard() { errno = m_oldErrno; }
-}
-// end catch_errno_guard.cpp
-// start catch_exception_translator_registry.cpp
-
-// start catch_exception_translator_registry.h
-
-#include <vector>
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class ExceptionTranslatorRegistry : public IExceptionTranslatorRegistry {
-    public:
-        ~ExceptionTranslatorRegistry();
-        virtual void registerTranslator( const IExceptionTranslator* translator );
-        std::string translateActiveException() const override;
-        std::string tryTranslators() const;
-
-    private:
-        std::vector<std::unique_ptr<IExceptionTranslator const>> m_translators;
-    };
-}
-
-// end catch_exception_translator_registry.h
-#ifdef __OBJC__
-#import "Foundation/Foundation.h"
-#endif
-
-namespace Catch {
-
-    ExceptionTranslatorRegistry::~ExceptionTranslatorRegistry() {
-    }
-
-    void ExceptionTranslatorRegistry::registerTranslator( const IExceptionTranslator* translator ) {
-        m_translators.push_back( std::unique_ptr<const IExceptionTranslator>( translator ) );
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        try {
-#ifdef __OBJC__
-            // In Objective-C try objective-c exceptions first
-            @try {
-                return tryTranslators();
-            }
-            @catch (NSException *exception) {
-                return Catch::Detail::stringify( [exception description] );
-            }
-#else
-            // Compiling a mixed mode project with MSVC means that CLR
-            // exceptions will be caught in (...) as well. However, these
-            // do not fill-in std::current_exception and thus lead to crash
-            // when attempting rethrow.
-            // /EHa switch also causes structured exceptions to be caught
-            // here, but they fill-in current_exception properly, so
-            // at worst the output should be a little weird, instead of
-            // causing a crash.
-            if (std::current_exception() == nullptr) {
-                return "Non C++ exception. Possibly a CLR exception.";
-            }
-            return tryTranslators();
-#endif
-        }
-        catch( TestFailureException& ) {
-            std::rethrow_exception(std::current_exception());
-        }
-        catch( std::exception& ex ) {
-            return ex.what();
-        }
-        catch( std::string& msg ) {
-            return msg;
-        }
-        catch( const char* msg ) {
-            return msg;
-        }
-        catch(...) {
-            return "Unknown exception";
-        }
-    }
-
-    std::string ExceptionTranslatorRegistry::tryTranslators() const {
-        if (m_translators.empty()) {
-            std::rethrow_exception(std::current_exception());
-        } else {
-            return m_translators[0]->translate(m_translators.begin() + 1, m_translators.end());
-        }
-    }
-
-#else // ^^ Exceptions are enabled // Exceptions are disabled vv
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        CATCH_INTERNAL_ERROR("Attempted to translate active exception under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-    }
-
-    std::string ExceptionTranslatorRegistry::tryTranslators() const {
-        CATCH_INTERNAL_ERROR("Attempted to use exception translators under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-    }
-#endif
-
-}
-// end catch_exception_translator_registry.cpp
-// start catch_fatal_condition.cpp
-
-#include <algorithm>
-
-#if !defined( CATCH_CONFIG_WINDOWS_SEH ) && !defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace Catch {
-
-    // If neither SEH nor signal handling is required, the handler impls
-    // do not have to do anything, and can be empty.
-    void FatalConditionHandler::engage_platform() {}
-    void FatalConditionHandler::disengage_platform() {}
-    FatalConditionHandler::FatalConditionHandler() = default;
-    FatalConditionHandler::~FatalConditionHandler() = default;
-
-} // end namespace Catch
-
-#endif // !CATCH_CONFIG_WINDOWS_SEH && !CATCH_CONFIG_POSIX_SIGNALS
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH ) && defined( CATCH_CONFIG_POSIX_SIGNALS )
-#error "Inconsistent configuration: Windows' SEH handling and POSIX signals cannot be enabled at the same time"
-#endif // CATCH_CONFIG_WINDOWS_SEH && CATCH_CONFIG_POSIX_SIGNALS
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH ) || defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace {
-    //! Signals fatal error message to the run context
-    void reportFatal( char const * const message ) {
-        Catch::getCurrentContext().getResultCapture()->handleFatalErrorCondition( message );
-    }
-
-    //! Minimal size Catch2 needs for its own fatal error handling.
-    //! Picked anecdotally, so it might not be sufficient on all
-    //! platforms, and for all configurations.
-    constexpr std::size_t minStackSizeForErrors = 32 * 1024;
-} // end unnamed namespace
-
-#endif // CATCH_CONFIG_WINDOWS_SEH || CATCH_CONFIG_POSIX_SIGNALS
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH )
-
-namespace Catch {
-
-    struct SignalDefs { DWORD id; const char* name; };
-
-    // There is no 1-1 mapping between signals and windows exceptions.
-    // Windows can easily distinguish between SO and SigSegV,
-    // but SigInt, SigTerm, etc are handled differently.
-    static SignalDefs signalDefs[] = {
-        { static_cast<DWORD>(EXCEPTION_ILLEGAL_INSTRUCTION),  "SIGILL - Illegal instruction signal" },
-        { static_cast<DWORD>(EXCEPTION_STACK_OVERFLOW), "SIGSEGV - Stack overflow" },
-        { static_cast<DWORD>(EXCEPTION_ACCESS_VIOLATION), "SIGSEGV - Segmentation violation signal" },
-        { static_cast<DWORD>(EXCEPTION_INT_DIVIDE_BY_ZERO), "Divide by zero error" },
-    };
-
-    static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) {
-        for (auto const& def : signalDefs) {
-            if (ExceptionInfo->ExceptionRecord->ExceptionCode == def.id) {
-                reportFatal(def.name);
-            }
-        }
-        // If its not an exception we care about, pass it along.
-        // This stops us from eating debugger breaks etc.
-        return EXCEPTION_CONTINUE_SEARCH;
-    }
-
-    // Since we do not support multiple instantiations, we put these
-    // into global variables and rely on cleaning them up in outlined
-    // constructors/destructors
-    static PVOID exceptionHandlerHandle = nullptr;
-
-    // For MSVC, we reserve part of the stack memory for handling
-    // memory overflow structured exception.
-    FatalConditionHandler::FatalConditionHandler() {
-        ULONG guaranteeSize = static_cast<ULONG>(minStackSizeForErrors);
-        if (!SetThreadStackGuarantee(&guaranteeSize)) {
-            // We do not want to fully error out, because needing
-            // the stack reserve should be rare enough anyway.
-            Catch::cerr()
-                << "Failed to reserve piece of stack."
-                << " Stack overflows will not be reported successfully.";
-        }
-    }
-
-    // We do not attempt to unset the stack guarantee, because
-    // Windows does not support lowering the stack size guarantee.
-    FatalConditionHandler::~FatalConditionHandler() = default;
-
-    void FatalConditionHandler::engage_platform() {
-        // Register as first handler in current chain
-        exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException);
-        if (!exceptionHandlerHandle) {
-            CATCH_RUNTIME_ERROR("Could not register vectored exception handler");
-        }
-    }
-
-    void FatalConditionHandler::disengage_platform() {
-        if (!RemoveVectoredExceptionHandler(exceptionHandlerHandle)) {
-            CATCH_RUNTIME_ERROR("Could not unregister vectored exception handler");
-        }
-        exceptionHandlerHandle = nullptr;
-    }
-
-} // end namespace Catch
-
-#endif // CATCH_CONFIG_WINDOWS_SEH
-
-#if defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-#include <signal.h>
-
-namespace Catch {
-
-    struct SignalDefs {
-        int id;
-        const char* name;
-    };
-
-    static SignalDefs signalDefs[] = {
-        { SIGINT,  "SIGINT - Terminal interrupt signal" },
-        { SIGILL,  "SIGILL - Illegal instruction signal" },
-        { SIGFPE,  "SIGFPE - Floating point error signal" },
-        { SIGSEGV, "SIGSEGV - Segmentation violation signal" },
-        { SIGTERM, "SIGTERM - Termination request signal" },
-        { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" }
-    };
-
-// Older GCCs trigger -Wmissing-field-initializers for T foo = {}
-// which is zero initialization, but not explicit. We want to avoid
-// that.
-#if defined(__GNUC__)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wmissing-field-initializers"
-#endif
-
-    static char* altStackMem = nullptr;
-    static std::size_t altStackSize = 0;
-    static stack_t oldSigStack{};
-    static struct sigaction oldSigActions[sizeof(signalDefs) / sizeof(SignalDefs)]{};
-
-    static void restorePreviousSignalHandlers() {
-        // We set signal handlers back to the previous ones. Hopefully
-        // nobody overwrote them in the meantime, and doesn't expect
-        // their signal handlers to live past ours given that they
-        // installed them after ours..
-        for (std::size_t i = 0; i < sizeof(signalDefs) / sizeof(SignalDefs); ++i) {
-            sigaction(signalDefs[i].id, &oldSigActions[i], nullptr);
-        }
-        // Return the old stack
-        sigaltstack(&oldSigStack, nullptr);
-    }
-
-    static void handleSignal( int sig ) {
-        char const * name = "<unknown signal>";
-        for (auto const& def : signalDefs) {
-            if (sig == def.id) {
-                name = def.name;
-                break;
-            }
-        }
-        // We need to restore previous signal handlers and let them do
-        // their thing, so that the users can have the debugger break
-        // when a signal is raised, and so on.
-        restorePreviousSignalHandlers();
-        reportFatal( name );
-        raise( sig );
-    }
-
-    FatalConditionHandler::FatalConditionHandler() {
-        assert(!altStackMem && "Cannot initialize POSIX signal handler when one already exists");
-        if (altStackSize == 0) {
-            altStackSize = std::max(static_cast<size_t>(SIGSTKSZ), minStackSizeForErrors);
-        }
-        altStackMem = new char[altStackSize]();
-    }
-
-    FatalConditionHandler::~FatalConditionHandler() {
-        delete[] altStackMem;
-        // We signal that another instance can be constructed by zeroing
-        // out the pointer.
-        altStackMem = nullptr;
-    }
-
-    void FatalConditionHandler::engage_platform() {
-        stack_t sigStack;
-        sigStack.ss_sp = altStackMem;
-        sigStack.ss_size = altStackSize;
-        sigStack.ss_flags = 0;
-        sigaltstack(&sigStack, &oldSigStack);
-        struct sigaction sa = { };
-
-        sa.sa_handler = handleSignal;
-        sa.sa_flags = SA_ONSTACK;
-        for (std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i) {
-            sigaction(signalDefs[i].id, &sa, &oldSigActions[i]);
-        }
-    }
-
-#if defined(__GNUC__)
-#    pragma GCC diagnostic pop
-#endif
-
-    void FatalConditionHandler::disengage_platform() {
-        restorePreviousSignalHandlers();
-    }
-
-} // end namespace Catch
-
-#endif // CATCH_CONFIG_POSIX_SIGNALS
-// end catch_fatal_condition.cpp
-// start catch_generators.cpp
-
-#include <limits>
-#include <set>
-
-namespace Catch {
-
-IGeneratorTracker::~IGeneratorTracker() {}
-
-const char* GeneratorException::what() const noexcept {
-    return m_msg;
-}
-
-namespace Generators {
-
-    GeneratorUntypedBase::~GeneratorUntypedBase() {}
-
-    auto acquireGeneratorTracker( StringRef generatorName, SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        return getResultCapture().acquireGeneratorTracker( generatorName, lineInfo );
-    }
-
-} // namespace Generators
-} // namespace Catch
-// end catch_generators.cpp
-// start catch_interfaces_capture.cpp
-
-namespace Catch {
-    IResultCapture::~IResultCapture() = default;
-}
-// end catch_interfaces_capture.cpp
-// start catch_interfaces_config.cpp
-
-namespace Catch {
-    IConfig::~IConfig() = default;
-}
-// end catch_interfaces_config.cpp
-// start catch_interfaces_exception.cpp
-
-namespace Catch {
-    IExceptionTranslator::~IExceptionTranslator() = default;
-    IExceptionTranslatorRegistry::~IExceptionTranslatorRegistry() = default;
-}
-// end catch_interfaces_exception.cpp
-// start catch_interfaces_registry_hub.cpp
-
-namespace Catch {
-    IRegistryHub::~IRegistryHub() = default;
-    IMutableRegistryHub::~IMutableRegistryHub() = default;
-}
-// end catch_interfaces_registry_hub.cpp
-// start catch_interfaces_reporter.cpp
-
-// start catch_reporter_listening.h
-
-namespace Catch {
-
-    class ListeningReporter : public IStreamingReporter {
-        using Reporters = std::vector<IStreamingReporterPtr>;
-        Reporters m_listeners;
-        IStreamingReporterPtr m_reporter = nullptr;
-        ReporterPreferences m_preferences;
-
-    public:
-        ListeningReporter();
-
-        void addListener( IStreamingReporterPtr&& listener );
-        void addReporter( IStreamingReporterPtr&& reporter );
-
-    public: // IStreamingReporter
-
-        ReporterPreferences getPreferences() const override;
-
-        void noMatchingTestCases( std::string const& spec ) override;
-
-        void reportInvalidArguments(std::string const&arg) override;
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) override;
-        void benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) override;
-        void benchmarkFailed(std::string const&) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void testRunStarting( TestRunInfo const& testRunInfo ) override;
-        void testGroupStarting( GroupInfo const& groupInfo ) override;
-        void testCaseStarting( TestCaseInfo const& testInfo ) override;
-        void sectionStarting( SectionInfo const& sectionInfo ) override;
-        void assertionStarting( AssertionInfo const& assertionInfo ) override;
-
-        // The return value indicates if the messages buffer should be cleared:
-        bool assertionEnded( AssertionStats const& assertionStats ) override;
-        void sectionEnded( SectionStats const& sectionStats ) override;
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override;
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override;
-        void testRunEnded( TestRunStats const& testRunStats ) override;
-
-        void skipTest( TestCaseInfo const& testInfo ) override;
-        bool isMulti() const override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_listening.h
-namespace Catch {
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig )
-    :   m_stream( &_fullConfig->stream() ), m_fullConfig( _fullConfig ) {}
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream )
-    :   m_stream( &_stream ), m_fullConfig( _fullConfig ) {}
-
-    std::ostream& ReporterConfig::stream() const { return *m_stream; }
-    IConfigPtr ReporterConfig::fullConfig() const { return m_fullConfig; }
-
-    TestRunInfo::TestRunInfo( std::string const& _name ) : name( _name ) {}
-
-    GroupInfo::GroupInfo(  std::string const& _name,
-                           std::size_t _groupIndex,
-                           std::size_t _groupsCount )
-    :   name( _name ),
-        groupIndex( _groupIndex ),
-        groupsCounts( _groupsCount )
-    {}
-
-     AssertionStats::AssertionStats( AssertionResult const& _assertionResult,
-                                     std::vector<MessageInfo> const& _infoMessages,
-                                     Totals const& _totals )
-    :   assertionResult( _assertionResult ),
-        infoMessages( _infoMessages ),
-        totals( _totals )
-    {
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = _assertionResult.m_resultData.lazyExpression.m_transientExpression;
-
-        if( assertionResult.hasMessage() ) {
-            // Copy message into messages list.
-            // !TBD This should have been done earlier, somewhere
-            MessageBuilder builder( assertionResult.getTestMacroName(), assertionResult.getSourceInfo(), assertionResult.getResultType() );
-            builder << assertionResult.getMessage();
-            builder.m_info.message = builder.m_stream.str();
-
-            infoMessages.push_back( builder.m_info );
-        }
-    }
-
-     AssertionStats::~AssertionStats() = default;
-
-    SectionStats::SectionStats(  SectionInfo const& _sectionInfo,
-                                 Counts const& _assertions,
-                                 double _durationInSeconds,
-                                 bool _missingAssertions )
-    :   sectionInfo( _sectionInfo ),
-        assertions( _assertions ),
-        durationInSeconds( _durationInSeconds ),
-        missingAssertions( _missingAssertions )
-    {}
-
-    SectionStats::~SectionStats() = default;
-
-    TestCaseStats::TestCaseStats(  TestCaseInfo const& _testInfo,
-                                   Totals const& _totals,
-                                   std::string const& _stdOut,
-                                   std::string const& _stdErr,
-                                   bool _aborting )
-    : testInfo( _testInfo ),
-        totals( _totals ),
-        stdOut( _stdOut ),
-        stdErr( _stdErr ),
-        aborting( _aborting )
-    {}
-
-    TestCaseStats::~TestCaseStats() = default;
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo,
-                                    Totals const& _totals,
-                                    bool _aborting )
-    :   groupInfo( _groupInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo )
-    :   groupInfo( _groupInfo ),
-        aborting( false )
-    {}
-
-    TestGroupStats::~TestGroupStats() = default;
-
-    TestRunStats::TestRunStats(   TestRunInfo const& _runInfo,
-                    Totals const& _totals,
-                    bool _aborting )
-    :   runInfo( _runInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestRunStats::~TestRunStats() = default;
-
-    void IStreamingReporter::fatalErrorEncountered( StringRef ) {}
-    bool IStreamingReporter::isMulti() const { return false; }
-
-    IReporterFactory::~IReporterFactory() = default;
-    IReporterRegistry::~IReporterRegistry() = default;
-
-} // end namespace Catch
-// end catch_interfaces_reporter.cpp
-// start catch_interfaces_runner.cpp
-
-namespace Catch {
-    IRunner::~IRunner() = default;
-}
-// end catch_interfaces_runner.cpp
-// start catch_interfaces_testcase.cpp
-
-namespace Catch {
-    ITestInvoker::~ITestInvoker() = default;
-    ITestCaseRegistry::~ITestCaseRegistry() = default;
-}
-// end catch_interfaces_testcase.cpp
-// start catch_leak_detector.cpp
-
-#ifdef CATCH_CONFIG_WINDOWS_CRTDBG
-#include <crtdbg.h>
-
-namespace Catch {
-
-    LeakDetector::LeakDetector() {
-        int flag = _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG);
-        flag |= _CRTDBG_LEAK_CHECK_DF;
-        flag |= _CRTDBG_ALLOC_MEM_DF;
-        _CrtSetDbgFlag(flag);
-        _CrtSetReportMode(_CRT_WARN, _CRTDBG_MODE_FILE | _CRTDBG_MODE_DEBUG);
-        _CrtSetReportFile(_CRT_WARN, _CRTDBG_FILE_STDERR);
-        // Change this to leaking allocation's number to break there
-        _CrtSetBreakAlloc(-1);
-    }
-}
-
-#else
-
-    Catch::LeakDetector::LeakDetector() {}
-
-#endif
-
-Catch::LeakDetector::~LeakDetector() {
-    Catch::cleanUp();
-}
-// end catch_leak_detector.cpp
-// start catch_list.cpp
-
-// start catch_list.h
-
-#include <set>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config );
-
-    std::size_t listTestsNamesOnly( Config const& config );
-
-    struct TagInfo {
-        void add( std::string const& spelling );
-        std::string all() const;
-
-        std::set<std::string> spellings;
-        std::size_t count = 0;
-    };
-
-    std::size_t listTags( Config const& config );
-
-    std::size_t listReporters();
-
-    Option<std::size_t> list( std::shared_ptr<Config> const& config );
-
-} // end namespace Catch
-
-// end catch_list.h
-// start catch_text.h
-
-namespace Catch {
-    using namespace clara::TextFlow;
-}
-
-// end catch_text.h
-#include <limits>
-#include <algorithm>
-#include <iomanip>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config ) {
-        TestSpec const& testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Matching test cases:\n";
-        else {
-            Catch::cout() << "All available test cases:\n";
-        }
-
-        auto matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            Colour::Code colour = testCaseInfo.isHidden()
-                ? Colour::SecondaryText
-                : Colour::None;
-            Colour colourGuard( colour );
-
-            Catch::cout() << Column( testCaseInfo.name ).initialIndent( 2 ).indent( 4 ) << "\n";
-            if( config.verbosity() >= Verbosity::High ) {
-                Catch::cout() << Column( Catch::Detail::stringify( testCaseInfo.lineInfo ) ).indent(4) << std::endl;
-                std::string description = testCaseInfo.description;
-                if( description.empty() )
-                    description = "(NO DESCRIPTION)";
-                Catch::cout() << Column( description ).indent(4) << std::endl;
-            }
-            if( !testCaseInfo.tags.empty() )
-                Catch::cout() << Column( testCaseInfo.tagsAsString() ).indent( 6 ) << "\n";
-        }
-
-        if( !config.hasTestFilters() )
-            Catch::cout() << pluralise( matchedTestCases.size(), "test case" ) << '\n' << std::endl;
-        else
-            Catch::cout() << pluralise( matchedTestCases.size(), "matching test case" ) << '\n' << std::endl;
-        return matchedTestCases.size();
-    }
-
-    std::size_t listTestsNamesOnly( Config const& config ) {
-        TestSpec const& testSpec = config.testSpec();
-        std::size_t matchedTests = 0;
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            matchedTests++;
-            if( startsWith( testCaseInfo.name, '#' ) )
-               Catch::cout() << '"' << testCaseInfo.name << '"';
-            else
-               Catch::cout() << testCaseInfo.name;
-            if ( config.verbosity() >= Verbosity::High )
-                Catch::cout() << "\t@" << testCaseInfo.lineInfo;
-            Catch::cout() << std::endl;
-        }
-        return matchedTests;
-    }
-
-    void TagInfo::add( std::string const& spelling ) {
-        ++count;
-        spellings.insert( spelling );
-    }
-
-    std::string TagInfo::all() const {
-        size_t size = 0;
-        for (auto const& spelling : spellings) {
-            // Add 2 for the brackes
-            size += spelling.size() + 2;
-        }
-
-        std::string out; out.reserve(size);
-        for (auto const& spelling : spellings) {
-            out += '[';
-            out += spelling;
-            out += ']';
-        }
-        return out;
-    }
-
-    std::size_t listTags( Config const& config ) {
-        TestSpec const& testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Tags for matching test cases:\n";
-        else {
-            Catch::cout() << "All available tags:\n";
-        }
-
-        std::map<std::string, TagInfo> tagCounts;
-
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCase : matchedTestCases ) {
-            for( auto const& tagName : testCase.getTestCaseInfo().tags ) {
-                std::string lcaseTagName = toLower( tagName );
-                auto countIt = tagCounts.find( lcaseTagName );
-                if( countIt == tagCounts.end() )
-                    countIt = tagCounts.insert( std::make_pair( lcaseTagName, TagInfo() ) ).first;
-                countIt->second.add( tagName );
-            }
-        }
-
-        for( auto const& tagCount : tagCounts ) {
-            ReusableStringStream rss;
-            rss << "  " << std::setw(2) << tagCount.second.count << "  ";
-            auto str = rss.str();
-            auto wrapper = Column( tagCount.second.all() )
-                                                    .initialIndent( 0 )
-                                                    .indent( str.size() )
-                                                    .width( CATCH_CONFIG_CONSOLE_WIDTH-10 );
-            Catch::cout() << str << wrapper << '\n';
-        }
-        Catch::cout() << pluralise( tagCounts.size(), "tag" ) << '\n' << std::endl;
-        return tagCounts.size();
-    }
-
-    std::size_t listReporters() {
-        Catch::cout() << "Available reporters:\n";
-        IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-        std::size_t maxNameLen = 0;
-        for( auto const& factoryKvp : factories )
-            maxNameLen = (std::max)( maxNameLen, factoryKvp.first.size() );
-
-        for( auto const& factoryKvp : factories ) {
-            Catch::cout()
-                    << Column( factoryKvp.first + ":" )
-                            .indent(2)
-                            .width( 5+maxNameLen )
-                    +  Column( factoryKvp.second->getDescription() )
-                            .initialIndent(0)
-                            .indent(2)
-                            .width( CATCH_CONFIG_CONSOLE_WIDTH - maxNameLen-8 )
-                    << "\n";
-        }
-        Catch::cout() << std::endl;
-        return factories.size();
-    }
-
-    Option<std::size_t> list( std::shared_ptr<Config> const& config ) {
-        Option<std::size_t> listedCount;
-        getCurrentMutableContext().setConfig( config );
-        if( config->listTests() )
-            listedCount = listedCount.valueOr(0) + listTests( *config );
-        if( config->listTestNamesOnly() )
-            listedCount = listedCount.valueOr(0) + listTestsNamesOnly( *config );
-        if( config->listTags() )
-            listedCount = listedCount.valueOr(0) + listTags( *config );
-        if( config->listReporters() )
-            listedCount = listedCount.valueOr(0) + listReporters();
-        return listedCount;
-    }
-
-} // end namespace Catch
-// end catch_list.cpp
-// start catch_matchers.cpp
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        std::string MatcherUntypedBase::toString() const {
-            if( m_cachedToString.empty() )
-                m_cachedToString = describe();
-            return m_cachedToString;
-        }
-
-        MatcherUntypedBase::~MatcherUntypedBase() = default;
-
-    } // namespace Impl
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-// end catch_matchers.cpp
-// start catch_matchers_exception.cpp
-
-namespace Catch {
-namespace Matchers {
-namespace Exception {
-
-bool ExceptionMessageMatcher::match(std::exception const& ex) const {
-    return ex.what() == m_message;
-}
-
-std::string ExceptionMessageMatcher::describe() const {
-    return "exception message matches \"" + m_message + "\"";
-}
-
-}
-Exception::ExceptionMessageMatcher Message(std::string const& message) {
-    return Exception::ExceptionMessageMatcher(message);
-}
-
-// namespace Exception
-} // namespace Matchers
-} // namespace Catch
-// end catch_matchers_exception.cpp
-// start catch_matchers_floating.cpp
-
-// start catch_polyfills.hpp
-
-namespace Catch {
-    bool isnan(float f);
-    bool isnan(double d);
-}
-
-// end catch_polyfills.hpp
-// start catch_to_string.hpp
-
-#include <string>
-
-namespace Catch {
-    template <typename T>
-    std::string to_string(T const& t) {
-#if defined(CATCH_CONFIG_CPP11_TO_STRING)
-        return std::to_string(t);
-#else
-        ReusableStringStream rss;
-        rss << t;
-        return rss.str();
-#endif
-    }
-} // end namespace Catch
-
-// end catch_to_string.hpp
-#include <algorithm>
-#include <cmath>
-#include <cstdlib>
-#include <cstdint>
-#include <cstring>
-#include <sstream>
-#include <type_traits>
-#include <iomanip>
-#include <limits>
-
-namespace Catch {
-namespace {
-
-    int32_t convert(float f) {
-        static_assert(sizeof(float) == sizeof(int32_t), "Important ULP matcher assumption violated");
-        int32_t i;
-        std::memcpy(&i, &f, sizeof(f));
-        return i;
-    }
-
-    int64_t convert(double d) {
-        static_assert(sizeof(double) == sizeof(int64_t), "Important ULP matcher assumption violated");
-        int64_t i;
-        std::memcpy(&i, &d, sizeof(d));
-        return i;
-    }
-
-    template <typename FP>
-    bool almostEqualUlps(FP lhs, FP rhs, uint64_t maxUlpDiff) {
-        // Comparison with NaN should always be false.
-        // This way we can rule it out before getting into the ugly details
-        if (Catch::isnan(lhs) || Catch::isnan(rhs)) {
-            return false;
-        }
-
-        auto lc = convert(lhs);
-        auto rc = convert(rhs);
-
-        if ((lc < 0) != (rc < 0)) {
-            // Potentially we can have +0 and -0
-            return lhs == rhs;
-        }
-
-        // static cast as a workaround for IBM XLC
-        auto ulpDiff = std::abs(static_cast<FP>(lc - rc));
-        return static_cast<uint64_t>(ulpDiff) <= maxUlpDiff;
-    }
-
-#if defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
-
-    float nextafter(float x, float y) {
-        return ::nextafterf(x, y);
-    }
-
-    double nextafter(double x, double y) {
-        return ::nextafter(x, y);
-    }
-
-#endif // ^^^ CATCH_CONFIG_GLOBAL_NEXTAFTER ^^^
-
-template <typename FP>
-FP step(FP start, FP direction, uint64_t steps) {
-    for (uint64_t i = 0; i < steps; ++i) {
-#if defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
-        start = Catch::nextafter(start, direction);
-#else
-        start = std::nextafter(start, direction);
-#endif
-    }
-    return start;
-}
-
-// Performs equivalent check of std::fabs(lhs - rhs) <= margin
-// But without the subtraction to allow for INFINITY in comparison
-bool marginComparison(double lhs, double rhs, double margin) {
-    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
-}
-
-template <typename FloatingPoint>
-void write(std::ostream& out, FloatingPoint num) {
-    out << std::scientific
-        << std::setprecision(std::numeric_limits<FloatingPoint>::max_digits10 - 1)
-        << num;
-}
-
-} // end anonymous namespace
-
-namespace Matchers {
-namespace Floating {
-
-    enum class FloatingPointKind : uint8_t {
-        Float,
-        Double
-    };
-
-    WithinAbsMatcher::WithinAbsMatcher(double target, double margin)
-        :m_target{ target }, m_margin{ margin } {
-        CATCH_ENFORCE(margin >= 0, "Invalid margin: " << margin << '.'
-            << " Margin has to be non-negative.");
-    }
-
-    // Performs equivalent check of std::fabs(lhs - rhs) <= margin
-    // But without the subtraction to allow for INFINITY in comparison
-    bool WithinAbsMatcher::match(double const& matchee) const {
-        return (matchee + m_margin >= m_target) && (m_target + m_margin >= matchee);
-    }
-
-    std::string WithinAbsMatcher::describe() const {
-        return "is within " + ::Catch::Detail::stringify(m_margin) + " of " + ::Catch::Detail::stringify(m_target);
-    }
-
-    WithinUlpsMatcher::WithinUlpsMatcher(double target, uint64_t ulps, FloatingPointKind baseType)
-        :m_target{ target }, m_ulps{ ulps }, m_type{ baseType } {
-        CATCH_ENFORCE(m_type == FloatingPointKind::Double
-                   || m_ulps < (std::numeric_limits<uint32_t>::max)(),
-            "Provided ULP is impossibly large for a float comparison.");
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic push
-// Clang <3.5 reports on the default branch in the switch below
-#pragma clang diagnostic ignored "-Wunreachable-code"
-#endif
-
-    bool WithinUlpsMatcher::match(double const& matchee) const {
-        switch (m_type) {
-        case FloatingPointKind::Float:
-            return almostEqualUlps<float>(static_cast<float>(matchee), static_cast<float>(m_target), m_ulps);
-        case FloatingPointKind::Double:
-            return almostEqualUlps<double>(matchee, m_target, m_ulps);
-        default:
-            CATCH_INTERNAL_ERROR( "Unknown FloatingPointKind value" );
-        }
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic pop
-#endif
-
-    std::string WithinUlpsMatcher::describe() const {
-        std::stringstream ret;
-
-        ret << "is within " << m_ulps << " ULPs of ";
-
-        if (m_type == FloatingPointKind::Float) {
-            write(ret, static_cast<float>(m_target));
-            ret << 'f';
-        } else {
-            write(ret, m_target);
-        }
-
-        ret << " ([";
-        if (m_type == FloatingPointKind::Double) {
-            write(ret, step(m_target, static_cast<double>(-INFINITY), m_ulps));
-            ret << ", ";
-            write(ret, step(m_target, static_cast<double>( INFINITY), m_ulps));
-        } else {
-            // We have to cast INFINITY to float because of MinGW, see #1782
-            write(ret, step(static_cast<float>(m_target), static_cast<float>(-INFINITY), m_ulps));
-            ret << ", ";
-            write(ret, step(static_cast<float>(m_target), static_cast<float>( INFINITY), m_ulps));
-        }
-        ret << "])";
-
-        return ret.str();
-    }
-
-    WithinRelMatcher::WithinRelMatcher(double target, double epsilon):
-        m_target(target),
-        m_epsilon(epsilon){
-        CATCH_ENFORCE(m_epsilon >= 0., "Relative comparison with epsilon <  0 does not make sense.");
-        CATCH_ENFORCE(m_epsilon  < 1., "Relative comparison with epsilon >= 1 does not make sense.");
-    }
-
-    bool WithinRelMatcher::match(double const& matchee) const {
-        const auto relMargin = m_epsilon * (std::max)(std::fabs(matchee), std::fabs(m_target));
-        return marginComparison(matchee, m_target,
-                                std::isinf(relMargin)? 0 : relMargin);
-    }
-
-    std::string WithinRelMatcher::describe() const {
-        Catch::ReusableStringStream sstr;
-        sstr << "and " << m_target << " are within " << m_epsilon * 100. << "% of each other";
-        return sstr.str();
-    }
-
-}// namespace Floating
-
-Floating::WithinUlpsMatcher WithinULP(double target, uint64_t maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Double);
-}
-
-Floating::WithinUlpsMatcher WithinULP(float target, uint64_t maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Float);
-}
-
-Floating::WithinAbsMatcher WithinAbs(double target, double margin) {
-    return Floating::WithinAbsMatcher(target, margin);
-}
-
-Floating::WithinRelMatcher WithinRel(double target, double eps) {
-    return Floating::WithinRelMatcher(target, eps);
-}
-
-Floating::WithinRelMatcher WithinRel(double target) {
-    return Floating::WithinRelMatcher(target, std::numeric_limits<double>::epsilon() * 100);
-}
-
-Floating::WithinRelMatcher WithinRel(float target, float eps) {
-    return Floating::WithinRelMatcher(target, eps);
-}
-
-Floating::WithinRelMatcher WithinRel(float target) {
-    return Floating::WithinRelMatcher(target, std::numeric_limits<float>::epsilon() * 100);
-}
-
-} // namespace Matchers
-} // namespace Catch
-// end catch_matchers_floating.cpp
-// start catch_matchers_generic.cpp
-
-std::string Catch::Matchers::Generic::Detail::finalizeDescription(const std::string& desc) {
-    if (desc.empty()) {
-        return "matches undescribed predicate";
-    } else {
-        return "matches predicate: \"" + desc + '"';
-    }
-}
-// end catch_matchers_generic.cpp
-// start catch_matchers_string.cpp
-
-#include <regex>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        CasedString::CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity )
-        :   m_caseSensitivity( caseSensitivity ),
-            m_str( adjustString( str ) )
-        {}
-        std::string CasedString::adjustString( std::string const& str ) const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? toLower( str )
-                   : str;
-        }
-        std::string CasedString::caseSensitivitySuffix() const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? " (case insensitive)"
-                   : std::string();
-        }
-
-        StringMatcherBase::StringMatcherBase( std::string const& operation, CasedString const& comparator )
-        : m_comparator( comparator ),
-          m_operation( operation ) {
-        }
-
-        std::string StringMatcherBase::describe() const {
-            std::string description;
-            description.reserve(5 + m_operation.size() + m_comparator.m_str.size() +
-                                        m_comparator.caseSensitivitySuffix().size());
-            description += m_operation;
-            description += ": \"";
-            description += m_comparator.m_str;
-            description += "\"";
-            description += m_comparator.caseSensitivitySuffix();
-            return description;
-        }
-
-        EqualsMatcher::EqualsMatcher( CasedString const& comparator ) : StringMatcherBase( "equals", comparator ) {}
-
-        bool EqualsMatcher::match( std::string const& source ) const {
-            return m_comparator.adjustString( source ) == m_comparator.m_str;
-        }
-
-        ContainsMatcher::ContainsMatcher( CasedString const& comparator ) : StringMatcherBase( "contains", comparator ) {}
-
-        bool ContainsMatcher::match( std::string const& source ) const {
-            return contains( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        StartsWithMatcher::StartsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "starts with", comparator ) {}
-
-        bool StartsWithMatcher::match( std::string const& source ) const {
-            return startsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        EndsWithMatcher::EndsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "ends with", comparator ) {}
-
-        bool EndsWithMatcher::match( std::string const& source ) const {
-            return endsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        RegexMatcher::RegexMatcher(std::string regex, CaseSensitive::Choice caseSensitivity): m_regex(std::move(regex)), m_caseSensitivity(caseSensitivity) {}
-
-        bool RegexMatcher::match(std::string const& matchee) const {
-            auto flags = std::regex::ECMAScript; // ECMAScript is the default syntax option anyway
-            if (m_caseSensitivity == CaseSensitive::Choice::No) {
-                flags |= std::regex::icase;
-            }
-            auto reg = std::regex(m_regex, flags);
-            return std::regex_match(matchee, reg);
-        }
-
-        std::string RegexMatcher::describe() const {
-            return "matches " + ::Catch::Detail::stringify(m_regex) + ((m_caseSensitivity == CaseSensitive::Choice::Yes)? " case sensitively" : " case insensitively");
-        }
-
-    } // namespace StdString
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EqualsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::ContainsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EndsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::StartsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-
-    StdString::RegexMatcher Matches(std::string const& regex, CaseSensitive::Choice caseSensitivity) {
-        return StdString::RegexMatcher(regex, caseSensitivity);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-// end catch_matchers_string.cpp
-// start catch_message.cpp
-
-// start catch_uncaught_exceptions.h
-
-namespace Catch {
-    bool uncaught_exceptions();
-} // end namespace Catch
-
-// end catch_uncaught_exceptions.h
-#include <cassert>
-#include <stack>
-
-namespace Catch {
-
-    MessageInfo::MessageInfo(   StringRef const& _macroName,
-                                SourceLineInfo const& _lineInfo,
-                                ResultWas::OfType _type )
-    :   macroName( _macroName ),
-        lineInfo( _lineInfo ),
-        type( _type ),
-        sequence( ++globalCount )
-    {}
-
-    bool MessageInfo::operator==( MessageInfo const& other ) const {
-        return sequence == other.sequence;
-    }
-
-    bool MessageInfo::operator<( MessageInfo const& other ) const {
-        return sequence < other.sequence;
-    }
-
-    // This may need protecting if threading support is added
-    unsigned int MessageInfo::globalCount = 0;
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    Catch::MessageBuilder::MessageBuilder( StringRef const& macroName,
-                                           SourceLineInfo const& lineInfo,
-                                           ResultWas::OfType type )
-        :m_info(macroName, lineInfo, type) {}
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    ScopedMessage::ScopedMessage( MessageBuilder const& builder )
-    : m_info( builder.m_info ), m_moved()
-    {
-        m_info.message = builder.m_stream.str();
-        getResultCapture().pushScopedMessage( m_info );
-    }
-
-    ScopedMessage::ScopedMessage( ScopedMessage&& old )
-    : m_info( old.m_info ), m_moved()
-    {
-        old.m_moved = true;
-    }
-
-    ScopedMessage::~ScopedMessage() {
-        if ( !uncaught_exceptions() && !m_moved ){
-            getResultCapture().popScopedMessage(m_info);
-        }
-    }
-
-    Capturer::Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names ) {
-        auto trimmed = [&] (size_t start, size_t end) {
-            while (names[start] == ',' || isspace(static_cast<unsigned char>(names[start]))) {
-                ++start;
-            }
-            while (names[end] == ',' || isspace(static_cast<unsigned char>(names[end]))) {
-                --end;
-            }
-            return names.substr(start, end - start + 1);
-        };
-        auto skipq = [&] (size_t start, char quote) {
-            for (auto i = start + 1; i < names.size() ; ++i) {
-                if (names[i] == quote)
-                    return i;
-                if (names[i] == '\\')
-                    ++i;
-            }
-            CATCH_INTERNAL_ERROR("CAPTURE parsing encountered unmatched quote");
-        };
-
-        size_t start = 0;
-        std::stack<char> openings;
-        for (size_t pos = 0; pos < names.size(); ++pos) {
-            char c = names[pos];
-            switch (c) {
-            case '[':
-            case '{':
-            case '(':
-            // It is basically impossible to disambiguate between
-            // comparison and start of template args in this context
-//            case '<':
-                openings.push(c);
-                break;
-            case ']':
-            case '}':
-            case ')':
-//           case '>':
-                openings.pop();
-                break;
-            case '"':
-            case '\'':
-                pos = skipq(pos, c);
-                break;
-            case ',':
-                if (start != pos && openings.empty()) {
-                    m_messages.emplace_back(macroName, lineInfo, resultType);
-                    m_messages.back().message = static_cast<std::string>(trimmed(start, pos));
-                    m_messages.back().message += " := ";
-                    start = pos;
-                }
-            }
-        }
-        assert(openings.empty() && "Mismatched openings");
-        m_messages.emplace_back(macroName, lineInfo, resultType);
-        m_messages.back().message = static_cast<std::string>(trimmed(start, names.size() - 1));
-        m_messages.back().message += " := ";
-    }
-    Capturer::~Capturer() {
-        if ( !uncaught_exceptions() ){
-            assert( m_captured == m_messages.size() );
-            for( size_t i = 0; i < m_captured; ++i  )
-                m_resultCapture.popScopedMessage( m_messages[i] );
-        }
-    }
-
-    void Capturer::captureValue( size_t index, std::string const& value ) {
-        assert( index < m_messages.size() );
-        m_messages[index].message += value;
-        m_resultCapture.pushScopedMessage( m_messages[index] );
-        m_captured++;
-    }
-
-} // end namespace Catch
-// end catch_message.cpp
-// start catch_output_redirect.cpp
-
-// start catch_output_redirect.h
-#ifndef TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-#define TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-
-#include <cstdio>
-#include <iosfwd>
-#include <string>
-
-namespace Catch {
-
-    class RedirectedStream {
-        std::ostream& m_originalStream;
-        std::ostream& m_redirectionStream;
-        std::streambuf* m_prevBuf;
-
-    public:
-        RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream );
-        ~RedirectedStream();
-    };
-
-    class RedirectedStdOut {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cout;
-    public:
-        RedirectedStdOut();
-        auto str() const -> std::string;
-    };
-
-    // StdErr has two constituent streams in C++, std::cerr and std::clog
-    // This means that we need to redirect 2 streams into 1 to keep proper
-    // order of writes
-    class RedirectedStdErr {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cerr;
-        RedirectedStream m_clog;
-    public:
-        RedirectedStdErr();
-        auto str() const -> std::string;
-    };
-
-    class RedirectedStreams {
-    public:
-        RedirectedStreams(RedirectedStreams const&) = delete;
-        RedirectedStreams& operator=(RedirectedStreams const&) = delete;
-        RedirectedStreams(RedirectedStreams&&) = delete;
-        RedirectedStreams& operator=(RedirectedStreams&&) = delete;
-
-        RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr);
-        ~RedirectedStreams();
-    private:
-        std::string& m_redirectedCout;
-        std::string& m_redirectedCerr;
-        RedirectedStdOut m_redirectedStdOut;
-        RedirectedStdErr m_redirectedStdErr;
-    };
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-    // Windows's implementation of std::tmpfile is terrible (it tries
-    // to create a file inside system folder, thus requiring elevated
-    // privileges for the binary), so we have to use tmpnam(_s) and
-    // create the file ourselves there.
-    class TempFile {
-    public:
-        TempFile(TempFile const&) = delete;
-        TempFile& operator=(TempFile const&) = delete;
-        TempFile(TempFile&&) = delete;
-        TempFile& operator=(TempFile&&) = delete;
-
-        TempFile();
-        ~TempFile();
-
-        std::FILE* getFile();
-        std::string getContents();
-
-    private:
-        std::FILE* m_file = nullptr;
-    #if defined(_MSC_VER)
-        char m_buffer[L_tmpnam] = { 0 };
-    #endif
-    };
-
-    class OutputRedirect {
-    public:
-        OutputRedirect(OutputRedirect const&) = delete;
-        OutputRedirect& operator=(OutputRedirect const&) = delete;
-        OutputRedirect(OutputRedirect&&) = delete;
-        OutputRedirect& operator=(OutputRedirect&&) = delete;
-
-        OutputRedirect(std::string& stdout_dest, std::string& stderr_dest);
-        ~OutputRedirect();
-
-    private:
-        int m_originalStdout = -1;
-        int m_originalStderr = -1;
-        TempFile m_stdoutFile;
-        TempFile m_stderrFile;
-        std::string& m_stdoutDest;
-        std::string& m_stderrDest;
-    };
-
-#endif
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-// end catch_output_redirect.h
-#include <cstdio>
-#include <cstring>
-#include <fstream>
-#include <sstream>
-#include <stdexcept>
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #include <io.h>      //_dup and _dup2
-    #define dup _dup
-    #define dup2 _dup2
-    #define fileno _fileno
-    #else
-    #include <unistd.h>  // dup and dup2
-    #endif
-#endif
-
-namespace Catch {
-
-    RedirectedStream::RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream )
-    :   m_originalStream( originalStream ),
-        m_redirectionStream( redirectionStream ),
-        m_prevBuf( m_originalStream.rdbuf() )
-    {
-        m_originalStream.rdbuf( m_redirectionStream.rdbuf() );
-    }
-
-    RedirectedStream::~RedirectedStream() {
-        m_originalStream.rdbuf( m_prevBuf );
-    }
-
-    RedirectedStdOut::RedirectedStdOut() : m_cout( Catch::cout(), m_rss.get() ) {}
-    auto RedirectedStdOut::str() const -> std::string { return m_rss.str(); }
-
-    RedirectedStdErr::RedirectedStdErr()
-    :   m_cerr( Catch::cerr(), m_rss.get() ),
-        m_clog( Catch::clog(), m_rss.get() )
-    {}
-    auto RedirectedStdErr::str() const -> std::string { return m_rss.str(); }
-
-    RedirectedStreams::RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr)
-    :   m_redirectedCout(redirectedCout),
-        m_redirectedCerr(redirectedCerr)
-    {}
-
-    RedirectedStreams::~RedirectedStreams() {
-        m_redirectedCout += m_redirectedStdOut.str();
-        m_redirectedCerr += m_redirectedStdErr.str();
-    }
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-#if defined(_MSC_VER)
-    TempFile::TempFile() {
-        if (tmpnam_s(m_buffer)) {
-            CATCH_RUNTIME_ERROR("Could not get a temp filename");
-        }
-        if (fopen_s(&m_file, m_buffer, "w+")) {
-            char buffer[100];
-            if (strerror_s(buffer, errno)) {
-                CATCH_RUNTIME_ERROR("Could not translate errno to a string");
-            }
-            CATCH_RUNTIME_ERROR("Could not open the temp file: '" << m_buffer << "' because: " << buffer);
-        }
-    }
-#else
-    TempFile::TempFile() {
-        m_file = std::tmpfile();
-        if (!m_file) {
-            CATCH_RUNTIME_ERROR("Could not create a temp file.");
-        }
-    }
-
-#endif
-
-    TempFile::~TempFile() {
-         // TBD: What to do about errors here?
-         std::fclose(m_file);
-         // We manually create the file on Windows only, on Linux
-         // it will be autodeleted
-#if defined(_MSC_VER)
-         std::remove(m_buffer);
-#endif
-    }
-
-    FILE* TempFile::getFile() {
-        return m_file;
-    }
-
-    std::string TempFile::getContents() {
-        std::stringstream sstr;
-        char buffer[100] = {};
-        std::rewind(m_file);
-        while (std::fgets(buffer, sizeof(buffer), m_file)) {
-            sstr << buffer;
-        }
-        return sstr.str();
-    }
-
-    OutputRedirect::OutputRedirect(std::string& stdout_dest, std::string& stderr_dest) :
-        m_originalStdout(dup(1)),
-        m_originalStderr(dup(2)),
-        m_stdoutDest(stdout_dest),
-        m_stderrDest(stderr_dest) {
-        dup2(fileno(m_stdoutFile.getFile()), 1);
-        dup2(fileno(m_stderrFile.getFile()), 2);
-    }
-
-    OutputRedirect::~OutputRedirect() {
-        Catch::cout() << std::flush;
-        fflush(stdout);
-        // Since we support overriding these streams, we flush cerr
-        // even though std::cerr is unbuffered
-        Catch::cerr() << std::flush;
-        Catch::clog() << std::flush;
-        fflush(stderr);
-
-        dup2(m_originalStdout, 1);
-        dup2(m_originalStderr, 2);
-
-        m_stdoutDest += m_stdoutFile.getContents();
-        m_stderrDest += m_stderrFile.getContents();
-    }
-
-#endif // CATCH_CONFIG_NEW_CAPTURE
-
-} // namespace Catch
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #undef dup
-    #undef dup2
-    #undef fileno
-    #endif
-#endif
-// end catch_output_redirect.cpp
-// start catch_polyfills.cpp
-
-#include <cmath>
-
-namespace Catch {
-
-#if !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-    bool isnan(float f) {
-        return std::isnan(f);
-    }
-    bool isnan(double d) {
-        return std::isnan(d);
-    }
-#else
-    // For now we only use this for embarcadero
-    bool isnan(float f) {
-        return std::_isnan(f);
-    }
-    bool isnan(double d) {
-        return std::_isnan(d);
-    }
-#endif
-
-} // end namespace Catch
-// end catch_polyfills.cpp
-// start catch_random_number_generator.cpp
-
-namespace Catch {
-
-namespace {
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4146) // we negate uint32 during the rotate
-#endif
-        // Safe rotr implementation thanks to John Regehr
-        uint32_t rotate_right(uint32_t val, uint32_t count) {
-            const uint32_t mask = 31;
-            count &= mask;
-            return (val >> count) | (val << (-count & mask));
-        }
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-}
-
-    SimplePcg32::SimplePcg32(result_type seed_) {
-        seed(seed_);
-    }
-
-    void SimplePcg32::seed(result_type seed_) {
-        m_state = 0;
-        (*this)();
-        m_state += seed_;
-        (*this)();
-    }
-
-    void SimplePcg32::discard(uint64_t skip) {
-        // We could implement this to run in O(log n) steps, but this
-        // should suffice for our use case.
-        for (uint64_t s = 0; s < skip; ++s) {
-            static_cast<void>((*this)());
-        }
-    }
-
-    SimplePcg32::result_type SimplePcg32::operator()() {
-        // prepare the output value
-        const uint32_t xorshifted = static_cast<uint32_t>(((m_state >> 18u) ^ m_state) >> 27u);
-        const auto output = rotate_right(xorshifted, m_state >> 59u);
-
-        // advance state
-        m_state = m_state * 6364136223846793005ULL + s_inc;
-
-        return output;
-    }
-
-    bool operator==(SimplePcg32 const& lhs, SimplePcg32 const& rhs) {
-        return lhs.m_state == rhs.m_state;
-    }
-
-    bool operator!=(SimplePcg32 const& lhs, SimplePcg32 const& rhs) {
-        return lhs.m_state != rhs.m_state;
-    }
-}
-// end catch_random_number_generator.cpp
-// start catch_registry_hub.cpp
-
-// start catch_test_case_registry_impl.h
-
-#include <vector>
-#include <set>
-#include <algorithm>
-#include <ios>
-
-namespace Catch {
-
-    class TestCase;
-    struct IConfig;
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases );
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions );
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-    class TestRegistry : public ITestCaseRegistry {
-    public:
-        virtual ~TestRegistry() = default;
-
-        virtual void registerTest( TestCase const& testCase );
-
-        std::vector<TestCase> const& getAllTests() const override;
-        std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const override;
-
-    private:
-        std::vector<TestCase> m_functions;
-        mutable RunTests::InWhatOrder m_currentSortOrder = RunTests::InDeclarationOrder;
-        mutable std::vector<TestCase> m_sortedFunctions;
-        std::size_t m_unnamedCount = 0;
-        std::ios_base::Init m_ostreamInit; // Forces cout/ cerr to be initialised
-    };
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class TestInvokerAsFunction : public ITestInvoker {
-        void(*m_testAsFunction)();
-    public:
-        TestInvokerAsFunction( void(*testAsFunction)() ) noexcept;
-
-        void invoke() const override;
-    };
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName );
-
-    ///////////////////////////////////////////////////////////////////////////
-
-} // end namespace Catch
-
-// end catch_test_case_registry_impl.h
-// start catch_reporter_registry.h
-
-#include <map>
-
-namespace Catch {
-
-    class ReporterRegistry : public IReporterRegistry {
-
-    public:
-
-        ~ReporterRegistry() override;
-
-        IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const override;
-
-        void registerReporter( std::string const& name, IReporterFactoryPtr const& factory );
-        void registerListener( IReporterFactoryPtr const& factory );
-
-        FactoryMap const& getFactories() const override;
-        Listeners const& getListeners() const override;
-
-    private:
-        FactoryMap m_factories;
-        Listeners m_listeners;
-    };
-}
-
-// end catch_reporter_registry.h
-// start catch_tag_alias_registry.h
-
-// start catch_tag_alias.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias {
-        TagAlias(std::string const& _tag, SourceLineInfo _lineInfo);
-
-        std::string tag;
-        SourceLineInfo lineInfo;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias.h
-#include <map>
-
-namespace Catch {
-
-    class TagAliasRegistry : public ITagAliasRegistry {
-    public:
-        ~TagAliasRegistry() override;
-        TagAlias const* find( std::string const& alias ) const override;
-        std::string expandAliases( std::string const& unexpandedTestSpec ) const override;
-        void add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo );
-
-    private:
-        std::map<std::string, TagAlias> m_registry;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias_registry.h
-// start catch_startup_exception_registry.h
-
-#include <vector>
-#include <exception>
-
-namespace Catch {
-
-    class StartupExceptionRegistry {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    public:
-        void add(std::exception_ptr const& exception) noexcept;
-        std::vector<std::exception_ptr> const& getExceptions() const noexcept;
-    private:
-        std::vector<std::exception_ptr> m_exceptions;
-#endif
-    };
-
-} // end namespace Catch
-
-// end catch_startup_exception_registry.h
-// start catch_singletons.hpp
-
-namespace Catch {
-
-    struct ISingleton {
-        virtual ~ISingleton();
-    };
-
-    void addSingleton( ISingleton* singleton );
-    void cleanupSingletons();
-
-    template<typename SingletonImplT, typename InterfaceT = SingletonImplT, typename MutableInterfaceT = InterfaceT>
-    class Singleton : SingletonImplT, public ISingleton {
-
-        static auto getInternal() -> Singleton* {
-            static Singleton* s_instance = nullptr;
-            if( !s_instance ) {
-                s_instance = new Singleton;
-                addSingleton( s_instance );
-            }
-            return s_instance;
-        }
-
-    public:
-        static auto get() -> InterfaceT const& {
-            return *getInternal();
-        }
-        static auto getMutable() -> MutableInterfaceT& {
-            return *getInternal();
-        }
-    };
-
-} // namespace Catch
-
-// end catch_singletons.hpp
-namespace Catch {
-
-    namespace {
-
-        class RegistryHub : public IRegistryHub, public IMutableRegistryHub,
-                            private NonCopyable {
-
-        public: // IRegistryHub
-            RegistryHub() = default;
-            IReporterRegistry const& getReporterRegistry() const override {
-                return m_reporterRegistry;
-            }
-            ITestCaseRegistry const& getTestCaseRegistry() const override {
-                return m_testCaseRegistry;
-            }
-            IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const override {
-                return m_exceptionTranslatorRegistry;
-            }
-            ITagAliasRegistry const& getTagAliasRegistry() const override {
-                return m_tagAliasRegistry;
-            }
-            StartupExceptionRegistry const& getStartupExceptionRegistry() const override {
-                return m_exceptionRegistry;
-            }
-
-        public: // IMutableRegistryHub
-            void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerReporter( name, factory );
-            }
-            void registerListener( IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerListener( factory );
-            }
-            void registerTest( TestCase const& testInfo ) override {
-                m_testCaseRegistry.registerTest( testInfo );
-            }
-            void registerTranslator( const IExceptionTranslator* translator ) override {
-                m_exceptionTranslatorRegistry.registerTranslator( translator );
-            }
-            void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) override {
-                m_tagAliasRegistry.add( alias, tag, lineInfo );
-            }
-            void registerStartupException() noexcept override {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-                m_exceptionRegistry.add(std::current_exception());
-#else
-                CATCH_INTERNAL_ERROR("Attempted to register active exception under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-#endif
-            }
-            IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() override {
-                return m_enumValuesRegistry;
-            }
-
-        private:
-            TestRegistry m_testCaseRegistry;
-            ReporterRegistry m_reporterRegistry;
-            ExceptionTranslatorRegistry m_exceptionTranslatorRegistry;
-            TagAliasRegistry m_tagAliasRegistry;
-            StartupExceptionRegistry m_exceptionRegistry;
-            Detail::EnumValuesRegistry m_enumValuesRegistry;
-        };
-    }
-
-    using RegistryHubSingleton = Singleton<RegistryHub, IRegistryHub, IMutableRegistryHub>;
-
-    IRegistryHub const& getRegistryHub() {
-        return RegistryHubSingleton::get();
-    }
-    IMutableRegistryHub& getMutableRegistryHub() {
-        return RegistryHubSingleton::getMutable();
-    }
-    void cleanUp() {
-        cleanupSingletons();
-        cleanUpContext();
-    }
-    std::string translateActiveException() {
-        return getRegistryHub().getExceptionTranslatorRegistry().translateActiveException();
-    }
-
-} // end namespace Catch
-// end catch_registry_hub.cpp
-// start catch_reporter_registry.cpp
-
-namespace Catch {
-
-    ReporterRegistry::~ReporterRegistry() = default;
-
-    IStreamingReporterPtr ReporterRegistry::create( std::string const& name, IConfigPtr const& config ) const {
-        auto it =  m_factories.find( name );
-        if( it == m_factories.end() )
-            return nullptr;
-        return it->second->create( ReporterConfig( config ) );
-    }
-
-    void ReporterRegistry::registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) {
-        m_factories.emplace(name, factory);
-    }
-    void ReporterRegistry::registerListener( IReporterFactoryPtr const& factory ) {
-        m_listeners.push_back( factory );
-    }
-
-    IReporterRegistry::FactoryMap const& ReporterRegistry::getFactories() const {
-        return m_factories;
-    }
-    IReporterRegistry::Listeners const& ReporterRegistry::getListeners() const {
-        return m_listeners;
-    }
-
-}
-// end catch_reporter_registry.cpp
-// start catch_result_type.cpp
-
-namespace Catch {
-
-    bool isOk( ResultWas::OfType resultType ) {
-        return ( resultType & ResultWas::FailureBit ) == 0;
-    }
-    bool isJustInfo( int flags ) {
-        return flags == ResultWas::Info;
-    }
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs ) {
-        return static_cast<ResultDisposition::Flags>( static_cast<int>( lhs ) | static_cast<int>( rhs ) );
-    }
-
-    bool shouldContinueOnFailure( int flags )    { return ( flags & ResultDisposition::ContinueOnFailure ) != 0; }
-    bool shouldSuppressFailure( int flags )      { return ( flags & ResultDisposition::SuppressFail ) != 0; }
-
-} // end namespace Catch
-// end catch_result_type.cpp
-// start catch_run_context.cpp
-
-#include <cassert>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace Generators {
-        struct GeneratorTracker : TestCaseTracking::TrackerBase, IGeneratorTracker {
-            GeneratorBasePtr m_generator;
-
-            GeneratorTracker( TestCaseTracking::NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-            :   TrackerBase( nameAndLocation, ctx, parent )
-            {}
-            ~GeneratorTracker();
-
-            static GeneratorTracker& acquire( TrackerContext& ctx, TestCaseTracking::NameAndLocation const& nameAndLocation ) {
-                std::shared_ptr<GeneratorTracker> tracker;
-
-                ITracker& currentTracker = ctx.currentTracker();
-                // Under specific circumstances, the generator we want
-                // to acquire is also the current tracker. If this is
-                // the case, we have to avoid looking through current
-                // tracker's children, and instead return the current
-                // tracker.
-                // A case where this check is important is e.g.
-                //     for (int i = 0; i < 5; ++i) {
-                //         int n = GENERATE(1, 2);
-                //     }
-                //
-                // without it, the code above creates 5 nested generators.
-                if (currentTracker.nameAndLocation() == nameAndLocation) {
-                    auto thisTracker = currentTracker.parent().findChild(nameAndLocation);
-                    assert(thisTracker);
-                    assert(thisTracker->isGeneratorTracker());
-                    tracker = std::static_pointer_cast<GeneratorTracker>(thisTracker);
-                } else if ( TestCaseTracking::ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-                    assert( childTracker );
-                    assert( childTracker->isGeneratorTracker() );
-                    tracker = std::static_pointer_cast<GeneratorTracker>( childTracker );
-                } else {
-                    tracker = std::make_shared<GeneratorTracker>( nameAndLocation, ctx, &currentTracker );
-                    currentTracker.addChild( tracker );
-                }
-
-                if( !tracker->isComplete() ) {
-                    tracker->open();
-                }
-
-                return *tracker;
-            }
-
-            // TrackerBase interface
-            bool isGeneratorTracker() const override { return true; }
-            auto hasGenerator() const -> bool override {
-                return !!m_generator;
-            }
-            void close() override {
-                TrackerBase::close();
-                // If a generator has a child (it is followed by a section)
-                // and none of its children have started, then we must wait
-                // until later to start consuming its values.
-                // This catches cases where `GENERATE` is placed between two
-                // `SECTION`s.
-                // **The check for m_children.empty cannot be removed**.
-                // doing so would break `GENERATE` _not_ followed by `SECTION`s.
-                const bool should_wait_for_child = [&]() {
-                    // No children -> nobody to wait for
-                    if ( m_children.empty() ) {
-                        return false;
-                    }
-                    // If at least one child started executing, don't wait
-                    if ( std::find_if(
-                             m_children.begin(),
-                             m_children.end(),
-                             []( TestCaseTracking::ITrackerPtr tracker ) {
-                                 return tracker->hasStarted();
-                             } ) != m_children.end() ) {
-                        return false;
-                    }
-
-                    // No children have started. We need to check if they _can_
-                    // start, and thus we should wait for them, or they cannot
-                    // start (due to filters), and we shouldn't wait for them
-                    auto* parent = m_parent;
-                    // This is safe: there is always at least one section
-                    // tracker in a test case tracking tree
-                    while ( !parent->isSectionTracker() ) {
-                        parent = &( parent->parent() );
-                    }
-                    assert( parent &&
-                            "Missing root (test case) level section" );
-
-                    auto const& parentSection =
-                        static_cast<SectionTracker&>( *parent );
-                    auto const& filters = parentSection.getFilters();
-                    // No filters -> no restrictions on running sections
-                    if ( filters.empty() ) {
-                        return true;
-                    }
-
-                    for ( auto const& child : m_children ) {
-                        if ( child->isSectionTracker() &&
-                             std::find( filters.begin(),
-                                        filters.end(),
-                                        static_cast<SectionTracker&>( *child )
-                                            .trimmedName() ) !=
-                                 filters.end() ) {
-                            return true;
-                        }
-                    }
-                    return false;
-                }();
-
-                // This check is a bit tricky, because m_generator->next()
-                // has a side-effect, where it consumes generator's current
-                // value, but we do not want to invoke the side-effect if
-                // this generator is still waiting for any child to start.
-                if ( should_wait_for_child ||
-                     ( m_runState == CompletedSuccessfully &&
-                       m_generator->next() ) ) {
-                    m_children.clear();
-                    m_runState = Executing;
-                }
-            }
-
-            // IGeneratorTracker interface
-            auto getGenerator() const -> GeneratorBasePtr const& override {
-                return m_generator;
-            }
-            void setGenerator( GeneratorBasePtr&& generator ) override {
-                m_generator = std::move( generator );
-            }
-        };
-        GeneratorTracker::~GeneratorTracker() {}
-    }
-
-    RunContext::RunContext(IConfigPtr const& _config, IStreamingReporterPtr&& reporter)
-    :   m_runInfo(_config->name()),
-        m_context(getCurrentMutableContext()),
-        m_config(_config),
-        m_reporter(std::move(reporter)),
-        m_lastAssertionInfo{ StringRef(), SourceLineInfo("",0), StringRef(), ResultDisposition::Normal },
-        m_includeSuccessfulResults( m_config->includeSuccessfulResults() || m_reporter->getPreferences().shouldReportAllAssertions )
-    {
-        m_context.setRunner(this);
-        m_context.setConfig(m_config);
-        m_context.setResultCapture(this);
-        m_reporter->testRunStarting(m_runInfo);
-    }
-
-    RunContext::~RunContext() {
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, aborting()));
-    }
-
-    void RunContext::testGroupStarting(std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupStarting(GroupInfo(testSpec, groupIndex, groupsCount));
-    }
-
-    void RunContext::testGroupEnded(std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupEnded(TestGroupStats(GroupInfo(testSpec, groupIndex, groupsCount), totals, aborting()));
-    }
-
-    Totals RunContext::runTest(TestCase const& testCase) {
-        Totals prevTotals = m_totals;
-
-        std::string redirectedCout;
-        std::string redirectedCerr;
-
-        auto const& testInfo = testCase.getTestCaseInfo();
-
-        m_reporter->testCaseStarting(testInfo);
-
-        m_activeTestCase = &testCase;
-
-        ITracker& rootTracker = m_trackerContext.startRun();
-        assert(rootTracker.isSectionTracker());
-        static_cast<SectionTracker&>(rootTracker).addInitialFilters(m_config->getSectionsToRun());
-        do {
-            m_trackerContext.startCycle();
-            m_testCaseTracker = &SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(testInfo.name, testInfo.lineInfo));
-            runCurrentTest(redirectedCout, redirectedCerr);
-        } while (!m_testCaseTracker->isSuccessfullyCompleted() && !aborting());
-
-        Totals deltaTotals = m_totals.delta(prevTotals);
-        if (testInfo.expectedToFail() && deltaTotals.testCases.passed > 0) {
-            deltaTotals.assertions.failed++;
-            deltaTotals.testCases.passed--;
-            deltaTotals.testCases.failed++;
-        }
-        m_totals.testCases += deltaTotals.testCases;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  redirectedCout,
-                                  redirectedCerr,
-                                  aborting()));
-
-        m_activeTestCase = nullptr;
-        m_testCaseTracker = nullptr;
-
-        return deltaTotals;
-    }
-
-    IConfigPtr RunContext::config() const {
-        return m_config;
-    }
-
-    IStreamingReporter& RunContext::reporter() const {
-        return *m_reporter;
-    }
-
-    void RunContext::assertionEnded(AssertionResult const & result) {
-        if (result.getResultType() == ResultWas::Ok) {
-            m_totals.assertions.passed++;
-            m_lastAssertionPassed = true;
-        } else if (!result.isOk()) {
-            m_lastAssertionPassed = false;
-            if( m_activeTestCase->getTestCaseInfo().okToFail() )
-                m_totals.assertions.failedButOk++;
-            else
-                m_totals.assertions.failed++;
-        }
-        else {
-            m_lastAssertionPassed = true;
-        }
-
-        // We have no use for the return value (whether messages should be cleared), because messages were made scoped
-        // and should be let to clear themselves out.
-        static_cast<void>(m_reporter->assertionEnded(AssertionStats(result, m_messages, m_totals)));
-
-        if (result.getResultType() != ResultWas::Warning)
-            m_messageScopes.clear();
-
-        // Reset working state
-        resetAssertionInfo();
-        m_lastResult = result;
-    }
-    void RunContext::resetAssertionInfo() {
-        m_lastAssertionInfo.macroName = StringRef();
-        m_lastAssertionInfo.capturedExpression = "{Unknown expression after the reported line}"_sr;
-    }
-
-    bool RunContext::sectionStarted(SectionInfo const & sectionInfo, Counts & assertions) {
-        ITracker& sectionTracker = SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(sectionInfo.name, sectionInfo.lineInfo));
-        if (!sectionTracker.isOpen())
-            return false;
-        m_activeSections.push_back(&sectionTracker);
-
-        m_lastAssertionInfo.lineInfo = sectionInfo.lineInfo;
-
-        m_reporter->sectionStarting(sectionInfo);
-
-        assertions = m_totals.assertions;
-
-        return true;
-    }
-    auto RunContext::acquireGeneratorTracker( StringRef generatorName, SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        using namespace Generators;
-        GeneratorTracker& tracker = GeneratorTracker::acquire(m_trackerContext,
-                                                              TestCaseTracking::NameAndLocation( static_cast<std::string>(generatorName), lineInfo ) );
-        m_lastAssertionInfo.lineInfo = lineInfo;
-        return tracker;
-    }
-
-    bool RunContext::testForMissingAssertions(Counts& assertions) {
-        if (assertions.total() != 0)
-            return false;
-        if (!m_config->warnAboutMissingAssertions())
-            return false;
-        if (m_trackerContext.currentTracker().hasChildren())
-            return false;
-        m_totals.assertions.failed++;
-        assertions.failed++;
-        return true;
-    }
-
-    void RunContext::sectionEnded(SectionEndInfo const & endInfo) {
-        Counts assertions = m_totals.assertions - endInfo.prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        if (!m_activeSections.empty()) {
-            m_activeSections.back()->close();
-            m_activeSections.pop_back();
-        }
-
-        m_reporter->sectionEnded(SectionStats(endInfo.sectionInfo, assertions, endInfo.durationInSeconds, missingAssertions));
-        m_messages.clear();
-        m_messageScopes.clear();
-    }
-
-    void RunContext::sectionEndedEarly(SectionEndInfo const & endInfo) {
-        if (m_unfinishedSections.empty())
-            m_activeSections.back()->fail();
-        else
-            m_activeSections.back()->close();
-        m_activeSections.pop_back();
-
-        m_unfinishedSections.push_back(endInfo);
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void RunContext::benchmarkPreparing(std::string const& name) {
-        m_reporter->benchmarkPreparing(name);
-    }
-    void RunContext::benchmarkStarting( BenchmarkInfo const& info ) {
-        m_reporter->benchmarkStarting( info );
-    }
-    void RunContext::benchmarkEnded( BenchmarkStats<> const& stats ) {
-        m_reporter->benchmarkEnded( stats );
-    }
-    void RunContext::benchmarkFailed(std::string const & error) {
-        m_reporter->benchmarkFailed(error);
-    }
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    void RunContext::pushScopedMessage(MessageInfo const & message) {
-        m_messages.push_back(message);
-    }
-
-    void RunContext::popScopedMessage(MessageInfo const & message) {
-        m_messages.erase(std::remove(m_messages.begin(), m_messages.end(), message), m_messages.end());
-    }
-
-    void RunContext::emplaceUnscopedMessage( MessageBuilder const& builder ) {
-        m_messageScopes.emplace_back( builder );
-    }
-
-    std::string RunContext::getCurrentTestName() const {
-        return m_activeTestCase
-            ? m_activeTestCase->getTestCaseInfo().name
-            : std::string();
-    }
-
-    const AssertionResult * RunContext::getLastResult() const {
-        return &(*m_lastResult);
-    }
-
-    void RunContext::exceptionEarlyReported() {
-        m_shouldReportUnexpected = false;
-    }
-
-    void RunContext::handleFatalErrorCondition( StringRef message ) {
-        // First notify reporter that bad things happened
-        m_reporter->fatalErrorEncountered(message);
-
-        // Don't rebuild the result -- the stringification itself can cause more fatal errors
-        // Instead, fake a result data.
-        AssertionResultData tempResult( ResultWas::FatalErrorCondition, { false } );
-        tempResult.message = static_cast<std::string>(message);
-        AssertionResult result(m_lastAssertionInfo, tempResult);
-
-        assertionEnded(result);
-
-        handleUnfinishedSections();
-
-        // Recreate section for test case (as we will lose the one that was in scope)
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-
-        Counts assertions;
-        assertions.failed = 1;
-        SectionStats testCaseSectionStats(testCaseSection, assertions, 0, false);
-        m_reporter->sectionEnded(testCaseSectionStats);
-
-        auto const& testInfo = m_activeTestCase->getTestCaseInfo();
-
-        Totals deltaTotals;
-        deltaTotals.testCases.failed = 1;
-        deltaTotals.assertions.failed = 1;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  std::string(),
-                                  std::string(),
-                                  false));
-        m_totals.testCases.failed++;
-        testGroupEnded(std::string(), m_totals, 1, 1);
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, false));
-    }
-
-    bool RunContext::lastAssertionPassed() {
-         return m_lastAssertionPassed;
-    }
-
-    void RunContext::assertionPassed() {
-        m_lastAssertionPassed = true;
-        ++m_totals.assertions.passed;
-        resetAssertionInfo();
-        m_messageScopes.clear();
-    }
-
-    bool RunContext::aborting() const {
-        return m_totals.assertions.failed >= static_cast<std::size_t>(m_config->abortAfter());
-    }
-
-    void RunContext::runCurrentTest(std::string & redirectedCout, std::string & redirectedCerr) {
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-        m_reporter->sectionStarting(testCaseSection);
-        Counts prevAssertions = m_totals.assertions;
-        double duration = 0;
-        m_shouldReportUnexpected = true;
-        m_lastAssertionInfo = { "TEST_CASE"_sr, testCaseInfo.lineInfo, StringRef(), ResultDisposition::Normal };
-
-        seedRng(*m_config);
-
-        Timer timer;
-        CATCH_TRY {
-            if (m_reporter->getPreferences().shouldRedirectStdOut) {
-#if !defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-                RedirectedStreams redirectedStreams(redirectedCout, redirectedCerr);
-
-                timer.start();
-                invokeActiveTestCase();
-#else
-                OutputRedirect r(redirectedCout, redirectedCerr);
-                timer.start();
-                invokeActiveTestCase();
-#endif
-            } else {
-                timer.start();
-                invokeActiveTestCase();
-            }
-            duration = timer.getElapsedSeconds();
-        } CATCH_CATCH_ANON (TestFailureException&) {
-            // This just means the test was aborted due to failure
-        } CATCH_CATCH_ALL {
-            // Under CATCH_CONFIG_FAST_COMPILE, unexpected exceptions under REQUIRE assertions
-            // are reported without translation at the point of origin.
-            if( m_shouldReportUnexpected ) {
-                AssertionReaction dummyReaction;
-                handleUnexpectedInflightException( m_lastAssertionInfo, translateActiveException(), dummyReaction );
-            }
-        }
-        Counts assertions = m_totals.assertions - prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        m_testCaseTracker->close();
-        handleUnfinishedSections();
-        m_messages.clear();
-        m_messageScopes.clear();
-
-        SectionStats testCaseSectionStats(testCaseSection, assertions, duration, missingAssertions);
-        m_reporter->sectionEnded(testCaseSectionStats);
-    }
-
-    void RunContext::invokeActiveTestCase() {
-        FatalConditionHandlerGuard _(&m_fatalConditionhandler);
-        m_activeTestCase->invoke();
-    }
-
-    void RunContext::handleUnfinishedSections() {
-        // If sections ended prematurely due to an exception we stored their
-        // infos here so we can tear them down outside the unwind process.
-        for (auto it = m_unfinishedSections.rbegin(),
-             itEnd = m_unfinishedSections.rend();
-             it != itEnd;
-             ++it)
-            sectionEnded(*it);
-        m_unfinishedSections.clear();
-    }
-
-    void RunContext::handleExpr(
-        AssertionInfo const& info,
-        ITransientExpression const& expr,
-        AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        bool negated = isFalseTest( info.resultDisposition );
-        bool result = expr.getResult() != negated;
-
-        if( result ) {
-            if (!m_includeSuccessfulResults) {
-                assertionPassed();
-            }
-            else {
-                reportExpr(info, ResultWas::Ok, &expr, negated);
-            }
-        }
-        else {
-            reportExpr(info, ResultWas::ExpressionFailed, &expr, negated );
-            populateReaction( reaction );
-        }
-    }
-    void RunContext::reportExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            ITransientExpression const *expr,
-            bool negated ) {
-
-        m_lastAssertionInfo = info;
-        AssertionResultData data( resultType, LazyExpression( negated ) );
-
-        AssertionResult assertionResult{ info, data };
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = expr;
-
-        assertionEnded( assertionResult );
-    }
-
-    void RunContext::handleMessage(
-            AssertionInfo const& info,
-            ResultWas::OfType resultType,
-            StringRef const& message,
-            AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        data.message = static_cast<std::string>(message);
-        AssertionResult assertionResult{ m_lastAssertionInfo, data };
-        assertionEnded( assertionResult );
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-    void RunContext::handleUnexpectedExceptionNotThrown(
-            AssertionInfo const& info,
-            AssertionReaction& reaction
-    ) {
-        handleNonExpr(info, Catch::ResultWas::DidntThrowException, reaction);
-    }
-
-    void RunContext::handleUnexpectedInflightException(
-            AssertionInfo const& info,
-            std::string const& message,
-            AssertionReaction& reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = message;
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-        populateReaction( reaction );
-    }
-
-    void RunContext::populateReaction( AssertionReaction& reaction ) {
-        reaction.shouldDebugBreak = m_config->shouldDebugBreak();
-        reaction.shouldThrow = aborting() || (m_lastAssertionInfo.resultDisposition & ResultDisposition::Normal);
-    }
-
-    void RunContext::handleIncomplete(
-            AssertionInfo const& info
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = "Exception translation was disabled by CATCH_CONFIG_FAST_COMPILE";
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-    }
-    void RunContext::handleNonExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            AssertionReaction &reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-
-    IResultCapture& getResultCapture() {
-        if (auto* capture = getCurrentContext().getResultCapture())
-            return *capture;
-        else
-            CATCH_INTERNAL_ERROR("No result capture instance");
-    }
-
-    void seedRng(IConfig const& config) {
-        if (config.rngSeed() != 0) {
-            std::srand(config.rngSeed());
-            rng().seed(config.rngSeed());
-        }
-    }
-
-    unsigned int rngSeed() {
-        return getCurrentContext().getConfig()->rngSeed();
-    }
-
-}
-// end catch_run_context.cpp
-// start catch_section.cpp
-
-namespace Catch {
-
-    Section::Section( SectionInfo const& info )
-    :   m_info( info ),
-        m_sectionIncluded( getResultCapture().sectionStarted( m_info, m_assertions ) )
-    {
-        m_timer.start();
-    }
-
-    Section::~Section() {
-        if( m_sectionIncluded ) {
-            SectionEndInfo endInfo{ m_info, m_assertions, m_timer.getElapsedSeconds() };
-            if( uncaught_exceptions() )
-                getResultCapture().sectionEndedEarly( endInfo );
-            else
-                getResultCapture().sectionEnded( endInfo );
-        }
-    }
-
-    // This indicates whether the section should be executed or not
-    Section::operator bool() const {
-        return m_sectionIncluded;
-    }
-
-} // end namespace Catch
-// end catch_section.cpp
-// start catch_section_info.cpp
-
-namespace Catch {
-
-    SectionInfo::SectionInfo
-        (   SourceLineInfo const& _lineInfo,
-            std::string const& _name )
-    :   name( _name ),
-        lineInfo( _lineInfo )
-    {}
-
-} // end namespace Catch
-// end catch_section_info.cpp
-// start catch_session.cpp
-
-// start catch_session.h
-
-#include <memory>
-
-namespace Catch {
-
-    class Session : NonCopyable {
-    public:
-
-        Session();
-        ~Session() override;
-
-        void showHelp() const;
-        void libIdentify();
-
-        int applyCommandLine( int argc, char const * const * argv );
-    #if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
-        int applyCommandLine( int argc, wchar_t const * const * argv );
-    #endif
-
-        void useConfigData( ConfigData const& configData );
-
-        template<typename CharT>
-        int run(int argc, CharT const * const argv[]) {
-            if (m_startupExceptions)
-                return 1;
-            int returnCode = applyCommandLine(argc, argv);
-            if (returnCode == 0)
-                returnCode = run();
-            return returnCode;
-        }
-
-        int run();
-
-        clara::Parser const& cli() const;
-        void cli( clara::Parser const& newParser );
-        ConfigData& configData();
-        Config& config();
-    private:
-        int runInternal();
-
-        clara::Parser m_cli;
-        ConfigData m_configData;
-        std::shared_ptr<Config> m_config;
-        bool m_startupExceptions = false;
-    };
-
-} // end namespace Catch
-
-// end catch_session.h
-// start catch_version.h
-
-#include <iosfwd>
-
-namespace Catch {
-
-    // Versioning information
-    struct Version {
-        Version( Version const& ) = delete;
-        Version& operator=( Version const& ) = delete;
-        Version(    unsigned int _majorVersion,
-                    unsigned int _minorVersion,
-                    unsigned int _patchNumber,
-                    char const * const _branchName,
-                    unsigned int _buildNumber );
-
-        unsigned int const majorVersion;
-        unsigned int const minorVersion;
-        unsigned int const patchNumber;
-
-        // buildNumber is only used if branchName is not null
-        char const * const branchName;
-        unsigned int const buildNumber;
-
-        friend std::ostream& operator << ( std::ostream& os, Version const& version );
-    };
-
-    Version const& libraryVersion();
-}
-
-// end catch_version.h
-#include <cstdlib>
-#include <iomanip>
-#include <set>
-#include <iterator>
-
-namespace Catch {
-
-    namespace {
-        const int MaxExitCode = 255;
-
-        IStreamingReporterPtr createReporter(std::string const& reporterName, IConfigPtr const& config) {
-            auto reporter = Catch::getRegistryHub().getReporterRegistry().create(reporterName, config);
-            CATCH_ENFORCE(reporter, "No reporter registered with name: '" << reporterName << "'");
-
-            return reporter;
-        }
-
-        IStreamingReporterPtr makeReporter(std::shared_ptr<Config> const& config) {
-            if (Catch::getRegistryHub().getReporterRegistry().getListeners().empty()) {
-                return createReporter(config->getReporterName(), config);
-            }
-
-            // On older platforms, returning std::unique_ptr<ListeningReporter>
-            // when the return type is std::unique_ptr<IStreamingReporter>
-            // doesn't compile without a std::move call. However, this causes
-            // a warning on newer platforms. Thus, we have to work around
-            // it a bit and downcast the pointer manually.
-            auto ret = std::unique_ptr<IStreamingReporter>(new ListeningReporter);
-            auto& multi = static_cast<ListeningReporter&>(*ret);
-            auto const& listeners = Catch::getRegistryHub().getReporterRegistry().getListeners();
-            for (auto const& listener : listeners) {
-                multi.addListener(listener->create(Catch::ReporterConfig(config)));
-            }
-            multi.addReporter(createReporter(config->getReporterName(), config));
-            return ret;
-        }
-
-        class TestGroup {
-        public:
-            explicit TestGroup(std::shared_ptr<Config> const& config)
-            : m_config{config}
-            , m_context{config, makeReporter(config)}
-            {
-                auto const& allTestCases = getAllTestCasesSorted(*m_config);
-                m_matches = m_config->testSpec().matchesByFilter(allTestCases, *m_config);
-                auto const& invalidArgs = m_config->testSpec().getInvalidArgs();
-
-                if (m_matches.empty() && invalidArgs.empty()) {
-                    for (auto const& test : allTestCases)
-                        if (!test.isHidden())
-                            m_tests.emplace(&test);
-                } else {
-                    for (auto const& match : m_matches)
-                        m_tests.insert(match.tests.begin(), match.tests.end());
-                }
-            }
-
-            Totals execute() {
-                auto const& invalidArgs = m_config->testSpec().getInvalidArgs();
-                Totals totals;
-                m_context.testGroupStarting(m_config->name(), 1, 1);
-                for (auto const& testCase : m_tests) {
-                    if (!m_context.aborting())
-                        totals += m_context.runTest(*testCase);
-                    else
-                        m_context.reporter().skipTest(*testCase);
-                }
-
-                for (auto const& match : m_matches) {
-                    if (match.tests.empty()) {
-                        m_context.reporter().noMatchingTestCases(match.name);
-                        totals.error = -1;
-                    }
-                }
-
-                if (!invalidArgs.empty()) {
-                    for (auto const& invalidArg: invalidArgs)
-                         m_context.reporter().reportInvalidArguments(invalidArg);
-                }
-
-                m_context.testGroupEnded(m_config->name(), totals, 1, 1);
-                return totals;
-            }
-
-        private:
-            using Tests = std::set<TestCase const*>;
-
-            std::shared_ptr<Config> m_config;
-            RunContext m_context;
-            Tests m_tests;
-            TestSpec::Matches m_matches;
-        };
-
-        void applyFilenamesAsTags(Catch::IConfig const& config) {
-            auto& tests = const_cast<std::vector<TestCase>&>(getAllTestCasesSorted(config));
-            for (auto& testCase : tests) {
-                auto tags = testCase.tags;
-
-                std::string filename = testCase.lineInfo.file;
-                auto lastSlash = filename.find_last_of("\\/");
-                if (lastSlash != std::string::npos) {
-                    filename.erase(0, lastSlash);
-                    filename[0] = '#';
-                }
-                else
-                {
-                    filename.insert(0, "#");
-                }
-
-                auto lastDot = filename.find_last_of('.');
-                if (lastDot != std::string::npos) {
-                    filename.erase(lastDot);
-                }
-
-                tags.push_back(std::move(filename));
-                setTags(testCase, tags);
-            }
-        }
-
-    } // anon namespace
-
-    Session::Session() {
-        static bool alreadyInstantiated = false;
-        if( alreadyInstantiated ) {
-            CATCH_TRY { CATCH_INTERNAL_ERROR( "Only one instance of Catch::Session can ever be used" ); }
-            CATCH_CATCH_ALL { getMutableRegistryHub().registerStartupException(); }
-        }
-
-        // There cannot be exceptions at startup in no-exception mode.
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        const auto& exceptions = getRegistryHub().getStartupExceptionRegistry().getExceptions();
-        if ( !exceptions.empty() ) {
-            config();
-            getCurrentMutableContext().setConfig(m_config);
-
-            m_startupExceptions = true;
-            Colour colourGuard( Colour::Red );
-            Catch::cerr() << "Errors occurred during startup!" << '\n';
-            // iterate over all exceptions and notify user
-            for ( const auto& ex_ptr : exceptions ) {
-                try {
-                    std::rethrow_exception(ex_ptr);
-                } catch ( std::exception const& ex ) {
-                    Catch::cerr() << Column( ex.what() ).indent(2) << '\n';
-                }
-            }
-        }
-#endif
-
-        alreadyInstantiated = true;
-        m_cli = makeCommandLineParser( m_configData );
-    }
-    Session::~Session() {
-        Catch::cleanUp();
-    }
-
-    void Session::showHelp() const {
-        Catch::cout()
-                << "\nCatch v" << libraryVersion() << "\n"
-                << m_cli << std::endl
-                << "For more detailed usage please see the project docs\n" << std::endl;
-    }
-    void Session::libIdentify() {
-        Catch::cout()
-                << std::left << std::setw(16) << "description: " << "A Catch2 test executable\n"
-                << std::left << std::setw(16) << "category: " << "testframework\n"
-                << std::left << std::setw(16) << "framework: " << "Catch Test\n"
-                << std::left << std::setw(16) << "version: " << libraryVersion() << std::endl;
-    }
-
-    int Session::applyCommandLine( int argc, char const * const * argv ) {
-        if( m_startupExceptions )
-            return 1;
-
-        auto result = m_cli.parse( clara::Args( argc, argv ) );
-        if( !result ) {
-            config();
-            getCurrentMutableContext().setConfig(m_config);
-            Catch::cerr()
-                << Colour( Colour::Red )
-                << "\nError(s) in input:\n"
-                << Column( result.errorMessage() ).indent( 2 )
-                << "\n\n";
-            Catch::cerr() << "Run with -? for usage\n" << std::endl;
-            return MaxExitCode;
-        }
-
-        if( m_configData.showHelp )
-            showHelp();
-        if( m_configData.libIdentify )
-            libIdentify();
-        m_config.reset();
-        return 0;
-    }
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
-    int Session::applyCommandLine( int argc, wchar_t const * const * argv ) {
-
-        char **utf8Argv = new char *[ argc ];
-
-        for ( int i = 0; i < argc; ++i ) {
-            int bufSize = WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, nullptr, 0, nullptr, nullptr );
-
-            utf8Argv[ i ] = new char[ bufSize ];
-
-            WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, utf8Argv[i], bufSize, nullptr, nullptr );
-        }
-
-        int returnCode = applyCommandLine( argc, utf8Argv );
-
-        for ( int i = 0; i < argc; ++i )
-            delete [] utf8Argv[ i ];
-
-        delete [] utf8Argv;
-
-        return returnCode;
-    }
-#endif
-
-    void Session::useConfigData( ConfigData const& configData ) {
-        m_configData = configData;
-        m_config.reset();
-    }
-
-    int Session::run() {
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeStart ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before starting" << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        int exitCode = runInternal();
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeExit ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before exiting, with code: " << exitCode << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        return exitCode;
-    }
-
-    clara::Parser const& Session::cli() const {
-        return m_cli;
-    }
-    void Session::cli( clara::Parser const& newParser ) {
-        m_cli = newParser;
-    }
-    ConfigData& Session::configData() {
-        return m_configData;
-    }
-    Config& Session::config() {
-        if( !m_config )
-            m_config = std::make_shared<Config>( m_configData );
-        return *m_config;
-    }
-
-    int Session::runInternal() {
-        if( m_startupExceptions )
-            return 1;
-
-        if (m_configData.showHelp || m_configData.libIdentify) {
-            return 0;
-        }
-
-        CATCH_TRY {
-            config(); // Force config to be constructed
-
-            seedRng( *m_config );
-
-            if( m_configData.filenamesAsTags )
-                applyFilenamesAsTags( *m_config );
-
-            // Handle list request
-            if( Option<std::size_t> listed = list( m_config ) )
-                return static_cast<int>( *listed );
-
-            TestGroup tests { m_config };
-            auto const totals = tests.execute();
-
-            if( m_config->warnAboutNoTests() && totals.error == -1 )
-                return 2;
-
-            // Note that on unices only the lower 8 bits are usually used, clamping
-            // the return value to 255 prevents false negative when some multiple
-            // of 256 tests has failed
-            return (std::min) (MaxExitCode, (std::max) (totals.error, static_cast<int>(totals.assertions.failed)));
-        }
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        catch( std::exception& ex ) {
-            Catch::cerr() << ex.what() << std::endl;
-            return MaxExitCode;
-        }
-#endif
-    }
-
-} // end namespace Catch
-// end catch_session.cpp
-// start catch_singletons.cpp
-
-#include <vector>
-
-namespace Catch {
-
-    namespace {
-        static auto getSingletons() -> std::vector<ISingleton*>*& {
-            static std::vector<ISingleton*>* g_singletons = nullptr;
-            if( !g_singletons )
-                g_singletons = new std::vector<ISingleton*>();
-            return g_singletons;
-        }
-    }
-
-    ISingleton::~ISingleton() {}
-
-    void addSingleton(ISingleton* singleton ) {
-        getSingletons()->push_back( singleton );
-    }
-    void cleanupSingletons() {
-        auto& singletons = getSingletons();
-        for( auto singleton : *singletons )
-            delete singleton;
-        delete singletons;
-        singletons = nullptr;
-    }
-
-} // namespace Catch
-// end catch_singletons.cpp
-// start catch_startup_exception_registry.cpp
-
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-namespace Catch {
-void StartupExceptionRegistry::add( std::exception_ptr const& exception ) noexcept {
-        CATCH_TRY {
-            m_exceptions.push_back(exception);
-        } CATCH_CATCH_ALL {
-            // If we run out of memory during start-up there's really not a lot more we can do about it
-            std::terminate();
-        }
-    }
-
-    std::vector<std::exception_ptr> const& StartupExceptionRegistry::getExceptions() const noexcept {
-        return m_exceptions;
-    }
-
-} // end namespace Catch
-#endif
-// end catch_startup_exception_registry.cpp
-// start catch_stream.cpp
-
-#include <cstdio>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    Catch::IStream::~IStream() = default;
-
-    namespace Detail { namespace {
-        template<typename WriterF, std::size_t bufferSize=256>
-        class StreamBufImpl : public std::streambuf {
-            char data[bufferSize];
-            WriterF m_writer;
-
-        public:
-            StreamBufImpl() {
-                setp( data, data + sizeof(data) );
-            }
-
-            ~StreamBufImpl() noexcept {
-                StreamBufImpl::sync();
-            }
-
-        private:
-            int overflow( int c ) override {
-                sync();
-
-                if( c != EOF ) {
-                    if( pbase() == epptr() )
-                        m_writer( std::string( 1, static_cast<char>( c ) ) );
-                    else
-                        sputc( static_cast<char>( c ) );
-                }
-                return 0;
-            }
-
-            int sync() override {
-                if( pbase() != pptr() ) {
-                    m_writer( std::string( pbase(), static_cast<std::string::size_type>( pptr() - pbase() ) ) );
-                    setp( pbase(), epptr() );
-                }
-                return 0;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        struct OutputDebugWriter {
-
-            void operator()( std::string const&str ) {
-                writeToDebugConsole( str );
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class FileStream : public IStream {
-            mutable std::ofstream m_ofs;
-        public:
-            FileStream( StringRef filename ) {
-                m_ofs.open( filename.c_str() );
-                CATCH_ENFORCE( !m_ofs.fail(), "Unable to open file: '" << filename << "'" );
-            }
-            ~FileStream() override = default;
-        public: // IStream
-            std::ostream& stream() const override {
-                return m_ofs;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class CoutStream : public IStream {
-            mutable std::ostream m_os;
-        public:
-            // Store the streambuf from cout up-front because
-            // cout may get redirected when running tests
-            CoutStream() : m_os( Catch::cout().rdbuf() ) {}
-            ~CoutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class DebugOutStream : public IStream {
-            std::unique_ptr<StreamBufImpl<OutputDebugWriter>> m_streamBuf;
-            mutable std::ostream m_os;
-        public:
-            DebugOutStream()
-            :   m_streamBuf( new StreamBufImpl<OutputDebugWriter>() ),
-                m_os( m_streamBuf.get() )
-            {}
-
-            ~DebugOutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-    }} // namespace anon::detail
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    auto makeStream( StringRef const &filename ) -> IStream const* {
-        if( filename.empty() )
-            return new Detail::CoutStream();
-        else if( filename[0] == '%' ) {
-            if( filename == "%debug" )
-                return new Detail::DebugOutStream();
-            else
-                CATCH_ERROR( "Unrecognised stream: '" << filename << "'" );
-        }
-        else
-            return new Detail::FileStream( filename );
-    }
-
-    // This class encapsulates the idea of a pool of ostringstreams that can be reused.
-    struct StringStreams {
-        std::vector<std::unique_ptr<std::ostringstream>> m_streams;
-        std::vector<std::size_t> m_unused;
-        std::ostringstream m_referenceStream; // Used for copy state/ flags from
-
-        auto add() -> std::size_t {
-            if( m_unused.empty() ) {
-                m_streams.push_back( std::unique_ptr<std::ostringstream>( new std::ostringstream ) );
-                return m_streams.size()-1;
-            }
-            else {
-                auto index = m_unused.back();
-                m_unused.pop_back();
-                return index;
-            }
-        }
-
-        void release( std::size_t index ) {
-            m_streams[index]->copyfmt( m_referenceStream ); // Restore initial flags and other state
-            m_unused.push_back(index);
-        }
-    };
-
-    ReusableStringStream::ReusableStringStream()
-    :   m_index( Singleton<StringStreams>::getMutable().add() ),
-        m_oss( Singleton<StringStreams>::getMutable().m_streams[m_index].get() )
-    {}
-
-    ReusableStringStream::~ReusableStringStream() {
-        static_cast<std::ostringstream*>( m_oss )->str("");
-        m_oss->clear();
-        Singleton<StringStreams>::getMutable().release( m_index );
-    }
-
-    auto ReusableStringStream::str() const -> std::string {
-        return static_cast<std::ostringstream*>( m_oss )->str();
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-
-#ifndef CATCH_CONFIG_NOSTDOUT // If you #define this you must implement these functions
-    std::ostream& cout() { return std::cout; }
-    std::ostream& cerr() { return std::cerr; }
-    std::ostream& clog() { return std::clog; }
-#endif
-}
-// end catch_stream.cpp
-// start catch_string_manip.cpp
-
-#include <algorithm>
-#include <ostream>
-#include <cstring>
-#include <cctype>
-#include <vector>
-
-namespace Catch {
-
-    namespace {
-        char toLowerCh(char c) {
-            return static_cast<char>( std::tolower( static_cast<unsigned char>(c) ) );
-        }
-    }
-
-    bool startsWith( std::string const& s, std::string const& prefix ) {
-        return s.size() >= prefix.size() && std::equal(prefix.begin(), prefix.end(), s.begin());
-    }
-    bool startsWith( std::string const& s, char prefix ) {
-        return !s.empty() && s[0] == prefix;
-    }
-    bool endsWith( std::string const& s, std::string const& suffix ) {
-        return s.size() >= suffix.size() && std::equal(suffix.rbegin(), suffix.rend(), s.rbegin());
-    }
-    bool endsWith( std::string const& s, char suffix ) {
-        return !s.empty() && s[s.size()-1] == suffix;
-    }
-    bool contains( std::string const& s, std::string const& infix ) {
-        return s.find( infix ) != std::string::npos;
-    }
-    void toLowerInPlace( std::string& s ) {
-        std::transform( s.begin(), s.end(), s.begin(), toLowerCh );
-    }
-    std::string toLower( std::string const& s ) {
-        std::string lc = s;
-        toLowerInPlace( lc );
-        return lc;
-    }
-    std::string trim( std::string const& str ) {
-        static char const* whitespaceChars = "\n\r\t ";
-        std::string::size_type start = str.find_first_not_of( whitespaceChars );
-        std::string::size_type end = str.find_last_not_of( whitespaceChars );
-
-        return start != std::string::npos ? str.substr( start, 1+end-start ) : std::string();
-    }
-
-    StringRef trim(StringRef ref) {
-        const auto is_ws = [](char c) {
-            return c == ' ' || c == '\t' || c == '\n' || c == '\r';
-        };
-        size_t real_begin = 0;
-        while (real_begin < ref.size() && is_ws(ref[real_begin])) { ++real_begin; }
-        size_t real_end = ref.size();
-        while (real_end > real_begin && is_ws(ref[real_end - 1])) { --real_end; }
-
-        return ref.substr(real_begin, real_end - real_begin);
-    }
-
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ) {
-        bool replaced = false;
-        std::size_t i = str.find( replaceThis );
-        while( i != std::string::npos ) {
-            replaced = true;
-            str = str.substr( 0, i ) + withThis + str.substr( i+replaceThis.size() );
-            if( i < str.size()-withThis.size() )
-                i = str.find( replaceThis, i+withThis.size() );
-            else
-                i = std::string::npos;
-        }
-        return replaced;
-    }
-
-    std::vector<StringRef> splitStringRef( StringRef str, char delimiter ) {
-        std::vector<StringRef> subStrings;
-        std::size_t start = 0;
-        for(std::size_t pos = 0; pos < str.size(); ++pos ) {
-            if( str[pos] == delimiter ) {
-                if( pos - start > 1 )
-                    subStrings.push_back( str.substr( start, pos-start ) );
-                start = pos+1;
-            }
-        }
-        if( start < str.size() )
-            subStrings.push_back( str.substr( start, str.size()-start ) );
-        return subStrings;
-    }
-
-    pluralise::pluralise( std::size_t count, std::string const& label )
-    :   m_count( count ),
-        m_label( label )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ) {
-        os << pluraliser.m_count << ' ' << pluraliser.m_label;
-        if( pluraliser.m_count != 1 )
-            os << 's';
-        return os;
-    }
-
-}
-// end catch_string_manip.cpp
-// start catch_stringref.cpp
-
-#include <algorithm>
-#include <ostream>
-#include <cstring>
-#include <cstdint>
-
-namespace Catch {
-    StringRef::StringRef( char const* rawChars ) noexcept
-    : StringRef( rawChars, static_cast<StringRef::size_type>(std::strlen(rawChars) ) )
-    {}
-
-    auto StringRef::c_str() const -> char const* {
-        CATCH_ENFORCE(isNullTerminated(), "Called StringRef::c_str() on a non-null-terminated instance");
-        return m_start;
-    }
-    auto StringRef::data() const noexcept -> char const* {
-        return m_start;
-    }
-
-    auto StringRef::substr( size_type start, size_type size ) const noexcept -> StringRef {
-        if (start < m_size) {
-            return StringRef(m_start + start, (std::min)(m_size - start, size));
-        } else {
-            return StringRef();
-        }
-    }
-    auto StringRef::operator == ( StringRef const& other ) const noexcept -> bool {
-        return m_size == other.m_size
-            && (std::memcmp( m_start, other.m_start, m_size ) == 0);
-    }
-
-    auto operator << ( std::ostream& os, StringRef const& str ) -> std::ostream& {
-        return os.write(str.data(), str.size());
-    }
-
-    auto operator+=( std::string& lhs, StringRef const& rhs ) -> std::string& {
-        lhs.append(rhs.data(), rhs.size());
-        return lhs;
-    }
-
-} // namespace Catch
-// end catch_stringref.cpp
-// start catch_tag_alias.cpp
-
-namespace Catch {
-    TagAlias::TagAlias(std::string const & _tag, SourceLineInfo _lineInfo): tag(_tag), lineInfo(_lineInfo) {}
-}
-// end catch_tag_alias.cpp
-// start catch_tag_alias_autoregistrar.cpp
-
-namespace Catch {
-
-    RegistrarForTagAliases::RegistrarForTagAliases(char const* alias, char const* tag, SourceLineInfo const& lineInfo) {
-        CATCH_TRY {
-            getMutableRegistryHub().registerTagAlias(alias, tag, lineInfo);
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-}
-// end catch_tag_alias_autoregistrar.cpp
-// start catch_tag_alias_registry.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    TagAliasRegistry::~TagAliasRegistry() {}
-
-    TagAlias const* TagAliasRegistry::find( std::string const& alias ) const {
-        auto it = m_registry.find( alias );
-        if( it != m_registry.end() )
-            return &(it->second);
-        else
-            return nullptr;
-    }
-
-    std::string TagAliasRegistry::expandAliases( std::string const& unexpandedTestSpec ) const {
-        std::string expandedTestSpec = unexpandedTestSpec;
-        for( auto const& registryKvp : m_registry ) {
-            std::size_t pos = expandedTestSpec.find( registryKvp.first );
-            if( pos != std::string::npos ) {
-                expandedTestSpec =  expandedTestSpec.substr( 0, pos ) +
-                                    registryKvp.second.tag +
-                                    expandedTestSpec.substr( pos + registryKvp.first.size() );
-            }
-        }
-        return expandedTestSpec;
-    }
-
-    void TagAliasRegistry::add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) {
-        CATCH_ENFORCE( startsWith(alias, "[@") && endsWith(alias, ']'),
-                      "error: tag alias, '" << alias << "' is not of the form [@alias name].\n" << lineInfo );
-
-        CATCH_ENFORCE( m_registry.insert(std::make_pair(alias, TagAlias(tag, lineInfo))).second,
-                      "error: tag alias, '" << alias << "' already registered.\n"
-                      << "\tFirst seen at: " << find(alias)->lineInfo << "\n"
-                      << "\tRedefined at: " << lineInfo );
-    }
-
-    ITagAliasRegistry::~ITagAliasRegistry() {}
-
-    ITagAliasRegistry const& ITagAliasRegistry::get() {
-        return getRegistryHub().getTagAliasRegistry();
-    }
-
-} // end namespace Catch
-// end catch_tag_alias_registry.cpp
-// start catch_test_case_info.cpp
-
-#include <cctype>
-#include <exception>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace {
-        TestCaseInfo::SpecialProperties parseSpecialTag( std::string const& tag ) {
-            if( startsWith( tag, '.' ) ||
-                tag == "!hide" )
-                return TestCaseInfo::IsHidden;
-            else if( tag == "!throws" )
-                return TestCaseInfo::Throws;
-            else if( tag == "!shouldfail" )
-                return TestCaseInfo::ShouldFail;
-            else if( tag == "!mayfail" )
-                return TestCaseInfo::MayFail;
-            else if( tag == "!nonportable" )
-                return TestCaseInfo::NonPortable;
-            else if( tag == "!benchmark" )
-                return static_cast<TestCaseInfo::SpecialProperties>( TestCaseInfo::Benchmark | TestCaseInfo::IsHidden );
-            else
-                return TestCaseInfo::None;
-        }
-        bool isReservedTag( std::string const& tag ) {
-            return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !std::isalnum( static_cast<unsigned char>(tag[0]) );
-        }
-        void enforceNotReservedTag( std::string const& tag, SourceLineInfo const& _lineInfo ) {
-            CATCH_ENFORCE( !isReservedTag(tag),
-                          "Tag name: [" << tag << "] is not allowed.\n"
-                          << "Tag names starting with non alphanumeric characters are reserved\n"
-                          << _lineInfo );
-        }
-    }
-
-    TestCase makeTestCase(  ITestInvoker* _testCase,
-                            std::string const& _className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& _lineInfo )
-    {
-        bool isHidden = false;
-
-        // Parse out tags
-        std::vector<std::string> tags;
-        std::string desc, tag;
-        bool inTag = false;
-        for (char c : nameAndTags.tags) {
-            if( !inTag ) {
-                if( c == '[' )
-                    inTag = true;
-                else
-                    desc += c;
-            }
-            else {
-                if( c == ']' ) {
-                    TestCaseInfo::SpecialProperties prop = parseSpecialTag( tag );
-                    if( ( prop & TestCaseInfo::IsHidden ) != 0 )
-                        isHidden = true;
-                    else if( prop == TestCaseInfo::None )
-                        enforceNotReservedTag( tag, _lineInfo );
-
-                    // Merged hide tags like `[.approvals]` should be added as
-                    // `[.][approvals]`. The `[.]` is added at later point, so
-                    // we only strip the prefix
-                    if (startsWith(tag, '.') && tag.size() > 1) {
-                        tag.erase(0, 1);
-                    }
-                    tags.push_back( tag );
-                    tag.clear();
-                    inTag = false;
-                }
-                else
-                    tag += c;
-            }
-        }
-        if( isHidden ) {
-            // Add all "hidden" tags to make them behave identically
-            tags.insert( tags.end(), { ".", "!hide" } );
-        }
-
-        TestCaseInfo info( static_cast<std::string>(nameAndTags.name), _className, desc, tags, _lineInfo );
-        return TestCase( _testCase, std::move(info) );
-    }
-
-    void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags ) {
-        std::sort(begin(tags), end(tags));
-        tags.erase(std::unique(begin(tags), end(tags)), end(tags));
-        testCaseInfo.lcaseTags.clear();
-
-        for( auto const& tag : tags ) {
-            std::string lcaseTag = toLower( tag );
-            testCaseInfo.properties = static_cast<TestCaseInfo::SpecialProperties>( testCaseInfo.properties | parseSpecialTag( lcaseTag ) );
-            testCaseInfo.lcaseTags.push_back( lcaseTag );
-        }
-        testCaseInfo.tags = std::move(tags);
-    }
-
-    TestCaseInfo::TestCaseInfo( std::string const& _name,
-                                std::string const& _className,
-                                std::string const& _description,
-                                std::vector<std::string> const& _tags,
-                                SourceLineInfo const& _lineInfo )
-    :   name( _name ),
-        className( _className ),
-        description( _description ),
-        lineInfo( _lineInfo ),
-        properties( None )
-    {
-        setTags( *this, _tags );
-    }
-
-    bool TestCaseInfo::isHidden() const {
-        return ( properties & IsHidden ) != 0;
-    }
-    bool TestCaseInfo::throws() const {
-        return ( properties & Throws ) != 0;
-    }
-    bool TestCaseInfo::okToFail() const {
-        return ( properties & (ShouldFail | MayFail ) ) != 0;
-    }
-    bool TestCaseInfo::expectedToFail() const {
-        return ( properties & (ShouldFail ) ) != 0;
-    }
-
-    std::string TestCaseInfo::tagsAsString() const {
-        std::string ret;
-        // '[' and ']' per tag
-        std::size_t full_size = 2 * tags.size();
-        for (const auto& tag : tags) {
-            full_size += tag.size();
-        }
-        ret.reserve(full_size);
-        for (const auto& tag : tags) {
-            ret.push_back('[');
-            ret.append(tag);
-            ret.push_back(']');
-        }
-
-        return ret;
-    }
-
-    TestCase::TestCase( ITestInvoker* testCase, TestCaseInfo&& info ) : TestCaseInfo( std::move(info) ), test( testCase ) {}
-
-    TestCase TestCase::withName( std::string const& _newName ) const {
-        TestCase other( *this );
-        other.name = _newName;
-        return other;
-    }
-
-    void TestCase::invoke() const {
-        test->invoke();
-    }
-
-    bool TestCase::operator == ( TestCase const& other ) const {
-        return  test.get() == other.test.get() &&
-                name == other.name &&
-                className == other.className;
-    }
-
-    bool TestCase::operator < ( TestCase const& other ) const {
-        return name < other.name;
-    }
-
-    TestCaseInfo const& TestCase::getTestCaseInfo() const
-    {
-        return *this;
-    }
-
-} // end namespace Catch
-// end catch_test_case_info.cpp
-// start catch_test_case_registry_impl.cpp
-
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace {
-        struct TestHasher {
-            using hash_t = uint64_t;
-
-            explicit TestHasher( hash_t hashSuffix ):
-                m_hashSuffix{ hashSuffix } {}
-
-            uint32_t operator()( TestCase const& t ) const {
-                // FNV-1a hash with multiplication fold.
-                const hash_t prime = 1099511628211u;
-                hash_t hash = 14695981039346656037u;
-                for ( const char c : t.name ) {
-                    hash ^= c;
-                    hash *= prime;
-                }
-                hash ^= m_hashSuffix;
-                hash *= prime;
-                const uint32_t low{ static_cast<uint32_t>( hash ) };
-                const uint32_t high{ static_cast<uint32_t>( hash >> 32 ) };
-                return low * high;
-            }
-
-        private:
-            hash_t m_hashSuffix;
-        };
-    } // end unnamed namespace
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases ) {
-        switch( config.runOrder() ) {
-            case RunTests::InDeclarationOrder:
-                // already in declaration order
-                break;
-
-            case RunTests::InLexicographicalOrder: {
-                std::vector<TestCase> sorted = unsortedTestCases;
-                std::sort( sorted.begin(), sorted.end() );
-                return sorted;
-            }
-
-            case RunTests::InRandomOrder: {
-                seedRng( config );
-                TestHasher h{ config.rngSeed() };
-
-                using hashedTest = std::pair<TestHasher::hash_t, TestCase const*>;
-                std::vector<hashedTest> indexed_tests;
-                indexed_tests.reserve( unsortedTestCases.size() );
-
-                for (auto const& testCase : unsortedTestCases) {
-                    indexed_tests.emplace_back(h(testCase), &testCase);
-                }
-
-                std::sort(indexed_tests.begin(), indexed_tests.end(),
-                          [](hashedTest const& lhs, hashedTest const& rhs) {
-                          if (lhs.first == rhs.first) {
-                              return lhs.second->name < rhs.second->name;
-                          }
-                          return lhs.first < rhs.first;
-                });
-
-                std::vector<TestCase> sorted;
-                sorted.reserve( indexed_tests.size() );
-
-                for (auto const& hashed : indexed_tests) {
-                    sorted.emplace_back(*hashed.second);
-                }
-
-                return sorted;
-            }
-        }
-        return unsortedTestCases;
-    }
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config ) {
-        return !testCase.throws() || config.allowThrows();
-    }
-
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ) {
-        return testSpec.matches( testCase ) && isThrowSafe( testCase, config );
-    }
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions ) {
-        std::set<TestCase> seenFunctions;
-        for( auto const& function : functions ) {
-            auto prev = seenFunctions.insert( function );
-            CATCH_ENFORCE( prev.second,
-                    "error: TEST_CASE( \"" << function.name << "\" ) already defined.\n"
-                    << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << "\n"
-                    << "\tRedefined at " << function.getTestCaseInfo().lineInfo );
-        }
-    }
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config ) {
-        std::vector<TestCase> filtered;
-        filtered.reserve( testCases.size() );
-        for (auto const& testCase : testCases) {
-            if ((!testSpec.hasFilters() && !testCase.isHidden()) ||
-                (testSpec.hasFilters() && matchTest(testCase, testSpec, config))) {
-                filtered.push_back(testCase);
-            }
-        }
-        return filtered;
-    }
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config ) {
-        return getRegistryHub().getTestCaseRegistry().getAllTestsSorted( config );
-    }
-
-    void TestRegistry::registerTest( TestCase const& testCase ) {
-        std::string name = testCase.getTestCaseInfo().name;
-        if( name.empty() ) {
-            ReusableStringStream rss;
-            rss << "Anonymous test case " << ++m_unnamedCount;
-            return registerTest( testCase.withName( rss.str() ) );
-        }
-        m_functions.push_back( testCase );
-    }
-
-    std::vector<TestCase> const& TestRegistry::getAllTests() const {
-        return m_functions;
-    }
-    std::vector<TestCase> const& TestRegistry::getAllTestsSorted( IConfig const& config ) const {
-        if( m_sortedFunctions.empty() )
-            enforceNoDuplicateTestCases( m_functions );
-
-        if(  m_currentSortOrder != config.runOrder() || m_sortedFunctions.empty() ) {
-            m_sortedFunctions = sortTests( config, m_functions );
-            m_currentSortOrder = config.runOrder();
-        }
-        return m_sortedFunctions;
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-    TestInvokerAsFunction::TestInvokerAsFunction( void(*testAsFunction)() ) noexcept : m_testAsFunction( testAsFunction ) {}
-
-    void TestInvokerAsFunction::invoke() const {
-        m_testAsFunction();
-    }
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName ) {
-        std::string className(classOrQualifiedMethodName);
-        if( startsWith( className, '&' ) )
-        {
-            std::size_t lastColons = className.rfind( "::" );
-            std::size_t penultimateColons = className.rfind( "::", lastColons-1 );
-            if( penultimateColons == std::string::npos )
-                penultimateColons = 1;
-            className = className.substr( penultimateColons, lastColons-penultimateColons );
-        }
-        return className;
-    }
-
-} // end namespace Catch
-// end catch_test_case_registry_impl.cpp
-// start catch_test_case_tracker.cpp
-
-#include <algorithm>
-#include <cassert>
-#include <stdexcept>
-#include <memory>
-#include <sstream>
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    NameAndLocation::NameAndLocation( std::string const& _name, SourceLineInfo const& _location )
-    :   name( _name ),
-        location( _location )
-    {}
-
-    ITracker::~ITracker() = default;
-
-    ITracker& TrackerContext::startRun() {
-        m_rootTracker = std::make_shared<SectionTracker>( NameAndLocation( "{root}", CATCH_INTERNAL_LINEINFO ), *this, nullptr );
-        m_currentTracker = nullptr;
-        m_runState = Executing;
-        return *m_rootTracker;
-    }
-
-    void TrackerContext::endRun() {
-        m_rootTracker.reset();
-        m_currentTracker = nullptr;
-        m_runState = NotStarted;
-    }
-
-    void TrackerContext::startCycle() {
-        m_currentTracker = m_rootTracker.get();
-        m_runState = Executing;
-    }
-    void TrackerContext::completeCycle() {
-        m_runState = CompletedCycle;
-    }
-
-    bool TrackerContext::completedCycle() const {
-        return m_runState == CompletedCycle;
-    }
-    ITracker& TrackerContext::currentTracker() {
-        return *m_currentTracker;
-    }
-    void TrackerContext::setCurrentTracker( ITracker* tracker ) {
-        m_currentTracker = tracker;
-    }
-
-    TrackerBase::TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent ):
-        ITracker(nameAndLocation),
-        m_ctx( ctx ),
-        m_parent( parent )
-    {}
-
-    bool TrackerBase::isComplete() const {
-        return m_runState == CompletedSuccessfully || m_runState == Failed;
-    }
-    bool TrackerBase::isSuccessfullyCompleted() const {
-        return m_runState == CompletedSuccessfully;
-    }
-    bool TrackerBase::isOpen() const {
-        return m_runState != NotStarted && !isComplete();
-    }
-    bool TrackerBase::hasChildren() const {
-        return !m_children.empty();
-    }
-
-    void TrackerBase::addChild( ITrackerPtr const& child ) {
-        m_children.push_back( child );
-    }
-
-    ITrackerPtr TrackerBase::findChild( NameAndLocation const& nameAndLocation ) {
-        auto it = std::find_if( m_children.begin(), m_children.end(),
-            [&nameAndLocation]( ITrackerPtr const& tracker ){
-                return
-                    tracker->nameAndLocation().location == nameAndLocation.location &&
-                    tracker->nameAndLocation().name == nameAndLocation.name;
-            } );
-        return( it != m_children.end() )
-            ? *it
-            : nullptr;
-    }
-    ITracker& TrackerBase::parent() {
-        assert( m_parent ); // Should always be non-null except for root
-        return *m_parent;
-    }
-
-    void TrackerBase::openChild() {
-        if( m_runState != ExecutingChildren ) {
-            m_runState = ExecutingChildren;
-            if( m_parent )
-                m_parent->openChild();
-        }
-    }
-
-    bool TrackerBase::isSectionTracker() const { return false; }
-    bool TrackerBase::isGeneratorTracker() const { return false; }
-
-    void TrackerBase::open() {
-        m_runState = Executing;
-        moveToThis();
-        if( m_parent )
-            m_parent->openChild();
-    }
-
-    void TrackerBase::close() {
-
-        // Close any still open children (e.g. generators)
-        while( &m_ctx.currentTracker() != this )
-            m_ctx.currentTracker().close();
-
-        switch( m_runState ) {
-            case NeedsAnotherRun:
-                break;
-
-            case Executing:
-                m_runState = CompletedSuccessfully;
-                break;
-            case ExecutingChildren:
-                if( std::all_of(m_children.begin(), m_children.end(), [](ITrackerPtr const& t){ return t->isComplete(); }) )
-                    m_runState = CompletedSuccessfully;
-                break;
-
-            case NotStarted:
-            case CompletedSuccessfully:
-            case Failed:
-                CATCH_INTERNAL_ERROR( "Illogical state: " << m_runState );
-
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown state: " << m_runState );
-        }
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::fail() {
-        m_runState = Failed;
-        if( m_parent )
-            m_parent->markAsNeedingAnotherRun();
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::markAsNeedingAnotherRun() {
-        m_runState = NeedsAnotherRun;
-    }
-
-    void TrackerBase::moveToParent() {
-        assert( m_parent );
-        m_ctx.setCurrentTracker( m_parent );
-    }
-    void TrackerBase::moveToThis() {
-        m_ctx.setCurrentTracker( this );
-    }
-
-    SectionTracker::SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-    :   TrackerBase( nameAndLocation, ctx, parent ),
-        m_trimmed_name(trim(nameAndLocation.name))
-    {
-        if( parent ) {
-            while( !parent->isSectionTracker() )
-                parent = &parent->parent();
-
-            SectionTracker& parentSection = static_cast<SectionTracker&>( *parent );
-            addNextFilters( parentSection.m_filters );
-        }
-    }
-
-    bool SectionTracker::isComplete() const {
-        bool complete = true;
-
-        if (m_filters.empty()
-            || m_filters[0] == ""
-            || std::find(m_filters.begin(), m_filters.end(), m_trimmed_name) != m_filters.end()) {
-            complete = TrackerBase::isComplete();
-        }
-        return complete;
-    }
-
-    bool SectionTracker::isSectionTracker() const { return true; }
-
-    SectionTracker& SectionTracker::acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation ) {
-        std::shared_ptr<SectionTracker> section;
-
-        ITracker& currentTracker = ctx.currentTracker();
-        if( ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-            assert( childTracker );
-            assert( childTracker->isSectionTracker() );
-            section = std::static_pointer_cast<SectionTracker>( childTracker );
-        }
-        else {
-            section = std::make_shared<SectionTracker>( nameAndLocation, ctx, &currentTracker );
-            currentTracker.addChild( section );
-        }
-        if( !ctx.completedCycle() )
-            section->tryOpen();
-        return *section;
-    }
-
-    void SectionTracker::tryOpen() {
-        if( !isComplete() )
-            open();
-    }
-
-    void SectionTracker::addInitialFilters( std::vector<std::string> const& filters ) {
-        if( !filters.empty() ) {
-            m_filters.reserve( m_filters.size() + filters.size() + 2 );
-            m_filters.emplace_back(""); // Root - should never be consulted
-            m_filters.emplace_back(""); // Test Case - not a section filter
-            m_filters.insert( m_filters.end(), filters.begin(), filters.end() );
-        }
-    }
-    void SectionTracker::addNextFilters( std::vector<std::string> const& filters ) {
-        if( filters.size() > 1 )
-            m_filters.insert( m_filters.end(), filters.begin()+1, filters.end() );
-    }
-
-    std::vector<std::string> const& SectionTracker::getFilters() const {
-        return m_filters;
-    }
-
-    std::string const& SectionTracker::trimmedName() const {
-        return m_trimmed_name;
-    }
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-
-} // namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-// end catch_test_case_tracker.cpp
-// start catch_test_registry.cpp
-
-namespace Catch {
-
-    auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker* {
-        return new(std::nothrow) TestInvokerAsFunction( testAsFunction );
-    }
-
-    NameAndTags::NameAndTags( StringRef const& name_ , StringRef const& tags_ ) noexcept : name( name_ ), tags( tags_ ) {}
-
-    AutoReg::AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept {
-        CATCH_TRY {
-            getMutableRegistryHub()
-                    .registerTest(
-                        makeTestCase(
-                            invoker,
-                            extractClassName( classOrMethod ),
-                            nameAndTags,
-                            lineInfo));
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-    AutoReg::~AutoReg() = default;
-}
-// end catch_test_registry.cpp
-// start catch_test_spec.cpp
-
-#include <algorithm>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    TestSpec::Pattern::Pattern( std::string const& name )
-    : m_name( name )
-    {}
-
-    TestSpec::Pattern::~Pattern() = default;
-
-    std::string const& TestSpec::Pattern::name() const {
-        return m_name;
-    }
-
-    TestSpec::NamePattern::NamePattern( std::string const& name, std::string const& filterString )
-    : Pattern( filterString )
-    , m_wildcardPattern( toLower( name ), CaseSensitive::No )
-    {}
-
-    bool TestSpec::NamePattern::matches( TestCaseInfo const& testCase ) const {
-        return m_wildcardPattern.matches( testCase.name );
-    }
-
-    TestSpec::TagPattern::TagPattern( std::string const& tag, std::string const& filterString )
-    : Pattern( filterString )
-    , m_tag( toLower( tag ) )
-    {}
-
-    bool TestSpec::TagPattern::matches( TestCaseInfo const& testCase ) const {
-        return std::find(begin(testCase.lcaseTags),
-                         end(testCase.lcaseTags),
-                         m_tag) != end(testCase.lcaseTags);
-    }
-
-    TestSpec::ExcludedPattern::ExcludedPattern( PatternPtr const& underlyingPattern )
-    : Pattern( underlyingPattern->name() )
-    , m_underlyingPattern( underlyingPattern )
-    {}
-
-    bool TestSpec::ExcludedPattern::matches( TestCaseInfo const& testCase ) const {
-        return !m_underlyingPattern->matches( testCase );
-    }
-
-    bool TestSpec::Filter::matches( TestCaseInfo const& testCase ) const {
-        return std::all_of( m_patterns.begin(), m_patterns.end(), [&]( PatternPtr const& p ){ return p->matches( testCase ); } );
-    }
-
-    std::string TestSpec::Filter::name() const {
-        std::string name;
-        for( auto const& p : m_patterns )
-            name += p->name();
-        return name;
-    }
-
-    bool TestSpec::hasFilters() const {
-        return !m_filters.empty();
-    }
-
-    bool TestSpec::matches( TestCaseInfo const& testCase ) const {
-        return std::any_of( m_filters.begin(), m_filters.end(), [&]( Filter const& f ){ return f.matches( testCase ); } );
-    }
-
-    TestSpec::Matches TestSpec::matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const
-    {
-        Matches matches( m_filters.size() );
-        std::transform( m_filters.begin(), m_filters.end(), matches.begin(), [&]( Filter const& filter ){
-            std::vector<TestCase const*> currentMatches;
-            for( auto const& test : testCases )
-                if( isThrowSafe( test, config ) && filter.matches( test ) )
-                    currentMatches.emplace_back( &test );
-            return FilterMatch{ filter.name(), currentMatches };
-        } );
-        return matches;
-    }
-
-    const TestSpec::vectorStrings& TestSpec::getInvalidArgs() const{
-        return  (m_invalidArgs);
-    }
-
-}
-// end catch_test_spec.cpp
-// start catch_test_spec_parser.cpp
-
-namespace Catch {
-
-    TestSpecParser::TestSpecParser( ITagAliasRegistry const& tagAliases ) : m_tagAliases( &tagAliases ) {}
-
-    TestSpecParser& TestSpecParser::parse( std::string const& arg ) {
-        m_mode = None;
-        m_exclusion = false;
-        m_arg = m_tagAliases->expandAliases( arg );
-        m_escapeChars.clear();
-        m_substring.reserve(m_arg.size());
-        m_patternName.reserve(m_arg.size());
-        m_realPatternPos = 0;
-
-        for( m_pos = 0; m_pos < m_arg.size(); ++m_pos )
-          //if visitChar fails
-           if( !visitChar( m_arg[m_pos] ) ){
-               m_testSpec.m_invalidArgs.push_back(arg);
-               break;
-           }
-        endMode();
-        return *this;
-    }
-    TestSpec TestSpecParser::testSpec() {
-        addFilter();
-        return m_testSpec;
-    }
-    bool TestSpecParser::visitChar( char c ) {
-        if( (m_mode != EscapedName) && (c == '\\') ) {
-            escape();
-            addCharToPattern(c);
-            return true;
-        }else if((m_mode != EscapedName) && (c == ',') )  {
-            return separate();
-        }
-
-        switch( m_mode ) {
-        case None:
-            if( processNoneChar( c ) )
-                return true;
-            break;
-        case Name:
-            processNameChar( c );
-            break;
-        case EscapedName:
-            endMode();
-            addCharToPattern(c);
-            return true;
-        default:
-        case Tag:
-        case QuotedName:
-            if( processOtherChar( c ) )
-                return true;
-            break;
-        }
-
-        m_substring += c;
-        if( !isControlChar( c ) ) {
-            m_patternName += c;
-            m_realPatternPos++;
-        }
-        return true;
-    }
-    // Two of the processing methods return true to signal the caller to return
-    // without adding the given character to the current pattern strings
-    bool TestSpecParser::processNoneChar( char c ) {
-        switch( c ) {
-        case ' ':
-            return true;
-        case '~':
-            m_exclusion = true;
-            return false;
-        case '[':
-            startNewMode( Tag );
-            return false;
-        case '"':
-            startNewMode( QuotedName );
-            return false;
-        default:
-            startNewMode( Name );
-            return false;
-        }
-    }
-    void TestSpecParser::processNameChar( char c ) {
-        if( c == '[' ) {
-            if( m_substring == "exclude:" )
-                m_exclusion = true;
-            else
-                endMode();
-            startNewMode( Tag );
-        }
-    }
-    bool TestSpecParser::processOtherChar( char c ) {
-        if( !isControlChar( c ) )
-            return false;
-        m_substring += c;
-        endMode();
-        return true;
-    }
-    void TestSpecParser::startNewMode( Mode mode ) {
-        m_mode = mode;
-    }
-    void TestSpecParser::endMode() {
-        switch( m_mode ) {
-        case Name:
-        case QuotedName:
-            return addNamePattern();
-        case Tag:
-            return addTagPattern();
-        case EscapedName:
-            revertBackToLastMode();
-            return;
-        case None:
-        default:
-            return startNewMode( None );
-        }
-    }
-    void TestSpecParser::escape() {
-        saveLastMode();
-        m_mode = EscapedName;
-        m_escapeChars.push_back(m_realPatternPos);
-    }
-    bool TestSpecParser::isControlChar( char c ) const {
-        switch( m_mode ) {
-            default:
-                return false;
-            case None:
-                return c == '~';
-            case Name:
-                return c == '[';
-            case EscapedName:
-                return true;
-            case QuotedName:
-                return c == '"';
-            case Tag:
-                return c == '[' || c == ']';
-        }
-    }
-
-    void TestSpecParser::addFilter() {
-        if( !m_currentFilter.m_patterns.empty() ) {
-            m_testSpec.m_filters.push_back( m_currentFilter );
-            m_currentFilter = TestSpec::Filter();
-        }
-    }
-
-    void TestSpecParser::saveLastMode() {
-      lastMode = m_mode;
-    }
-
-    void TestSpecParser::revertBackToLastMode() {
-      m_mode = lastMode;
-    }
-
-    bool TestSpecParser::separate() {
-      if( (m_mode==QuotedName) || (m_mode==Tag) ){
-         //invalid argument, signal failure to previous scope.
-         m_mode = None;
-         m_pos = m_arg.size();
-         m_substring.clear();
-         m_patternName.clear();
-         m_realPatternPos = 0;
-         return false;
-      }
-      endMode();
-      addFilter();
-      return true; //success
-    }
-
-    std::string TestSpecParser::preprocessPattern() {
-        std::string token = m_patternName;
-        for (std::size_t i = 0; i < m_escapeChars.size(); ++i)
-            token = token.substr(0, m_escapeChars[i] - i) + token.substr(m_escapeChars[i] - i + 1);
-        m_escapeChars.clear();
-        if (startsWith(token, "exclude:")) {
-            m_exclusion = true;
-            token = token.substr(8);
-        }
-
-        m_patternName.clear();
-        m_realPatternPos = 0;
-
-        return token;
-    }
-
-    void TestSpecParser::addNamePattern() {
-        auto token = preprocessPattern();
-
-        if (!token.empty()) {
-            TestSpec::PatternPtr pattern = std::make_shared<TestSpec::NamePattern>(token, m_substring);
-            if (m_exclusion)
-                pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
-            m_currentFilter.m_patterns.push_back(pattern);
-        }
-        m_substring.clear();
-        m_exclusion = false;
-        m_mode = None;
-    }
-
-    void TestSpecParser::addTagPattern() {
-        auto token = preprocessPattern();
-
-        if (!token.empty()) {
-            // If the tag pattern is the "hide and tag" shorthand (e.g. [.foo])
-            // we have to create a separate hide tag and shorten the real one
-            if (token.size() > 1 && token[0] == '.') {
-                token.erase(token.begin());
-                TestSpec::PatternPtr pattern = std::make_shared<TestSpec::TagPattern>(".", m_substring);
-                if (m_exclusion) {
-                    pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
-                }
-                m_currentFilter.m_patterns.push_back(pattern);
-            }
-
-            TestSpec::PatternPtr pattern = std::make_shared<TestSpec::TagPattern>(token, m_substring);
-
-            if (m_exclusion) {
-                pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
-            }
-            m_currentFilter.m_patterns.push_back(pattern);
-        }
-        m_substring.clear();
-        m_exclusion = false;
-        m_mode = None;
-    }
-
-    TestSpec parseTestSpec( std::string const& arg ) {
-        return TestSpecParser( ITagAliasRegistry::get() ).parse( arg ).testSpec();
-    }
-
-} // namespace Catch
-// end catch_test_spec_parser.cpp
-// start catch_timer.cpp
-
-#include <chrono>
-
-static const uint64_t nanosecondsInSecond = 1000000000;
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t {
-        return std::chrono::duration_cast<std::chrono::nanoseconds>( std::chrono::high_resolution_clock::now().time_since_epoch() ).count();
-    }
-
-    namespace {
-        auto estimateClockResolution() -> uint64_t {
-            uint64_t sum = 0;
-            static const uint64_t iterations = 1000000;
-
-            auto startTime = getCurrentNanosecondsSinceEpoch();
-
-            for( std::size_t i = 0; i < iterations; ++i ) {
-
-                uint64_t ticks;
-                uint64_t baseTicks = getCurrentNanosecondsSinceEpoch();
-                do {
-                    ticks = getCurrentNanosecondsSinceEpoch();
-                } while( ticks == baseTicks );
-
-                auto delta = ticks - baseTicks;
-                sum += delta;
-
-                // If we have been calibrating for over 3 seconds -- the clock
-                // is terrible and we should move on.
-                // TBD: How to signal that the measured resolution is probably wrong?
-                if (ticks > startTime + 3 * nanosecondsInSecond) {
-                    return sum / ( i + 1u );
-                }
-            }
-
-            // We're just taking the mean, here. To do better we could take the std. dev and exclude outliers
-            // - and potentially do more iterations if there's a high variance.
-            return sum/iterations;
-        }
-    }
-    auto getEstimatedClockResolution() -> uint64_t {
-        static auto s_resolution = estimateClockResolution();
-        return s_resolution;
-    }
-
-    void Timer::start() {
-       m_nanoseconds = getCurrentNanosecondsSinceEpoch();
-    }
-    auto Timer::getElapsedNanoseconds() const -> uint64_t {
-        return getCurrentNanosecondsSinceEpoch() - m_nanoseconds;
-    }
-    auto Timer::getElapsedMicroseconds() const -> uint64_t {
-        return getElapsedNanoseconds()/1000;
-    }
-    auto Timer::getElapsedMilliseconds() const -> unsigned int {
-        return static_cast<unsigned int>(getElapsedMicroseconds()/1000);
-    }
-    auto Timer::getElapsedSeconds() const -> double {
-        return getElapsedMicroseconds()/1000000.0;
-    }
-
-} // namespace Catch
-// end catch_timer.cpp
-// start catch_tostring.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#    pragma clang diagnostic ignored "-Wglobal-constructors"
-#endif
-
-// Enable specific decls locally
-#if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#endif
-
-#include <cmath>
-#include <iomanip>
-
-namespace Catch {
-
-namespace Detail {
-
-    const std::string unprintableString = "{?}";
-
-    namespace {
-        const int hexThreshold = 255;
-
-        struct Endianness {
-            enum Arch { Big, Little };
-
-            static Arch which() {
-                int one = 1;
-                // If the lowest byte we read is non-zero, we can assume
-                // that little endian format is used.
-                auto value = *reinterpret_cast<char*>(&one);
-                return value ? Little : Big;
-            }
-        };
-    }
-
-    std::string rawMemoryToString( const void *object, std::size_t size ) {
-        // Reverse order for little endian architectures
-        int i = 0, end = static_cast<int>( size ), inc = 1;
-        if( Endianness::which() == Endianness::Little ) {
-            i = end-1;
-            end = inc = -1;
-        }
-
-        unsigned char const *bytes = static_cast<unsigned char const *>(object);
-        ReusableStringStream rss;
-        rss << "0x" << std::setfill('0') << std::hex;
-        for( ; i != end; i += inc )
-             rss << std::setw(2) << static_cast<unsigned>(bytes[i]);
-       return rss.str();
-    }
-}
-
-template<typename T>
-std::string fpToString( T value, int precision ) {
-    if (Catch::isnan(value)) {
-        return "nan";
-    }
-
-    ReusableStringStream rss;
-    rss << std::setprecision( precision )
-        << std::fixed
-        << value;
-    std::string d = rss.str();
-    std::size_t i = d.find_last_not_of( '0' );
-    if( i != std::string::npos && i != d.size()-1 ) {
-        if( d[i] == '.' )
-            i++;
-        d = d.substr( 0, i+1 );
-    }
-    return d;
-}
-
-//// ======================================================= ////
-//
-//   Out-of-line defs for full specialization of StringMaker
-//
-//// ======================================================= ////
-
-std::string StringMaker<std::string>::convert(const std::string& str) {
-    if (!getCurrentContext().getConfig()->showInvisibles()) {
-        return '"' + str + '"';
-    }
-
-    std::string s("\"");
-    for (char c : str) {
-        switch (c) {
-        case '\n':
-            s.append("\\n");
-            break;
-        case '\t':
-            s.append("\\t");
-            break;
-        default:
-            s.push_back(c);
-            break;
-        }
-    }
-    s.append("\"");
-    return s;
-}
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::string_view>::convert(std::string_view str) {
-    return ::Catch::Detail::stringify(std::string{ str });
-}
-#endif
-
-std::string StringMaker<char const*>::convert(char const* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<char*>::convert(char* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-
-#ifdef CATCH_CONFIG_WCHAR
-std::string StringMaker<std::wstring>::convert(const std::wstring& wstr) {
-    std::string s;
-    s.reserve(wstr.size());
-    for (auto c : wstr) {
-        s += (c <= 0xff) ? static_cast<char>(c) : '?';
-    }
-    return ::Catch::Detail::stringify(s);
-}
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::wstring_view>::convert(std::wstring_view str) {
-    return StringMaker<std::wstring>::convert(std::wstring(str));
-}
-# endif
-
-std::string StringMaker<wchar_t const*>::convert(wchar_t const * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<wchar_t *>::convert(wchar_t * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-#endif
-
-#if defined(CATCH_CONFIG_CPP17_BYTE)
-#include <cstddef>
-std::string StringMaker<std::byte>::convert(std::byte value) {
-    return ::Catch::Detail::stringify(std::to_integer<unsigned long long>(value));
-}
-#endif // defined(CATCH_CONFIG_CPP17_BYTE)
-
-std::string StringMaker<int>::convert(int value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long>::convert(long value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long long>::convert(long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<unsigned int>::convert(unsigned int value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long>::convert(unsigned long value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long long>::convert(unsigned long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<bool>::convert(bool b) {
-    return b ? "true" : "false";
-}
-
-std::string StringMaker<signed char>::convert(signed char value) {
-    if (value == '\r') {
-        return "'\\r'";
-    } else if (value == '\f') {
-        return "'\\f'";
-    } else if (value == '\n') {
-        return "'\\n'";
-    } else if (value == '\t') {
-        return "'\\t'";
-    } else if ('\0' <= value && value < ' ') {
-        return ::Catch::Detail::stringify(static_cast<unsigned int>(value));
-    } else {
-        char chstr[] = "' '";
-        chstr[1] = value;
-        return chstr;
-    }
-}
-std::string StringMaker<char>::convert(char c) {
-    return ::Catch::Detail::stringify(static_cast<signed char>(c));
-}
-std::string StringMaker<unsigned char>::convert(unsigned char c) {
-    return ::Catch::Detail::stringify(static_cast<char>(c));
-}
-
-std::string StringMaker<std::nullptr_t>::convert(std::nullptr_t) {
-    return "nullptr";
-}
-
-int StringMaker<float>::precision = 5;
-
-std::string StringMaker<float>::convert(float value) {
-    return fpToString(value, precision) + 'f';
-}
-
-int StringMaker<double>::precision = 10;
-
-std::string StringMaker<double>::convert(double value) {
-    return fpToString(value, precision);
-}
-
-std::string ratio_string<std::atto>::symbol() { return "a"; }
-std::string ratio_string<std::femto>::symbol() { return "f"; }
-std::string ratio_string<std::pico>::symbol() { return "p"; }
-std::string ratio_string<std::nano>::symbol() { return "n"; }
-std::string ratio_string<std::micro>::symbol() { return "u"; }
-std::string ratio_string<std::milli>::symbol() { return "m"; }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_tostring.cpp
-// start catch_totals.cpp
-
-namespace Catch {
-
-    Counts Counts::operator - ( Counts const& other ) const {
-        Counts diff;
-        diff.passed = passed - other.passed;
-        diff.failed = failed - other.failed;
-        diff.failedButOk = failedButOk - other.failedButOk;
-        return diff;
-    }
-
-    Counts& Counts::operator += ( Counts const& other ) {
-        passed += other.passed;
-        failed += other.failed;
-        failedButOk += other.failedButOk;
-        return *this;
-    }
-
-    std::size_t Counts::total() const {
-        return passed + failed + failedButOk;
-    }
-    bool Counts::allPassed() const {
-        return failed == 0 && failedButOk == 0;
-    }
-    bool Counts::allOk() const {
-        return failed == 0;
-    }
-
-    Totals Totals::operator - ( Totals const& other ) const {
-        Totals diff;
-        diff.assertions = assertions - other.assertions;
-        diff.testCases = testCases - other.testCases;
-        return diff;
-    }
-
-    Totals& Totals::operator += ( Totals const& other ) {
-        assertions += other.assertions;
-        testCases += other.testCases;
-        return *this;
-    }
-
-    Totals Totals::delta( Totals const& prevTotals ) const {
-        Totals diff = *this - prevTotals;
-        if( diff.assertions.failed > 0 )
-            ++diff.testCases.failed;
-        else if( diff.assertions.failedButOk > 0 )
-            ++diff.testCases.failedButOk;
-        else
-            ++diff.testCases.passed;
-        return diff;
-    }
-
-}
-// end catch_totals.cpp
-// start catch_uncaught_exceptions.cpp
-
-// start catch_config_uncaught_exceptions.hpp
-
-//              Copyright Catch2 Authors
-// Distributed under the Boost Software License, Version 1.0.
-//   (See accompanying file LICENSE_1_0.txt or copy at
-//        https://www.boost.org/LICENSE_1_0.txt)
-
-// SPDX-License-Identifier: BSL-1.0
-
-#ifndef CATCH_CONFIG_UNCAUGHT_EXCEPTIONS_HPP
-#define CATCH_CONFIG_UNCAUGHT_EXCEPTIONS_HPP
-
-#if defined(_MSC_VER)
-#  if _MSC_VER >= 1900 // Visual Studio 2015 or newer
-#    define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#  endif
-#endif
-
-#include <exception>
-
-#if defined(__cpp_lib_uncaught_exceptions) \
-    && !defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-
-#  define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif // __cpp_lib_uncaught_exceptions
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) \
-    && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) \
-    && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-
-#  define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif
-
-#endif // CATCH_CONFIG_UNCAUGHT_EXCEPTIONS_HPP
-// end catch_config_uncaught_exceptions.hpp
-#include <exception>
-
-namespace Catch {
-    bool uncaught_exceptions() {
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        return false;
-#elif defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-        return std::uncaught_exceptions() > 0;
-#else
-        return std::uncaught_exception();
-#endif
-  }
-} // end namespace Catch
-// end catch_uncaught_exceptions.cpp
-// start catch_version.cpp
-
-#include <ostream>
-
-namespace Catch {
-
-    Version::Version
-        (   unsigned int _majorVersion,
-            unsigned int _minorVersion,
-            unsigned int _patchNumber,
-            char const * const _branchName,
-            unsigned int _buildNumber )
-    :   majorVersion( _majorVersion ),
-        minorVersion( _minorVersion ),
-        patchNumber( _patchNumber ),
-        branchName( _branchName ),
-        buildNumber( _buildNumber )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, Version const& version ) {
-        os  << version.majorVersion << '.'
-            << version.minorVersion << '.'
-            << version.patchNumber;
-        // branchName is never null -> 0th char is \0 if it is empty
-        if (version.branchName[0]) {
-            os << '-' << version.branchName
-               << '.' << version.buildNumber;
-        }
-        return os;
-    }
-
-    Version const& libraryVersion() {
-        static Version version( 2, 13, 9, "", 0 );
-        return version;
-    }
-
-}
-// end catch_version.cpp
-// start catch_wildcard_pattern.cpp
-
-namespace Catch {
-
-    WildcardPattern::WildcardPattern( std::string const& pattern,
-                                      CaseSensitive::Choice caseSensitivity )
-    :   m_caseSensitivity( caseSensitivity ),
-        m_pattern( normaliseString( pattern ) )
-    {
-        if( startsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 1 );
-            m_wildcard = WildcardAtStart;
-        }
-        if( endsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 0, m_pattern.size()-1 );
-            m_wildcard = static_cast<WildcardPosition>( m_wildcard | WildcardAtEnd );
-        }
-    }
-
-    bool WildcardPattern::matches( std::string const& str ) const {
-        switch( m_wildcard ) {
-            case NoWildcard:
-                return m_pattern == normaliseString( str );
-            case WildcardAtStart:
-                return endsWith( normaliseString( str ), m_pattern );
-            case WildcardAtEnd:
-                return startsWith( normaliseString( str ), m_pattern );
-            case WildcardAtBothEnds:
-                return contains( normaliseString( str ), m_pattern );
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown enum" );
-        }
-    }
-
-    std::string WildcardPattern::normaliseString( std::string const& str ) const {
-        return trim( m_caseSensitivity == CaseSensitive::No ? toLower( str ) : str );
-    }
-}
-// end catch_wildcard_pattern.cpp
-// start catch_xmlwriter.cpp
-
-#include <iomanip>
-#include <type_traits>
-
-namespace Catch {
-
-namespace {
-
-    size_t trailingBytes(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return 2;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return 3;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return 4;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    uint32_t headerValue(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return c & 0x1F;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return c & 0x0F;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return c & 0x07;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    void hexEscapeChar(std::ostream& os, unsigned char c) {
-        std::ios_base::fmtflags f(os.flags());
-        os << "\\x"
-            << std::uppercase << std::hex << std::setfill('0') << std::setw(2)
-            << static_cast<int>(c);
-        os.flags(f);
-    }
-
-    bool shouldNewline(XmlFormatting fmt) {
-        return !!(static_cast<std::underlying_type<XmlFormatting>::type>(fmt & XmlFormatting::Newline));
-    }
-
-    bool shouldIndent(XmlFormatting fmt) {
-        return !!(static_cast<std::underlying_type<XmlFormatting>::type>(fmt & XmlFormatting::Indent));
-    }
-
-} // anonymous namespace
-
-    XmlFormatting operator | (XmlFormatting lhs, XmlFormatting rhs) {
-        return static_cast<XmlFormatting>(
-            static_cast<std::underlying_type<XmlFormatting>::type>(lhs) |
-            static_cast<std::underlying_type<XmlFormatting>::type>(rhs)
-        );
-    }
-
-    XmlFormatting operator & (XmlFormatting lhs, XmlFormatting rhs) {
-        return static_cast<XmlFormatting>(
-            static_cast<std::underlying_type<XmlFormatting>::type>(lhs) &
-            static_cast<std::underlying_type<XmlFormatting>::type>(rhs)
-        );
-    }
-
-    XmlEncode::XmlEncode( std::string const& str, ForWhat forWhat )
-    :   m_str( str ),
-        m_forWhat( forWhat )
-    {}
-
-    void XmlEncode::encodeTo( std::ostream& os ) const {
-        // Apostrophe escaping not necessary if we always use " to write attributes
-        // (see: http://www.w3.org/TR/xml/#syntax)
-
-        for( std::size_t idx = 0; idx < m_str.size(); ++ idx ) {
-            unsigned char c = m_str[idx];
-            switch (c) {
-            case '<':   os << "&lt;"; break;
-            case '&':   os << "&amp;"; break;
-
-            case '>':
-                // See: http://www.w3.org/TR/xml/#syntax
-                if (idx > 2 && m_str[idx - 1] == ']' && m_str[idx - 2] == ']')
-                    os << "&gt;";
-                else
-                    os << c;
-                break;
-
-            case '\"':
-                if (m_forWhat == ForAttributes)
-                    os << "&quot;";
-                else
-                    os << c;
-                break;
-
-            default:
-                // Check for control characters and invalid utf-8
-
-                // Escape control characters in standard ascii
-                // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0
-                if (c < 0x09 || (c > 0x0D && c < 0x20) || c == 0x7F) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // Plain ASCII: Write it to stream
-                if (c < 0x7F) {
-                    os << c;
-                    break;
-                }
-
-                // UTF-8 territory
-                // Check if the encoding is valid and if it is not, hex escape bytes.
-                // Important: We do not check the exact decoded values for validity, only the encoding format
-                // First check that this bytes is a valid lead byte:
-                // This means that it is not encoded as 1111 1XXX
-                // Or as 10XX XXXX
-                if (c <  0xC0 ||
-                    c >= 0xF8) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                auto encBytes = trailingBytes(c);
-                // Are there enough bytes left to avoid accessing out-of-bounds memory?
-                if (idx + encBytes - 1 >= m_str.size()) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-                // The header is valid, check data
-                // The next encBytes bytes must together be a valid utf-8
-                // This means: bitpattern 10XX XXXX and the extracted value is sane (ish)
-                bool valid = true;
-                uint32_t value = headerValue(c);
-                for (std::size_t n = 1; n < encBytes; ++n) {
-                    unsigned char nc = m_str[idx + n];
-                    valid &= ((nc & 0xC0) == 0x80);
-                    value = (value << 6) | (nc & 0x3F);
-                }
-
-                if (
-                    // Wrong bit pattern of following bytes
-                    (!valid) ||
-                    // Overlong encodings
-                    (value < 0x80) ||
-                    (0x80 <= value && value < 0x800   && encBytes > 2) ||
-                    (0x800 < value && value < 0x10000 && encBytes > 3) ||
-                    // Encoded value out of range
-                    (value >= 0x110000)
-                    ) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // If we got here, this is in fact a valid(ish) utf-8 sequence
-                for (std::size_t n = 0; n < encBytes; ++n) {
-                    os << m_str[idx + n];
-                }
-                idx += encBytes - 1;
-                break;
-            }
-        }
-    }
-
-    std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode ) {
-        xmlEncode.encodeTo( os );
-        return os;
-    }
-
-    XmlWriter::ScopedElement::ScopedElement( XmlWriter* writer, XmlFormatting fmt )
-    :   m_writer( writer ),
-        m_fmt(fmt)
-    {}
-
-    XmlWriter::ScopedElement::ScopedElement( ScopedElement&& other ) noexcept
-    :   m_writer( other.m_writer ),
-        m_fmt(other.m_fmt)
-    {
-        other.m_writer = nullptr;
-        other.m_fmt = XmlFormatting::None;
-    }
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::operator=( ScopedElement&& other ) noexcept {
-        if ( m_writer ) {
-            m_writer->endElement();
-        }
-        m_writer = other.m_writer;
-        other.m_writer = nullptr;
-        m_fmt = other.m_fmt;
-        other.m_fmt = XmlFormatting::None;
-        return *this;
-    }
-
-    XmlWriter::ScopedElement::~ScopedElement() {
-        if (m_writer) {
-            m_writer->endElement(m_fmt);
-        }
-    }
-
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::writeText( std::string const& text, XmlFormatting fmt ) {
-        m_writer->writeText( text, fmt );
-        return *this;
-    }
-
-    XmlWriter::XmlWriter( std::ostream& os ) : m_os( os )
-    {
-        writeDeclaration();
-    }
-
-    XmlWriter::~XmlWriter() {
-        while (!m_tags.empty()) {
-            endElement();
-        }
-        newlineIfNecessary();
-    }
-
-    XmlWriter& XmlWriter::startElement( std::string const& name, XmlFormatting fmt ) {
-        ensureTagClosed();
-        newlineIfNecessary();
-        if (shouldIndent(fmt)) {
-            m_os << m_indent;
-            m_indent += "  ";
-        }
-        m_os << '<' << name;
-        m_tags.push_back( name );
-        m_tagIsOpen = true;
-        applyFormatting(fmt);
-        return *this;
-    }
-
-    XmlWriter::ScopedElement XmlWriter::scopedElement( std::string const& name, XmlFormatting fmt ) {
-        ScopedElement scoped( this, fmt );
-        startElement( name, fmt );
-        return scoped;
-    }
-
-    XmlWriter& XmlWriter::endElement(XmlFormatting fmt) {
-        m_indent = m_indent.substr(0, m_indent.size() - 2);
-
-        if( m_tagIsOpen ) {
-            m_os << "/>";
-            m_tagIsOpen = false;
-        } else {
-            newlineIfNecessary();
-            if (shouldIndent(fmt)) {
-                m_os << m_indent;
-            }
-            m_os << "</" << m_tags.back() << ">";
-        }
-        m_os << std::flush;
-        applyFormatting(fmt);
-        m_tags.pop_back();
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, std::string const& attribute ) {
-        if( !name.empty() && !attribute.empty() )
-            m_os << ' ' << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, bool attribute ) {
-        m_os << ' ' << name << "=\"" << ( attribute ? "true" : "false" ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeText( std::string const& text, XmlFormatting fmt) {
-        if( !text.empty() ){
-            bool tagWasOpen = m_tagIsOpen;
-            ensureTagClosed();
-            if (tagWasOpen && shouldIndent(fmt)) {
-                m_os << m_indent;
-            }
-            m_os << XmlEncode( text );
-            applyFormatting(fmt);
-        }
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeComment( std::string const& text, XmlFormatting fmt) {
-        ensureTagClosed();
-        if (shouldIndent(fmt)) {
-            m_os << m_indent;
-        }
-        m_os << "<!--" << text << "-->";
-        applyFormatting(fmt);
-        return *this;
-    }
-
-    void XmlWriter::writeStylesheetRef( std::string const& url ) {
-        m_os << "<?xml-stylesheet type=\"text/xsl\" href=\"" << url << "\"?>\n";
-    }
-
-    XmlWriter& XmlWriter::writeBlankLine() {
-        ensureTagClosed();
-        m_os << '\n';
-        return *this;
-    }
-
-    void XmlWriter::ensureTagClosed() {
-        if( m_tagIsOpen ) {
-            m_os << '>' << std::flush;
-            newlineIfNecessary();
-            m_tagIsOpen = false;
-        }
-    }
-
-    void XmlWriter::applyFormatting(XmlFormatting fmt) {
-        m_needsNewline = shouldNewline(fmt);
-    }
-
-    void XmlWriter::writeDeclaration() {
-        m_os << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
-    }
-
-    void XmlWriter::newlineIfNecessary() {
-        if( m_needsNewline ) {
-            m_os << std::endl;
-            m_needsNewline = false;
-        }
-    }
-}
-// end catch_xmlwriter.cpp
-// start catch_reporter_bases.cpp
-
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result) {
-        result.getExpandedExpression();
-    }
-
-    // Because formatting using c++ streams is stateful, drop down to C is required
-    // Alternatively we could use stringstream, but its performance is... not good.
-    std::string getFormattedDuration( double duration ) {
-        // Max exponent + 1 is required to represent the whole part
-        // + 1 for decimal point
-        // + 3 for the 3 decimal places
-        // + 1 for null terminator
-        const std::size_t maxDoubleSize = DBL_MAX_10_EXP + 1 + 1 + 3 + 1;
-        char buffer[maxDoubleSize];
-
-        // Save previous errno, to prevent sprintf from overwriting it
-        ErrnoGuard guard;
-#ifdef _MSC_VER
-        sprintf_s(buffer, "%.3f", duration);
-#else
-        std::sprintf(buffer, "%.3f", duration);
-#endif
-        return std::string(buffer);
-    }
-
-    bool shouldShowDuration( IConfig const& config, double duration ) {
-        if ( config.showDurations() == ShowDurations::Always ) {
-            return true;
-        }
-        if ( config.showDurations() == ShowDurations::Never ) {
-            return false;
-        }
-        const double min = config.minDuration();
-        return min >= 0 && duration >= min;
-    }
-
-    std::string serializeFilters( std::vector<std::string> const& container ) {
-        ReusableStringStream oss;
-        bool first = true;
-        for (auto&& filter : container)
-        {
-            if (!first)
-                oss << ' ';
-            else
-                first = false;
-
-            oss << filter;
-        }
-        return oss.str();
-    }
-
-    TestEventListenerBase::TestEventListenerBase(ReporterConfig const & _config)
-        :StreamingReporterBase(_config) {}
-
-    std::set<Verbosity> TestEventListenerBase::getSupportedVerbosities() {
-        return { Verbosity::Quiet, Verbosity::Normal, Verbosity::High };
-    }
-
-    void TestEventListenerBase::assertionStarting(AssertionInfo const &) {}
-
-    bool TestEventListenerBase::assertionEnded(AssertionStats const &) {
-        return false;
-    }
-
-} // end namespace Catch
-// end catch_reporter_bases.cpp
-// start catch_reporter_compact.cpp
-
-namespace {
-
-#ifdef CATCH_PLATFORM_MAC
-    const char* failedString() { return "FAILED"; }
-    const char* passedString() { return "PASSED"; }
-#else
-    const char* failedString() { return "failed"; }
-    const char* passedString() { return "passed"; }
-#endif
-
-    // Colour::LightGrey
-    Catch::Colour::Code dimColour() { return Catch::Colour::FileName; }
-
-    std::string bothOrAll( std::size_t count ) {
-        return count == 1 ? std::string() :
-               count == 2 ? "both " : "all " ;
-    }
-
-} // anon namespace
-
-namespace Catch {
-namespace {
-// Colour, message variants:
-// - white: No tests ran.
-// -   red: Failed [both/all] N test cases, failed [both/all] M assertions.
-// - white: Passed [both/all] N test cases (no assertions).
-// -   red: Failed N tests cases, failed M assertions.
-// - green: Passed [both/all] N tests cases with M assertions.
-void printTotals(std::ostream& out, const Totals& totals) {
-    if (totals.testCases.total() == 0) {
-        out << "No tests ran.";
-    } else if (totals.testCases.failed == totals.testCases.total()) {
-        Colour colour(Colour::ResultError);
-        const std::string qualify_assertions_failed =
-            totals.assertions.failed == totals.assertions.total() ?
-            bothOrAll(totals.assertions.failed) : std::string();
-        out <<
-            "Failed " << bothOrAll(totals.testCases.failed)
-            << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << qualify_assertions_failed <<
-            pluralise(totals.assertions.failed, "assertion") << '.';
-    } else if (totals.assertions.total() == 0) {
-        out <<
-            "Passed " << bothOrAll(totals.testCases.total())
-            << pluralise(totals.testCases.total(), "test case")
-            << " (no assertions).";
-    } else if (totals.assertions.failed) {
-        Colour colour(Colour::ResultError);
-        out <<
-            "Failed " << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << pluralise(totals.assertions.failed, "assertion") << '.';
-    } else {
-        Colour colour(Colour::ResultSuccess);
-        out <<
-            "Passed " << bothOrAll(totals.testCases.passed)
-            << pluralise(totals.testCases.passed, "test case") <<
-            " with " << pluralise(totals.assertions.passed, "assertion") << '.';
-    }
-}
-
-// Implementation of CompactReporter formatting
-class AssertionPrinter {
-public:
-    AssertionPrinter& operator= (AssertionPrinter const&) = delete;
-    AssertionPrinter(AssertionPrinter const&) = delete;
-    AssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream)
-        , result(_stats.assertionResult)
-        , messages(_stats.infoMessages)
-        , itMessage(_stats.infoMessages.begin())
-        , printInfoMessages(_printInfoMessages) {}
-
-    void print() {
-        printSourceInfo();
-
-        itMessage = messages.begin();
-
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            printResultType(Colour::ResultSuccess, passedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            if (!result.hasExpression())
-                printRemainingMessages(Colour::None);
-            else
-                printRemainingMessages();
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk())
-                printResultType(Colour::ResultSuccess, failedString() + std::string(" - but was ok"));
-            else
-                printResultType(Colour::Error, failedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            printRemainingMessages();
-            break;
-        case ResultWas::ThrewException:
-            printResultType(Colour::Error, failedString());
-            printIssue("unexpected exception with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::FatalErrorCondition:
-            printResultType(Colour::Error, failedString());
-            printIssue("fatal error condition with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::DidntThrowException:
-            printResultType(Colour::Error, failedString());
-            printIssue("expected exception, got none");
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::Info:
-            printResultType(Colour::None, "info");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::Warning:
-            printResultType(Colour::None, "warning");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::ExplicitFailure:
-            printResultType(Colour::Error, failedString());
-            printIssue("explicitly");
-            printRemainingMessages(Colour::None);
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            printResultType(Colour::Error, "** internal error **");
-            break;
-        }
-    }
-
-private:
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ':';
-    }
-
-    void printResultType(Colour::Code colour, std::string const& passOrFail) const {
-        if (!passOrFail.empty()) {
-            {
-                Colour colourGuard(colour);
-                stream << ' ' << passOrFail;
-            }
-            stream << ':';
-        }
-    }
-
-    void printIssue(std::string const& issue) const {
-        stream << ' ' << issue;
-    }
-
-    void printExpressionWas() {
-        if (result.hasExpression()) {
-            stream << ';';
-            {
-                Colour colour(dimColour());
-                stream << " expression was:";
-            }
-            printOriginalExpression();
-        }
-    }
-
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            stream << ' ' << result.getExpression();
-        }
-    }
-
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            {
-                Colour colour(dimColour());
-                stream << " for: ";
-            }
-            stream << result.getExpandedExpression();
-        }
-    }
-
-    void printMessage() {
-        if (itMessage != messages.end()) {
-            stream << " '" << itMessage->message << '\'';
-            ++itMessage;
-        }
-    }
-
-    void printRemainingMessages(Colour::Code colour = dimColour()) {
-        if (itMessage == messages.end())
-            return;
-
-        const auto itEnd = messages.cend();
-        const auto N = static_cast<std::size_t>(std::distance(itMessage, itEnd));
-
-        {
-            Colour colourGuard(colour);
-            stream << " with " << pluralise(N, "message") << ':';
-        }
-
-        while (itMessage != itEnd) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || itMessage->type != ResultWas::Info) {
-                printMessage();
-                if (itMessage != itEnd) {
-                    Colour colourGuard(dimColour());
-                    stream << " and";
-                }
-                continue;
-            }
-            ++itMessage;
-        }
-    }
-
-private:
-    std::ostream& stream;
-    AssertionResult const& result;
-    std::vector<MessageInfo> messages;
-    std::vector<MessageInfo>::const_iterator itMessage;
-    bool printInfoMessages;
-};
-
-} // anon namespace
-
-        std::string CompactReporter::getDescription() {
-            return "Reports test results on a single line, suitable for IDEs";
-        }
-
-        void CompactReporter::noMatchingTestCases( std::string const& spec ) {
-            stream << "No test cases matched '" << spec << '\'' << std::endl;
-        }
-
-        void CompactReporter::assertionStarting( AssertionInfo const& ) {}
-
-        bool CompactReporter::assertionEnded( AssertionStats const& _assertionStats ) {
-            AssertionResult const& result = _assertionStats.assertionResult;
-
-            bool printInfoMessages = true;
-
-            // Drop out if result was successful and we're not printing those
-            if( !m_config->includeSuccessfulResults() && result.isOk() ) {
-                if( result.getResultType() != ResultWas::Warning )
-                    return false;
-                printInfoMessages = false;
-            }
-
-            AssertionPrinter printer( stream, _assertionStats, printInfoMessages );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void CompactReporter::sectionEnded(SectionStats const& _sectionStats) {
-            double dur = _sectionStats.durationInSeconds;
-            if ( shouldShowDuration( *m_config, dur ) ) {
-                stream << getFormattedDuration( dur ) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-            }
-        }
-
-        void CompactReporter::testRunEnded( TestRunStats const& _testRunStats ) {
-            printTotals( stream, _testRunStats.totals );
-            stream << '\n' << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-        CompactReporter::~CompactReporter() {}
-
-    CATCH_REGISTER_REPORTER( "compact", CompactReporter )
-
-} // end namespace Catch
-// end catch_reporter_compact.cpp
-// start catch_reporter_console.cpp
-
-#include <cfloat>
-#include <cstdio>
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
- // Note that 4062 (not all labels are handled and default is missing) is enabled
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic push
-// For simplicity, benchmarking-only helpers are always enabled
-#  pragma clang diagnostic ignored "-Wunused-function"
-#endif
-
-namespace Catch {
-
-namespace {
-
-// Formatter impl for ConsoleReporter
-class ConsoleAssertionPrinter {
-public:
-    ConsoleAssertionPrinter& operator= (ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream),
-        stats(_stats),
-        result(_stats.assertionResult),
-        colour(Colour::None),
-        message(result.getMessage()),
-        messages(_stats.infoMessages),
-        printInfoMessages(_printInfoMessages) {
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            colour = Colour::Success;
-            passOrFail = "PASSED";
-            //if( result.hasMessage() )
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk()) {
-                colour = Colour::Success;
-                passOrFail = "FAILED - but was ok";
-            } else {
-                colour = Colour::Error;
-                passOrFail = "FAILED";
-            }
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ThrewException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to unexpected exception with ";
-            if (_stats.infoMessages.size() == 1)
-                messageLabel += "message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel += "messages";
-            break;
-        case ResultWas::FatalErrorCondition:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to a fatal error condition";
-            break;
-        case ResultWas::DidntThrowException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "because no exception was thrown where one was expected";
-            break;
-        case ResultWas::Info:
-            messageLabel = "info";
-            break;
-        case ResultWas::Warning:
-            messageLabel = "warning";
-            break;
-        case ResultWas::ExplicitFailure:
-            passOrFail = "FAILED";
-            colour = Colour::Error;
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "explicitly with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "explicitly with messages";
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            passOrFail = "** internal error **";
-            colour = Colour::Error;
-            break;
-        }
-    }
-
-    void print() const {
-        printSourceInfo();
-        if (stats.totals.assertions.total() > 0) {
-            printResultType();
-            printOriginalExpression();
-            printReconstructedExpression();
-        } else {
-            stream << '\n';
-        }
-        printMessage();
-    }
-
-private:
-    void printResultType() const {
-        if (!passOrFail.empty()) {
-            Colour colourGuard(colour);
-            stream << passOrFail << ":\n";
-        }
-    }
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            Colour colourGuard(Colour::OriginalExpression);
-            stream << "  ";
-            stream << result.getExpressionInMacro();
-            stream << '\n';
-        }
-    }
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            stream << "with expansion:\n";
-            Colour colourGuard(Colour::ReconstructedExpression);
-            stream << Column(result.getExpandedExpression()).indent(2) << '\n';
-        }
-    }
-    void printMessage() const {
-        if (!messageLabel.empty())
-            stream << messageLabel << ':' << '\n';
-        for (auto const& msg : messages) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || msg.type != ResultWas::Info)
-                stream << Column(msg.message).indent(2) << '\n';
-        }
-    }
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ": ";
-    }
-
-    std::ostream& stream;
-    AssertionStats const& stats;
-    AssertionResult const& result;
-    Colour::Code colour;
-    std::string passOrFail;
-    std::string messageLabel;
-    std::string message;
-    std::vector<MessageInfo> messages;
-    bool printInfoMessages;
-};
-
-std::size_t makeRatio(std::size_t number, std::size_t total) {
-    std::size_t ratio = total > 0 ? CATCH_CONFIG_CONSOLE_WIDTH * number / total : 0;
-    return (ratio == 0 && number > 0) ? 1 : ratio;
-}
-
-std::size_t& findMax(std::size_t& i, std::size_t& j, std::size_t& k) {
-    if (i > j && i > k)
-        return i;
-    else if (j > k)
-        return j;
-    else
-        return k;
-}
-
-struct ColumnInfo {
-    enum Justification { Left, Right };
-    std::string name;
-    int width;
-    Justification justification;
-};
-struct ColumnBreak {};
-struct RowBreak {};
-
-class Duration {
-    enum class Unit {
-        Auto,
-        Nanoseconds,
-        Microseconds,
-        Milliseconds,
-        Seconds,
-        Minutes
-    };
-    static const uint64_t s_nanosecondsInAMicrosecond = 1000;
-    static const uint64_t s_nanosecondsInAMillisecond = 1000 * s_nanosecondsInAMicrosecond;
-    static const uint64_t s_nanosecondsInASecond = 1000 * s_nanosecondsInAMillisecond;
-    static const uint64_t s_nanosecondsInAMinute = 60 * s_nanosecondsInASecond;
-
-    double m_inNanoseconds;
-    Unit m_units;
-
-public:
-    explicit Duration(double inNanoseconds, Unit units = Unit::Auto)
-        : m_inNanoseconds(inNanoseconds),
-        m_units(units) {
-        if (m_units == Unit::Auto) {
-            if (m_inNanoseconds < s_nanosecondsInAMicrosecond)
-                m_units = Unit::Nanoseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMillisecond)
-                m_units = Unit::Microseconds;
-            else if (m_inNanoseconds < s_nanosecondsInASecond)
-                m_units = Unit::Milliseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMinute)
-                m_units = Unit::Seconds;
-            else
-                m_units = Unit::Minutes;
-        }
-
-    }
-
-    auto value() const -> double {
-        switch (m_units) {
-        case Unit::Microseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMicrosecond);
-        case Unit::Milliseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMillisecond);
-        case Unit::Seconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInASecond);
-        case Unit::Minutes:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMinute);
-        default:
-            return m_inNanoseconds;
-        }
-    }
-    auto unitsAsString() const -> std::string {
-        switch (m_units) {
-        case Unit::Nanoseconds:
-            return "ns";
-        case Unit::Microseconds:
-            return "us";
-        case Unit::Milliseconds:
-            return "ms";
-        case Unit::Seconds:
-            return "s";
-        case Unit::Minutes:
-            return "m";
-        default:
-            return "** internal error **";
-        }
-
-    }
-    friend auto operator << (std::ostream& os, Duration const& duration) -> std::ostream& {
-        return os << duration.value() << ' ' << duration.unitsAsString();
-    }
-};
-} // end anon namespace
-
-class TablePrinter {
-    std::ostream& m_os;
-    std::vector<ColumnInfo> m_columnInfos;
-    std::ostringstream m_oss;
-    int m_currentColumn = -1;
-    bool m_isOpen = false;
-
-public:
-    TablePrinter( std::ostream& os, std::vector<ColumnInfo> columnInfos )
-    :   m_os( os ),
-        m_columnInfos( std::move( columnInfos ) ) {}
-
-    auto columnInfos() const -> std::vector<ColumnInfo> const& {
-        return m_columnInfos;
-    }
-
-    void open() {
-        if (!m_isOpen) {
-            m_isOpen = true;
-            *this << RowBreak();
-
-			Columns headerCols;
-			Spacer spacer(2);
-			for (auto const& info : m_columnInfos) {
-				headerCols += Column(info.name).width(static_cast<std::size_t>(info.width - 2));
-				headerCols += spacer;
-			}
-			m_os << headerCols << '\n';
-
-            m_os << Catch::getLineOfChars<'-'>() << '\n';
-        }
-    }
-    void close() {
-        if (m_isOpen) {
-            *this << RowBreak();
-            m_os << std::endl;
-            m_isOpen = false;
-        }
-    }
-
-    template<typename T>
-    friend TablePrinter& operator << (TablePrinter& tp, T const& value) {
-        tp.m_oss << value;
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, ColumnBreak) {
-        auto colStr = tp.m_oss.str();
-        const auto strSize = colStr.size();
-        tp.m_oss.str("");
-        tp.open();
-        if (tp.m_currentColumn == static_cast<int>(tp.m_columnInfos.size() - 1)) {
-            tp.m_currentColumn = -1;
-            tp.m_os << '\n';
-        }
-        tp.m_currentColumn++;
-
-        auto colInfo = tp.m_columnInfos[tp.m_currentColumn];
-        auto padding = (strSize + 1 < static_cast<std::size_t>(colInfo.width))
-            ? std::string(colInfo.width - (strSize + 1), ' ')
-            : std::string();
-        if (colInfo.justification == ColumnInfo::Left)
-            tp.m_os << colStr << padding << ' ';
-        else
-            tp.m_os << padding << colStr << ' ';
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, RowBreak) {
-        if (tp.m_currentColumn > 0) {
-            tp.m_os << '\n';
-            tp.m_currentColumn = -1;
-        }
-        return tp;
-    }
-};
-
-ConsoleReporter::ConsoleReporter(ReporterConfig const& config)
-    : StreamingReporterBase(config),
-    m_tablePrinter(new TablePrinter(config.stream(),
-        [&config]() -> std::vector<ColumnInfo> {
-        if (config.fullConfig()->benchmarkNoAnalysis())
-        {
-            return{
-                { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 43, ColumnInfo::Left },
-                { "     samples", 14, ColumnInfo::Right },
-                { "  iterations", 14, ColumnInfo::Right },
-                { "        mean", 14, ColumnInfo::Right }
-            };
-        }
-        else
-        {
-            return{
-                { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 43, ColumnInfo::Left },
-                { "samples      mean       std dev", 14, ColumnInfo::Right },
-                { "iterations   low mean   low std dev", 14, ColumnInfo::Right },
-                { "estimated    high mean  high std dev", 14, ColumnInfo::Right }
-            };
-        }
-    }())) {}
-ConsoleReporter::~ConsoleReporter() = default;
-
-std::string ConsoleReporter::getDescription() {
-    return "Reports test results as plain lines of text";
-}
-
-void ConsoleReporter::noMatchingTestCases(std::string const& spec) {
-    stream << "No test cases matched '" << spec << '\'' << std::endl;
-}
-
-void ConsoleReporter::reportInvalidArguments(std::string const&arg){
-    stream << "Invalid Filter: " << arg << std::endl;
-}
-
-void ConsoleReporter::assertionStarting(AssertionInfo const&) {}
-
-bool ConsoleReporter::assertionEnded(AssertionStats const& _assertionStats) {
-    AssertionResult const& result = _assertionStats.assertionResult;
-
-    bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-    // Drop out if result was successful but we're not printing them.
-    if (!includeResults && result.getResultType() != ResultWas::Warning)
-        return false;
-
-    lazyPrint();
-
-    ConsoleAssertionPrinter printer(stream, _assertionStats, includeResults);
-    printer.print();
-    stream << std::endl;
-    return true;
-}
-
-void ConsoleReporter::sectionStarting(SectionInfo const& _sectionInfo) {
-    m_tablePrinter->close();
-    m_headerPrinted = false;
-    StreamingReporterBase::sectionStarting(_sectionInfo);
-}
-void ConsoleReporter::sectionEnded(SectionStats const& _sectionStats) {
-    m_tablePrinter->close();
-    if (_sectionStats.missingAssertions) {
-        lazyPrint();
-        Colour colour(Colour::ResultError);
-        if (m_sectionStack.size() > 1)
-            stream << "\nNo assertions in section";
-        else
-            stream << "\nNo assertions in test case";
-        stream << " '" << _sectionStats.sectionInfo.name << "'\n" << std::endl;
-    }
-    double dur = _sectionStats.durationInSeconds;
-    if (shouldShowDuration(*m_config, dur)) {
-        stream << getFormattedDuration(dur) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-    }
-    if (m_headerPrinted) {
-        m_headerPrinted = false;
-    }
-    StreamingReporterBase::sectionEnded(_sectionStats);
-}
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-void ConsoleReporter::benchmarkPreparing(std::string const& name) {
-	lazyPrintWithoutClosingBenchmarkTable();
-
-	auto nameCol = Column(name).width(static_cast<std::size_t>(m_tablePrinter->columnInfos()[0].width - 2));
-
-	bool firstLine = true;
-	for (auto line : nameCol) {
-		if (!firstLine)
-			(*m_tablePrinter) << ColumnBreak() << ColumnBreak() << ColumnBreak();
-		else
-			firstLine = false;
-
-		(*m_tablePrinter) << line << ColumnBreak();
-	}
-}
-
-void ConsoleReporter::benchmarkStarting(BenchmarkInfo const& info) {
-    (*m_tablePrinter) << info.samples << ColumnBreak()
-        << info.iterations << ColumnBreak();
-    if (!m_config->benchmarkNoAnalysis())
-        (*m_tablePrinter) << Duration(info.estimatedDuration) << ColumnBreak();
-}
-void ConsoleReporter::benchmarkEnded(BenchmarkStats<> const& stats) {
-    if (m_config->benchmarkNoAnalysis())
-    {
-        (*m_tablePrinter) << Duration(stats.mean.point.count()) << ColumnBreak();
-    }
-    else
-    {
-        (*m_tablePrinter) << ColumnBreak()
-            << Duration(stats.mean.point.count()) << ColumnBreak()
-            << Duration(stats.mean.lower_bound.count()) << ColumnBreak()
-            << Duration(stats.mean.upper_bound.count()) << ColumnBreak() << ColumnBreak()
-            << Duration(stats.standardDeviation.point.count()) << ColumnBreak()
-            << Duration(stats.standardDeviation.lower_bound.count()) << ColumnBreak()
-            << Duration(stats.standardDeviation.upper_bound.count()) << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak();
-    }
-}
-
-void ConsoleReporter::benchmarkFailed(std::string const& error) {
-	Colour colour(Colour::Red);
-    (*m_tablePrinter)
-        << "Benchmark failed (" << error << ')'
-        << ColumnBreak() << RowBreak();
-}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-void ConsoleReporter::testCaseEnded(TestCaseStats const& _testCaseStats) {
-    m_tablePrinter->close();
-    StreamingReporterBase::testCaseEnded(_testCaseStats);
-    m_headerPrinted = false;
-}
-void ConsoleReporter::testGroupEnded(TestGroupStats const& _testGroupStats) {
-    if (currentGroupInfo.used) {
-        printSummaryDivider();
-        stream << "Summary for group '" << _testGroupStats.groupInfo.name << "':\n";
-        printTotals(_testGroupStats.totals);
-        stream << '\n' << std::endl;
-    }
-    StreamingReporterBase::testGroupEnded(_testGroupStats);
-}
-void ConsoleReporter::testRunEnded(TestRunStats const& _testRunStats) {
-    printTotalsDivider(_testRunStats.totals);
-    printTotals(_testRunStats.totals);
-    stream << std::endl;
-    StreamingReporterBase::testRunEnded(_testRunStats);
-}
-void ConsoleReporter::testRunStarting(TestRunInfo const& _testInfo) {
-    StreamingReporterBase::testRunStarting(_testInfo);
-    printTestFilters();
-}
-
-void ConsoleReporter::lazyPrint() {
-
-    m_tablePrinter->close();
-    lazyPrintWithoutClosingBenchmarkTable();
-}
-
-void ConsoleReporter::lazyPrintWithoutClosingBenchmarkTable() {
-
-    if (!currentTestRunInfo.used)
-        lazyPrintRunInfo();
-    if (!currentGroupInfo.used)
-        lazyPrintGroupInfo();
-
-    if (!m_headerPrinted) {
-        printTestCaseAndSectionHeader();
-        m_headerPrinted = true;
-    }
-}
-void ConsoleReporter::lazyPrintRunInfo() {
-    stream << '\n' << getLineOfChars<'~'>() << '\n';
-    Colour colour(Colour::SecondaryText);
-    stream << currentTestRunInfo->name
-        << " is a Catch v" << libraryVersion() << " host application.\n"
-        << "Run with -? for options\n\n";
-
-    if (m_config->rngSeed() != 0)
-        stream << "Randomness seeded to: " << m_config->rngSeed() << "\n\n";
-
-    currentTestRunInfo.used = true;
-}
-void ConsoleReporter::lazyPrintGroupInfo() {
-    if (!currentGroupInfo->name.empty() && currentGroupInfo->groupsCounts > 1) {
-        printClosedHeader("Group: " + currentGroupInfo->name);
-        currentGroupInfo.used = true;
-    }
-}
-void ConsoleReporter::printTestCaseAndSectionHeader() {
-    assert(!m_sectionStack.empty());
-    printOpenHeader(currentTestCaseInfo->name);
-
-    if (m_sectionStack.size() > 1) {
-        Colour colourGuard(Colour::Headers);
-
-        auto
-            it = m_sectionStack.begin() + 1, // Skip first section (test case)
-            itEnd = m_sectionStack.end();
-        for (; it != itEnd; ++it)
-            printHeaderString(it->name, 2);
-    }
-
-    SourceLineInfo lineInfo = m_sectionStack.back().lineInfo;
-
-    stream << getLineOfChars<'-'>() << '\n';
-    Colour colourGuard(Colour::FileName);
-    stream << lineInfo << '\n';
-    stream << getLineOfChars<'.'>() << '\n' << std::endl;
-}
-
-void ConsoleReporter::printClosedHeader(std::string const& _name) {
-    printOpenHeader(_name);
-    stream << getLineOfChars<'.'>() << '\n';
-}
-void ConsoleReporter::printOpenHeader(std::string const& _name) {
-    stream << getLineOfChars<'-'>() << '\n';
-    {
-        Colour colourGuard(Colour::Headers);
-        printHeaderString(_name);
-    }
-}
-
-// if string has a : in first line will set indent to follow it on
-// subsequent lines
-void ConsoleReporter::printHeaderString(std::string const& _string, std::size_t indent) {
-    std::size_t i = _string.find(": ");
-    if (i != std::string::npos)
-        i += 2;
-    else
-        i = 0;
-    stream << Column(_string).indent(indent + i).initialIndent(indent) << '\n';
-}
-
-struct SummaryColumn {
-
-    SummaryColumn( std::string _label, Colour::Code _colour )
-    :   label( std::move( _label ) ),
-        colour( _colour ) {}
-    SummaryColumn addRow( std::size_t count ) {
-        ReusableStringStream rss;
-        rss << count;
-        std::string row = rss.str();
-        for (auto& oldRow : rows) {
-            while (oldRow.size() < row.size())
-                oldRow = ' ' + oldRow;
-            while (oldRow.size() > row.size())
-                row = ' ' + row;
-        }
-        rows.push_back(row);
-        return *this;
-    }
-
-    std::string label;
-    Colour::Code colour;
-    std::vector<std::string> rows;
-
-};
-
-void ConsoleReporter::printTotals( Totals const& totals ) {
-    if (totals.testCases.total() == 0) {
-        stream << Colour(Colour::Warning) << "No tests ran\n";
-    } else if (totals.assertions.total() > 0 && totals.testCases.allPassed()) {
-        stream << Colour(Colour::ResultSuccess) << "All tests passed";
-        stream << " ("
-            << pluralise(totals.assertions.passed, "assertion") << " in "
-            << pluralise(totals.testCases.passed, "test case") << ')'
-            << '\n';
-    } else {
-
-        std::vector<SummaryColumn> columns;
-        columns.push_back(SummaryColumn("", Colour::None)
-                          .addRow(totals.testCases.total())
-                          .addRow(totals.assertions.total()));
-        columns.push_back(SummaryColumn("passed", Colour::Success)
-                          .addRow(totals.testCases.passed)
-                          .addRow(totals.assertions.passed));
-        columns.push_back(SummaryColumn("failed", Colour::ResultError)
-                          .addRow(totals.testCases.failed)
-                          .addRow(totals.assertions.failed));
-        columns.push_back(SummaryColumn("failed as expected", Colour::ResultExpectedFailure)
-                          .addRow(totals.testCases.failedButOk)
-                          .addRow(totals.assertions.failedButOk));
-
-        printSummaryRow("test cases", columns, 0);
-        printSummaryRow("assertions", columns, 1);
-    }
-}
-void ConsoleReporter::printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row) {
-    for (auto col : cols) {
-        std::string value = col.rows[row];
-        if (col.label.empty()) {
-            stream << label << ": ";
-            if (value != "0")
-                stream << value;
-            else
-                stream << Colour(Colour::Warning) << "- none -";
-        } else if (value != "0") {
-            stream << Colour(Colour::LightGrey) << " | ";
-            stream << Colour(col.colour)
-                << value << ' ' << col.label;
-        }
-    }
-    stream << '\n';
-}
-
-void ConsoleReporter::printTotalsDivider(Totals const& totals) {
-    if (totals.testCases.total() > 0) {
-        std::size_t failedRatio = makeRatio(totals.testCases.failed, totals.testCases.total());
-        std::size_t failedButOkRatio = makeRatio(totals.testCases.failedButOk, totals.testCases.total());
-        std::size_t passedRatio = makeRatio(totals.testCases.passed, totals.testCases.total());
-        while (failedRatio + failedButOkRatio + passedRatio < CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)++;
-        while (failedRatio + failedButOkRatio + passedRatio > CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)--;
-
-        stream << Colour(Colour::Error) << std::string(failedRatio, '=');
-        stream << Colour(Colour::ResultExpectedFailure) << std::string(failedButOkRatio, '=');
-        if (totals.testCases.allPassed())
-            stream << Colour(Colour::ResultSuccess) << std::string(passedRatio, '=');
-        else
-            stream << Colour(Colour::Success) << std::string(passedRatio, '=');
-    } else {
-        stream << Colour(Colour::Warning) << std::string(CATCH_CONFIG_CONSOLE_WIDTH - 1, '=');
-    }
-    stream << '\n';
-}
-void ConsoleReporter::printSummaryDivider() {
-    stream << getLineOfChars<'-'>() << '\n';
-}
-
-void ConsoleReporter::printTestFilters() {
-    if (m_config->testSpec().hasFilters()) {
-        Colour guard(Colour::BrightYellow);
-        stream << "Filters: " << serializeFilters(m_config->getTestsOrTags()) << '\n';
-    }
-}
-
-CATCH_REGISTER_REPORTER("console", ConsoleReporter)
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic pop
-#endif
-// end catch_reporter_console.cpp
-// start catch_reporter_junit.cpp
-
-#include <cassert>
-#include <sstream>
-#include <ctime>
-#include <algorithm>
-#include <iomanip>
-
-namespace Catch {
-
-    namespace {
-        std::string getCurrentTimestamp() {
-            // Beware, this is not reentrant because of backward compatibility issues
-            // Also, UTC only, again because of backward compatibility (%z is C++11)
-            time_t rawtime;
-            std::time(&rawtime);
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &rawtime);
-#else
-            std::tm* timeInfo;
-            timeInfo = std::gmtime(&rawtime);
-#endif
-
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp, timeStampSize-1);
-        }
-
-        std::string fileNameTag(const std::vector<std::string> &tags) {
-            auto it = std::find_if(begin(tags),
-                                   end(tags),
-                                   [] (std::string const& tag) {return tag.front() == '#'; });
-            if (it != tags.end())
-                return it->substr(1);
-            return std::string();
-        }
-
-        // Formats the duration in seconds to 3 decimal places.
-        // This is done because some genius defined Maven Surefire schema
-        // in a way that only accepts 3 decimal places, and tools like
-        // Jenkins use that schema for validation JUnit reporter output.
-        std::string formatDuration( double seconds ) {
-            ReusableStringStream rss;
-            rss << std::fixed << std::setprecision( 3 ) << seconds;
-            return rss.str();
-        }
-
-    } // anonymous namespace
-
-    JunitReporter::JunitReporter( ReporterConfig const& _config )
-        :   CumulativeReporterBase( _config ),
-            xml( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-    JunitReporter::~JunitReporter() {}
-
-    std::string JunitReporter::getDescription() {
-        return "Reports test results in an XML format that looks like Ant's junitreport target";
-    }
-
-    void JunitReporter::noMatchingTestCases( std::string const& /*spec*/ ) {}
-
-    void JunitReporter::testRunStarting( TestRunInfo const& runInfo )  {
-        CumulativeReporterBase::testRunStarting( runInfo );
-        xml.startElement( "testsuites" );
-    }
-
-    void JunitReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        suiteTimer.start();
-        stdOutForSuite.clear();
-        stdErrForSuite.clear();
-        unexpectedExceptions = 0;
-        CumulativeReporterBase::testGroupStarting( groupInfo );
-    }
-
-    void JunitReporter::testCaseStarting( TestCaseInfo const& testCaseInfo ) {
-        m_okToFail = testCaseInfo.okToFail();
-    }
-
-    bool JunitReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException && !m_okToFail )
-            unexpectedExceptions++;
-        return CumulativeReporterBase::assertionEnded( assertionStats );
-    }
-
-    void JunitReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        stdOutForSuite += testCaseStats.stdOut;
-        stdErrForSuite += testCaseStats.stdErr;
-        CumulativeReporterBase::testCaseEnded( testCaseStats );
-    }
-
-    void JunitReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        double suiteTime = suiteTimer.getElapsedSeconds();
-        CumulativeReporterBase::testGroupEnded( testGroupStats );
-        writeGroup( *m_testGroups.back(), suiteTime );
-    }
-
-    void JunitReporter::testRunEndedCumulative() {
-        xml.endElement();
-    }
-
-    void JunitReporter::writeGroup( TestGroupNode const& groupNode, double suiteTime ) {
-        XmlWriter::ScopedElement e = xml.scopedElement( "testsuite" );
-
-        TestGroupStats const& stats = groupNode.value;
-        xml.writeAttribute( "name", stats.groupInfo.name );
-        xml.writeAttribute( "errors", unexpectedExceptions );
-        xml.writeAttribute( "failures", stats.totals.assertions.failed-unexpectedExceptions );
-        xml.writeAttribute( "tests", stats.totals.assertions.total() );
-        xml.writeAttribute( "hostname", "tbd" ); // !TBD
-        if( m_config->showDurations() == ShowDurations::Never )
-            xml.writeAttribute( "time", "" );
-        else
-            xml.writeAttribute( "time", formatDuration( suiteTime ) );
-        xml.writeAttribute( "timestamp", getCurrentTimestamp() );
-
-        // Write properties if there are any
-        if (m_config->hasTestFilters() || m_config->rngSeed() != 0) {
-            auto properties = xml.scopedElement("properties");
-            if (m_config->hasTestFilters()) {
-                xml.scopedElement("property")
-                    .writeAttribute("name", "filters")
-                    .writeAttribute("value", serializeFilters(m_config->getTestsOrTags()));
-            }
-            if (m_config->rngSeed() != 0) {
-                xml.scopedElement("property")
-                    .writeAttribute("name", "random-seed")
-                    .writeAttribute("value", m_config->rngSeed());
-            }
-        }
-
-        // Write test cases
-        for( auto const& child : groupNode.children )
-            writeTestCase( *child );
-
-        xml.scopedElement( "system-out" ).writeText( trim( stdOutForSuite ), XmlFormatting::Newline );
-        xml.scopedElement( "system-err" ).writeText( trim( stdErrForSuite ), XmlFormatting::Newline );
-    }
-
-    void JunitReporter::writeTestCase( TestCaseNode const& testCaseNode ) {
-        TestCaseStats const& stats = testCaseNode.value;
-
-        // All test cases have exactly one section - which represents the
-        // test case itself. That section may have 0-n nested sections
-        assert( testCaseNode.children.size() == 1 );
-        SectionNode const& rootSection = *testCaseNode.children.front();
-
-        std::string className = stats.testInfo.className;
-
-        if( className.empty() ) {
-            className = fileNameTag(stats.testInfo.tags);
-            if ( className.empty() )
-                className = "global";
-        }
-
-        if ( !m_config->name().empty() )
-            className = m_config->name() + "." + className;
-
-        writeSection( className, "", rootSection, stats.testInfo.okToFail() );
-    }
-
-    void JunitReporter::writeSection( std::string const& className,
-                                      std::string const& rootName,
-                                      SectionNode const& sectionNode,
-                                      bool testOkToFail) {
-        std::string name = trim( sectionNode.stats.sectionInfo.name );
-        if( !rootName.empty() )
-            name = rootName + '/' + name;
-
-        if( !sectionNode.assertions.empty() ||
-            !sectionNode.stdOut.empty() ||
-            !sectionNode.stdErr.empty() ) {
-            XmlWriter::ScopedElement e = xml.scopedElement( "testcase" );
-            if( className.empty() ) {
-                xml.writeAttribute( "classname", name );
-                xml.writeAttribute( "name", "root" );
-            }
-            else {
-                xml.writeAttribute( "classname", className );
-                xml.writeAttribute( "name", name );
-            }
-            xml.writeAttribute( "time", formatDuration( sectionNode.stats.durationInSeconds ) );
-            // This is not ideal, but it should be enough to mimic gtest's
-            // junit output.
-            // Ideally the JUnit reporter would also handle `skipTest`
-            // events and write those out appropriately.
-            xml.writeAttribute( "status", "run" );
-
-            if (sectionNode.stats.assertions.failedButOk) {
-                xml.scopedElement("skipped")
-                    .writeAttribute("message", "TEST_CASE tagged with !mayfail");
-            }
-
-            writeAssertions( sectionNode );
-
-            if( !sectionNode.stdOut.empty() )
-                xml.scopedElement( "system-out" ).writeText( trim( sectionNode.stdOut ), XmlFormatting::Newline );
-            if( !sectionNode.stdErr.empty() )
-                xml.scopedElement( "system-err" ).writeText( trim( sectionNode.stdErr ), XmlFormatting::Newline );
-        }
-        for( auto const& childNode : sectionNode.childSections )
-            if( className.empty() )
-                writeSection( name, "", *childNode, testOkToFail );
-            else
-                writeSection( className, name, *childNode, testOkToFail );
-    }
-
-    void JunitReporter::writeAssertions( SectionNode const& sectionNode ) {
-        for( auto const& assertion : sectionNode.assertions )
-            writeAssertion( assertion );
-    }
-
-    void JunitReporter::writeAssertion( AssertionStats const& stats ) {
-        AssertionResult const& result = stats.assertionResult;
-        if( !result.isOk() ) {
-            std::string elementName;
-            switch( result.getResultType() ) {
-                case ResultWas::ThrewException:
-                case ResultWas::FatalErrorCondition:
-                    elementName = "error";
-                    break;
-                case ResultWas::ExplicitFailure:
-                case ResultWas::ExpressionFailed:
-                case ResultWas::DidntThrowException:
-                    elementName = "failure";
-                    break;
-
-                // We should never see these here:
-                case ResultWas::Info:
-                case ResultWas::Warning:
-                case ResultWas::Ok:
-                case ResultWas::Unknown:
-                case ResultWas::FailureBit:
-                case ResultWas::Exception:
-                    elementName = "internalError";
-                    break;
-            }
-
-            XmlWriter::ScopedElement e = xml.scopedElement( elementName );
-
-            xml.writeAttribute( "message", result.getExpression() );
-            xml.writeAttribute( "type", result.getTestMacroName() );
-
-            ReusableStringStream rss;
-            if (stats.totals.assertions.total() > 0) {
-                rss << "FAILED" << ":\n";
-                if (result.hasExpression()) {
-                    rss << "  ";
-                    rss << result.getExpressionInMacro();
-                    rss << '\n';
-                }
-                if (result.hasExpandedExpression()) {
-                    rss << "with expansion:\n";
-                    rss << Column(result.getExpandedExpression()).indent(2) << '\n';
-                }
-            } else {
-                rss << '\n';
-            }
-
-            if( !result.getMessage().empty() )
-                rss << result.getMessage() << '\n';
-            for( auto const& msg : stats.infoMessages )
-                if( msg.type == ResultWas::Info )
-                    rss << msg.message << '\n';
-
-            rss << "at " << result.getSourceInfo();
-            xml.writeText( rss.str(), XmlFormatting::Newline );
-        }
-    }
-
-    CATCH_REGISTER_REPORTER( "junit", JunitReporter )
-
-} // end namespace Catch
-// end catch_reporter_junit.cpp
-// start catch_reporter_listening.cpp
-
-#include <cassert>
-
-namespace Catch {
-
-    ListeningReporter::ListeningReporter() {
-        // We will assume that listeners will always want all assertions
-        m_preferences.shouldReportAllAssertions = true;
-    }
-
-    void ListeningReporter::addListener( IStreamingReporterPtr&& listener ) {
-        m_listeners.push_back( std::move( listener ) );
-    }
-
-    void ListeningReporter::addReporter(IStreamingReporterPtr&& reporter) {
-        assert(!m_reporter && "Listening reporter can wrap only 1 real reporter");
-        m_reporter = std::move( reporter );
-        m_preferences.shouldRedirectStdOut = m_reporter->getPreferences().shouldRedirectStdOut;
-    }
-
-    ReporterPreferences ListeningReporter::getPreferences() const {
-        return m_preferences;
-    }
-
-    std::set<Verbosity> ListeningReporter::getSupportedVerbosities() {
-        return std::set<Verbosity>{ };
-    }
-
-    void ListeningReporter::noMatchingTestCases( std::string const& spec ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->noMatchingTestCases( spec );
-        }
-        m_reporter->noMatchingTestCases( spec );
-    }
-
-    void ListeningReporter::reportInvalidArguments(std::string const&arg){
-        for ( auto const& listener : m_listeners ) {
-            listener->reportInvalidArguments( arg );
-        }
-        m_reporter->reportInvalidArguments( arg );
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void ListeningReporter::benchmarkPreparing( std::string const& name ) {
-		for (auto const& listener : m_listeners) {
-			listener->benchmarkPreparing(name);
-		}
-		m_reporter->benchmarkPreparing(name);
-	}
-    void ListeningReporter::benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkStarting( benchmarkInfo );
-        }
-        m_reporter->benchmarkStarting( benchmarkInfo );
-    }
-    void ListeningReporter::benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkEnded( benchmarkStats );
-        }
-        m_reporter->benchmarkEnded( benchmarkStats );
-    }
-
-	void ListeningReporter::benchmarkFailed( std::string const& error ) {
-		for (auto const& listener : m_listeners) {
-			listener->benchmarkFailed(error);
-		}
-		m_reporter->benchmarkFailed(error);
-	}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    void ListeningReporter::testRunStarting( TestRunInfo const& testRunInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunStarting( testRunInfo );
-        }
-        m_reporter->testRunStarting( testRunInfo );
-    }
-
-    void ListeningReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupStarting( groupInfo );
-        }
-        m_reporter->testGroupStarting( groupInfo );
-    }
-
-    void ListeningReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseStarting( testInfo );
-        }
-        m_reporter->testCaseStarting( testInfo );
-    }
-
-    void ListeningReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionStarting( sectionInfo );
-        }
-        m_reporter->sectionStarting( sectionInfo );
-    }
-
-    void ListeningReporter::assertionStarting( AssertionInfo const& assertionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->assertionStarting( assertionInfo );
-        }
-        m_reporter->assertionStarting( assertionInfo );
-    }
-
-    // The return value indicates if the messages buffer should be cleared:
-    bool ListeningReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        for( auto const& listener : m_listeners ) {
-            static_cast<void>( listener->assertionEnded( assertionStats ) );
-        }
-        return m_reporter->assertionEnded( assertionStats );
-    }
-
-    void ListeningReporter::sectionEnded( SectionStats const& sectionStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionEnded( sectionStats );
-        }
-        m_reporter->sectionEnded( sectionStats );
-    }
-
-    void ListeningReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseEnded( testCaseStats );
-        }
-        m_reporter->testCaseEnded( testCaseStats );
-    }
-
-    void ListeningReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupEnded( testGroupStats );
-        }
-        m_reporter->testGroupEnded( testGroupStats );
-    }
-
-    void ListeningReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunEnded( testRunStats );
-        }
-        m_reporter->testRunEnded( testRunStats );
-    }
-
-    void ListeningReporter::skipTest( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->skipTest( testInfo );
-        }
-        m_reporter->skipTest( testInfo );
-    }
-
-    bool ListeningReporter::isMulti() const {
-        return true;
-    }
-
-} // end namespace Catch
-// end catch_reporter_listening.cpp
-// start catch_reporter_xml.cpp
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    XmlReporter::XmlReporter( ReporterConfig const& _config )
-    :   StreamingReporterBase( _config ),
-        m_xml(_config.stream())
-    {
-        m_reporterPrefs.shouldRedirectStdOut = true;
-        m_reporterPrefs.shouldReportAllAssertions = true;
-    }
-
-    XmlReporter::~XmlReporter() = default;
-
-    std::string XmlReporter::getDescription() {
-        return "Reports test results as an XML document";
-    }
-
-    std::string XmlReporter::getStylesheetRef() const {
-        return std::string();
-    }
-
-    void XmlReporter::writeSourceInfo( SourceLineInfo const& sourceInfo ) {
-        m_xml
-            .writeAttribute( "filename", sourceInfo.file )
-            .writeAttribute( "line", sourceInfo.line );
-    }
-
-    void XmlReporter::noMatchingTestCases( std::string const& s ) {
-        StreamingReporterBase::noMatchingTestCases( s );
-    }
-
-    void XmlReporter::testRunStarting( TestRunInfo const& testInfo ) {
-        StreamingReporterBase::testRunStarting( testInfo );
-        std::string stylesheetRef = getStylesheetRef();
-        if( !stylesheetRef.empty() )
-            m_xml.writeStylesheetRef( stylesheetRef );
-        m_xml.startElement( "Catch" );
-        if( !m_config->name().empty() )
-            m_xml.writeAttribute( "name", m_config->name() );
-        if (m_config->testSpec().hasFilters())
-            m_xml.writeAttribute( "filters", serializeFilters( m_config->getTestsOrTags() ) );
-        if( m_config->rngSeed() != 0 )
-            m_xml.scopedElement( "Randomness" )
-                .writeAttribute( "seed", m_config->rngSeed() );
-    }
-
-    void XmlReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        StreamingReporterBase::testGroupStarting( groupInfo );
-        m_xml.startElement( "Group" )
-            .writeAttribute( "name", groupInfo.name );
-    }
-
-    void XmlReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        StreamingReporterBase::testCaseStarting(testInfo);
-        m_xml.startElement( "TestCase" )
-            .writeAttribute( "name", trim( testInfo.name ) )
-            .writeAttribute( "description", testInfo.description )
-            .writeAttribute( "tags", testInfo.tagsAsString() );
-
-        writeSourceInfo( testInfo.lineInfo );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            m_testCaseTimer.start();
-        m_xml.ensureTagClosed();
-    }
-
-    void XmlReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        StreamingReporterBase::sectionStarting( sectionInfo );
-        if( m_sectionDepth++ > 0 ) {
-            m_xml.startElement( "Section" )
-                .writeAttribute( "name", trim( sectionInfo.name ) );
-            writeSourceInfo( sectionInfo.lineInfo );
-            m_xml.ensureTagClosed();
-        }
-    }
-
-    void XmlReporter::assertionStarting( AssertionInfo const& ) { }
-
-    bool XmlReporter::assertionEnded( AssertionStats const& assertionStats ) {
-
-        AssertionResult const& result = assertionStats.assertionResult;
-
-        bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-        if( includeResults || result.getResultType() == ResultWas::Warning ) {
-            // Print any info messages in <Info> tags.
-            for( auto const& msg : assertionStats.infoMessages ) {
-                if( msg.type == ResultWas::Info && includeResults ) {
-                    m_xml.scopedElement( "Info" )
-                            .writeText( msg.message );
-                } else if ( msg.type == ResultWas::Warning ) {
-                    m_xml.scopedElement( "Warning" )
-                            .writeText( msg.message );
-                }
-            }
-        }
-
-        // Drop out if result was successful but we're not printing them.
-        if( !includeResults && result.getResultType() != ResultWas::Warning )
-            return true;
-
-        // Print the expression if there is one.
-        if( result.hasExpression() ) {
-            m_xml.startElement( "Expression" )
-                .writeAttribute( "success", result.succeeded() )
-                .writeAttribute( "type", result.getTestMacroName() );
-
-            writeSourceInfo( result.getSourceInfo() );
-
-            m_xml.scopedElement( "Original" )
-                .writeText( result.getExpression() );
-            m_xml.scopedElement( "Expanded" )
-                .writeText( result.getExpandedExpression() );
-        }
-
-        // And... Print a result applicable to each result type.
-        switch( result.getResultType() ) {
-            case ResultWas::ThrewException:
-                m_xml.startElement( "Exception" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::FatalErrorCondition:
-                m_xml.startElement( "FatalErrorCondition" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::Info:
-                m_xml.scopedElement( "Info" )
-                    .writeText( result.getMessage() );
-                break;
-            case ResultWas::Warning:
-                // Warning will already have been written
-                break;
-            case ResultWas::ExplicitFailure:
-                m_xml.startElement( "Failure" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            default:
-                break;
-        }
-
-        if( result.hasExpression() )
-            m_xml.endElement();
-
-        return true;
-    }
-
-    void XmlReporter::sectionEnded( SectionStats const& sectionStats ) {
-        StreamingReporterBase::sectionEnded( sectionStats );
-        if( --m_sectionDepth > 0 ) {
-            XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResults" );
-            e.writeAttribute( "successes", sectionStats.assertions.passed );
-            e.writeAttribute( "failures", sectionStats.assertions.failed );
-            e.writeAttribute( "expectedFailures", sectionStats.assertions.failedButOk );
-
-            if ( m_config->showDurations() == ShowDurations::Always )
-                e.writeAttribute( "durationInSeconds", sectionStats.durationInSeconds );
-
-            m_xml.endElement();
-        }
-    }
-
-    void XmlReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        StreamingReporterBase::testCaseEnded( testCaseStats );
-        XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResult" );
-        e.writeAttribute( "success", testCaseStats.totals.assertions.allOk() );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            e.writeAttribute( "durationInSeconds", m_testCaseTimer.getElapsedSeconds() );
-
-        if( !testCaseStats.stdOut.empty() )
-            m_xml.scopedElement( "StdOut" ).writeText( trim( testCaseStats.stdOut ), XmlFormatting::Newline );
-        if( !testCaseStats.stdErr.empty() )
-            m_xml.scopedElement( "StdErr" ).writeText( trim( testCaseStats.stdErr ), XmlFormatting::Newline );
-
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        StreamingReporterBase::testGroupEnded( testGroupStats );
-        // TODO: Check testGroupStats.aborting and act accordingly.
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testGroupStats.totals.assertions.passed )
-            .writeAttribute( "failures", testGroupStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testGroupStats.totals.assertions.failedButOk );
-        m_xml.scopedElement( "OverallResultsCases")
-            .writeAttribute( "successes", testGroupStats.totals.testCases.passed )
-            .writeAttribute( "failures", testGroupStats.totals.testCases.failed )
-            .writeAttribute( "expectedFailures", testGroupStats.totals.testCases.failedButOk );
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        StreamingReporterBase::testRunEnded( testRunStats );
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testRunStats.totals.assertions.passed )
-            .writeAttribute( "failures", testRunStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testRunStats.totals.assertions.failedButOk );
-        m_xml.scopedElement( "OverallResultsCases")
-            .writeAttribute( "successes", testRunStats.totals.testCases.passed )
-            .writeAttribute( "failures", testRunStats.totals.testCases.failed )
-            .writeAttribute( "expectedFailures", testRunStats.totals.testCases.failedButOk );
-        m_xml.endElement();
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void XmlReporter::benchmarkPreparing(std::string const& name) {
-        m_xml.startElement("BenchmarkResults")
-            .writeAttribute("name", name);
-    }
-
-    void XmlReporter::benchmarkStarting(BenchmarkInfo const &info) {
-        m_xml.writeAttribute("samples", info.samples)
-            .writeAttribute("resamples", info.resamples)
-            .writeAttribute("iterations", info.iterations)
-            .writeAttribute("clockResolution", info.clockResolution)
-            .writeAttribute("estimatedDuration", info.estimatedDuration)
-            .writeComment("All values in nano seconds");
-    }
-
-    void XmlReporter::benchmarkEnded(BenchmarkStats<> const& benchmarkStats) {
-        m_xml.startElement("mean")
-            .writeAttribute("value", benchmarkStats.mean.point.count())
-            .writeAttribute("lowerBound", benchmarkStats.mean.lower_bound.count())
-            .writeAttribute("upperBound", benchmarkStats.mean.upper_bound.count())
-            .writeAttribute("ci", benchmarkStats.mean.confidence_interval);
-        m_xml.endElement();
-        m_xml.startElement("standardDeviation")
-            .writeAttribute("value", benchmarkStats.standardDeviation.point.count())
-            .writeAttribute("lowerBound", benchmarkStats.standardDeviation.lower_bound.count())
-            .writeAttribute("upperBound", benchmarkStats.standardDeviation.upper_bound.count())
-            .writeAttribute("ci", benchmarkStats.standardDeviation.confidence_interval);
-        m_xml.endElement();
-        m_xml.startElement("outliers")
-            .writeAttribute("variance", benchmarkStats.outlierVariance)
-            .writeAttribute("lowMild", benchmarkStats.outliers.low_mild)
-            .writeAttribute("lowSevere", benchmarkStats.outliers.low_severe)
-            .writeAttribute("highMild", benchmarkStats.outliers.high_mild)
-            .writeAttribute("highSevere", benchmarkStats.outliers.high_severe);
-        m_xml.endElement();
-        m_xml.endElement();
-    }
-
-    void XmlReporter::benchmarkFailed(std::string const &error) {
-        m_xml.scopedElement("failed").
-            writeAttribute("message", error);
-        m_xml.endElement();
-    }
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    CATCH_REGISTER_REPORTER( "xml", XmlReporter )
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-// end catch_reporter_xml.cpp
-
-namespace Catch {
-    LeakDetector leakDetector;
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_impl.hpp
-#endif
-
-#ifdef CATCH_CONFIG_MAIN
-// start catch_default_main.hpp
-
-#ifndef __OBJC__
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(CATCH_PLATFORM_WINDOWS) && defined(_UNICODE) && !defined(DO_NOT_USE_WMAIN)
-// Standard C/C++ Win32 Unicode wmain entry point
-extern "C" int wmain (int argc, wchar_t * argv[], wchar_t * []) {
-#else
-// Standard C/C++ main entry point
-int main (int argc, char * argv[]) {
-#endif
-
-    return Catch::Session().run( argc, argv );
-}
-
-#else // __OBJC__
-
-// Objective-C entry point
-int main (int argc, char * const argv[]) {
-#if !CATCH_ARC_ENABLED
-    NSAutoreleasePool * pool = [[NSAutoreleasePool alloc] init];
-#endif
-
-    Catch::registerTestMethods();
-    int result = Catch::Session().run( argc, (char**)argv );
-
-#if !CATCH_ARC_ENABLED
-    [pool drain];
-#endif
-
-    return result;
-}
-
-#endif // __OBJC__
-
-// end catch_default_main.hpp
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-
-#ifdef CLARA_CONFIG_MAIN_NOT_DEFINED
-#  undef CLARA_CONFIG_MAIN
-#endif
-
-#if !defined(CATCH_CONFIG_DISABLE)
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define CATCH_REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "CATCH_REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CATCH_CHECK( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CATCH_CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CATCH_CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CATCH_CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CATCH_CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CATCH_CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( "CATCH_INFO", msg )
-#define CATCH_UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "CATCH_UNSCOPED_INFO", msg )
-#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( "CATCH_WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CATCH_CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CATCH_CAPTURE",__VA_ARGS__ )
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define CATCH_DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( "CATCH_SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define CATCH_STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__ ,      #__VA_ARGS__ );     CATCH_SUCCEED( #__VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); CATCH_SUCCEED( #__VA_ARGS__ )
-#else
-#define CATCH_STATIC_REQUIRE( ... )       CATCH_REQUIRE( __VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) CATCH_REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) CATCH_TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-#define CATCH_GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define CATCH_AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define CATCH_WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define CATCH_AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define CATCH_THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define CATCH_AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-#define CATCH_BENCHMARK(...) \
-    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
-#define CATCH_BENCHMARK_ADVANCED(name) \
-    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), name)
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... ) INTERNAL_CATCH_TEST( "REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__  )
-#define REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CHECK( ... ) INTERNAL_CATCH_TEST( "CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) INTERNAL_CATCH_INFO( "INFO", msg )
-#define UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "UNSCOPED_INFO", msg )
-#define WARN( msg ) INTERNAL_CATCH_MSG( "WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CAPTURE",__VA_ARGS__ )
-
-#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define FAIL( ... ) INTERNAL_CATCH_MSG( "FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define SUCCEED( ... ) INTERNAL_CATCH_MSG( "SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(__VA_ARGS__)
-#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__,  #__VA_ARGS__ ); SUCCEED( #__VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); SUCCEED( "!(" #__VA_ARGS__ ")" )
-#else
-#define STATIC_REQUIRE( ... )       REQUIRE( __VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-
-#define GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-#define BENCHMARK(...) \
-    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
-#define BENCHMARK_ADVANCED(name) \
-    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(C_A_T_C_H_B_E_N_C_H_), name)
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-using Catch::Detail::Approx;
-
-#else // CATCH_CONFIG_DISABLE
-
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... )        (void)(0)
-#define CATCH_REQUIRE_FALSE( ... )  (void)(0)
-
-#define CATCH_REQUIRE_THROWS( ... ) (void)(0)
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CATCH_CHECK( ... )         (void)(0)
-#define CATCH_CHECK_FALSE( ... )   (void)(0)
-#define CATCH_CHECKED_IF( ... )    if (__VA_ARGS__)
-#define CATCH_CHECKED_ELSE( ... )  if (!(__VA_ARGS__))
-#define CATCH_CHECK_NOFAIL( ... )  (void)(0)
-
-#define CATCH_CHECK_THROWS( ... )  (void)(0)
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_CHECK_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher )   (void)(0)
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg )          (void)(0)
-#define CATCH_UNSCOPED_INFO( msg ) (void)(0)
-#define CATCH_WARN( msg )          (void)(0)
-#define CATCH_CAPTURE( msg )       (void)(0)
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ))
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ))
-#define CATCH_METHOD_AS_TEST_CASE( method, ... )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define CATCH_SECTION( ... )
-#define CATCH_DYNAMIC_SECTION( ... )
-#define CATCH_FAIL( ... ) (void)(0)
-#define CATCH_FAIL_CHECK( ... ) (void)(0)
-#define CATCH_SUCCEED( ... ) (void)(0)
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ))
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), className )
-#define CATCH_GIVEN( desc )
-#define CATCH_AND_GIVEN( desc )
-#define CATCH_WHEN( desc )
-#define CATCH_AND_WHEN( desc )
-#define CATCH_THEN( desc )
-#define CATCH_AND_THEN( desc )
-
-#define CATCH_STATIC_REQUIRE( ... )       (void)(0)
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... )       (void)(0)
-#define REQUIRE_FALSE( ... ) (void)(0)
-
-#define REQUIRE_THROWS( ... ) (void)(0)
-#define REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define REQUIRE_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CHECK( ... ) (void)(0)
-#define CHECK_FALSE( ... ) (void)(0)
-#define CHECKED_IF( ... ) if (__VA_ARGS__)
-#define CHECKED_ELSE( ... ) if (!(__VA_ARGS__))
-#define CHECK_NOFAIL( ... ) (void)(0)
-
-#define CHECK_THROWS( ... )  (void)(0)
-#define CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CHECK_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) (void)(0)
-
-#define REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) (void)(0)
-#define UNSCOPED_INFO( msg ) (void)(0)
-#define WARN( msg ) (void)(0)
-#define CAPTURE( ... ) (void)(0)
-
-#define TEST_CASE( ... )  INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ))
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ))
-#define METHOD_AS_TEST_CASE( method, ... )
-#define REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define SECTION( ... )
-#define DYNAMIC_SECTION( ... )
-#define FAIL( ... ) (void)(0)
-#define FAIL_CHECK( ... ) (void)(0)
-#define SUCCEED( ... ) (void)(0)
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#endif
-
-#define STATIC_REQUIRE( ... )       (void)(0)
-#define STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ) )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( C_A_T_C_H_T_E_S_T_ ), className )
-
-#define GIVEN( desc )
-#define AND_GIVEN( desc )
-#define WHEN( desc )
-#define AND_WHEN( desc )
-#define THEN( desc )
-#define AND_THEN( desc )
-
-using Catch::Detail::Approx;
-
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-// start catch_reenable_warnings.h
-
-
-#ifdef __clang__
-#    ifdef __ICC // icpc defines the __clang__ macro
-#        pragma warning(pop)
-#    else
-#        pragma clang diagnostic pop
-#    endif
-#elif defined __GNUC__
-#    pragma GCC diagnostic pop
-#endif
-
-// end catch_reenable_warnings.h
-// end catch.hpp
-#endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
+size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
index ba6f67f310..dbebe97516 100644
--- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp
+++ b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
@@ -1,62 +1,62 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+/*
+ *  Created by Justin R. Wilson on 2/19/2017.
+ *  Copyright 2017 Justin R. Wilson. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+namespace Catch {
+
+    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
+        AutomakeReporter( ReporterConfig const& _config )
+          :   StreamingReporterBase( _config )
+        {}
+
+        ~AutomakeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the format of Automake .trs files";
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
+
+        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
+            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
+            stream << ":test-result: ";
+            if (_testCaseStats.totals.assertions.allPassed()) {
+                stream << "PASS";
+            } else if (_testCaseStats.totals.assertions.allOk()) {
+                stream << "XFAIL";
+            } else {
+                stream << "FAIL";
+            }
+            stream << ' ' << _testCaseStats.testInfo.name << '\n';
+            StreamingReporterBase::testCaseEnded( _testCaseStats );
+        }
+
+        void skipTest( TestCaseInfo const& testInfo ) override {
+            stream << ":test-result: SKIP " << testInfo.name << '\n';
+        }
+
+    };
+
+#ifdef CATCH_IMPL
+    AutomakeReporter::~AutomakeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
index 06056f154f..bf7d9299a5 100644
--- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
+++ b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
@@ -1,181 +1,181 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
+/*
+ *  Created by Daniel Garcia on 2018-12-04.
+ *  Copyright Social Point SL. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <map>
+
+namespace Catch {
+
+    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
+
+        SonarQubeReporter(ReporterConfig const& config)
+        : CumulativeReporterBase(config)
+        , xml(config.stream()) {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~SonarQubeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the Generic Test Data SonarQube XML format";
+        }
+
+        static std::set<Verbosity> getSupportedVerbosities() {
+            return { Verbosity::Normal };
+        }
+
+        void noMatchingTestCases(std::string const& /*spec*/) override {}
+
+        void testRunStarting(TestRunInfo const& testRunInfo) override {
+            CumulativeReporterBase::testRunStarting(testRunInfo);
+            xml.startElement("testExecutions");
+            xml.writeAttribute("version", "1");
+        }
+
+        void testGroupEnded(TestGroupStats const& testGroupStats) override {
+            CumulativeReporterBase::testGroupEnded(testGroupStats);
+            writeGroup(*m_testGroups.back());
+        }
+
+        void testRunEndedCumulative() override {
+            xml.endElement();
+        }
+
+        void writeGroup(TestGroupNode const& groupNode) {
+            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
+            for(auto const& child : groupNode.children)
+                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
+
+            for(auto const& kv : testsPerFile)
+                writeTestFile(kv.first.c_str(), kv.second);
+        }
+
+        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
+            XmlWriter::ScopedElement e = xml.scopedElement("file");
+            xml.writeAttribute("path", filename);
+
+            for(auto const& child : testCaseNodes)
+                writeTestCase(*child);
+        }
+
+        void writeTestCase(TestCaseNode const& testCaseNode) {
+            // All test cases have exactly one section - which represents the
+            // test case itself. That section may have 0-n nested sections
+            assert(testCaseNode.children.size() == 1);
+            SectionNode const& rootSection = *testCaseNode.children.front();
+            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
+        }
+
+        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
+            std::string name = trim(sectionNode.stats.sectionInfo.name);
+            if(!rootName.empty())
+                name = rootName + '/' + name;
+
+            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
+                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
+                xml.writeAttribute("name", name);
+                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
+
+                writeAssertions(sectionNode, okToFail);
+            }
+
+            for(auto const& childNode : sectionNode.childSections)
+                writeSection(name, *childNode, okToFail);
+        }
+
+        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
+            for(auto const& assertion : sectionNode.assertions)
+                writeAssertion( assertion, okToFail);
+        }
+
+        void writeAssertion(AssertionStats const& stats, bool okToFail) {
+            AssertionResult const& result = stats.assertionResult;
+            if(!result.isOk()) {
+                std::string elementName;
+                if(okToFail) {
+                    elementName = "skipped";
+                }
+                else {
+                    switch(result.getResultType()) {
+                        case ResultWas::ThrewException:
+                        case ResultWas::FatalErrorCondition:
+                            elementName = "error";
+                            break;
+                        case ResultWas::ExplicitFailure:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::ExpressionFailed:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::DidntThrowException:
+                            elementName = "failure";
+                            break;
+
+                            // We should never see these here:
+                        case ResultWas::Info:
+                        case ResultWas::Warning:
+                        case ResultWas::Ok:
+                        case ResultWas::Unknown:
+                        case ResultWas::FailureBit:
+                        case ResultWas::Exception:
+                            elementName = "internalError";
+                            break;
+                    }
+                }
+
+                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
+
+                ReusableStringStream messageRss;
+                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
+                xml.writeAttribute("message", messageRss.str());
+
+                ReusableStringStream textRss;
+                if (stats.totals.assertions.total() > 0) {
+                    textRss << "FAILED:\n";
+                    if (result.hasExpression()) {
+                        textRss << "\t" << result.getExpressionInMacro() << "\n";
+                    }
+                    if (result.hasExpandedExpression()) {
+                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
+                    }
+                }
+
+                if(!result.getMessage().empty())
+                    textRss << result.getMessage() << "\n";
+
+                for(auto const& msg : stats.infoMessages)
+                    if(msg.type == ResultWas::Info)
+                        textRss << msg.message << "\n";
+
+                textRss << "at " << result.getSourceInfo();
+                xml.writeText(textRss.str(), XmlFormatting::Newline);
+            }
+        }
+
+    private:
+        XmlWriter xml;
+    };
+
+#ifdef CATCH_IMPL
+    SonarQubeReporter::~SonarQubeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
+
+} // end namespace Catch
+
 #endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
index 3acab5f39d..5ac8524ce7 100644
--- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp
+++ b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
@@ -1,254 +1,254 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        TAPReporter( ReporterConfig const& config ):
-            StreamingReporterBase( config ) {
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                const auto itEnd = messages.cend();
-                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                while( itMessage != itEnd ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                        continue;
-                    }
-                    ++itMessage;
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            stream << "1.." << totals.assertions.total();
-            if( totals.testCases.total() == 0 ) {
-                stream << " # Skipped: No tests ran.";
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+/*
+ *  Created by Colton Wolkins on 2015-08-15.
+ *  Copyright 2015 Martin Moene. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <algorithm>
+
+namespace Catch {
+
+    struct TAPReporter : StreamingReporterBase<TAPReporter> {
+
+        using StreamingReporterBase::StreamingReporterBase;
+
+        TAPReporter( ReporterConfig const& config ):
+            StreamingReporterBase( config ) {
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~TAPReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in TAP format, suitable for test harnesses";
+        }
+
+        void noMatchingTestCases( std::string const& spec ) override {
+            stream << "# No test cases matched '" << spec << "'" << std::endl;
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& _assertionStats ) override {
+            ++counter;
+
+            stream << "# " << currentTestCaseInfo->name << std::endl;
+            AssertionPrinter printer( stream, _assertionStats, counter );
+            printer.print();
+
+            stream << std::endl;
+            return true;
+        }
+
+        void testRunEnded( TestRunStats const& _testRunStats ) override {
+            printTotals( _testRunStats.totals );
+            stream << "\n" << std::endl;
+            StreamingReporterBase::testRunEnded( _testRunStats );
+        }
+
+    private:
+        std::size_t counter = 0;
+        class AssertionPrinter {
+        public:
+            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
+            AssertionPrinter( AssertionPrinter const& ) = delete;
+            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
+            : stream( _stream )
+            , result( _stats.assertionResult )
+            , messages( _stats.infoMessages )
+            , itMessage( _stats.infoMessages.begin() )
+            , printInfoMessages( true )
+            , counter(_counter)
+            {}
+
+            void print() {
+                itMessage = messages.begin();
+
+                switch( result.getResultType() ) {
+                    case ResultWas::Ok:
+                        printResultType( passedString() );
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if ( ! result.hasExpression() )
+                            printRemainingMessages( Colour::None );
+                        else
+                            printRemainingMessages();
+                        break;
+                    case ResultWas::ExpressionFailed:
+                        if (result.isOk()) {
+                            printResultType(passedString());
+                        } else {
+                            printResultType(failedString());
+                        }
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if (result.isOk()) {
+                            printIssue(" # TODO");
+                        }
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ThrewException:
+                        printResultType( failedString() );
+                        printIssue( "unexpected exception with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        printResultType( failedString() );
+                        printIssue( "fatal error condition with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::DidntThrowException:
+                        printResultType( failedString() );
+                        printIssue( "expected exception, got none" );
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Info:
+                        printResultType( "info" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Warning:
+                        printResultType( "warning" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        printResultType( failedString() );
+                        printIssue( "explicitly" );
+                        printRemainingMessages( Colour::None );
+                        break;
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        printResultType( "** internal error **" );
+                        break;
+                }
+            }
+
+        private:
+            static Colour::Code dimColour() { return Colour::FileName; }
+
+            static const char* failedString() { return "not ok"; }
+            static const char* passedString() { return "ok"; }
+
+            void printSourceInfo() const {
+                Colour colourGuard( dimColour() );
+                stream << result.getSourceInfo() << ":";
+            }
+
+            void printResultType( std::string const& passOrFail ) const {
+                if( !passOrFail.empty() ) {
+                    stream << passOrFail << ' ' << counter << " -";
+                }
+            }
+
+            void printIssue( std::string const& issue ) const {
+                stream << " " << issue;
+            }
+
+            void printExpressionWas() {
+                if( result.hasExpression() ) {
+                    stream << ";";
+                    {
+                        Colour colour( dimColour() );
+                        stream << " expression was:";
+                    }
+                    printOriginalExpression();
+                }
+            }
+
+            void printOriginalExpression() const {
+                if( result.hasExpression() ) {
+                    stream << " " << result.getExpression();
+                }
+            }
+
+            void printReconstructedExpression() const {
+                if( result.hasExpandedExpression() ) {
+                    {
+                        Colour colour( dimColour() );
+                        stream << " for: ";
+                    }
+                    std::string expr = result.getExpandedExpression();
+                    std::replace( expr.begin(), expr.end(), '\n', ' ');
+                    stream << expr;
+                }
+            }
+
+            void printMessage() {
+                if ( itMessage != messages.end() ) {
+                    stream << " '" << itMessage->message << "'";
+                    ++itMessage;
+                }
+            }
+
+            void printRemainingMessages( Colour::Code colour = dimColour() ) {
+                if (itMessage == messages.end()) {
+                    return;
+                }
+
+                const auto itEnd = messages.cend();
+                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
+
+                {
+                    Colour colourGuard( colour );
+                    stream << " with " << pluralise( N, "message" ) << ":";
+                }
+
+                while( itMessage != itEnd ) {
+                    // If this assertion is a warning ignore any INFO messages
+                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
+                        stream << " '" << itMessage->message << "'";
+                        if ( ++itMessage != itEnd ) {
+                            Colour colourGuard( dimColour() );
+                            stream << " and";
+                        }
+                        continue;
+                    }
+                    ++itMessage;
+                }
+            }
+
+        private:
+            std::ostream& stream;
+            AssertionResult const& result;
+            std::vector<MessageInfo> messages;
+            std::vector<MessageInfo>::const_iterator itMessage;
+            bool printInfoMessages;
+            std::size_t counter;
+        };
+
+        void printTotals( const Totals& totals ) const {
+            stream << "1.." << totals.assertions.total();
+            if( totals.testCases.total() == 0 ) {
+                stream << " # Skipped: No tests ran.";
+            }
+        }
+    };
+
+#ifdef CATCH_IMPL
+    TAPReporter::~TAPReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
index 5c985d2cc1..47b7e4aac3 100644
--- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
+++ b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
@@ -1,219 +1,219 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+/*
+ *  Created by Phil Nash on 19th December 2014
+ *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <cstring>
+
+#ifdef __clang__
+#   pragma clang diagnostic push
+#   pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+namespace Catch {
+
+    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
+        TeamCityReporter( ReporterConfig const& _config )
+        :   StreamingReporterBase( _config )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+        }
+
+        static std::string escape( std::string const& str ) {
+            std::string escaped = str;
+            replaceInPlace( escaped, "|", "||" );
+            replaceInPlace( escaped, "'", "|'" );
+            replaceInPlace( escaped, "\n", "|n" );
+            replaceInPlace( escaped, "\r", "|r" );
+            replaceInPlace( escaped, "[", "|[" );
+            replaceInPlace( escaped, "]", "|]" );
+            return escaped;
+        }
+        ~TeamCityReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results as TeamCity service messages";
+        }
+
+        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
+        }
+
+        void noMatchingTestCases( std::string const& /* spec */ ) override {}
+
+        void testGroupStarting( GroupInfo const& groupInfo ) override {
+            StreamingReporterBase::testGroupStarting( groupInfo );
+            stream << "##teamcity[testSuiteStarted name='"
+                << escape( groupInfo.name ) << "']\n";
+        }
+        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
+            StreamingReporterBase::testGroupEnded( testGroupStats );
+            stream << "##teamcity[testSuiteFinished name='"
+                << escape( testGroupStats.groupInfo.name ) << "']\n";
+        }
+
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& assertionStats ) override {
+            AssertionResult const& result = assertionStats.assertionResult;
+            if( !result.isOk() ) {
+
+                ReusableStringStream msg;
+                if( !m_headerPrintedForThisSection )
+                    printSectionHeader( msg.get() );
+                m_headerPrintedForThisSection = true;
+
+                msg << result.getSourceInfo() << "\n";
+
+                switch( result.getResultType() ) {
+                    case ResultWas::ExpressionFailed:
+                        msg << "expression failed";
+                        break;
+                    case ResultWas::ThrewException:
+                        msg << "unexpected exception";
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        msg << "fatal error condition";
+                        break;
+                    case ResultWas::DidntThrowException:
+                        msg << "no exception was thrown where one was expected";
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        msg << "explicit failure";
+                        break;
+
+                    // We shouldn't get here because of the isOk() test
+                    case ResultWas::Ok:
+                    case ResultWas::Info:
+                    case ResultWas::Warning:
+                        CATCH_ERROR( "Internal error in TeamCity reporter" );
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        CATCH_ERROR( "Not implemented" );
+                }
+                if( assertionStats.infoMessages.size() == 1 )
+                    msg << " with message:";
+                if( assertionStats.infoMessages.size() > 1 )
+                    msg << " with messages:";
+                for( auto const& messageInfo : assertionStats.infoMessages )
+                    msg << "\n  \"" << messageInfo.message << "\"";
+
+
+                if( result.hasExpression() ) {
+                    msg <<
+                        "\n  " << result.getExpressionInMacro() << "\n"
+                        "with expansion:\n" <<
+                        "  " << result.getExpandedExpression() << "\n";
+                }
+
+                if( currentTestCaseInfo->okToFail() ) {
+                    msg << "- failure ignore as test marked as 'ok to fail'\n";
+                    stream << "##teamcity[testIgnored"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+                else {
+                    stream << "##teamcity[testFailed"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+            }
+            stream.flush();
+            return true;
+        }
+
+        void sectionStarting( SectionInfo const& sectionInfo ) override {
+            m_headerPrintedForThisSection = false;
+            StreamingReporterBase::sectionStarting( sectionInfo );
+        }
+
+        void testCaseStarting( TestCaseInfo const& testInfo ) override {
+            m_testTimer.start();
+            StreamingReporterBase::testCaseStarting( testInfo );
+            stream << "##teamcity[testStarted name='"
+                << escape( testInfo.name ) << "']\n";
+            stream.flush();
+        }
+
+        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
+            StreamingReporterBase::testCaseEnded( testCaseStats );
+            if( !testCaseStats.stdOut.empty() )
+                stream << "##teamcity[testStdOut name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
+            if( !testCaseStats.stdErr.empty() )
+                stream << "##teamcity[testStdErr name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
+            stream << "##teamcity[testFinished name='"
+                    << escape( testCaseStats.testInfo.name ) << "' duration='"
+                    << m_testTimer.getElapsedMilliseconds() << "']\n";
+            stream.flush();
+        }
+
+    private:
+        void printSectionHeader( std::ostream& os ) {
+            assert( !m_sectionStack.empty() );
+
+            if( m_sectionStack.size() > 1 ) {
+                os << getLineOfChars<'-'>() << "\n";
+
+                std::vector<SectionInfo>::const_iterator
+                it = m_sectionStack.begin()+1, // Skip first section (test case)
+                itEnd = m_sectionStack.end();
+                for( ; it != itEnd; ++it )
+                    printHeaderString( os, it->name );
+                os << getLineOfChars<'-'>() << "\n";
+            }
+
+            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
+
+            os << lineInfo << "\n";
+            os << getLineOfChars<'.'>() << "\n\n";
+        }
+
+        // if string has a : in first line will set indent to follow it on
+        // subsequent lines
+        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
+            std::size_t i = _string.find( ": " );
+            if( i != std::string::npos )
+                i+=2;
+            else
+                i = 0;
+            os << Column( _string )
+                           .indent( indent+i)
+                           .initialIndent( indent ) << "\n";
+        }
+    private:
+        bool m_headerPrintedForThisSection = false;
+        Timer m_testTimer;
+    };
+
+#ifdef CATCH_IMPL
+    TeamCityReporter::~TeamCityReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
+
+} // end namespace Catch
+
+#ifdef __clang__
+#   pragma clang diagnostic pop
+#endif
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
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diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
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diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
index c4f3fa67a2..40e3d5af74 100644
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diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
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index c1eb88fc6a..3f1b7a8b8c 100644
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diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
index eeeb447c60..aa42b5e830 100644
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diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
index 028979f11f..9423da1b94 100644
Binary files a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so and b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so differ
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
index e36b1fbd7e..ac33c84af8 100644
--- a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
+++ b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
@@ -1,127 +1,127 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif
+//=============================================================================
+//
+//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+
+#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+
+#include <cstddef>
+#include <memory>
+#include "DlSystem/DlEnums.hpp"
+
+namespace DlSystem
+{
+   // Forward declaration of IOBufferDataTypeMapImpl implementation.
+   class IOBufferDataTypeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The IoBufferDataTypeMap class definition
+ */
+class ZDL_EXPORT IOBufferDataTypeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new Buffer Data type map
+    *
+    */
+   IOBufferDataTypeMap();
+
+   /**
+    * @brief Adds a name and the corresponding buffer data type
+    *        to the map
+    *
+    * @param[name] name The name of the buffer
+    * @param[bufferDataType] buffer Data Type of the buffer
+    *
+    * @note If a buffer with the same name already exists, no new
+    *       buffer is added.
+    */
+   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
+
+   /**
+    * @brief Removes a buffer name from the map
+    *
+    * @param[name] name The name of the buffer
+    *
+    */
+   void remove(const char* name);
+
+   /**
+    * @brief Returns the type of the named buffer
+    *
+    * @param[name] name The name of the buffer
+    *
+    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
+
+   /**
+    * @brief Returns the type of the first buffer
+    *
+    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
+
+   /**
+    * @brief Returns the size of the buffer type map.
+    *
+    * @return The size of the map
+    *
+    */
+   size_t size();
+
+   /**
+    * @brief Checks the existence of the named buffer in the map
+    *
+    * @return True if the named buffer exists, false otherwise.
+    *
+    */
+   bool find(const char* name);
+
+   /**
+    * @brief Resets the map
+    *
+    */
+   void clear();
+
+   /**
+    * @brief Checks whether the map is empty
+    *
+    * @return True if the map is empty, false otherwise.
+    *
+    */
+   bool empty();
+
+   /**
+    * @brief Destroys the map
+    *
+    */
+   ~IOBufferDataTypeMap();
+
+private:
+   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
+};
+}
+
+}
+#endif
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
index 0b0657dd33..20d1377a01 100644
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diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
index 0cee9ac3af..0367b1106b 100644
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diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
index 567e6ae594..db98cba162 100755
Binary files a/third_party/snpe/x86_64-linux-clang/libomp.so and b/third_party/snpe/x86_64-linux-clang/libomp.so differ
diff --git a/tinygrad_repo b/tinygrad_repo
index d8dda2af3a..ae5d1407ee 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit d8dda2af3afcef0bb772fff580cfa8b3eabf7f69
+Subproject commit ae5d1407ee844a97a52ad3756835d38e7e2b9e1b
diff --git a/tools/README.md b/tools/README.md
index 28f4f7ebd2..315db3a75f 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,55 +2,58 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
+openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
-## Setup your PC
+Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
 
-First, clone openpilot:
-``` bash
-cd ~
-git clone --recurse-submodules https://github.com/commaai/openpilot.git
+## Native setup on Ubuntu 20.04
+
+**1. Clone openpilot**
+
+NOTE: This repository uses Git LFS for large files. Ensure you have [Git LFS](https://git-lfs.com/) installed and set up before cloning or working with it.
 
-# or do a partial clone instead for a faster clone and smaller repo size
+Either do a partial clone for faster download:
+``` bash
 git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git
+```
 
-cd openpilot
+or do a full clone:
+``` bash
+git clone --recurse-submodules https://github.com/commaai/openpilot.git
 ```
 
-Then, run the setup script:
+**2. Run the setup script**
 
 ``` bash
-# for Ubuntu 20.04 LTS
+cd openpilot
+git lfs pull
 tools/ubuntu_setup.sh
-
-# for macOS
-tools/mac_setup.sh
 ```
 
 Activate a shell with the Python dependencies installed:
-
 ``` bash
-cd openpilot && poetry shell
+poetry shell
 ```
 
-Build openpilot with this command:
+**3. Build openpilot**
+
 ``` bash
 scons -u -j$(nproc)
 ```
 
-### Dev Container
+## Dev Container on any Linux or macOS
 
 openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
 
-Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers).
+Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode.
 
 #### X11 forwarding on macOS
 
 GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
 
-### Windows
+## WSL on Windows
 
-Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
+[Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
 Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
index 8bc8e77317..e2f6583c17 100644
--- a/tools/bodyteleop/static/js/webrtc.js
+++ b/tools/bodyteleop/static/js/webrtc.js
@@ -89,18 +89,18 @@ export const constraints = {
 export function createDummyVideoTrack() {
   const canvas = document.createElement('canvas');
   const context = canvas.getContext('2d');
-  
+
   const frameWidth = 5; // Set the width of the frame
   const frameHeight = 5; // Set the height of the frame
   canvas.width = frameWidth;
   canvas.height = frameHeight;
-  
+
   context.fillStyle = 'black';
   context.fillRect(0, 0, frameWidth, frameHeight);
-  
+
   const stream = canvas.captureStream();
   const videoTrack = stream.getVideoTracks()[0];
-  
+
   return videoTrack;
 }
 
@@ -108,37 +108,47 @@ export function createDummyVideoTrack() {
 export function start(pc, dc) {
   pc = createPeerConnection(pc);
 
-  if (constraints.audio || constraints.video) {
-    // add audio track
-    navigator.mediaDevices.getUserMedia(constraints).then(function(stream) {
-      stream.getTracks().forEach(function(track) {
-        pc.addTrack(track, stream);
-        // only audio?
-        // if (track.kind === 'audio'){
-        //     pc.addTrack(track, stream);
-        // }
-      });
-        return negotiate(pc);
-      }, function(err) {
-        alert('Could not acquire media: ' + err);
-      });
-
-    // add a fake video?
-    // const dummyVideoTrack = createDummyVideoTrack();
-    // const dummyMediaStream = new MediaStream();
-    // dummyMediaStream.addTrack(dummyVideoTrack);
-    // pc.addTrack(dummyVideoTrack, dummyMediaStream);
-
-  } else {
-    negotiate(pc);
-  }
-  
+  // add audio track
+  navigator.mediaDevices.enumerateDevices()
+    .then(function(devices) {
+      const hasAudioInput = devices.find((device) => device.kind === "audioinput");
+      var modifiedConstraints = {};
+      modifiedConstraints.video = constraints.video;
+      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
+
+      return Promise.resolve(modifiedConstraints);
+    })
+    .then(function(constraints) {
+      if (constraints.audio || constraints.video) {
+        return navigator.mediaDevices.getUserMedia(constraints);
+      } else{
+        return Promise.resolve(null);
+      }
+    })
+    .then(function(stream) {
+      if (stream) {
+        stream.getTracks().forEach(function(track) {
+          pc.addTrack(track, stream);
+        });
+      }
+
+      return negotiate(pc);
+    })
+    .catch(function(err) {
+      alert('Could not acquire media: ' + err);
+    });
+
+  // add a fake video?
+  // const dummyVideoTrack = createDummyVideoTrack();
+  // const dummyMediaStream = new MediaStream();
+  // dummyMediaStream.addTrack(dummyVideoTrack);
+  // pc.addTrack(dummyVideoTrack, dummyMediaStream);
+
   // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000)
   // var video = document.querySelector('video');
   // var print = function (e, f){console.log(e, f);  video.requestVideoFrameCallback(print);};
   // video.requestVideoFrameCallback(print);
 
-
   var parameters = {"ordered": true};
   dc = pc.createDataChannel('data', parameters);
   dc.onclose = function() {
@@ -157,7 +167,7 @@ export function start(pc, dc) {
     var message = JSON.stringify({type: 'battery_level'});
     dc.send(message);
   }
-  
+
   dc.onopen = function() {
     dcInterval = setInterval(controlCommand, 50);
     batteryInterval = setInterval(batteryLevel, 10000);
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index 717afdeaf8..929cfa26fe 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -18,11 +18,14 @@ import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
 
+from typing import Optional
+
 logger = logging.getLogger("pc")
 logging.basicConfig(level=logging.INFO)
 
-pcs = set()
-pm, sm = None, None
+pcs: set[RTCPeerConnection] = set()
+pm: Optional[messaging.PubMaster] = None
+sm: Optional[messaging.SubMaster] = None
 TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
 
 
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index c3f5ef2b69..362a51f5c9 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -2,6 +2,5 @@ moc_*
 *.moc
 
 cabana
-settings
 dbc/car_fingerprint_to_dbc.json
 tests/test_cabana
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index f1a7581870..d557b3af80 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,10 +1,7 @@
-import os
-Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
-       'cereal', 'transformations', 'widgets')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets')
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
@@ -18,8 +15,7 @@ else:
 qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
-cabana_env["LIBPATH"] += ['../../opendbc/can']
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
@@ -42,4 +38,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"])
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")])
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index bd43c337bd..c72ebf9d35 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -2,6 +2,7 @@
 
 #include <algorithm>
 
+#include <QDebug>
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -24,6 +25,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   delegate = new BinaryItemDelegate(this);
   setItemDelegate(delegate);
   horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+  horizontalHeader()->setFont(QFontDatabase::systemFont(QFontDatabase::FixedFont));
   verticalHeader()->setSectionsClickable(false);
   verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
   verticalHeader()->setDefaultSectionSize(CELL_HEIGHT);
@@ -272,7 +274,7 @@ void BinaryViewModel::refresh() {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
-  int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count);
+  int valid_rows = std::min<int>(can->lastMessage(msg_id).dat.size(), row_count);
   for (int i = 0; i < valid_rows * column_count; ++i) {
     items[i].valid = true;
   }
@@ -280,7 +282,7 @@ void BinaryViewModel::refresh() {
   updateState();
 }
 
-void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) {
+void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
   auto &item = items[row * column_count + col];
   if (item.val != val || item.bg_color != color) {
     item.val = val;
@@ -307,17 +309,17 @@ void BinaryViewModel::updateState() {
   for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       auto &item = items[i * column_count + j];
-      QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0";
+      int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
       // Bit update frequency based highlighting
       double offset = !item.sigs.empty() ? 50 : 0;
-      auto n = last_msg.bit_change_counts[i][7 - j];
+      auto n = last_msg.last_changes[i].bit_change_counts[j];
       double min_f = n == 0 ? offset : offset + 25;
       double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
       auto color = item.bg_color;
       color.setAlpha(alpha);
       updateItem(i, j, val, color);
     }
-    updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]);
+    updateItem(i, 8, binary[i], last_msg.colors[i]);
   }
 }
 
@@ -333,13 +335,8 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
 }
 
 QVariant BinaryViewModel::data(const QModelIndex &index, int role) const {
-  if (role == Qt::ToolTipRole) {
-    auto item = (const BinaryViewModel::Item *)index.internalPointer();
-    if (item && !item->sigs.empty()) {
-      return signalToolTip(item->sigs.back());
-    }
-  }
-  return {};
+  auto item = (const BinaryViewModel::Item *)index.internalPointer();
+  return role == Qt::ToolTipRole && item && !item->sigs.empty() ? signalToolTip(item->sigs.back()) : QVariant();
 }
 
 // BinaryItemDelegate
@@ -348,6 +345,13 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa
   small_font.setPixelSize(8);
   hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   hex_font.setBold(true);
+
+  bin_text_table[0].setText("0");
+  bin_text_table[1].setText("1");
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, hex_font);
+  }
 }
 
 bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const {
@@ -380,7 +384,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
           drawSignalCell(painter, option, index, s);
         }
       }
-    } else if (item->valid) {
+    } else if (item->valid && item->bg_color.alpha() > 0) {
       painter->fillRect(option.rect, item->bg_color);
     }
     auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
@@ -392,7 +396,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
   } else if (!item->valid) {
     painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern));
   }
-  painter->drawText(option.rect, Qt::AlignCenter, item->val);
+  if (item->valid) {
+    utils::drawStaticText(painter, option.rect, index.column() == 8 ? hex_text_table[item->val] : bin_text_table[item->val]);
+  }
   if (item->is_msb || item->is_lsb) {
     painter->setFont(small_font);
     painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L");
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 04e1d5b2af..584910dc83 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -19,6 +19,8 @@ public:
   void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const;
 
   QFont small_font, hex_font;
+  std::array<QStaticText, 256> hex_text_table;
+  std::array<QStaticText, 2> bin_text_table;
 };
 
 class BinaryViewModel : public QAbstractTableModel {
@@ -26,7 +28,7 @@ public:
   BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
   void refresh();
   void updateState();
-  void updateItem(int row, int col, const QString &val, const QColor &color);
+  void updateItem(int row, int col, uint8_t val, const QColor &color);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
@@ -42,7 +44,7 @@ public:
     QColor bg_color = QColor(102, 86, 169, 255);
     bool is_msb = false;
     bool is_lsb = false;
-    QString val;
+    uint8_t val;
     QList<const cabana::Signal *> sigs;
     bool valid = false;
   };
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 7d3e6ab99f..205d795776 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -26,6 +26,7 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
   cmd_parser.addOption({"qcam", "load qcamera"});
   cmd_parser.addOption({"ecam", "load wide road camera"});
+  cmd_parser.addOption({"dcam", "load driver camera"});
   cmd_parser.addOption({"stream", "read can messages from live streaming"});
   cmd_parser.addOption({"panda", "read can messages from panda"});
   cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
@@ -60,13 +61,10 @@ int main(int argc, char *argv[]) {
     stream = new SocketCanStream(&app, config);
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
-    if (cmd_parser.isSet("ecam")) {
-      replay_flags |= REPLAY_FLAG_ECAM;
-    } else if (cmd_parser.isSet("qcam")) {
-      replay_flags |= REPLAY_FLAG_QCAMERA;
-    } else if (cmd_parser.isSet("no-vipc")) {
-      replay_flags |= REPLAY_FLAG_NO_VIPC;
-    }
+    if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
+    if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
+    if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
+    if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
 
     const QStringList args = cmd_parser.positionalArguments();
     QString route;
@@ -75,12 +73,7 @@ int main(int argc, char *argv[]) {
     } else if (cmd_parser.isSet("demo")) {
       route = DEMO_ROUTE;
     }
-
-    if (route.isEmpty()) {
-      StreamSelector dlg(&stream);
-      dlg.exec();
-      dbc_file = dlg.dbcFile();
-    } else {
+    if (!route.isEmpty()) {
       auto replay_stream = new ReplayStream(&app);
       if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
@@ -89,17 +82,28 @@ int main(int argc, char *argv[]) {
     }
   }
 
-  MainWindow w;
-  if (!stream) {
-    stream = new DummyStream(&app);
-  }
-  stream->start();
-  if (!dbc_file.isEmpty()) {
-    w.loadFile(dbc_file);
+  int ret = 0;
+  {
+    MainWindow w;
+    QTimer::singleShot(0, [&]() {
+      if (!stream) {
+        StreamSelector dlg(&stream);
+        dlg.exec();
+        dbc_file = dlg.dbcFile();
+      }
+      if (!stream) {
+        stream = new DummyStream(&app);
+      }
+      stream->start();
+      if (!dbc_file.isEmpty()) {
+        w.loadFile(dbc_file);
+      }
+      w.show();
+    });
+
+    ret = app.exec();
   }
-  w.show();
 
-  int ret = app.exec();
   delete can;
   return ret;
 }
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 18a9adbe07..6f08a9f20b 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -10,36 +10,37 @@
 #include <QGraphicsDropShadowEffect>
 #include <QGraphicsItemGroup>
 #include <QGraphicsOpacityEffect>
-#include <QMenu>
 #include <QMimeData>
 #include <QOpenGLWidget>
 #include <QPropertyAnimation>
+#include <QRandomGenerator>
 #include <QRubberBand>
 #include <QScreen>
-#include <QtMath>
 #include <QWindow>
 
 #include "tools/cabana/chart/chartswidget.h"
 
 // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
 const int AXIS_X_TOP_MARGIN = 4;
-static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
+// Define a small value of epsilon to compare double values
+const float EPSILON = 0.000001;
+static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); }
 
-ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
+ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
+    : charts_widget(parent), QChartView(parent) {
   series_type = (SeriesType)settings.chart_series_type;
-  QChart *chart = new QChart();
-  chart->setBackgroundVisible(false);
+  chart()->setBackgroundVisible(false);
   axis_x = new QValueAxis(this);
   axis_y = new QValueAxis(this);
-  chart->addAxis(axis_x, Qt::AlignBottom);
-  chart->addAxis(axis_y, Qt::AlignLeft);
-  chart->legend()->layout()->setContentsMargins(0, 0, 0, 0);
-  chart->legend()->setShowToolTips(true);
-  chart->setMargins({0, 0, 0, 0});
+  chart()->addAxis(axis_x, Qt::AlignBottom);
+  chart()->addAxis(axis_y, Qt::AlignLeft);
+  chart()->legend()->layout()->setContentsMargins(0, 0, 0, 0);
+  chart()->legend()->setShowToolTips(true);
+  chart()->setMargins({0, 0, 0, 0});
 
   axis_x->setRange(x_range.first, x_range.second);
-  setChart(chart);
 
+  tip_label = new TipLabel(this);
   createToolButtons();
   setRubberBand(QChartView::HorizontalRubberBand);
   setMouseTracking(true);
@@ -65,8 +66,8 @@ void ChartView::createToolButtons() {
   close_btn_proxy->setWidget(remove_btn);
   close_btn_proxy->setZValue(chart()->zValue() + 11);
 
+  menu = new QMenu(this);
   // series types
-  QMenu *menu = new QMenu(this);
   auto change_series_group = new QActionGroup(menu);
   change_series_group->setExclusive(true);
   QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")};
@@ -89,7 +90,9 @@ void ChartView::createToolButtons() {
   manage_btn_proxy->setWidget(manage_btn);
   manage_btn_proxy->setZValue(chart()->zValue() + 11);
 
-  QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); });
+  close_act = new QAction(tr("Close"), this);
+  QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); });
+  QObject::connect(remove_btn, &QToolButton::clicked, close_act, &QAction::triggered);
   QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
     setSeriesType((SeriesType)action->data().toInt());
   });
@@ -150,6 +153,11 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
   if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
+    for (const auto &s : sigs) {
+      if (s.sig == sig && s.series->color() != sig->color) {
+        setSeriesColor(s.series, sig->color);
+      }
+    }
     updateTitle();
     updateSeries(sig);
   }
@@ -162,7 +170,7 @@ void ChartView::msgUpdated(MessageId id) {
 }
 
 void ChartView::manageSignals() {
-  SignalSelector dlg(tr("Mange Chart"), this);
+  SignalSelector dlg(tr("Manage Chart"), this);
   for (auto &s : sigs) {
     dlg.addSelected(s.msg_id, s.sig);
   }
@@ -272,41 +280,50 @@ void ChartView::updateSeriesPoints() {
   }
 }
 
-void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
+void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
+                                std::vector<QPointF> &vals, std::vector<QPointF> &step_vals) {
+  vals.reserve(vals.size() + events.capacity());
+  step_vals.reserve(step_vals.size() + events.capacity() * 2);
+
+  double value = 0;
+  const uint64_t begin_mono_time = can->routeStartTime() * 1e9;
+  for (const CanEvent *e : events) {
+    if (sig->getValue(e->dat, e->size, &value)) {
+      const double ts = (e->mono_time - std::min(e->mono_time, begin_mono_time)) / 1e9;
+      vals.emplace_back(ts, value);
+      if (!step_vals.empty())
+        step_vals.emplace_back(ts, step_vals.back().y());
+      step_vals.emplace_back(ts, value);
+    }
+  }
+}
+
+void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *msg_new_events) {
   for (auto &s : sigs) {
     if (!sig || s.sig == sig) {
-      if (clear) {
+      if (!msg_new_events) {
         s.vals.clear();
         s.step_vals.clear();
-        s.last_value_mono_time = 0;
       }
-      s.series->setColor(s.sig->color);
-
-      const auto &msgs = can->events(s.msg_id);
-      s.vals.reserve(msgs.capacity());
-      s.step_vals.reserve(msgs.capacity() * 2);
-
-      auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) {
-        return ts < e->mono_time;
-      });
-      const double route_start_time = can->routeStartTime();
-      for (auto end = msgs.cend(); first != end; ++first) {
-        const CanEvent *e = *first;
-        double value = 0;
-        if (s.sig->getValue(e->dat, e->size, &value)) {
-          double ts = e->mono_time / 1e9 - route_start_time;  // seconds
-          s.vals.append({ts, value});
-          if (!s.step_vals.empty()) {
-            s.step_vals.append({ts, s.step_vals.back().y()});
-          }
-          s.step_vals.append({ts, value});
-          s.last_value_mono_time = e->mono_time;
-        }
+      auto events = msg_new_events ? msg_new_events : &can->eventsMap();
+      auto it = events->find(s.msg_id);
+      if (it == events->end() || it->second.empty()) continue;
+
+      if (s.vals.empty() || (it->second.back()->mono_time / 1e9 - can->routeStartTime()) > s.vals.back().x()) {
+        appendCanEvents(s.sig, it->second, s.vals, s.step_vals);
+      } else {
+        std::vector<QPointF> vals, step_vals;
+        appendCanEvents(s.sig, it->second, vals, step_vals);
+        s.vals.insert(std::lower_bound(s.vals.begin(), s.vals.end(), vals.front().x(), xLessThan),
+                      vals.begin(), vals.end());
+        s.step_vals.insert(std::lower_bound(s.step_vals.begin(), s.step_vals.end(), step_vals.front().x(), xLessThan),
+                           step_vals.begin(), step_vals.end());
       }
+
       if (!can->liveStreaming()) {
         s.segment_tree.build(s.vals);
       }
-      s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
+      s.series->replace(QVector<QPointF>::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals));
     }
   }
   updateAxisY();
@@ -316,7 +333,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
 
 // auto zoom on yaxis
 void ChartView::updateAxisY() {
-  if (sigs.isEmpty()) return;
+  if (sigs.empty()) return;
 
   double min = std::numeric_limits<double>::max();
   double max = std::numeric_limits<double>::lowest();
@@ -340,9 +357,7 @@ void ChartView::updateAxisY() {
         if (it->y() > s.max) s.max = it->y();
       }
     } else {
-      auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
-      s.min = min_y;
-      s.max = max_y;
+      std::tie(s.min, s.max) = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
     }
     min = std::min(min, s.min);
     max = std::max(max, s.max);
@@ -361,7 +376,7 @@ void ChartView::updateAxisY() {
     axis_y->setRange(min_y, max_y);
     axis_y->setTickCount(tick_count);
 
-    int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
+    int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0);
     int max_label_width = 0;
     QFontMetrics fm(axis_y->labelsFont());
     for (int i = 0; i < tick_count; i++) {
@@ -379,15 +394,15 @@ void ChartView::updateAxisY() {
 std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) {
   qreal range = niceNumber((max - min), true);  // range with ceiling
   qreal step = niceNumber(range / (tick_count - 1), false);
-  min = qFloor(min / step);
-  max = qCeil(max / step);
+  min = std::floor(min / step);
+  max = std::ceil(max / step);
   tick_count = int(max - min) + 1;
   return {min * step, max * step, tick_count};
 }
 
 // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
 qreal ChartView::niceNumber(qreal x, bool ceiling) {
-  qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
+  qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
   qreal q = x / z; //q<10 && q>=1;
   if (ceiling) {
     if (q <= 1.0) q = 1;
@@ -404,7 +419,7 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
 }
 
 void ChartView::leaveEvent(QEvent *event) {
-  if (tip_label.isVisible()) {
+  if (tip_label->isVisible()) {
     charts_widget->showValueTip(-1);
   }
   QChartView::leaveEvent(event);
@@ -449,6 +464,17 @@ static QPixmap getDropPixmap(const QPixmap &src) {
   return px;
 }
 
+void ChartView::contextMenuEvent(QContextMenuEvent *event) {
+  QMenu context_menu(this);
+  context_menu.addActions(menu->actions());
+  context_menu.addSeparator();
+  context_menu.addAction(charts_widget->undo_zoom_action);
+  context_menu.addAction(charts_widget->redo_zoom_action);
+  context_menu.addSeparator();
+  context_menu.addAction(close_act);
+  context_menu.exec(event->globalPos());
+}
+
 void ChartView::mousePressEvent(QMouseEvent *event) {
   if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
     QMimeData *mimeData = new QMimeData;
@@ -476,14 +502,10 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
   auto rubber = findChild<QRubberBand *>();
   if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
     rubber->hide();
-    QRectF rect = rubber->geometry().normalized();
-    double min = chart()->mapToValue(rect.topLeft()).x();
-    double max = chart()->mapToValue(rect.bottomRight()).x();
-
+    auto rect = rubber->geometry().normalized();
     // Prevent zooming/seeking past the end of the route
-    min = std::clamp(min, 0., can->totalSeconds());
-    max = std::clamp(max, 0., can->totalSeconds());
-
+    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), 0., can->totalSeconds());
+    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), 0., can->totalSeconds());
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
@@ -524,7 +546,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   if (!is_zooming && plot_area.contains(ev->pos())) {
     const double sec = chart()->mapToValue(ev->pos()).x();
     charts_widget->showValueTip(sec);
-  } else if (tip_label.isVisible()) {
+  } else if (tip_label->isVisible()) {
     charts_widget->showValueTip(-1);
   }
 
@@ -544,7 +566,7 @@ void ChartView::showTip(double sec) {
   QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height());
   QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area);
   if (visible_rect.isEmpty()) {
-    tip_label.hide();
+    tip_label->hide();
     return;
   }
 
@@ -574,14 +596,14 @@ void ChartView::showTip(double sec) {
   QPoint pt(x, chart()->plotArea().top());
   text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
   QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
-  tip_label.showText(pt, text, this, visible_rect);
+  tip_label->showText(pt, text, this, visible_rect);
   viewport()->update();
 }
 
 void ChartView::hideTip() {
   clearTrackPoints();
   tooltip_x = -1;
-  tip_label.hide();
+  tip_label->hide();
   viewport()->update();
 }
 
@@ -608,7 +630,7 @@ void ChartView::dropEvent(QDropEvent *event) {
         source_chart->chart()->removeSeries(s.series);
         addSeries(s.series);
       }
-      sigs.append(source_chart->sigs);
+      sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end()));
       updateAxisY();
       updateTitle();
       startAnimation();
@@ -670,6 +692,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
 
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   drawTimeline(painter);
+  drawSignalValue(painter);
   // draw track points
   painter->setPen(Qt::NoPen);
   qreal track_line_x = -1;
@@ -700,7 +723,10 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
     }
   }
 
-  // paint zoom range
+  drawRubberBandTimeRange(painter);
+}
+
+void ChartView::drawRubberBandTimeRange(QPainter *painter) {
   auto rubber = findChild<QRubberBand *>();
   if (rubber && rubber->isVisible() && rubber->width() > 1) {
     painter->setPen(Qt::white);
@@ -717,23 +743,24 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
 
 void ChartView::drawTimeline(QPainter *painter) {
   const auto plot_area = chart()->plotArea();
-  // draw line
+  // draw vertical time line
   qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
   painter->setPen(QPen(chart()->titleBrush().color(), 2));
   painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1});
 
-  // draw current time
+  // draw current time under the axis-x
   QString time_str = QString::number(cur_sec, 'f', 2);
   QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
-  QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
+  QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
   QPainterPath path;
   path.addRoundedRect(time_str_rect, 3, 3);
   painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray);
   painter->setPen(palette().color(QPalette::BrightText));
   painter->setFont(axis_x->labelsFont());
   painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
+}
 
-  // draw signal value
+void ChartView::drawSignalValue(QPainter *painter) {
   auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
   assert(item_group != nullptr);
   auto legend_markers = item_group->childItems();
@@ -743,13 +770,9 @@ void ChartView::drawTimeline(QPainter *painter) {
   painter->setPen(chart()->legend()->labelColor());
   int i = 0;
   for (auto &s : sigs) {
-    QString value = "--";
-    if (s.series->isVisible()) {
-      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; });
-      if (it != s.vals.crend() && it->x() >= axis_x->min()) {
-        value = s.sig->formatValue(it->y());
-      }
-    }
+    auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec,
+                               [](auto &p, double x) { return p.x() > x + EPSILON; });
+    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--";
     QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
     QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
     QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
@@ -785,6 +808,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
 }
 
 void ChartView::addSeries(QXYSeries *series) {
+  setSeriesColor(series, series->color());
   chart()->addSeries(series);
   series->attachAxis(axis_x);
   series->attachAxis(axis_y);
@@ -797,6 +821,21 @@ void ChartView::addSeries(QXYSeries *series) {
   }
 }
 
+void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
+  auto existing_series = chart()->series();
+  for (auto s : existing_series) {
+    if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
+      // use different color to distinguish it from others.
+      auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
+      color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
+                    QRandomGenerator::global()->bounded(35, 100) / 100.0,
+                    QRandomGenerator::global()->bounded(85, 100) / 100.0);
+      break;
+    }
+  }
+  series->setColor(color);
+}
+
 void ChartView::setSeriesType(SeriesType type) {
   if (type != series_type) {
     series_type = type;
@@ -805,9 +844,8 @@ void ChartView::setSeriesType(SeriesType type) {
       s.series->deleteLater();
     }
     for (auto &s : sigs) {
-      auto series = createSeries(series_type, s.sig->color);
-      series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
-      s.series = series;
+      s.series = createSeries(series_type, s.sig->color);
+      s.series->replace(QVector<QPointF>::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals));
     }
     updateSeriesPoints();
     updateTitle();
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index 2740d81b66..d690a14d1c 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -2,7 +2,9 @@
 
 #include <tuple>
 #include <utility>
+#include <vector>
 
+#include <QMenu>
 #include <QGraphicsPixmapItem>
 #include <QGraphicsProxyWidget>
 #include <QtCharts/QChartView>
@@ -30,7 +32,7 @@ public:
   ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
   void addSignal(const MessageId &msg_id, const cabana::Signal *sig);
   bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const;
-  void updateSeries(const cabana::Signal *sig = nullptr, bool clear = true);
+  void updateSeries(const cabana::Signal *sig = nullptr, const MessageEventsMap *msg_new_events = nullptr);
   void updatePlot(double cur, double min, double max);
   void setSeriesType(SeriesType type);
   void updatePlotArea(int left, bool force = false);
@@ -42,9 +44,8 @@ public:
     MessageId msg_id;
     const cabana::Signal *sig = nullptr;
     QXYSeries *series = nullptr;
-    QVector<QPointF> vals;
-    QVector<QPointF> step_vals;
-    uint64_t last_value_mono_time = 0;
+    std::vector<QPointF> vals;
+    std::vector<QPointF> step_vals;
     QPointF track_pt{};
     SegmentTree segment_tree;
     double min = 0;
@@ -63,8 +64,11 @@ private slots:
   void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
 
 private:
+  void appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
+                       std::vector<QPointF> &vals, std::vector<QPointF> &step_vals);
   void createToolButtons();
   void addSeries(QXYSeries *series);
+  void contextMenuEvent(QContextMenuEvent *event) override;
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
@@ -83,10 +87,13 @@ private:
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   void drawBackground(QPainter *painter, const QRectF &rect) override;
   void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawSignalValue(QPainter *painter);
   void drawTimeline(QPainter *painter);
+  void drawRubberBandTimeRange(QPainter *painter);
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);
+  void setSeriesColor(QXYSeries *, QColor color);
   void updateSeriesPoints();
   void removeIf(std::function<bool(const SigItem &)> predicate);
   inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
@@ -95,12 +102,14 @@ private:
   int align_to = 0;
   QValueAxis *axis_x;
   QValueAxis *axis_y;
+  QMenu *menu;
   QAction *split_chart_act;
+  QAction *close_act;
   QGraphicsPixmapItem *move_icon;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
-  TipLabel tip_label;
-  QList<SigItem> sigs;
+  TipLabel *tip_label;
+  std::vector<SigItem> sigs;
   double cur_sec = 0;
   SeriesType series_type = SeriesType::Line;
   bool is_scrubbing = false;
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index e852e6d206..63d6091cac 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -12,9 +12,11 @@
 #include "tools/cabana/chart/chart.h"
 
 const int MAX_COLUMN_COUNT = 4;
-const int CHART_SPACING = 10;
+const int CHART_SPACING = 4;
 
-ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
+ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
+  align_timer = new QTimer(this);
+  auto_scroll_timer = new QTimer(this);
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -78,8 +80,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
 
   // charts
   charts_container = new ChartsContainer(this);
-
+  charts_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
   charts_scroll = new QScrollArea(this);
+  charts_scroll->viewport()->setBackgroundRole(QPalette::Base);
   charts_scroll->setFrameStyle(QFrame::NoFrame);
   charts_scroll->setWidgetResizable(true);
   charts_scroll->setWidget(charts_container);
@@ -94,12 +97,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   range_slider->setValue(max_chart_range);
   updateToolBar();
 
-  align_timer.setSingleShot(true);
-  QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
-  QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
+  align_timer->setSingleShot(true);
+  QObject::connect(align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
+  QObject::connect(auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
-  QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -149,11 +152,10 @@ void ChartsWidget::updateTabBar() {
   }
 }
 
-void ChartsWidget::eventsMerged() {
+void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
   QFutureSynchronizer<void> future_synchronizer;
-  bool clear = !can->liveStreaming();
   for (auto c : charts) {
-    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, clear));
+    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events));
   }
 }
 
@@ -190,7 +192,7 @@ void ChartsWidget::updateState() {
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
     }
-    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds());
+    double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
     display_range.first = std::max(0.0, max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
   } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
@@ -219,7 +221,7 @@ void ChartsWidget::updateToolBar() {
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
   dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -253,7 +255,7 @@ ChartView *ChartsWidget::createChart() {
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
-  QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
+  QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start));
   charts.push_front(chart);
   currentCharts().push_front(chart);
   updateLayout(true);
@@ -277,14 +279,19 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart();
       src_chart->chart()->removeSeries(it->series);
+
+      // Restore to the original color
+      it->series->setColor(it->sig->color);
+
       c->addSeries(it->series);
-      c->sigs.push_back(*it);
+      c->sigs.emplace_back(std::move(*it));
       c->updateAxisY();
       c->updateTitle();
       it = src_chart->sigs.erase(it);
     }
     src_chart->updateAxisY();
     src_chart->updateTitle();
+    QTimer::singleShot(0, src_chart, &ChartView::resetChartCache);
   }
 }
 
@@ -317,9 +324,9 @@ void ChartsWidget::updateLayout(bool force) {
     }
     for (int i = 0; i < current_charts.size(); ++i) {
       charts_layout->addWidget(current_charts[i], i / n, i % n);
-      if (current_charts[i]->sigs.isEmpty()) {
+      if (current_charts[i]->sigs.empty()) {
         // the chart will be resized after add signal. delay setVisible to reduce flicker.
-        QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); });
+        QTimer::singleShot(0, current_charts[i], [c = current_charts[i]]() { c->setVisible(true); });
       } else {
         current_charts[i]->setVisible(true);
       }
@@ -329,11 +336,11 @@ void ChartsWidget::updateLayout(bool force) {
 }
 
 void ChartsWidget::startAutoScroll() {
-  auto_scroll_timer.start(50);
+  auto_scroll_timer->start(50);
 }
 
 void ChartsWidget::stopAutoScroll() {
-  auto_scroll_timer.stop();
+  auto_scroll_timer->stop();
   auto_scroll_count = 0;
 }
 
@@ -365,6 +372,10 @@ void ChartsWidget::doAutoScroll() {
   }
 }
 
+QSize ChartsWidget::minimumSizeHint() const {
+  return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
+}
+
 void ChartsWidget::resizeEvent(QResizeEvent *event) {
   QWidget::resizeEvent(event);
   updateLayout();
@@ -400,16 +411,15 @@ void ChartsWidget::removeAll() {
     tabbar->removeTab(1);
   }
   tab_charts.clear();
-  zoomReset();
 
   if (!charts.isEmpty()) {
     for (auto c : charts) {
       delete c;
     }
     charts.clear();
-    updateToolBar();
     emit seriesChanged();
   }
+  zoomReset();
 }
 
 void ChartsWidget::alignCharts() {
@@ -466,8 +476,9 @@ bool ChartsWidget::event(QEvent *event) {
 
 ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
   setAcceptDrops(true);
+  setBackgroundRole(QPalette::Window);
   QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
-  charts_main_layout->setContentsMargins(0, 10, 0, 0);
+  charts_main_layout->setContentsMargins(0, CHART_SPACING, 0, CHART_SPACING);
   charts_layout = new QGridLayout();
   charts_layout->setSpacing(CHART_SPACING);
   charts_main_layout->addLayout(charts_layout);
@@ -511,15 +522,11 @@ void ChartsContainer::paintEvent(QPaintEvent *ev) {
       r.setHeight(CHART_SPACING);
     }
 
-    const int margin = (CHART_SPACING - 2) / 2;
-    QPainterPath path;
-    path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()}));
-    path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()}));
-
     QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-    p.fillPath(path, palette().highlight());
-    p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight());
+    p.setPen(QPen(palette().highlight(), 2));
+    p.drawLine(r.topLeft() + QPoint(1, 0), r.bottomLeft() + QPoint(1, 0));
+    p.drawLine(r.topLeft() + QPoint(0, r.height() / 2), r.topRight() + QPoint(0, r.height() / 2));
+    p.drawLine(r.topRight(), r.bottomRight());
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 88ba4226c0..a39b4d73a5 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -54,6 +54,7 @@ signals:
   void seriesChanged();
 
 private:
+  QSize minimumSizeHint() const override;
   void resizeEvent(QResizeEvent *event) override;
   bool event(QEvent *event) override;
   void alignCharts();
@@ -62,7 +63,7 @@ private:
   void removeChart(ChartView *chart);
   void splitChart(ChartView *chart);
   QRect chartVisibleRect(ChartView *chart);
-  void eventsMerged();
+  void eventsMerged(const MessageEventsMap &new_events);
   void updateState();
   void zoomReset();
   void startAutoScroll();
@@ -108,8 +109,8 @@ private:
   int column_count = 1;
   int current_column_count = 0;
   int auto_scroll_count = 0;
-  QTimer auto_scroll_timer;
-  QTimer align_timer;
+  QTimer *auto_scroll_timer;
+  QTimer *align_timer;
   int current_theme = 0;
   friend class ZoomCommand;
   friend class ChartView;
@@ -120,7 +121,7 @@ class ZoomCommand : public QUndoCommand {
 public:
   ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
     prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
-    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
+    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
   void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
   void redo() override { charts->setZoom(range.first, range.second); }
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 50fe861a03..0ddb212a8a 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -44,9 +44,9 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox, 3, 2);
 
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (auto m = dbc()->msg(it.key())) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
+  for (const auto &[id, _] : can->lastMessages()) {
+    if (auto m = dbc()->msg(id)) {
+      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
     }
   }
   msgs_combo->model()->sort(0);
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 4692b41e4b..42608c030f 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/chart/sparkline.h"
 
+#include <algorithm>
 #include <limits>
 #include <QPainter>
 
@@ -9,59 +10,33 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   const auto &msgs = can->events(msg_id);
   uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
   uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, [](auto e, uint64_t ts) {
-    return e->mono_time < ts;
-  });
-  auto last = std::upper_bound(first, msgs.cend(), ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
-
-  bool update_values = last_ts != last_msg_ts || time_range != range;
-  last_ts = last_msg_ts;
-  time_range = range;
-
-  if (first != last) {
-    if (update_values) {
-      values.clear();
-      if (values.capacity() < std::distance(first, last)) {
-        values.reserve(std::distance(first, last) * 2);
-      }
-      min_val = std::numeric_limits<double>::max();
-      max_val = std::numeric_limits<double>::lowest();
-      for (auto it = first; it != last; ++it) {
-        const CanEvent *e = *it;
-        double value = 0;
-        if (sig->getValue(e->dat, e->size, &value)) {
-          values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value);
-          if (min_val > value) min_val = value;
-          if (max_val < value) max_val = value;
-        }
-      }
-      if (min_val == max_val) {
-        min_val -= 1;
-        max_val += 1;
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
+  auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
+
+  if (first != last && !size.isEmpty()) {
+    points.clear();
+    double value = 0;
+    for (auto it = first; it != last; ++it) {
+      if (sig->getValue((*it)->dat, (*it)->size, &value)) {
+        points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
       }
     }
-  } else {
-    values.clear();
-  }
-
-  if (!values.empty()) {
-    render(sig->color, size);
+    const auto [min, max] = std::minmax_element(points.begin(), points.end(),
+                                                [](auto &l, auto &r) { return l.y() < r.y(); });
+    min_val = min->y() == max->y() ? min->y() - 1 : min->y();
+    max_val = min->y() == max->y() ? max->y() + 1 : max->y();
+    freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0);
+    render(sig->color, range, size);
   } else {
     pixmap = QPixmap();
-    min_val = -1;
-    max_val = 1;
   }
 }
 
-void Sparkline::render(const QColor &color, QSize size) {
-  const double xscale = (size.width() - 1) / (double)time_range;
+void Sparkline::render(const QColor &color, int range, QSize size) {
+  const double xscale = (size.width() - 1) / (double)range;
   const double yscale = (size.height() - 3) / (max_val - min_val);
-  points.clear();
-  points.reserve(values.capacity());
-  for (auto &v : values) {
-    points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
+  for (auto &v : points) {
+    v = QPoint(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
   }
 
   qreal dpr = qApp->devicePixelRatio();
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
index 21cbd40a3f..3bdd8a3ee5 100644
--- a/tools/cabana/chart/sparkline.h
+++ b/tools/cabana/chart/sparkline.h
@@ -1,29 +1,24 @@
 #pragma once
 
-#include <algorithm>
-
 #include <QPixmap>
 #include <QPointF>
 #include <vector>
 
-#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/dbc/dbc.h"
 
 class Sparkline {
 public:
   void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size);
-  const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); }
-  inline double freq() const {
-    return values.empty() ? 0 : values.size() / std::max(values.back().x() - values.front().x(), 1.0);
-  }
+  inline double freq() const { return freq_; }
+  bool isEmpty() const { return pixmap.isNull(); }
 
   QPixmap pixmap;
   double min_val = 0;
   double max_val = 0;
-  double last_ts = 0;
-  int time_range = 0;
 
 private:
-  void render(const QColor &color, QSize size);
-  std::vector<QPointF> values;
+  void render(const QColor &color, int range, QSize size);
+
   std::vector<QPointF> points;
+  double freq_ = 0;
 };
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index cf48abb4c9..52861723f4 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -4,11 +4,13 @@
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent)
-    : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) {
+EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
+                               const QString &node, const QString &comment, QUndoCommand *parent)
+    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
+    old_node = msg->transmitter;
     old_comment = msg->comment;
     setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
   } else {
@@ -20,11 +22,11 @@ void EditMsgCommand::undo() {
   if (old_name.isEmpty())
     dbc()->removeMsg(id);
   else
-    dbc()->updateMsg(id, old_name, old_size, old_comment);
+    dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
 }
 
 void EditMsgCommand::redo() {
-  dbc()->updateMsg(id, new_name, new_size, new_comment);
+  dbc()->updateMsg(id, new_name, new_size, new_node, new_comment);
 }
 
 // RemoveMsgCommand
@@ -38,7 +40,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) :
 
 void RemoveMsgCommand::undo() {
   if (!message.name.isEmpty()) {
-    dbc()->updateMsg(id, message.name, message.size, message.comment);
+    dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
   }
@@ -64,7 +66,7 @@ void AddSigCommand::undo() {
 void AddSigCommand::redo() {
   if (auto msg = dbc()->msg(id); !msg) {
     msg_created = true;
-    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
+    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "", "");
   }
   signal.name = dbc()->newSignalName(id);
   signal.max = std::pow(2, signal.size) - 1;
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index c7f59c4c7f..0736d9b83f 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -10,13 +10,14 @@
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
+                 const QString &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  QString old_name, new_name, old_comment, new_comment;
+  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
   int old_size = 0, new_size = 0;
 };
 
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index 537749e48d..a0e523d666 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -78,6 +78,9 @@ QString cabana::Msg::newSignalName() {
 }
 
 void cabana::Msg::update() {
+  if (transmitter.isEmpty()) {
+    transmitter = DEFAULT_NODE_NAME;
+  }
   mask.assign(size, 0x00);
   multiplexor = nullptr;
 
@@ -125,6 +128,9 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
+  if (receiver_name.isEmpty()) {
+    receiver_name = DEFAULT_NODE_NAME;
+  }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index e44bc41abf..e07903e680 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -10,9 +10,9 @@
 #include <QMetaType>
 #include <QString>
 
-#include "opendbc/can/common_dbc.h"
 
 const QString UNTITLED = "untitled";
+const QString DEFAULT_NODE_NAME = "XXX";
 
 struct MessageId {
   uint8_t source = 0;
@@ -119,5 +119,4 @@ public:
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
 void updateMsbLsb(cabana::Signal &s);
 inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
-inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
 inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 2f93c1543e..a22d979212 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -4,10 +4,8 @@
 #include <QFileInfo>
 #include <QRegularExpression>
 #include <QTextStream>
-#include <numeric>
-#include <sstream>
 
-DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
+DBCFile::DBCFile(const QString &dbc_file_name) {
   QFile file(dbc_file_name);
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
@@ -22,7 +20,7 @@ DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent
   }
 }
 
-DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") {
+DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
   // Open from clipboard
   parse(content);
 }
@@ -60,11 +58,12 @@ bool DBCFile::writeContents(const QString &fn) {
   return false;
 }
 
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
   m.size = size;
+  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
   m.comment = comment;
 }
 
@@ -106,7 +105,8 @@ void DBCFile::parse(const QString &content) {
   int multiplexor_cnt = 0;
   while (!stream.atEnd()) {
     ++line_num;
-    line = stream.readLine().trimmed();
+    QString raw_line = stream.readLine();
+    line = raw_line.trimmed();
     if (line.startsWith("BO_ ")) {
       multiplexor_cnt = 0;
       auto match = bo_regexp.match(line);
@@ -169,7 +169,7 @@ void DBCFile::parse(const QString &content) {
       }
     } else if (line.startsWith("CM_ BO_")) {
       if (!line.endsWith("\";")) {
-        int pos = stream.pos() - line.length() - 1;
+        int pos = stream.pos() - raw_line.length() - 1;
         line = content.mid(pos, content.indexOf("\";", pos));
       }
       auto match = msg_comment_regexp.match(line);
@@ -179,7 +179,7 @@ void DBCFile::parse(const QString &content) {
       }
     } else if (line.startsWith("CM_ SG_ ")) {
       if (!line.endsWith("\";")) {
-        int pos = stream.pos() - line.length() - 1;
+        int pos = stream.pos() - raw_line.length() - 1;
         line = content.mid(pos, content.indexOf("\";", pos));
       }
       auto match = sg_comment_regexp.match(line);
@@ -198,7 +198,8 @@ void DBCFile::parse(const QString &content) {
 QString DBCFile::generateDBC() {
   QString dbc_string, signal_comment, message_comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter);
+    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
     if (!m.comment.isEmpty()) {
       message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
     }
@@ -221,7 +222,7 @@ QString DBCFile::generateDBC() {
                         .arg(doubleToString(sig->min))
                         .arg(doubleToString(sig->max))
                         .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name);
+                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
       if (!sig->comment.isEmpty()) {
         signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 78a73d58e4..ade6b249e2 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -1,18 +1,15 @@
 #pragma once
 
 #include <map>
-#include <QObject>
 
 #include "tools/cabana/dbc/dbc.h"
 
 const QString AUTO_SAVE_EXTENSION = ".tmp";
 
-class DBCFile : public QObject {
-  Q_OBJECT
-
+class DBCFile {
 public:
-  DBCFile(const QString &dbc_file_name, QObject *parent=nullptr);
-  DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
+  DBCFile(const QString &dbc_file_name);
+  DBCFile(const QString &name, const QString &content);
   ~DBCFile() {}
 
   bool save();
@@ -22,7 +19,7 @@ public:
   void cleanupAutoSaveFile();
   QString generateDBC();
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
   inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 5736ac1e89..87a7d962c5 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -7,7 +7,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
-    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name, this);
+    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name);
     for (auto s : sources) {
       dbc_files[s] = file;
     }
@@ -22,7 +22,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
 
 bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
   try {
-    auto file = std::make_shared<DBCFile>(name, content, this);
+    auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
       dbc_files[s] = file;
     }
@@ -82,10 +82,10 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
-  dbc_file->updateMsg(id, name, size, comment);
+  dbc_file->updateMsg(id, name, size, node, comment);
   emit msgUpdated(id);
 }
 
@@ -189,6 +189,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
   return sources;
 }
 
+QString toString(const SourceSet &ss) {
+  return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
+    if (!str.isEmpty()) str += ", ";
+    return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
+  });
+}
+
 DBCManager *dbc() {
   static DBCManager dbc_manager(nullptr);
   return &dbc_manager;
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 3ac0829487..53a77a2c13 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QObject>
 #include <memory>
 #include <map>
 #include <set>
@@ -28,7 +29,7 @@ public:
   void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
   void removeSignal(const MessageId &id, const QString &sig_name);
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   void removeMsg(const MessageId &id);
 
   QString newMsgName(const MessageId &id);
@@ -66,15 +67,8 @@ private:
 
 DBCManager *dbc();
 
+QString toString(const SourceSet &ss);
 inline QString msgName(const MessageId &id) {
   auto msg = dbc()->msg(id);
   return msg ? msg->name : UNTITLED;
 }
-
-inline QString toString(const SourceSet &ss) {
-  QStringList ret;
-  for (auto s : ss) {
-    ret << (s == -1 ? QString("all") : QString::number(s));
-  }
-  return ret.join(", ");
-}
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 2f6e9cbfe8..7befadb722 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -2,7 +2,7 @@
 
 #include <QFormLayout>
 #include <QMenu>
-#include <QMessageBox>
+#include <QSpacerItem>
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@@ -23,19 +23,15 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   // message title
   QHBoxLayout *title_layout = new QHBoxLayout();
   title_layout->setContentsMargins(3, 6, 3, 0);
-  time_label = new QLabel(this);
-  time_label->setToolTip(tr("Current time"));
-  time_label->setStyleSheet("QLabel{font-weight:bold;}");
-  title_layout->addWidget(time_label);
-  name_label = new ElidedLabel(this);
+  auto spacer = new QSpacerItem(0, 1);
+  title_layout->addItem(spacer);
+  title_layout->addWidget(name_label = new ElidedLabel(this), 1);
   name_label->setStyleSheet("QLabel{font-weight:bold;}");
   name_label->setAlignment(Qt::AlignCenter);
-  name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  title_layout->addWidget(name_label);
   auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
   title_layout->addWidget(edit_btn);
-  remove_btn = new ToolButton("x-lg", tr("Remove Message"));
-  title_layout->addWidget(remove_btn);
+  title_layout->addWidget(remove_btn = new ToolButton("x-lg", tr("Remove Message")));
+  spacer->changeSize(edit_btn->sizeHint().width() * 2 + 9, 1);
   main_layout->addLayout(title_layout);
 
   // warning
@@ -138,8 +134,11 @@ void DetailWidget::refresh() {
   } else {
     warnings.push_back(tr("Drag-Select in binary view to create new signal."));
   }
+
+  QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
+  name_label->setText(msg_name);
+  name_label->setToolTip(msg_name);
   remove_btn->setEnabled(msg != nullptr);
-  name_label->setText(msgName(msg_id));
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
@@ -148,9 +147,8 @@ void DetailWidget::refresh() {
   warning_widget->setVisible(!warnings.isEmpty());
 }
 
-void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
-  time_label->setText(QString::number(can->currentSec(), 'f', 3));
-  if ((msgs && !msgs->contains(msg_id)))
+void DetailWidget::updateState(const std::set<MessageId> *msgs) {
+  if ((msgs && !msgs->count(msg_id)))
     return;
 
   if (tab_widget->currentIndex() == 0)
@@ -164,8 +162,8 @@ void DetailWidget::editMsg() {
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
   EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(),
-                                       dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
   }
 }
 
@@ -182,25 +180,24 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 
   form_layout->addRow("", error_label = new QLabel);
   error_label->setVisible(false);
-  name_edit = new QLineEdit(title, this);
+  form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this));
   name_edit->setValidator(new NameValidator(name_edit));
-  form_layout->addRow(tr("Name"), name_edit);
 
-  size_spin = new QSpinBox(this);
+  form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
   // TODO: limit the maximum?
   size_spin->setMinimum(1);
   size_spin->setValue(size);
-  form_layout->addRow(tr("Size"), size_spin);
 
+  form_layout->addRow(tr("Node"), node = new QLineEdit(this));
+  node->setValidator(new NameValidator(name_edit));
   form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this));
+  form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
+
   if (auto msg = dbc()->msg(msg_id)) {
+    node->setText(msg->transmitter);
     comment_edit->setText(msg->comment);
   }
-
-  btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   validateName(name_edit->text());
-  form_layout->addRow(btn_box);
-
   setFixedWidth(parent->width() * 0.9);
   connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName);
   connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 10c6a6c46e..15e1ee5f2f 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -4,6 +4,7 @@
 #include <QSplitter>
 #include <QTabWidget>
 #include <QTextEdit>
+#include <set>
 
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/binaryview.h"
@@ -11,7 +12,6 @@
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signalview.h"
 
-class MainWindow;
 class EditMessageDialog : public QDialog {
 public:
   EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
@@ -21,6 +21,7 @@ public:
   QString original_name;
   QDialogButtonBox *btn_box;
   QLineEdit *name_edit;
+  QLineEdit *node;
   QTextEdit *comment_edit;
   QLabel *error_label;
   QSpinBox *size_spin;
@@ -38,10 +39,10 @@ private:
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
-  void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
+  void updateState(const std::set<MessageId> *msgs = nullptr);
 
   MessageId msg_id;
-  QLabel *time_label, *warning_icon, *warning_label;
+  QLabel *warning_icon, *warning_label;
   ElidedLabel *name_label;
   QWidget *warning_widget;
   TabBar *tabbar;
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 7381884cf3..b3440b557b 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -7,7 +7,6 @@
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
-// HistoryLogModel
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const bool show_signals = display_signals_mode && sigs.size() > 0;
@@ -17,11 +16,11 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
       return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
     }
     int i = index.column() - 1;
-    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data);
+    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : QString();
   } else if (role == ColorsRole) {
-    return QVariant::fromValue(m.colors);
+    return QVariant::fromValue((void *)(&m.colors));
   } else if (role == BytesRole) {
-    return m.data;
+    return QVariant::fromValue((void *)(&m.data));
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
@@ -123,7 +122,7 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
 template <class InputIt>
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
   std::deque<HistoryLogModel::Message> msgs;
-  QVector<double> values(sigs.size());
+  std::vector<double> values(sigs.size());
   for (; first != last && (*first)->mono_time > min_time; ++first) {
     const CanEvent *e = *first;
     for (int i = 0; i < sigs.size(); ++i) {
@@ -132,7 +131,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
     if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
       auto &m = msgs.emplace_back();
       m.mono_time = e->mono_time;
-      m.data = QByteArray((const char *)e->dat, e->size);
+      m.data.assign(e->dat, e->dat + e->size);
       m.sig_values = values;
       if (msgs.size() >= batch_size && min_time == 0) {
         return msgs;
@@ -146,7 +145,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
   const auto &events = can->events(msg_id);
   const auto freq = can->lastMessage(msg_id).freq;
   const bool update_colors = !display_signals_mode || sigs.empty();
-
+  const std::vector<uint8_t> no_mask;
   const auto speed = can->getSpeed();
   if (dynamic_mode) {
     auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
@@ -155,20 +154,18 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.rend(), min_time);
     if (update_colors && (min_time > 0 || messages.empty())) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
         it->colors = hex_colors.colors;
       }
     }
     return msgs;
   } else {
     assert(min_time == 0);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, [](uint64_t ts, auto e) {
-      return ts < e->mono_time;
-    });
+    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, CompareCanEvent());
     auto msgs = fetchData(first, events.cend(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -179,7 +176,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
 // HeaderView
 
 QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
-  static QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
+  static const QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
   if (logicalIndex == 0) {
     return time_col_size;
   } else {
@@ -239,10 +236,11 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   main_layout->addWidget(logs = new QTableView(this));
   logs->setModel(model = new HistoryLogModel(this));
   delegate = new MessageBytesDelegate(this);
-  logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
   logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
   logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
   logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
+  logs->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
+  logs->verticalHeader()->setDefaultSectionSize(delegate->sizeForBytes(8).height());
   logs->verticalHeader()->setVisible(false);
   logs->setFrameShape(QFrame::NoFrame);
 
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index a68fbdbf43..154b139fb0 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -46,9 +46,9 @@ public slots:
 public:
   struct Message {
     uint64_t mono_time = 0;
-    QVector<double> sig_values;
-    QByteArray data;
-    QVector<QColor> colors;
+    std::vector<double> sig_values;
+    std::vector<uint8_t> data;
+    std::vector<QColor> colors;
   };
 
   template <class InputIt>
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d3caf492a6..f7f2fba45f 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -9,6 +9,7 @@
 #include <QFile>
 #include <QFileDialog>
 #include <QFileInfo>
+#include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
 #include <QResizeEvent>
@@ -21,14 +22,10 @@
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
-
-static MainWindow *main_win = nullptr;
-void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-  if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
-  if (main_win) emit main_win->showMessage(msg, 2000);
-}
+#include "tools/replay/replay.h"
 
 MainWindow::MainWindow() : QMainWindow() {
+  loadFingerprints();
   createDockWindows();
   setCentralWidget(center_widget = new CenterWidget(this));
   createActions();
@@ -45,24 +42,21 @@ MainWindow::MainWindow() : QMainWindow() {
   }
   restoreState(settings.window_state);
 
+  // install handlers
+  static auto static_main_win = this;
   qRegisterMetaType<uint64_t>("uint64_t");
   qRegisterMetaType<SourceSet>("SourceSet");
   qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
-  installMessageHandler([this](ReplyMsgType type, const std::string msg) {
-    // use queued connection to recv the log messages from replay.
-    emit showMessage(QString::fromStdString(msg), 2000);
+  installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) {
+    emit static_main_win->updateProgressBar(cur, total, success);
   });
-  installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) {
-    emit updateProgressBar(cur, total, success);
+  qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
+    if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
+    emit static_main_win->showMessage(msg, 2000);
+  });
+  installMessageHandler([](ReplyMsgType type, const std::string msg) {
+    qInfo() << QString::fromStdString(msg);
   });
-
-  main_win = this;
-  qInstallMessageHandler(qLogMessageHandler);
-
-  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
-  if (json_file.open(QIODevice::ReadOnly)) {
-    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
-  }
 
   setStyleSheet(QString(R"(QMainWindow::separator {
     width: %1px; /* when vertical */
@@ -79,6 +73,17 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
 }
 
+void MainWindow::loadFingerprints() {
+  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
+  if (json_file.open(QIODevice::ReadOnly)) {
+    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+  }
+  // get opendbc names
+  for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
+    opendbc_names << QFileInfo(fn).baseName();
+  }
+}
+
 void MainWindow::createActions() {
   // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
@@ -87,8 +92,8 @@ void MainWindow::createActions() {
   close_stream_act->setEnabled(false);
   file_menu->addSeparator();
 
-  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
-  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
+  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); }, QKeySequence::New);
+  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
 
@@ -104,29 +109,22 @@ void MainWindow::createActions() {
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  auto dbc_names = allDBCNames();
-  std::sort(dbc_names.begin(), dbc_names.end());
-  for (const auto &name : dbc_names) {
-    QString dbc_name = QString::fromStdString(name);
-    load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); });
+  for (const auto &dbc_name : opendbc_names) {
+    load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
   }
 
   file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
 
   file_menu->addSeparator();
-  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save);
-  save_dbc->setShortcuts(QKeySequence::Save);
-
-  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs);
-  save_dbc_as->setShortcuts(QKeySequence::SaveAs);
-
+  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save, QKeySequence::Save);
+  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs, QKeySequence::SaveAs);
   copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard);
 
   file_menu->addSeparator();
-  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences);
+  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption, QKeySequence::Preferences);
 
   file_menu->addSeparator();
-  file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
+  file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows, QKeySequence::Quit);
 
   // Edit Menu
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
@@ -160,7 +158,7 @@ void MainWindow::createActions() {
 
   // Help Menu
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
-  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
+  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp, QKeySequence::HelpContents);
   help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
 }
 
@@ -377,7 +375,7 @@ void MainWindow::eventsMerged() {
       auto dbc_name = fingerprint_to_dbc[car_fingerprint];
       if (dbc_name != QJsonValue::Undefined) {
         // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
+        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
       }
     }
   }
@@ -439,11 +437,11 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
     updateLoadSaveMenus();
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved"), 2000);
   } else if (!dbc_file->isEmpty()) {
     saveFileAs(dbc_file);
   }
-  UndoStack::instance()->setClean();
-  statusBar()->showMessage(tr("File saved"), 2000);
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
@@ -451,6 +449,8 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
   QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
     dbc_file->saveAs(fn);
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
     updateLoadSaveMenus();
   }
@@ -472,11 +472,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 
 void MainWindow::updateLoadSaveMenus() {
   int cnt = dbc()->nonEmptyDBCCount();
-  if (cnt > 1) {
-    save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
-  } else {
-    save_dbc->setText(tr("Save DBC..."));
-  }
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
   save_dbc->setEnabled(cnt > 0);
   save_dbc_as->setEnabled(cnt == 1);
 
@@ -595,7 +591,9 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   cleanupAutoSaveFile();
   remindSaveChanges();
 
-  main_win = nullptr;
+  installDownloadProgressHandler(nullptr);
+  qInstallMessageHandler(nullptr);
+
   if (floating_window)
     floating_window->deleteLater();
 
@@ -606,7 +604,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     settings.video_splitter_state = video_splitter->saveState();
   }
   settings.message_header_state = messages_widget->saveHeaderState();
-  settings.save();
+
   QWidget::closeEvent(event);
 }
 
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index bbbe8730cb..1a889b88c2 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -7,6 +7,7 @@
 #include <QProgressBar>
 #include <QSplitter>
 #include <QStatusBar>
+#include <set>
 
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -50,6 +51,7 @@ protected:
   void saveFile(DBCFile *dbc_file);
   void saveFileAs(DBCFile *dbc_file);
   void saveFileToClipboard(DBCFile *dbc_file);
+  void loadFingerprints();
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
   void autoSave();
   void cleanupAutoSaveFile();
@@ -84,6 +86,7 @@ protected:
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
+  QStringList opendbc_names;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
   QAction *recent_files_acts[MAX_RECENT_FILES] = {};
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 6a3d11cda1..aba655d66f 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -1,10 +1,9 @@
 #include "tools/cabana/messageswidget.h"
 
-#include <algorithm>
 #include <limits>
 #include <utility>
-#include <vector>
 
+#include <QCheckBox>
 #include <QHBoxLayout>
 #include <QPainter>
 #include <QPushButton>
@@ -13,34 +12,17 @@
 
 #include "tools/cabana/commands.h"
 
-MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
+MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
-
-  QHBoxLayout *title_layout = new QHBoxLayout();
-  num_msg_label = new QLabel(this);
-  title_layout->addSpacing(10);
-  title_layout->addWidget(num_msg_label);
-
-  title_layout->addStretch();
-  title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines &Bytes"), this));
-  multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines"));
-  multiple_lines_bytes->setChecked(settings.multiple_lines_bytes);
-  QPushButton *clear_filters = new QPushButton(tr("&Clear Filters"));
-  clear_filters->setEnabled(false);
-  title_layout->addWidget(clear_filters);
-  main_layout->addLayout(title_layout);
-
+  main_layout->setSpacing(0);
+  // toolbar
+  main_layout->addWidget(createToolBar());
   // message table
-  view = new MessageView(this);
-  model = new MessageListModel(this);
-  header = new MessageViewHeader(this);
-  auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
-
-  view->setItemDelegate(delegate);
-  view->setHeader(header);
-  view->setModel(model);
-  view->setHeader(header);
+  main_layout->addWidget(view = new MessageView(this));
+  view->setItemDelegate(delegate = new MessageBytesDelegate(view, settings.multiple_lines_hex));
+  view->setModel(model = new MessageListModel(this));
+  view->setHeader(header = new MessageViewHeader(this));
   view->setSortingEnabled(true);
   view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder);
   view->setAllColumnsShowFocus(true);
@@ -48,77 +30,54 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   view->setItemsExpandable(false);
   view->setIndentation(0);
   view->setRootIsDecorated(false);
+  view->setUniformRowHeights(!settings.multiple_lines_hex);
 
   // Must be called before setting any header parameters to avoid overriding
   restoreHeaderState(settings.message_header_state);
-  view->header()->setSectionsMovable(true);
-  view->header()->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed);
-  view->header()->setStretchLastSection(true);
-
-  // Header context menu
-  view->header()->setContextMenuPolicy(Qt::CustomContextMenu);
-  QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent);
-
-  main_layout->addWidget(view);
+  header->setSectionsMovable(true);
+  header->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed);
+  header->setStretchLastSection(true);
+  header->setContextMenuPolicy(Qt::CustomContextMenu);
 
   // suppress
   QHBoxLayout *suppress_layout = new QHBoxLayout();
-  suppress_add = new QPushButton("Suppress Highlighted");
-  suppress_clear = new QPushButton();
-  suppress_layout->addWidget(suppress_add);
-  suppress_layout->addWidget(suppress_clear);
-  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this);
+  suppress_layout->addWidget(suppress_add = new QPushButton("Suppress Highlighted"));
+  suppress_layout->addWidget(suppress_clear = new QPushButton());
+  suppress_clear->setToolTip(tr("Clear suppressed"));
+  suppress_layout->addStretch(1);
+  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Signals"), this);
+  suppress_defined_signals->setToolTip(tr("Suppress defined signals"));
   suppress_defined_signals->setChecked(settings.suppress_defined_signals);
   suppress_layout->addWidget(suppress_defined_signals);
   main_layout->addLayout(suppress_layout);
 
   // signals/slots
-  QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings);
-  QObject::connect(header, &MessageViewHeader::filtersUpdated, [=](const QMap<int, QString> &filters) {
-    clear_filters->setEnabled(!filters.isEmpty());
-  });
+  QObject::connect(menu, &QMenu::aboutToShow, this, &MessagesWidget::menuAboutToShow);
+  QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent);
   QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
-  QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters);
-  QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) {
-    settings.multiple_lines_bytes = (state == Qt::Checked);
-    delegate->setMultipleLines(settings.multiple_lines_bytes);
-    view->setUniformRowHeights(!settings.multiple_lines_bytes);
-
-    // Reset model to force recalculation of the width of the bytes column
-    model->forceResetModel();
-  });
-  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
-    settings.suppress_defined_signals = (state == Qt::Checked);
-    emit settings.changed();
-  });
+  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::dbcModified);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified);
   QObject::connect(model, &MessageListModel::modelReset, [this]() {
     if (current_msg_id) {
       selectMessage(*current_msg_id);
     }
     view->updateBytesSectionSize();
+    updateTitle();
   });
   QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
-    if (current.isValid() && current.row() < model->msgs.size()) {
-      auto &id = model->msgs[current.row()];
+    if (current.isValid() && current.row() < model->items_.size()) {
+      const auto &id = model->items_[current.row()].id;
       if (!current_msg_id || id != *current_msg_id) {
         current_msg_id = id;
         emit msgSelectionChanged(*current_msg_id);
       }
     }
   });
-  QObject::connect(suppress_add, &QPushButton::clicked, [=]() {
-    model->suppress();
-    updateSuppressedButtons();
-  });
-  QObject::connect(suppress_clear, &QPushButton::clicked, [=]() {
-    model->clearSuppress();
-    updateSuppressedButtons();
-  });
-
-  updateSuppressedButtons();
+  QObject::connect(suppress_add, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
+  QObject::connect(suppress_clear, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
+  suppressHighlighted();
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
@@ -130,26 +89,79 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   )"));
 }
 
-void MessagesWidget::dbcModified() {
-  num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount()));
-  model->dbcModified();
+QToolBar *MessagesWidget::createToolBar() {
+  QToolBar *toolbar = new QToolBar(this);
+  toolbar->setIconSize({12, 12});
+  toolbar->addWidget(num_msg_label = new QLabel(this));
+  num_msg_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+
+  auto views_btn = toolbar->addAction(utils::icon("three-dots"), tr("View..."));
+  views_btn->setMenu(menu);
+  auto view_button = qobject_cast<QToolButton *>(toolbar->widgetForAction(views_btn));
+  view_button->setPopupMode(QToolButton::InstantPopup);
+  view_button->setToolButtonStyle(Qt::ToolButtonIconOnly);
+  view_button->setStyleSheet("QToolButton::menu-indicator { image: none; }");
+  return toolbar;
+}
+
+void MessagesWidget::updateTitle() {
+  auto stats = std::accumulate(
+      model->items_.begin(), model->items_.end(), std::pair<size_t, size_t>(),
+      [](const auto &pair, const auto &item) {
+        auto m = dbc()->msg(item.id);
+        return m ? std::make_pair(pair.first + 1, pair.second + m->sigs.size()) : pair;
+      });
+  num_msg_label->setText(tr("%1 Messages (%2 DBC Messages, %3 Signals)")
+                      .arg(model->items_.size()).arg(stats.first).arg(stats.second));
 }
 
 void MessagesWidget::selectMessage(const MessageId &msg_id) {
-  auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id);
-  if (it != model->msgs.cend()) {
-    view->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0));
+  auto it = std::find_if(model->items_.cbegin(), model->items_.cend(),
+                         [&msg_id](auto &item) { return item.id == msg_id; });
+  if (it != model->items_.cend()) {
+    view->setCurrentIndex(model->index(std::distance(model->items_.cbegin(), it), 0));
   }
 }
 
-void MessagesWidget::updateSuppressedButtons() {
-  if (model->suppressed_bytes.empty()) {
-    suppress_clear->setEnabled(false);
-    suppress_clear->setText("Clear Suppressed");
-  } else {
+void MessagesWidget::suppressHighlighted() {
+  if (sender() == suppress_add) {
+    size_t n = can->suppressHighlighted();
+    suppress_clear->setText(tr("Clear (%1)").arg(n));
     suppress_clear->setEnabled(true);
-    suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size()));
+  } else {
+    can->clearSuppressed();
+    suppress_clear->setText(tr("Clear"));
+    suppress_clear->setEnabled(false);
+  }
+}
+
+void MessagesWidget::headerContextMenuEvent(const QPoint &pos) {
+  menu->exec(header->mapToGlobal(pos));
+}
+
+void MessagesWidget::menuAboutToShow() {
+  menu->clear();
+  for (int i = 0; i < header->count(); ++i) {
+    int logical_index = header->logicalIndex(i);
+    auto action = menu->addAction(model->headerData(logical_index, Qt::Horizontal).toString(),
+                                  [=](bool checked) { header->setSectionHidden(logical_index, !checked); });
+    action->setCheckable(true);
+    action->setChecked(!header->isSectionHidden(logical_index));
+    // Can't hide the name column
+    action->setEnabled(logical_index > 0);
   }
+  menu->addSeparator();
+  auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes);
+  action->setCheckable(true);
+  action->setChecked(settings.multiple_lines_hex);
+}
+
+void MessagesWidget::setMultiLineBytes(bool multi) {
+  settings.multiple_lines_hex = multi;
+  delegate->setMultipleLines(multi);
+  view->setUniformRowHeights(!multi);
+  view->updateBytesSectionSize();
+  view->doItemsLayout();
 }
 
 // MessageListModel
@@ -160,6 +172,7 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
       case Column::NAME: return tr("Name");
       case Column::SOURCE: return tr("Bus");
       case Column::ADDRESS: return tr("ID");
+      case Column::NODE: return tr("Node");
       case Column::FREQ: return tr("Freq");
       case Column::COUNT: return tr("Count");
       case Column::DATA: return tr("Bytes");
@@ -169,41 +182,35 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
 }
 
 QVariant MessageListModel::data(const QModelIndex &index, int role) const {
-  const auto &id = msgs[index.row()];
-  auto &can_data = can->lastMessage(id);
+  if (!index.isValid() || index.row() >= items_.size()) return {};
 
-  auto getFreq = [](const CanData &d) -> QString {
+  auto getFreq = [](const CanData &d) {
     if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) {
       return d.freq >= 0.95 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2);
     } else {
-      return "--";
+      return QStringLiteral("--");
     }
   };
 
+  const auto &item = items_[index.row()];
+  const auto &data = can->lastMessage(item.id);
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
-      case Column::NAME: return msgName(id);
-      case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A";
-      case Column::ADDRESS: return QString::number(id.address, 16);
-      case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A";
-      case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A";
-      case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A";
+      case Column::NAME: return item.name;
+      case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : "N/A";
+      case Column::ADDRESS: return QString::number(item.id.address, 16);
+      case Column::NODE: return item.node;
+      case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(data) : "N/A";
+      case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(data.count) : "N/A";
+      case Column::DATA: return item.id.source != INVALID_SOURCE ? "" : "N/A";
     }
   } else if (role == ColorsRole) {
-    QVector<QColor> colors = can_data.colors;
-    if (!suppressed_bytes.empty()) {
-      for (int i = 0; i < colors.size(); i++) {
-        if (suppressed_bytes.contains({id, i})) {
-          colors[i] = QColor(255, 255, 255, 0);
-        }
-      }
-    }
-    return QVariant::fromValue(colors);
-  } else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) {
-    return can_data.dat;
+    return QVariant::fromValue((void*)(&data.colors));
+  } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
+    return QVariant::fromValue((void*)(&data.dat));
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
-    auto msg = dbc()->msg(id);
-    auto tooltip = msg ? msg->name : UNTITLED;
+    auto msg = dbc()->msg(item.id);
+    auto tooltip = item.name;
     if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
     return tooltip;
   }
@@ -211,49 +218,31 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
 }
 
 void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
-  filter_str = filters;
-  fetchData();
+  filters_ = filters;
+  filterAndSort();
 }
 
 void MessageListModel::dbcModified() {
-  dbc_address.clear();
+  dbc_messages_.clear();
   for (const auto &[_, m] : dbc()->getMessages(-1)) {
-    dbc_address.insert(m.address);
+    dbc_messages_.insert(MessageId{.source = INVALID_SOURCE, .address = m.address});
   }
-  fetchData();
+  filterAndSort();
 }
 
-void MessageListModel::sortMessages(std::vector<MessageId> &new_msgs) {
-  if (sort_column == Column::NAME) {
-    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
-      auto ll = std::pair{msgName(l), l};
-      auto rr = std::pair{msgName(r), r};
-      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
-    });
-  } else if (sort_column == Column::SOURCE) {
-    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
-      auto ll = std::pair{l.source, l};
-      auto rr = std::pair{r.source, r};
-      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
-    });
-  } else if (sort_column == Column::ADDRESS) {
-    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
-      auto ll = std::pair{l.address, l};
-      auto rr = std::pair{r.address, r};
-      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
-    });
-  } else if (sort_column == Column::FREQ) {
-    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
-      auto ll = std::pair{can->lastMessage(l).freq, l};
-      auto rr = std::pair{can->lastMessage(r).freq, r};
-      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
-    });
-  } else if (sort_column == Column::COUNT) {
-    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
-      auto ll = std::pair{can->lastMessage(l).count, l};
-      auto rr = std::pair{can->lastMessage(r).count, r};
-      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
+void MessageListModel::sortItems(std::vector<MessageListModel::Item> &items) {
+  auto do_sort = [order = sort_order](std::vector<MessageListModel::Item> &m, auto proj) {
+    std::stable_sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) {
+      return order == Qt::AscendingOrder ? proj(l) < proj(r) : proj(l) > proj(r);
     });
+  };
+  switch (sort_column) {
+    case Column::NAME: do_sort(items, [](auto &item) { return std::tie(item.name, item.id); }); break;
+    case Column::SOURCE: do_sort(items, [](auto &item) { return std::tie(item.id.source, item.id); }); break;
+    case Column::ADDRESS: do_sort(items, [](auto &item) { return std::tie(item.id.address, item.id);}); break;
+    case Column::NODE: do_sort(items, [](auto &item) { return std::tie(item.node, item.id);}); break;
+    case Column::FREQ: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).freq, item.id); }); break;
+    case Column::COUNT: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).count, item.id); }); break;
   }
 }
 
@@ -272,27 +261,34 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
   return ok && value >= min && value <= max;
 }
 
-bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters) {
+bool MessageListModel::match(const MessageListModel::Item &item) {
+  if (filters_.isEmpty())
+    return true;
+
   bool match = true;
-  for (auto it = filters.cbegin(); it != filters.cend() && match; ++it) {
+  const auto &data = can->lastMessage(item.id);
+  for (auto it = filters_.cbegin(); it != filters_.cend() && match; ++it) {
     const QString &txt = it.value();
-    QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
     switch (it.key()) {
       case Column::NAME: {
-        const auto msg = dbc()->msg(id);
-        match = re.match(msg ? msg->name : UNTITLED).hasMatch();
-        match = match || (msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(),
-                                             [&re](const auto &s) { return re.match(s->name).hasMatch(); }));
+        match = item.name.contains(txt, Qt::CaseInsensitive);
+        if (!match) {
+          const auto m = dbc()->msg(item.id);
+          match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
+                                   [&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
+        }
         break;
       }
       case Column::SOURCE:
-        match = parseRange(txt, id.source);
+        match = parseRange(txt, item.id.source);
         break;
-      case Column::ADDRESS: {
-        match = re.match(QString::number(id.address, 16)).hasMatch();
-        match = match || parseRange(txt, id.address, 16);
+      case Column::ADDRESS:
+        match = QString::number(item.id.address, 16).contains(txt, Qt::CaseInsensitive);
+        match = match || parseRange(txt, item.id.address, 16);
+        break;
+      case Column::NODE:
+        match = item.node.contains(txt, Qt::CaseInsensitive);
         break;
-      }
       case Column::FREQ:
         // TODO: Hide stale messages?
         match = parseRange(txt, data.freq);
@@ -300,52 +296,50 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
       case Column::COUNT:
         match = parseRange(txt, data.count);
         break;
-      case Column::DATA: {
-        match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive);
-        match = match || re.match(QString(data.dat.toHex())).hasMatch();
-        match = match || re.match(QString(data.dat.toHex(' '))).hasMatch();
+      case Column::DATA:
+        match = utils::toHex(data.dat).contains(txt, Qt::CaseInsensitive);
         break;
-      }
     }
   }
   return match;
 }
 
-void MessageListModel::fetchData() {
-  std::vector<MessageId> new_msgs;
-  new_msgs.reserve(can->last_msgs.size() + dbc_address.size());
-
-  auto address = dbc_address;
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (filter_str.isEmpty() || matchMessage(it.key(), it.value(), filter_str)) {
-      new_msgs.push_back(it.key());
-    }
-    address.remove(it.key().address);
+void MessageListModel::filterAndSort() {
+  // merge CAN and DBC messages
+  std::vector<MessageId> all_messages;
+  all_messages.reserve(can->lastMessages().size() + dbc_messages_.size());
+  auto dbc_msgs = dbc_messages_;
+  for (const auto &[id, m] : can->lastMessages()) {
+    all_messages.push_back(id);
+    dbc_msgs.erase(MessageId{.source = INVALID_SOURCE, .address = id.address});
   }
+  all_messages.insert(all_messages.end(), dbc_msgs.begin(), dbc_msgs.end());
 
-  // merge all DBC messages
-  for (auto &addr : address) {
-    MessageId id{.source = INVALID_SOURCE, .address = addr};
-    if (filter_str.isEmpty() || matchMessage(id, {}, filter_str)) {
-      new_msgs.push_back(id);
-    }
+  // filter and sort
+  std::vector<Item> items;
+  for (const auto &id : all_messages) {
+    auto msg = dbc()->msg(id);
+    Item item = {.id = id,
+                 .name = msg ? msg->name : UNTITLED,
+                 .node = msg ? msg->transmitter : QString()};
+    if (match(item))
+      items.emplace_back(item);
   }
+  sortItems(items);
 
-  sortMessages(new_msgs);
-
-  if (msgs != new_msgs) {
+  if (items_ != items) {
     beginResetModel();
-    msgs = std::move(new_msgs);
+    items_ = std::move(items);
     endResetModel();
   }
 }
 
-void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids) {
-  if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) {
-    fetchData();
+void MessageListModel::msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids) {
+  if (has_new_ids || filters_.contains(Column::FREQ) || filters_.contains(Column::COUNT) || filters_.contains(Column::DATA)) {
+    filterAndSort();
   }
-  for (int i = 0; i < msgs.size(); ++i) {
-    if (new_msgs->contains(msgs[i])) {
+  for (int i = 0; i < items_.size(); ++i) {
+    if (!new_msgs || new_msgs->count(items_[i].id)) {
       for (int col = Column::FREQ; col < columnCount(); ++col)
         emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
     }
@@ -353,36 +347,13 @@ void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, b
 }
 
 void MessageListModel::sort(int column, Qt::SortOrder order) {
-  if (column != columnCount() - 1) {
+  if (column != Column::DATA) {
     sort_column = column;
     sort_order = order;
-    fetchData();
+    filterAndSort();
   }
 }
 
-void MessageListModel::suppress() {
-  const double cur_ts = can->currentSec();
-
-  for (auto &id : msgs) {
-    auto &can_data = can->lastMessage(id);
-    for (int i = 0; i < can_data.dat.size(); i++) {
-      const double dt = cur_ts - can_data.last_change_t[i];
-      if (dt < 2.0) {
-        suppressed_bytes.insert({id, i});
-      }
-    }
-  }
-}
-
-void MessageListModel::clearSuppress() {
-  suppressed_bytes.clear();
-}
-
-void MessageListModel::forceResetModel() {
-  beginResetModel();
-  endResetModel();
-}
-
 // MessageView
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -413,45 +384,14 @@ void MessageView::updateBytesSectionSize() {
   auto delegate = ((MessageBytesDelegate *)itemDelegate());
   int max_bytes = 8;
   if (!delegate->multipleLines()) {
-    for (auto it = can->last_msgs.constBegin(); it != can->last_msgs.constEnd(); ++it) {
-      max_bytes = std::max(max_bytes, it.value().dat.size());
+    for (const auto &[_, m] : can->lastMessages()) {
+      max_bytes = std::max<int>(max_bytes, m.dat.size());
     }
   }
-  int width = delegate->widthForBytes(max_bytes);
-  if (header()->sectionSize(MessageListModel::Column::DATA) != width) {
-    header()->resizeSection(MessageListModel::Column::DATA, width);
-  }
+  header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 
-void MessageView::headerContextMenuEvent(const QPoint &pos) {
-  QMenu *menu = new QMenu(this);
-  int cur_index = header()->logicalIndexAt(pos);
-
-  QAction *action;
-  for (int visual_index = 0; visual_index < header()->count(); visual_index++) {
-    int logical_index = header()->logicalIndex(visual_index);
-    QString column_name = model()->headerData(logical_index, Qt::Horizontal).toString();
-
-    // Hide show action
-    if (header()->isSectionHidden(logical_index)) {
-      action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); });
-    } else {
-      action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); });
-    }
-
-    // Can't hide the name column
-    action->setEnabled(logical_index > 0);
-
-    // Make current column bold
-    if (logical_index == cur_index) {
-      QFont font = action->font();
-      font.setBold(true);
-      action->setFont(font);
-    }
-  }
-
-  menu->popup(header()->mapToGlobal(pos));
-}
+// MessageViewHeader
 
 MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) {
   QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions);
@@ -461,20 +401,11 @@ MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizont
 void MessageViewHeader::updateFilters() {
   QMap<int, QString> filters;
   for (int i = 0; i < count(); i++) {
-    if (editors[i]) {
-      QString filter = editors[i]->text();
-      if (!filter.isEmpty()) {
-        filters[i] = filter;
-      }
+    if (editors[i] && !editors[i]->text().isEmpty()) {
+      filters[i] = editors[i]->text();
     }
   }
-  emit filtersUpdated(filters);
-}
-
-void MessageViewHeader::clearFilters() {
-  for (QLineEdit *editor : editors) {
-    editor->clear();
-  }
+  qobject_cast<MessageListModel*>(model())->setFilterStrings(filters);
 }
 
 void MessageViewHeader::updateHeaderPositions() {
@@ -482,8 +413,7 @@ void MessageViewHeader::updateHeaderPositions() {
   for (int i = 0; i < count(); i++) {
     if (editors[i]) {
       int h = editors[i]->sizeHint().height();
-      editors[i]->move(sectionViewportPosition(i), sz.height());
-      editors[i]->resize(sectionSize(i), h);
+      editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
       editors[i]->setHidden(isSectionHidden(i));
     }
   }
@@ -506,11 +436,7 @@ void MessageViewHeader::updateGeometries() {
   updateHeaderPositions();
 }
 
-
 QSize MessageViewHeader::sizeHint() const {
   QSize sz = QHeaderView::sizeHint();
-  if (editors[0]) {
-    sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height() + 1);
-  }
-  return sz;
+  return editors[0] ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz;
 }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index f6d71a5a2e..4f54941c64 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -1,17 +1,16 @@
 #pragma once
 
 #include <algorithm>
-#include <utility>
+#include <optional>
+#include <set>
 #include <vector>
 
 #include <QAbstractTableModel>
-#include <QCheckBox>
-#include <QContextMenuEvent>
 #include <QHeaderView>
 #include <QLabel>
 #include <QLineEdit>
 #include <QMenu>
-#include <QSet>
+#include <QToolBar>
 #include <QTreeView>
 
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -21,11 +20,11 @@ class MessageListModel : public QAbstractTableModel {
 Q_OBJECT
 
 public:
-
   enum Column {
     NAME = 0,
     SOURCE,
     ADDRESS,
+    NODE,
     FREQ,
     COUNT,
     DATA,
@@ -35,24 +34,29 @@ public:
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; }
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
-  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void setFilterStrings(const QMap<int, QString> &filters);
-  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
-  void fetchData();
-  void suppress();
-  void clearSuppress();
-  void forceResetModel();
+  void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
+  void filterAndSort();
   void dbcModified();
-  std::vector<MessageId> msgs;
-  QSet<std::pair<MessageId, int>> suppressed_bytes;
+
+  struct Item {
+    MessageId id;
+    QString name;
+    QString node;
+    bool operator==(const Item &other) const {
+      return id == other.id && name == other.name && node == other.node;
+    }
+  };
+  std::vector<Item> items_;
 
 private:
-  void sortMessages(std::vector<MessageId> &new_msgs);
-  bool matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters);
+  void sortItems(std::vector<MessageListModel::Item> &items);
+  bool match(const MessageListModel::Item &id);
 
-  QMap<int, QString> filter_str;
-  QSet<uint32_t> dbc_address;
+  QMap<int, QString> filters_;
+  std::set<MessageId> dbc_messages_;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
 };
@@ -65,27 +69,16 @@ public:
   void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
   void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
   void updateBytesSectionSize();
-  void headerContextMenuEvent(const QPoint &pos);
 };
 
 class MessageViewHeader : public QHeaderView {
   // https://stackoverflow.com/a/44346317
-
   Q_OBJECT
 public:
   MessageViewHeader(QWidget *parent);
   void updateHeaderPositions();
-
   void updateGeometries() override;
   QSize sizeHint() const override;
-
-public slots:
-  void clearFilters();
-
-signals:
-  void filtersUpdated(const QMap<int, QString> &filters);
-
-private:
   void updateFilters();
 
   QMap<int, QLineEdit *> editors;
@@ -99,21 +92,25 @@ public:
   void selectMessage(const MessageId &message_id);
   QByteArray saveHeaderState() const { return view->header()->saveState(); }
   bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
-  void updateSuppressedButtons();
-
-public slots:
-  void dbcModified();
+  void suppressHighlighted();
 
 signals:
   void msgSelectionChanged(const MessageId &message_id);
 
 protected:
+  QToolBar *createToolBar();
+  void headerContextMenuEvent(const QPoint &pos);
+  void menuAboutToShow();
+  void setMultiLineBytes(bool multi);
+  void updateTitle();
+
   MessageView *view;
   MessageViewHeader *header;
+  MessageBytesDelegate *delegate;
   std::optional<MessageId> current_msg_id;
-  QCheckBox *multiple_lines_bytes;
   MessageListModel *model;
   QPushButton *suppress_add;
   QPushButton *suppress_clear;
   QLabel *num_msg_label;
+  QMenu *menu;
 };
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index d0cada680a..17de0a1c0a 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -8,64 +8,49 @@
 #include <QPushButton>
 #include <QSettings>
 #include <QStandardPaths>
+#include <type_traits>
 
 #include "tools/cabana/util.h"
 
 Settings settings;
 
-Settings::Settings() {
-  load();
+template <class SettingOperation>
+void settings_op(SettingOperation op) {
+  QSettings s("cabana");
+  op(s, "absolute_time", settings.absolute_time);
+  op(s, "fps", settings.fps);
+  op(s, "max_cached_minutes", settings.max_cached_minutes);
+  op(s, "chart_height", settings.chart_height);
+  op(s, "chart_range", settings.chart_range);
+  op(s, "chart_column_count", settings.chart_column_count);
+  op(s, "last_dir", settings.last_dir);
+  op(s, "last_route_dir", settings.last_route_dir);
+  op(s, "window_state", settings.window_state);
+  op(s, "geometry", settings.geometry);
+  op(s, "video_splitter_state", settings.video_splitter_state);
+  op(s, "recent_files", settings.recent_files);
+  op(s, "message_header_state", settings.message_header_state);
+  op(s, "chart_series_type", settings.chart_series_type);
+  op(s, "theme", settings.theme);
+  op(s, "sparkline_range", settings.sparkline_range);
+  op(s, "multiple_lines_hex", settings.multiple_lines_hex);
+  op(s, "log_livestream", settings.log_livestream);
+  op(s, "log_path", settings.log_path);
+  op(s, "drag_direction", (int &)settings.drag_direction);
+  op(s, "suppress_defined_signals", settings.suppress_defined_signals);
 }
 
-void Settings::save() {
-  QSettings s("settings", QSettings::IniFormat);
-  s.setValue("fps", fps);
-  s.setValue("max_cached_minutes", max_cached_minutes);
-  s.setValue("chart_height", chart_height);
-  s.setValue("chart_range", chart_range);
-  s.setValue("chart_column_count", chart_column_count);
-  s.setValue("last_dir", last_dir);
-  s.setValue("last_route_dir", last_route_dir);
-  s.setValue("window_state", window_state);
-  s.setValue("geometry", geometry);
-  s.setValue("video_splitter_state", video_splitter_state);
-  s.setValue("recent_files", recent_files);
-  s.setValue("message_header_state_v3", message_header_state);
-  s.setValue("chart_series_type", chart_series_type);
-  s.setValue("theme", theme);
-  s.setValue("sparkline_range", sparkline_range);
-  s.setValue("multiple_lines_bytes", multiple_lines_bytes);
-  s.setValue("log_livestream", log_livestream);
-  s.setValue("log_path", log_path);
-  s.setValue("drag_direction", drag_direction);
-  s.setValue("suppress_defined_signals", suppress_defined_signals);
+Settings::Settings() {
+  last_dir = last_route_dir = QDir::homePath();
+  log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
+  settings_op([](QSettings &s, const QString &key, auto &value) {
+    if (auto v = s.value(key); v.canConvert<std::decay_t<decltype(value)>>())
+      value = v.value<std::decay_t<decltype(value)>>();
+  });
 }
 
-void Settings::load() {
-  QSettings s("settings", QSettings::IniFormat);
-  fps = s.value("fps", 10).toInt();
-  max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
-  chart_height = s.value("chart_height", 200).toInt();
-  chart_range = s.value("chart_range", 3 * 60).toInt();
-  chart_column_count = s.value("chart_column_count", 1).toInt();
-  last_dir = s.value("last_dir", QDir::homePath()).toString();
-  last_route_dir = s.value("last_route_dir", QDir::homePath()).toString();
-  window_state = s.value("window_state").toByteArray();
-  geometry = s.value("geometry").toByteArray();
-  video_splitter_state = s.value("video_splitter_state").toByteArray();
-  recent_files = s.value("recent_files").toStringList();
-  message_header_state = s.value("message_header_state_v3").toByteArray();
-  chart_series_type = s.value("chart_series_type", 0).toInt();
-  theme = s.value("theme", 0).toInt();
-  sparkline_range = s.value("sparkline_range", 15).toInt();
-  multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
-  log_livestream = s.value("log_livestream", true).toBool();
-  log_path = s.value("log_path").toString();
-  drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt();
-  suppress_defined_signals = s.value("suppress_defined_signals", false).toBool();
-  if (log_path.isEmpty()) {
-    log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
-  }
+Settings::~Settings() {
+  settings_op([](QSettings &s, const QString &key, auto &v) { s.setValue(key, v); });
 }
 
 // SettingsDlg
@@ -76,45 +61,39 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   QGroupBox *groupbox = new QGroupBox("General");
   QFormLayout *form_layout = new QFormLayout(groupbox);
 
-  theme = new QComboBox(this);
+  form_layout->addRow(tr("Color Theme"), theme = new QComboBox(this));
   theme->setToolTip(tr("You may need to restart cabana after changes theme"));
   theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
   theme->setCurrentIndex(settings.theme);
-  form_layout->addRow(tr("Color Theme"), theme);
 
-  fps = new QSpinBox(this);
+  form_layout->addRow("FPS", fps = new QSpinBox(this));
   fps->setRange(10, 100);
   fps->setSingleStep(10);
   fps->setValue(settings.fps);
-  form_layout->addRow("FPS", fps);
 
-  cached_minutes = new QSpinBox(this);
+  form_layout->addRow(tr("Max Cached Minutes"), cached_minutes = new QSpinBox(this));
   cached_minutes->setRange(5, 60);
   cached_minutes->setSingleStep(1);
   cached_minutes->setValue(settings.max_cached_minutes);
-  form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
   main_layout->addWidget(groupbox);
 
   groupbox = new QGroupBox("New Signal Settings");
   form_layout = new QFormLayout(groupbox);
-  drag_direction = new QComboBox(this);
+  form_layout->addRow(tr("Drag Direction"), drag_direction = new QComboBox(this));
   drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
   drag_direction->setCurrentIndex(settings.drag_direction);
-  form_layout->addRow(tr("Drag Direction"), drag_direction);
   main_layout->addWidget(groupbox);
 
   groupbox = new QGroupBox("Chart");
   form_layout = new QFormLayout(groupbox);
-  chart_series_type = new QComboBox(this);
+  form_layout->addRow(tr("Default Series Type"), chart_series_type = new QComboBox(this));
   chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
   chart_series_type->setCurrentIndex(settings.chart_series_type);
-  form_layout->addRow(tr("Chart Default Series Type"), chart_series_type);
 
-  chart_height = new QSpinBox(this);
+  form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
   chart_height->setRange(100, 500);
   chart_height->setSingleStep(10);
   chart_height->setValue(settings.chart_height);
-  form_layout->addRow(tr("Chart Height"), chart_height);
   main_layout->addWidget(groupbox);
 
   log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
@@ -126,10 +105,9 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   path_layout->addWidget(browse_btn);
   main_layout->addWidget(log_livestream);
 
-
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox);
-  main_layout->addStretch(1);
+  setFixedSize(400, sizeHint().height());
 
   QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
     QString fn = QFileDialog::getExistingDirectory(
@@ -140,31 +118,22 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
       log_path->setText(fn);
     }
   });
-  QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
-    auto role = buttonBox->buttonRole(button);
-    if (role == QDialogButtonBox::AcceptRole) {
-      save();
-      accept();
-    } else if (role == QDialogButtonBox::ApplyRole) {
-      save();
-    } else if (role == QDialogButtonBox::RejectRole) {
-      reject();
-    }
-  });
+  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
 }
 
 void SettingsDlg::save() {
-  settings.fps = fps->value();
   if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
     // set theme before emit changed
     utils::setTheme(settings.theme);
   }
+  settings.fps = fps->value();
   settings.max_cached_minutes = cached_minutes->value();
   settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
   settings.log_livestream = log_livestream->isChecked();
   settings.log_path = log_path->text();
   settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
-  settings.save();
   emit settings.changed();
+  QDialog::accept();
 }
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index b8a3797f86..e75c519ac7 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <QByteArray>
-#include <QCheckBox>
 #include <QComboBox>
 #include <QDialog>
 #include <QGroupBox>
@@ -23,9 +22,9 @@ public:
   };
 
   Settings();
-  void save();
-  void load();
+  ~Settings();
 
+  bool absolute_time = false;
   int fps = 10;
   int max_cached_minutes = 30;
   int chart_height = 200;
@@ -34,7 +33,7 @@ public:
   int chart_series_type = 0;
   int theme = 0;
   int sparkline_range = 15; // 15 seconds
-  bool multiple_lines_bytes = true;
+  bool multiple_lines_hex = false;
   bool log_livestream = true;
   bool suppress_defined_signals = false;
   QString log_path;
@@ -45,15 +44,13 @@ public:
   QByteArray window_state;
   QStringList recent_files;
   QByteArray message_header_state;
-  DragDirection drag_direction;
+  DragDirection drag_direction = MsbFirst;
 
 signals:
   void changed();
 };
 
 class SettingsDlg : public QDialog {
-  Q_OBJECT
-
 public:
   SettingsDlg(QWidget *parent);
   void save();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 1b1c8dac22..7eb647b650 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -36,8 +36,8 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
   Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
   parent_item->children.insert(pos, item);
-  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
-                   "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
+  QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
+                   "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
     item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
   }
@@ -68,10 +68,7 @@ void SignalModel::refresh() {
 }
 
 SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
-  SignalModel::Item *item = nullptr;
-  if (index.isValid()) {
-    item = (SignalModel::Item *)index.internalPointer();
-  }
+  auto item = index.isValid() ? (SignalModel::Item *)index.internalPointer() : nullptr;
   return item ? item : root.get();
 }
 
@@ -134,6 +131,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
           case Item::Sig: return item->sig_val;
           case Item::Name: return item->sig->name;
           case Item::Size: return item->sig->size;
+          case Item::Node: return item->sig->receiver_name;
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
           case Item::Offset: return doubleToString(item->sig->offset);
@@ -172,6 +170,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   switch (item->type) {
     case Item::Name: s.name = value.toString(); break;
     case Item::Size: s.size = value.toInt(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
@@ -195,11 +194,11 @@ void SignalModel::showExtraInfo(const QModelIndex &index) {
   if (item->type == Item::ExtraInfo) {
     if (!item->parent->extra_expanded) {
       item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), 7, 13);
+      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endInsertRows();
     } else {
       item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), 7, 13);
+      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endRemoveRows();
     }
   }
@@ -267,6 +266,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
 
 SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   name_validator = new NameValidator(this);
+  node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this);
   double_validator = new DoubleValidator(this);
 
   label_font.setPointSize(8);
@@ -351,7 +351,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
       QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
       int value_adjust = 10;
-      if (item->highlight || option.state & QStyle::State_Selected) {
+      if (!item->sparkline.isEmpty() && (item->highlight || option.state & QStyle::State_Selected)) {
         painter->drawLine(rect.topLeft(), rect.bottomLeft());
         rect.adjust(5, -v_margin, 0, v_margin);
         painter->setFont(minmax_font);
@@ -361,13 +361,12 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
         QFontMetrics fm(minmax_font);
         value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
-      } else if (item->sig->type == cabana::Signal::Type::Multiplexed) {
+      } else if (!item->sparkline.isEmpty()  && item->sig->type == cabana::Signal::Type::Multiplexed) {
         // display freq of multiplexed signal
         painter->setFont(label_font);
         QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
         painter->drawText(rect.adjusted(5, 0, 0, 0), Qt::AlignLeft | Qt::AlignVCenter, freq);
-        QFontMetrics fm(label_font);
-        value_adjust = fm.width(freq) + 10;
+        value_adjust = QFontMetrics(label_font).width(freq) + 10;
       }
       // signal value
       painter->setFont(option.font);
@@ -382,20 +381,21 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 
 QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   auto item = (SignalModel::Item *)index.internalPointer();
-  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
+  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Node || item->type == SignalModel::Item::Offset ||
       item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue ||
       item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
     QLineEdit *e = new QLineEdit(parent);
     e->setFrame(false);
-    e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator);
+    if (item->type == SignalModel::Item::Name) e->setValidator(name_validator);
+    else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator);
+    else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames());
+      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
     }
-
     return e;
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
@@ -443,7 +443,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QRegularExpression re("\\S+");
   filter_edit->setValidator(new QRegularExpressionValidator(re, this));
   filter_edit->setClearButtonEnabled(true);
-  filter_edit->setPlaceholderText(tr("filter signals"));
+  filter_edit->setPlaceholderText(tr("Filter Signal"));
   hl->addWidget(filter_edit);
   hl->addStretch(1);
 
@@ -498,6 +498,12 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
   QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
+  QObject::connect(tree->header(), &QHeaderView::sectionResized, [this](int logicalIndex, int oldSize, int newSize) {
+    if (logicalIndex == 1) {
+      value_column_width = newSize;
+      updateState();
+    }
+  });
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
@@ -604,21 +610,17 @@ void SignalView::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
 }
 
 void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
-  if (int row = model->signalRow(sig); row != -1) {
-    auto item = model->getItem(model->index(row, 1));
-    // invalidate the sparkline
-    item->sparkline.last_ts = 0;
+  if (int row = model->signalRow(sig); row != -1)
     updateState();
-  }
 }
 
-void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
+void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
-  if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return;
+  if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
 
   for (auto item : model->root->children) {
     double value = 0;
-    if (item->sig->getValue((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), &value)) {
+    if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
       item->sig_val = item->sig->formatValue(value);
     }
     max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
@@ -634,19 +636,16 @@ void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
       last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
     }
 
-    QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height());
-    int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5);
-    int value_width = std::min<int>(max_value_width, size.width() * 0.35);
-    size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
-
+    const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
+    int available_width = value_column_width - delegate->button_size.width();
+    int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
+    QSize size(available_width - value_width,
+               delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
     QFutureSynchronizer<void> synchronizer;
     for (int i = first_visible_row; i <= last_visible_row; ++i) {
       auto item = model->getItem(model->index(i, 1));
-      auto &s = item->sparkline;
-      if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) {
-        synchronizer.addFuture(QtConcurrent::run(
-            &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
-      }
+      synchronizer.addFuture(QtConcurrent::run(
+          &item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
     }
   }
 
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 9d8571d0b8..30978f928c 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <memory>
+#include <set>
 
 #include <QAbstractItemModel>
 #include <QLabel>
@@ -17,7 +18,7 @@ class SignalModel : public QAbstractItemModel {
   Q_OBJECT
 public:
   struct Item {
-    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
     ~Item() { qDeleteAll(children); }
     inline int row() { return parent->children.indexOf(this); }
 
@@ -82,12 +83,12 @@ class SignalItemDelegate : public QStyledItemDelegate {
 public:
   SignalItemDelegate(QObject *parent);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
+  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
 
-  QValidator *name_validator, *double_validator;
+  QValidator *name_validator, *double_validator, *node_validator;
   QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QSize button_size;
@@ -117,7 +118,7 @@ private:
   void setSparklineRange(int value);
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
-  void updateState(const QHash<MessageId, CanData> *msgs = nullptr);
+  void updateState(const std::set<MessageId> *msgs = nullptr);
 
   struct TreeView : public QTreeView {
     TreeView(QWidget *parent) : QTreeView(parent) {}
@@ -136,6 +137,7 @@ private:
     }
   };
   int max_value_width = 0;
+  int value_column_width = 0;
   TreeView *tree;
   QLabel *sparkline_label;
   QSlider *sparkline_range_slider;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 8887084578..8a20086b5c 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,9 +1,10 @@
 #include "tools/cabana/streams/abstractstream.h"
 
 #include <algorithm>
-#include <vector>
+#include <utility>
 
-#include <QTimer>
+#include "common/timing.h"
+#include "tools/cabana/settings.h"
 
 static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB
 
@@ -16,11 +17,10 @@ StreamNotifier *StreamNotifier::instance() {
 
 AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
-  new_msgs = std::make_unique<QHash<MessageId, CanData>>();
-  event_buffer = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
+  event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
 
+  QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
-  QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
   QObject::connect(this, &AbstractStream::streamStarted, [this]() {
@@ -32,61 +32,84 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
 }
 
 void AbstractStream::updateMasks() {
-  std::lock_guard lk(mutex);
-  masks.clear();
-  if (settings.suppress_defined_signals) {
-    for (auto s : sources) {
-      if (auto f = dbc()->findDBCFile(s)) {
-        for (const auto &[address, m] : f->getMessages()) {
-          masks[{.source = (uint8_t)s, .address = address}] = m.mask;
-        }
+  std::lock_guard lk(mutex_);
+  masks_.clear();
+  if (!settings.suppress_defined_signals)
+    return;
+
+  for (const auto s : sources) {
+    for (const auto &[address, m] : dbc()->getMessages(s)) {
+      masks_[{.source = (uint8_t)s, .address = address}] = m.mask;
+    }
+  }
+  // clear bit change counts
+  for (auto &[id, m] : messages_) {
+    auto &mask = masks_[id];
+    const int size = std::min(mask.size(), m.last_changes.size());
+    for (int i = 0; i < size; ++i) {
+      for (int j = 0; j < 8; ++j) {
+        if (((mask[i] >> (7 - j)) & 1) != 0) m.last_changes[i].bit_change_counts[j] = 0;
+      }
+    }
+  }
+}
+
+void AbstractStream::suppressDefinedSignals(bool suppress) {
+  settings.suppress_defined_signals = suppress;
+  updateMasks();
+}
+
+size_t AbstractStream::suppressHighlighted() {
+  std::lock_guard lk(mutex_);
+  size_t cnt = 0;
+  const double cur_ts = currentSec();
+  for (auto &[_, m] : messages_) {
+    for (auto &last_change : m.last_changes) {
+      const double dt = cur_ts - last_change.ts;
+      if (dt < 2.0) {
+        last_change.suppressed = true;
       }
+      // clear bit change counts
+      last_change.bit_change_counts.fill(0);
+      cnt += last_change.suppressed;
     }
   }
+  return cnt;
 }
 
-void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
+void AbstractStream::clearSuppressed() {
+  std::lock_guard lk(mutex_);
+  for (auto &[_, m] : messages_) {
+    std::for_each(m.last_changes.begin(), m.last_changes.end(), [](auto &c) { c.suppressed = false; });
+  }
+}
+
+void AbstractStream::updateLastMessages() {
   auto prev_src_size = sources.size();
   auto prev_msg_size = last_msgs.size();
-  for (auto it = messages->begin(); it != messages->end(); ++it) {
-    const auto &id = it.key();
-    last_msgs[id] = it.value();
-    sources.insert(id.source);
+  std::set<MessageId> msgs;
+  {
+    std::lock_guard lk(mutex_);
+    for (const auto &id : new_msgs_) {
+      const auto &can_data = messages_[id];
+      current_sec_ = std::max(current_sec_, can_data.ts);
+      last_msgs[id] = can_data;
+      sources.insert(id.source);
+    }
+    msgs = std::move(new_msgs_);
   }
+
   if (sources.size() != prev_src_size) {
     updateMasks();
     emit sourcesUpdated(sources);
   }
-  emit updated();
-  emit msgsReceived(messages, prev_msg_size != last_msgs.size());
-  delete messages;
-  processing = false;
+  emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
 }
 
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
-  std::lock_guard lk(mutex);
-  auto mask_it = masks.find(id);
-  std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
-  all_msgs[id].compute(id, (const char *)data, size, sec, getSpeed(), mask);
-  if (!new_msgs->contains(id)) {
-    new_msgs->insert(id, {});
-  }
-}
-
-bool AbstractStream::postEvents() {
-  // delay posting CAN message if UI thread is busy
-  if (processing == false) {
-    processing = true;
-    for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
-      it.value() = all_msgs[it.key()];
-    }
-    // use pointer to avoid data copy in queued connection.
-    QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection);
-    new_msgs.reset(new QHash<MessageId, CanData>);
-    new_msgs->reserve(100);
-    return true;
-  }
-  return false;
+  std::lock_guard lk(mutex_);
+  messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
+  new_msgs_.insert(id);
 }
 
 const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id) const {
@@ -98,95 +121,82 @@ const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id)
 const CanData &AbstractStream::lastMessage(const MessageId &id) {
   static CanData empty_data = {};
   auto it = last_msgs.find(id);
-  return it != last_msgs.end() ? it.value() : empty_data;
+  return it != last_msgs.end() ? it->second : empty_data;
 }
 
 // it is thread safe to update data in updateLastMsgsTo.
 // updateLastMsgsTo is always called in UI thread.
 void AbstractStream::updateLastMsgsTo(double sec) {
-  new_msgs.reset(new QHash<MessageId, CanData>);
-  all_msgs.clear();
-  last_msgs.clear();
+  new_msgs_.clear();
+  messages_.clear();
 
+  current_sec_ = sec;
   uint64_t last_ts = (sec + routeStartTime()) * 1e9;
-  for (auto &[id, ev] : events_) {
-    auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) {
-      return e->mono_time > ts;
-    });
-    auto mask_it = masks.find(id);
-    std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
-    if (it != ev.crend()) {
-      double ts = (*it)->mono_time / 1e9 - routeStartTime();
-      auto &m = all_msgs[id];
-      m.compute(id, (const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask);
-      m.count = std::distance(it, ev.crend());
+  for (const auto &[id, ev] : events_) {
+    auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
+    if (it != ev.begin()) {
+      auto prev = std::prev(it);
+      double ts = (*prev)->mono_time / 1e9 - routeStartTime();
+      auto &m = messages_[id];
+      m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {});
+      m.count = std::distance(ev.begin(), prev) + 1;
     }
   }
 
-  // deep copy all_msgs to last_msgs to avoid multi-threading issue.
-  last_msgs = all_msgs;
-  last_msgs.detach();
-  // use a timer to prevent recursive calls
-  QTimer::singleShot(0, [this]() {
-    emit updated();
-    emit msgsReceived(&last_msgs, true);
-  });
+  bool id_changed = messages_.size() != last_msgs.size() ||
+                    std::any_of(messages_.cbegin(), messages_.cend(),
+                                [this](const auto &m) { return !last_msgs.count(m.first); });
+  last_msgs = messages_;
+  emit msgsReceived(nullptr, id_changed);
 }
 
-void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
-  static std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events_map;
-  static  std::vector<const CanEvent *> new_events;
-  new_events_map.clear();
-  new_events.clear();
-
-  for (auto it = first; it != last; ++it) {
-    if ((*it)->which == cereal::Event::Which::CAN) {
-      uint64_t ts = (*it)->mono_time;
-      for (const auto &c : (*it)->event.getCan()) {
-        auto dat = c.getDat();
-        CanEvent *e = (CanEvent *)event_buffer->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
-        e->src = c.getSrc();
-        e->address = c.getAddress();
-        e->mono_time = ts;
-        e->size = dat.size();
-        memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
-
-        new_events_map[{.source = e->src, .address = e->address}].push_back(e);
-        new_events.push_back(e);
-      }
-    }
-  }
-
-  auto compare = [](const CanEvent *l, const CanEvent *r) {
-    return l->mono_time < r->mono_time;
-  };
+const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
+  auto dat = c.getDat();
+  CanEvent *e = (CanEvent *)event_buffer_->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
+  e->src = c.getSrc();
+  e->address = c.getAddress();
+  e->mono_time = mono_time;
+  e->size = dat.size();
+  memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
+  return e;
+}
 
-  for (auto &[id, new_e] : new_events_map) {
-    auto &e = events_[id];
-    auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare);
-    e.insert(insert_pos, new_e.cbegin(), new_e.cend());
+void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
+  static MessageEventsMap msg_events;
+  std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
+  for (auto e : events) {
+    msg_events[{.source = e->src, .address = e->address}].push_back(e);
   }
 
-  auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare);
-  all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend());
-
-  lastest_event_ts = all_events_.back()->mono_time;
-  emit eventsMerged();
+  if (!events.empty()) {
+    for (const auto &[id, new_e] : msg_events) {
+      if (!new_e.empty()) {
+        auto &e = events_[id];
+        auto pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
+        e.insert(pos, new_e.cbegin(), new_e.cend());
+      }
+    }
+    auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), events.front()->mono_time, CompareCanEvent());
+    all_events_.insert(pos, events.cbegin(), events.cend());
+    emit eventsMerged(msg_events);
+  }
+  lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
 }
 
 // CanData
 
 namespace {
 
-constexpr int periodic_threshold = 10;
-constexpr int start_alpha = 128;
-constexpr float fade_time = 2.0;
-const QColor CYAN = QColor(0, 187, 255, start_alpha);
-const QColor RED = QColor(255, 0, 0, start_alpha);
-const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2);
-const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135);
-const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135);
-const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135);
+enum Color { GREYISH_BLUE, CYAN, RED};
+QColor getColor(int c) {
+  constexpr int start_alpha = 128;
+  static const QColor colors[] = {
+      [GREYISH_BLUE] = QColor(102, 86, 169, start_alpha / 2),
+      [CYAN] = QColor(0, 187, 255, start_alpha),
+      [RED] = QColor(255, 0, 0, start_alpha),
+  };
+  return settings.theme == LIGHT_THEME ? colors[c] : colors[c].lighter(135);
+}
 
 inline QColor blend(const QColor &a, const QColor &b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
@@ -194,15 +204,11 @@ inline QColor blend(const QColor &a, const QColor &b) {
 
 // Calculate the frequency of the past minute.
 double calc_freq(const MessageId &msg_id, double current_sec) {
-  auto compare = [](const CanEvent *e, uint64_t mono_time) {
-    return e->mono_time < mono_time;
-  };
-
   const auto &events = can->events(msg_id);
   uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9;
   uint64_t first_mono_time = std::max<int64_t>(0, cur_mono_time - 59 * 1e9);
-  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, compare);
-  auto second = std::lower_bound(first, events.end(), cur_mono_time, compare);
+  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent());
+  auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent());
   if (first != events.end() && second != events.end()) {
     double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9;
     uint32_t count = std::distance(first, second);
@@ -213,8 +219,8 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
 
 }  // namespace
 
-void CanData::compute(const MessageId &msg_id, const char *can_data, const int size, double current_sec,
-                      double playback_speed, const std::vector<uint8_t> *mask, double in_freq) {
+void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const int size, double current_sec,
+                      double playback_speed, const std::vector<uint8_t> &mask, double in_freq) {
   ts = current_sec;
   ++count;
 
@@ -225,55 +231,53 @@ void CanData::compute(const MessageId &msg_id, const char *can_data, const int s
 
   if (dat.size() != size) {
     dat.resize(size);
-    bit_change_counts.resize(size);
-    colors = QVector(size, QColor(0, 0, 0, 0));
-    last_change_t.assign(size, ts);
-    last_delta.resize(size);
-    same_delta_counter.resize(size);
+    colors.assign(size, QColor(0, 0, 0, 0));
+    last_changes.resize(size);
+    std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
   } else {
-    bool lighter = settings.theme == DARK_THEME;
-    const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER;
-    const QColor &red = !lighter ? RED : RED_LIGHTER;
-    const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
+    constexpr int periodic_threshold = 10;
+    constexpr float fade_time = 2.0;
+    const float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
 
     for (int i = 0; i < size; ++i) {
-      const uint8_t mask_byte = (mask && i < mask->size()) ? (~((*mask)[i])) : 0xff;
+      auto &last_change = last_changes[i];
+
+      uint8_t mask_byte = last_change.suppressed ? 0x00 : 0xFF;
+      if (i < mask.size()) mask_byte &= ~(mask[i]);
+
       const uint8_t last = dat[i] & mask_byte;
       const uint8_t cur = can_data[i] & mask_byte;
-      const int delta = cur - last;
-
       if (last != cur) {
-        double delta_t = ts - last_change_t[i];
-
+        const int delta = cur - last;
         // Keep track if signal is changing randomly, or mostly moving in the same direction
-        if (std::signbit(delta) == std::signbit(last_delta[i])) {
-          same_delta_counter[i] = std::min(16, same_delta_counter[i] + 1);
+        if (std::signbit(delta) == std::signbit(last_change.delta)) {
+          last_change.same_delta_counter = std::min(16, last_change.same_delta_counter + 1);
         } else {
-          same_delta_counter[i] = std::max(0, same_delta_counter[i] - 4);
+          last_change.same_delta_counter = std::max(0, last_change.same_delta_counter - 4);
         }
 
+        const double delta_t = ts - last_change.ts;
         // Mostly moves in the same direction, color based on delta up/down
-        if (delta_t * freq > periodic_threshold || same_delta_counter[i] > 8) {
+        if (delta_t * freq > periodic_threshold || last_change.same_delta_counter > 8) {
           // Last change was while ago, choose color based on delta up or down
-          colors[i] = (cur > last) ? cyan : red;
+          colors[i] = getColor(cur > last ? CYAN : RED);
         } else {
           // Periodic changes
-          colors[i] = blend(colors[i], greyish_blue);
+          colors[i] = blend(colors[i], getColor(GREYISH_BLUE));
         }
 
         // Track bit level changes
         const uint8_t tmp = (cur ^ last);
         for (int bit = 0; bit < 8; bit++) {
-          if (tmp & (1 << bit)) {
-            bit_change_counts[i][bit] += 1;
+          if (tmp & (1 << (7 - bit))) {
+            last_change.bit_change_counts[bit] += 1;
           }
         }
 
-        last_change_t[i] = ts;
-        last_delta[i] = delta;
+        last_change.ts = ts;
+        last_change.delta = delta;
       } else {
         // Fade out
-        float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
         colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
       }
     }
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 62ab3f2f4b..6c9c025129 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -1,36 +1,38 @@
 #pragma once
 
 #include <array>
-#include <atomic>
-#include <deque>
 #include <memory>
-#include <tuple>
+#include <mutex>
+#include <set>
 #include <unordered_map>
 #include <vector>
 
 #include <QColor>
-#include <QHash>
+#include <QDateTime>
 
-#include "common/timing.h"
+#include "cereal/messaging/messaging.h"
 #include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/settings.h"
 #include "tools/cabana/util.h"
-#include "tools/replay/replay.h"
 
 struct CanData {
-  void compute(const MessageId &msg_id, const char *dat, const int size, double current_sec,
-               double playback_speed, const std::vector<uint8_t> *mask = nullptr, double in_freq = 0);
+  void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,
+               double playback_speed, const std::vector<uint8_t> &mask, double in_freq = 0);
 
   double ts = 0.;
   uint32_t count = 0;
   double freq = 0;
-  QByteArray dat;
-  QVector<QColor> colors;
-  std::vector<double> last_change_t;
-  std::vector<std::array<uint32_t, 8>> bit_change_counts;
-  std::vector<int> last_delta;
-  std::vector<int> same_delta_counter;
-  double last_freq_update_ts = seconds_since_boot();
+  std::vector<uint8_t> dat;
+  std::vector<QColor> colors;
+
+  struct ByteLastChange {
+    double ts;
+    int delta;
+    int same_delta_counter;
+    bool suppressed;
+    std::array<uint32_t, 8> bit_change_counts;
+  };
+  std::vector<ByteLastChange> last_changes;
+  double last_freq_update_ts = 0;
 };
 
 struct CanEvent {
@@ -41,12 +43,19 @@ struct CanEvent {
   uint8_t dat[];
 };
 
+struct CompareCanEvent {
+  constexpr bool operator()(const CanEvent *const e, uint64_t ts) const { return e->mono_time < ts; }
+  constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
+};
+
 struct BusConfig {
   int can_speed_kbps = 500;
   int data_speed_kbps = 2000;
   bool can_fd = false;
 };
 
+typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
+
 class AbstractStream : public QObject {
   Q_OBJECT
 
@@ -54,56 +63,66 @@ public:
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {}
   virtual void start() = 0;
-  inline bool liveStreaming() const { return route() == nullptr; }
+  virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
+  virtual QDateTime beginDateTime() const { return {}; }
   virtual double routeStartTime() const { return 0; }
-  virtual double currentSec() const = 0;
+  inline double currentSec() const { return current_sec_; }
   virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
-  const CanData &lastMessage(const MessageId &id);
-  virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
-  virtual const Route *route() const { return nullptr; }
   virtual void setSpeed(float speed) {}
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
-  const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
+
+  inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
+  inline const MessageEventsMap &eventsMap() const { return events_; }
+  inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
+  const CanData &lastMessage(const MessageId &id);
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
-  virtual const std::vector<std::tuple<double, double, TimelineType>> getTimeline() { return {}; }
+
+  size_t suppressHighlighted();
+  void clearSuppressed();
+  void suppressDefinedSignals(bool suppress);
 
 signals:
   void paused();
   void resume();
   void seekedTo(double sec);
   void streamStarted();
-  void eventsMerged();
-  void updated();
-  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
+  void eventsMerged(const MessageEventsMap &events_map);
+  void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   void sourcesUpdated(const SourceSet &s);
+  void privateUpdateLastMsgsSignal();
 
 public:
-  QHash<MessageId, CanData> last_msgs;
   SourceSet sources;
 
 protected:
-  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
-  bool postEvents();
-  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
+  void mergeEvents(const std::vector<const CanEvent *> &events);
+  const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  void updateMessages(QHash<MessageId, CanData> *);
-  void updateMasks();
-  void updateLastMsgsTo(double sec);
+  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
 
-  uint64_t lastest_event_ts = 0;
-  std::atomic<bool> processing = false;
-  std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
-  QHash<MessageId, CanData> all_msgs;
-  std::unordered_map<MessageId, std::vector<const CanEvent *>> events_;
   std::vector<const CanEvent *> all_events_;
-  std::unique_ptr<MonotonicBuffer> event_buffer;
-  std::mutex mutex;
-  std::unordered_map<MessageId, std::vector<uint8_t>> masks;
+  uint64_t lastest_event_ts = 0;
+
+private:
+  void updateLastMessages();
+  void updateLastMsgsTo(double sec);
+  void updateMasks();
+
+  double current_sec_ = 0;
+  MessageEventsMap events_;
+  std::unordered_map<MessageId, CanData> last_msgs;
+  std::unique_ptr<MonotonicBuffer> event_buffer_;
+
+  // Members accessed in multiple threads. (mutex protected)
+  std::mutex mutex_;
+  std::set<MessageId> new_msgs_;
+  std::unordered_map<MessageId, CanData> messages_;
+  std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
 };
 
 class AbstractOpenStreamWidget : public QWidget {
@@ -122,7 +141,6 @@ public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
   QString routeName() const override { return tr("No Stream"); }
   void start() override { emit streamStarted(); }
-  double currentSec() const override { return 0; }
 };
 
 class StreamNotifier : public QObject {
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 349a2d7a1c..80507391a7 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -8,6 +8,7 @@
 #include <QRadioButton>
 #include <QRegularExpression>
 #include <QRegularExpressionValidator>
+#include <QThread>
 
 // DeviceStream
 
@@ -21,17 +22,14 @@ void DeviceStream::streamThread() {
   std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
   std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
   assert(sock != NULL);
-  sock->setTimeout(50);
   // run as fast as messages come in
   while (!QThread::currentThread()->isInterruptionRequested()) {
-    Message *msg = sock->receive(true);
+    std::unique_ptr<Message> msg(sock->receive(true));
     if (!msg) {
       QThread::msleep(50);
       continue;
     }
-
-    handleEvent(msg->getData(), msg->getSize());
-    delete msg;
+    handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
   }
 }
 
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 3f8397f56c..4e1f6d77d9 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -1,12 +1,17 @@
 #include "tools/cabana/streams/livestream.h"
 
+#include <QThread>
 #include <algorithm>
+#include <fstream>
 #include <memory>
 
+#include "common/timing.h"
+#include "common/util.h"
+
 struct LiveStream::Logger {
   Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {}
 
-  void write(const char *data, const size_t size) {
+  void write(kj::ArrayPtr<capnp::word> data) {
     int n = (seconds_since_epoch() - start_ts) / 60.0;
     if (std::exchange(segment_num, n) != segment_num) {
       QString dir = QString("%1/%2--%3")
@@ -17,7 +22,8 @@ struct LiveStream::Logger {
       fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
     }
 
-    fs->write(data, size);
+    auto bytes = data.asBytes();
+    fs->write((const char*)bytes.begin(), bytes.size());
   }
 
   std::unique_ptr<std::ofstream> fs;
@@ -46,6 +52,7 @@ void LiveStream::start() {
   emit streamStarted();
   stream_thread->start();
   startUpdateTimer();
+  begin_date_time = QDateTime::currentDateTime();
 }
 
 LiveStream::~LiveStream() {
@@ -56,14 +63,20 @@ LiveStream::~LiveStream() {
 }
 
 // called in streamThread
-void LiveStream::handleEvent(const char *data, const size_t size) {
+void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
   if (logger) {
-    logger->write(data, size);
+    logger->write(data);
   }
 
-  std::lock_guard lk(lock);
-  auto &msg = receivedMessages.emplace_back(data, size);
-  receivedEvents.push_back(msg.event);
+  capnp::FlatArrayMessageReader reader(data);
+  auto event = reader.getRoot<cereal::Event>();
+  if (event.which() == cereal::Event::Which::CAN) {
+    const uint64_t mono_time = event.getLogMonoTime();
+    std::lock_guard lk(lock);
+    for (const auto &c : event.getCan()) {
+      received_events_.push_back(newEvent(mono_time, c));
+    }
+  }
 }
 
 void LiveStream::timerEvent(QTimerEvent *event) {
@@ -71,9 +84,8 @@ void LiveStream::timerEvent(QTimerEvent *event) {
     {
       // merge events received from live stream thread.
       std::lock_guard lk(lock);
-      mergeEvents(receivedEvents.cbegin(), receivedEvents.cend());
-      receivedEvents.clear();
-      receivedMessages.clear();
+      mergeEvents(received_events_);
+      received_events_.clear();
     }
     if (!all_events_.empty()) {
       begin_event_ts = all_events_.front()->mono_time;
@@ -102,12 +114,8 @@ void LiveStream::updateEvents() {
   uint64_t last_ts = post_last_event && speed_ == 1.0
                        ? all_events_.back()->mono_time
                        : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
-  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
-  auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
+  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, CompareCanEvent());
+  auto last = std::upper_bound(first, all_events_.cend(), last_ts, CompareCanEvent());
 
   for (auto it = first; it != last; ++it) {
     const CanEvent *e = *it;
@@ -115,7 +123,7 @@ void LiveStream::updateEvents() {
     updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size);
     current_event_ts = e->mono_time;
   }
-  postEvents();
+  emit privateUpdateLastMsgsSignal();
 }
 
 void LiveStream::seekTo(double sec) {
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 38ef2c67f9..7a0f8cd834 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <deque>
 #include <memory>
 #include <vector>
 
@@ -15,8 +14,8 @@ public:
   LiveStream(QObject *parent);
   virtual ~LiveStream();
   void start() override;
+  inline QDateTime beginDateTime() const { return begin_date_time; }
   inline double routeStartTime() const override { return begin_event_ts / 1e9; }
-  inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; }
   void setSpeed(float speed) override { speed_ = speed; }
   double getSpeed() override { return speed_; }
   bool isPaused() const override { return paused_; }
@@ -25,30 +24,21 @@ public:
 
 protected:
   virtual void streamThread() = 0;
-  void handleEvent(const char *data, const size_t size);
+  void handleEvent(kj::ArrayPtr<capnp::word> event);
 
 private:
   void startUpdateTimer();
   void timerEvent(QTimerEvent *event) override;
   void updateEvents();
 
-  struct Msg {
-    Msg(const char *data, const size_t size) {
-      event = ::new Event(aligned_buf.align(data, size));
-    }
-    ~Msg() { ::delete event; }
-    Event *event;
-    AlignedBuffer aligned_buf;
-  };
-
   std::mutex lock;
   QThread *stream_thread;
-  std::vector<Event *> receivedEvents;
-  std::deque<Msg> receivedMessages;
+  std::vector<const CanEvent *> received_events_;
 
   int timer_id;
   QBasicTimer update_timer;
 
+  QDateTime begin_date_time;
   uint64_t begin_event_ts = 0;
   uint64_t current_event_ts = 0;
   uint64_t first_event_ts = 0;
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index 4a6c588e51..bea1fd7480 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -1,14 +1,13 @@
 #include "tools/cabana/streams/pandastream.h"
 
-#include <vector>
-
+#include <QDebug>
+#include <QCheckBox>
 #include <QLabel>
 #include <QMessageBox>
 #include <QPushButton>
+#include <QThread>
 #include <QVBoxLayout>
 
-#include "selfdrive/ui/qt/util.h"
-
 // TODO: remove clearLayout
 static void clearLayout(QLayout* layout) {
   while (layout->count() > 0) {
@@ -89,7 +88,6 @@ void PandaStream::streamThread() {
     MessageBuilder msg;
     auto evt = msg.initEvent();
     auto canData = evt.initCan(raw_can_data.size());
-
     for (uint i = 0; i<raw_can_data.size(); i++) {
       canData[i].setAddress(raw_can_data[i].address);
       canData[i].setBusTime(raw_can_data[i].busTime);
@@ -97,8 +95,7 @@ void PandaStream::streamThread() {
       canData[i].setSrc(raw_can_data[i].src);
     }
 
-    auto bytes = msg.toBytes();
-    handleEvent((const char*)bytes.begin(), bytes.size());
+    handleEvent(capnp::messageToFlatArray(msg));
 
     panda->send_heartbeat(false);
   }
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index 43803950f9..919156f400 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -5,7 +5,6 @@
 
 #include <QComboBox>
 #include <QFormLayout>
-#include <QVBoxLayout>
 
 #include "tools/cabana/streams/livestream.h"
 #include "selfdrive/boardd/panda.h"
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 2e580c0f0d..c61c81d56f 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -8,11 +8,14 @@
 
 ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
   unsetenv("ZMQ");
+  setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
+
   // TODO: Remove when OpenpilotPrefix supports ZMQ
 #ifndef __APPLE__
   op_prefix = std::make_unique<OpenpilotPrefix>();
 #endif
-  QObject::connect(&settings, &Settings::changed, [this]() {
+
+  QObject::connect(&settings, &Settings::changed, this, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
   });
 }
@@ -25,18 +28,30 @@ void ReplayStream::mergeSegments() {
   for (auto &[n, seg] : replay->segments()) {
     if (seg && seg->isLoaded() && !processed_segments.count(n)) {
       processed_segments.insert(n);
-      const auto &events = seg->log->events;
-      mergeEvents(events.cbegin(), events.cend());
+
+      std::vector<const CanEvent *> new_events;
+      new_events.reserve(seg->log->events.size());
+      for (auto it = seg->log->events.cbegin(); it != seg->log->events.cend(); ++it) {
+        if ((*it)->which == cereal::Event::Which::CAN) {
+          const uint64_t ts = (*it)->mono_time;
+          for (const auto &c : (*it)->event.getCan()) {
+            new_events.push_back(newEvent(ts, c));
+          }
+        }
+      }
+      mergeEvents(new_events);
     }
   }
 }
 
 bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
-  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, {}, nullptr, replay_flags, data_dir, this));
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
+  QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection);
   return replay->load();
 }
 
@@ -47,7 +62,6 @@ void ReplayStream::start() {
 
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
-  // delay posting CAN message if UI thread is busy
   if (event->which == cereal::Event::Which::CAN) {
     double current_sec = event->mono_time / 1e9 - routeStartTime();
     for (const auto &c : event->event.getCan()) {
@@ -59,9 +73,8 @@ bool ReplayStream::eventFilter(const Event *event) {
 
   double ts = millis_since_boot();
   if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
-    if (postEvents()) {
-      prev_update_ts = ts;
-    }
+    emit privateUpdateLastMsgsSignal();
+    prev_update_ts = ts;
   }
   return true;
 }
@@ -80,25 +93,21 @@ AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
 
 OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
   // TODO: get route list from api.comma.ai
-  QGridLayout *grid_layout = new QGridLayout();
+  QGridLayout *grid_layout = new QGridLayout(this);
   grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
   grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
   route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
   auto file_btn = new QPushButton(tr("Browse..."), this);
   grid_layout->addWidget(file_btn, 0, 2);
 
-  grid_layout->addWidget(new QLabel(tr("Video")), 1, 0);
-  grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1);
-  QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")};
-  for (int i = 0; i < std::size(items); ++i) {
-    choose_video_cb->addItem(items[i]);
-  }
-  choose_video_cb->setCurrentIndex(1);  // default is road camera;
+  grid_layout->addWidget(new QLabel(tr("Camera")), 1, 0);
+  QHBoxLayout *camera_layout = new QHBoxLayout();
+  for (auto c : {tr("Road camera"), tr("Driver camera"), tr("Wide road camera")})
+    camera_layout->addWidget(cameras.emplace_back(new QCheckBox(c, this)));
+  camera_layout->addStretch(1);
+  grid_layout->addItem(camera_layout, 1, 1);
 
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->addLayout(grid_layout);
   setMinimumWidth(550);
-
   QObject::connect(file_btn, &QPushButton::clicked, [=]() {
     QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
     if (!dir.isEmpty()) {
@@ -120,9 +129,13 @@ bool OpenReplayWidget::open() {
   if (!is_valid_format) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
   } else {
-    uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
     auto replay_stream = std::make_unique<ReplayStream>(qApp);
-    if (replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()])) {
+    uint32_t flags = REPLAY_FLAG_NONE;
+    if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_DCAM;
+    if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
+    if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
+
+    if (replay_stream->loadRoute(route, data_dir, flags)) {
       *stream = replay_stream.release();
     } else {
       QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index de69d9e86c..b4e4be4db6 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -1,13 +1,14 @@
 #pragma once
 
+#include <QCheckBox>
 #include <algorithm>
 #include <memory>
 #include <set>
-#include <tuple>
 #include <vector>
 
 #include "common/prefix.h"
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/replay/replay.h"
 
 class ReplayStream : public AbstractStream {
   Q_OBJECT
@@ -18,20 +19,23 @@ public:
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
+  bool liveStreaming() const override { return false; }
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
   double totalSeconds() const override { return replay->totalSeconds(); }
-  inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
+  inline QDateTime beginDateTime() const { return replay->route()->datetime(); }
   inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
-  inline double currentSec() const override { return replay->currentSeconds(); }
-  inline const Route *route() const override { return replay->route(); }
+  inline const Route *route() const { return replay->route(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
+  inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
-  inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() override { return replay->getTimeline(); }
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
+signals:
+  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
+
 private:
   void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
@@ -49,5 +53,5 @@ public:
 
 private:
   QLineEdit *route_edit;
-  QComboBox *choose_video_cb;
+  std::vector<QCheckBox *> cameras;
 };
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index 3df8e31f3b..0f13b9901b 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -1,8 +1,11 @@
 #include "tools/cabana/streams/socketcanstream.h"
 
-#include <QLabel>
+#include <QDebug>
+#include <QFormLayout>
+#include <QHBoxLayout>
 #include <QMessageBox>
 #include <QPushButton>
+#include <QThread>
 
 SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
   if (!available()) {
@@ -49,7 +52,6 @@ void SocketCanStream::streamThread() {
     auto evt = msg.initEvent();
     auto canData = evt.initCan(frames.size());
 
-
     for (uint i = 0; i < frames.size(); i++) {
       if (!frames[i].isValid()) continue;
 
@@ -60,8 +62,7 @@ void SocketCanStream::streamThread() {
       canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
     }
 
-    auto bytes = msg.toBytes();
-    handleEvent((const char*)bytes.begin(), bytes.size());
+    handleEvent(capnp::messageToFlatArray(msg));
   }
 }
 
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index 6f2d7aa353..e0fb826acb 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -5,10 +5,7 @@
 #include <QtSerialBus/QCanBus>
 #include <QtSerialBus/QCanBusDevice>
 #include <QtSerialBus/QCanBusDeviceInfo>
-
 #include <QComboBox>
-#include <QFormLayout>
-#include <QVBoxLayout>
 
 #include "tools/cabana/streams/livestream.h"
 
@@ -21,7 +18,6 @@ class SocketCanStream : public LiveStream {
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
-
   static bool available();
 
   inline QString routeName() const override {
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index 719ba72920..07755c0fe0 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -2,7 +2,6 @@
 
 #include <QDialogButtonBox>
 #include <QFileDialog>
-#include <QFormLayout>
 #include <QLabel>
 #include <QPushButton>
 
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index a3d014dd2c..f6884a2dc9 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -1,13 +1,11 @@
 
-#include "opendbc/can/common.h"
 #undef INFO
 #include "catch2/catch.hpp"
 #include "tools/replay/logreader.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 
-// demo route, first segment
-const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2";
+const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
 TEST_CASE("DBCFile::generateDBC") {
   QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
@@ -30,47 +28,7 @@ TEST_CASE("DBCFile::generateDBC") {
   }
 }
 
-TEST_CASE("Parse can messages") {
-  DBCManager dbc(nullptr);
-  dbc.open({0}, "toyota_new_mc_pt_generated");
-  CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {});
-
-  LogReader log;
-  REQUIRE(log.load(TEST_RLOG_URL, nullptr, {}, true));
-  REQUIRE(log.events.size() > 0);
-  for (auto e : log.events) {
-    if (e->which == cereal::Event::Which::CAN) {
-      std::map<std::pair<uint32_t, QString>, std::vector<double>> values_1;
-      for (const auto &c : e->event.getCan()) {
-        const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()});
-        if (c.getSrc() == 0 && msg) {
-          for (auto sig : msg->getSignals()) {
-            double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig);
-            values_1[{c.getAddress(), sig->name}].push_back(val);
-          }
-        }
-      }
-
-      can_parser.UpdateCans(e->mono_time, e->event.getCan());
-      std::vector<SignalValue> values_2;
-      can_parser.query_latest(values_2);
-      for (auto &[key, v1] : values_1) {
-        bool found = false;
-        for (auto &v2 : values_2) {
-          if (v2.address == key.first && key.second == v2.name.c_str()) {
-            REQUIRE(v2.all_values.size() == v1.size());
-            REQUIRE(v2.all_values == v1);
-            found = true;
-            break;
-          }
-        }
-        REQUIRE(found);
-      }
-    }
-  }
-}
-
-TEST_CASE("Parse dbc") {
+TEST_CASE("parse_dbc") {
   QString content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
@@ -84,7 +42,7 @@ VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault";
 
 CM_ BO_ 160 "message comment" ;
 CM_ SG_ 160 signal_1 "signal comment";
-CM_ SG_ 160 signal_2 "multiple line comment
+CM_ SG_ 160 signal_2 "multiple line comment 
 1
 2
 ";)";
@@ -114,7 +72,7 @@ CM_ SG_ 160 signal_2 "multiple line comment
   REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
-  REQUIRE(sig_2->comment == "multiple line comment\n1\n2");
+  REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
 
   // multiplexed signals
   msg = file.msg(162);
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index b19babdf88..387a912787 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -37,10 +37,10 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   filtered_signals.reserve(prev_sigs.size());
   QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
     const auto &events = can->events(s.id);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
     auto last = events.cend();
     if (last_time < std::numeric_limits<uint64_t>::max()) {
-      last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+      last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
     }
 
     auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
@@ -192,7 +192,7 @@ void FindSignalDlg::search() {
   search_btn->setEnabled(false);
   stats_label->setVisible(false);
   search_btn->setText("Finding ....");
-  QTimer::singleShot(0, [=]() { model->search(cmp); });
+  QTimer::singleShot(0, this, [=]() { model->search(cmp); });
 }
 
 void FindSignalDlg::setInitialSignals() {
@@ -214,7 +214,9 @@ void FindSignalDlg::setInitialSignals() {
   sig.factor = factor_edit->text().toDouble();
   sig.offset = offset_edit->text().toDouble();
 
-  auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble());
+  double first_time_val = first_time_edit->text().toDouble();
+  double last_time_val = last_time_edit->text().toDouble();
+  auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val);
   uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
   model->last_time = std::numeric_limits<uint64_t>::max();
   if (last_sec > 0) {
@@ -222,15 +224,15 @@ void FindSignalDlg::setInitialSignals() {
   }
   model->initial_signals.clear();
 
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) {
-      const auto &events = can->events(it.key());
-      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; });
+  for (const auto &[id, m] : can->lastMessages()) {
+    if (buses.isEmpty() || buses.contains(id.source) && (addresses.isEmpty() || addresses.contains(id.address))) {
+      const auto &events = can->events(id);
+      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
       if (e != events.cend()) {
-        const int total_size = it.value().dat.size() * 8;
+        const int total_size = m.dat.size() * 8;
         for (int size = min_size->value(); size <= max_size->value(); ++size) {
           for (int start = 0; start <= total_size - size; ++start) {
-            FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig};
+            FindSignalModel::SearchSignal s{.id = id, .mono_time = first_time, .sig = sig};
             s.sig.start_bit = start;
             s.sig.size = size;
             updateMsbLsb(s.sig);
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
index e9e5f9f180..5ef7461fee 100644
--- a/tools/cabana/tools/findsignal.h
+++ b/tools/cabana/tools/findsignal.h
@@ -4,6 +4,7 @@
 #include <limits>
 
 #include <QAbstractTableModel>
+#include <QCheckBox>
 #include <QLabel>
 #include <QPushButton>
 #include <QTableView>
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 951856e32d..f984230c47 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -1,7 +1,6 @@
 #include "tools/cabana/util.h"
 
 #include <algorithm>
-#include <array>
 #include <csignal>
 #include <limits>
 #include <memory>
@@ -10,7 +9,7 @@
 #include <unistd.h>
 
 #include <QColor>
-#include <QDebug>
+#include <QDateTime>
 #include <QFontDatabase>
 #include <QLocale>
 #include <QPainter>
@@ -20,7 +19,7 @@
 
 // SegmentTree
 
-void SegmentTree::build(const QVector<QPointF> &arr) {
+void SegmentTree::build(const std::vector<QPointF> &arr) {
   size = arr.size();
   tree.resize(4 * size);  // size of the tree is 4 times the size of the array
   if (size > 0) {
@@ -28,7 +27,7 @@ void SegmentTree::build(const QVector<QPointF> &arr) {
   }
 }
 
-void SegmentTree::build_tree(const QVector<QPointF> &arr, int n, int left, int right) {
+void SegmentTree::build_tree(const std::vector<QPointF> &arr, int n, int left, int right) {
   if (left == right) {
     const double y = arr[left].y();
     tree[n] = {y, y};
@@ -56,23 +55,22 @@ std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, in
 MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
   fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, fixed_font);
+  }
+  h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
 }
 
-int MessageBytesDelegate::widthForBytes(int n) const {
-  int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-  return n * byte_size.width() + h_margin * 2;
+QSize MessageBytesDelegate::sizeForBytes(int n) const {
+  int rows = multiple_lines ? std::max(1, n / 8) : 1;
+  return {(n / rows) * byte_size.width() + h_margin * 2, rows * byte_size.height() + v_margin * 2};
 }
 
 QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
   auto data = index.data(BytesRole);
-  if (!data.isValid()) {
-    return {1, byte_size.height() + 2 * v_margin};
-  }
-  int n = data.toByteArray().size();
-  assert(n >= 0 && n <= 64);
-  return !multiple_lines ? QSize{widthForBytes(n), byte_size.height() + 2 * v_margin}
-                         : QSize{widthForBytes(8), byte_size.height() * std::max(1, n / 8) + 2 * v_margin};
+  return sizeForBytes(data.isValid() ? static_cast<std::vector<uint8_t> *>(data.value<void *>())->size() : 0);
 }
 
 void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -81,20 +79,17 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
     return QStyledItemDelegate::paint(painter, option, index);
   }
 
-  auto byte_list = data.toByteArray();
-  auto colors = index.data(ColorsRole).value<QVector<QColor>>();
-
-  int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
-  int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
+  QFont old_font = painter->font();
+  QPen old_pen = painter->pen();
   if (option.state & QStyle::State_Selected) {
     painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
   }
-
   const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
-  QFont old_font = painter->font();
-  QPen old_pen = painter->pen();
   painter->setFont(fixed_font);
-  for (int i = 0; i < byte_list.size(); ++i) {
+
+  const auto &bytes = *static_cast<std::vector<uint8_t>*>(data.value<void*>());
+  const auto &colors = *static_cast<std::vector<QColor>*>(index.data(ColorsRole).value<void*>());
+  for (int i = 0; i < bytes.size(); ++i) {
     int row = !multiple_lines ? 0 : i / 8;
     int column = !multiple_lines ? i : i % 8;
     QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
@@ -107,7 +102,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
     } else if (option.state & QStyle::State_Selected) {
       painter->setPen(option.palette.color(QPalette::HighlightedText));
     }
-    painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
+    utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
   }
   painter->setFont(old_font);
   painter->setPen(old_pen);
@@ -239,17 +234,15 @@ void setTheme(int theme) {
   }
 }
 
-}  // namespace utils
-
-QString toHex(uint8_t byte) {
-  static std::array<QString, 256> hex = []() {
-    std::array<QString, 256> ret;
-    for (int i = 0; i < 256; ++i) ret[i] = QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper();
-    return ret;
-  }();
-  return hex[byte];
+QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) {
+  QString format = absolute_time ? "yyyy-MM-dd hh:mm:ss"
+                                 : (sec > 60 * 60 ? "hh:mm:ss" : "mm:ss");
+  if (include_milliseconds) format += ".zzz";
+  return QDateTime::fromMSecsSinceEpoch(sec * 1000).toString(format);
 }
 
+}  // namespace utils
+
 int num_decimals(double num) {
   const QString string = QString::number(num);
   auto dot_pos = string.indexOf('.');
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index 9e93e74833..158321f784 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <array>
 #include <cmath>
 #include <deque>
 #include <vector>
@@ -7,15 +8,15 @@
 
 #include <QApplication>
 #include <QByteArray>
-#include <QDateTime>
 #include <QDoubleValidator>
 #include <QFont>
+#include <QPainter>
 #include <QRegExpValidator>
 #include <QSocketNotifier>
+#include <QStaticText>
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
-#include <QVector>
 
 #include "tools/cabana/dbc/dbc.h"
 #include "tools/cabana/settings.h"
@@ -54,12 +55,12 @@ enum {
 class SegmentTree {
 public:
   SegmentTree() = default;
-  void build(const QVector<QPointF> &arr);
+  void build(const std::vector<QPointF> &arr);
   inline std::pair<double, double> minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); }
 
 private:
   std::pair<double, double> get_minmax(int n, int left, int right, int range_left, int range_right) const;
-  void build_tree(const QVector<QPointF> &arr, int n, int left, int right);
+  void build_tree(const std::vector<QPointF> &arr, int n, int left, int right);
   std::vector<std::pair<double, double>> tree;
   int size = 0;
 };
@@ -72,17 +73,16 @@ public:
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   bool multipleLines() const { return multiple_lines; }
   void setMultipleLines(bool v) { multiple_lines = v; }
-  int widthForBytes(int n) const;
+  QSize sizeForBytes(int n) const;
 
 private:
+  std::array<QStaticText, 256> hex_text_table;
   QFont fixed_font;
   QSize byte_size = {};
   bool multiple_lines = false;
+  int h_margin, v_margin;
 };
 
-inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }
-QString toHex(uint8_t byte);
-
 class NameValidator : public QRegExpValidator {
   Q_OBJECT
 public:
@@ -99,9 +99,15 @@ public:
 namespace utils {
 QPixmap icon(const QString &id);
 void setTheme(int theme);
-inline QString formatSeconds(int seconds) {
-  return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
+QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false);
+inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
+  auto size = (r.size() - text.size()) / 2;
+  p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
+}
+inline QString toHex(const std::vector<uint8_t> &dat, char separator = '\0') {
+  return QByteArray::fromRawData((const char *)dat.data(), dat.size()).toHex(separator).toUpper();
 }
+
 }
 
 class ToolButton : public QToolButton {
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index f535c6b729..a6fd0b2b64 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -1,20 +1,20 @@
 #include "tools/cabana/videowidget.h"
 
 #include <algorithm>
-#include <memory>
-#include <string>
 #include <utility>
 
-#include <QButtonGroup>
-#include <QHBoxLayout>
+#include <QAction>
+#include <QActionGroup>
+#include <QMenu>
 #include <QMouseEvent>
 #include <QPainter>
 #include <QStackedLayout>
 #include <QStyleOptionSlider>
-#include <QTimer>
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
+#include "tools/cabana/streams/replaystream.h"
+
 const int MIN_VIDEO_HEIGHT = 100;
 const int THUMBNAIL_MARGIN = 3;
 
@@ -30,35 +30,16 @@ static const QColor timeline_colors[] = {
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
-  if (!can->liveStreaming()) {
+  if (!can->liveStreaming())
     main_layout->addWidget(createCameraWidget());
-  }
+  main_layout->addLayout(createPlaybackController());
 
-  // btn controls
-  QHBoxLayout *control_layout = new QHBoxLayout();
-  play_btn = new QPushButton();
-  play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
-  control_layout->addWidget(play_btn);
-
-  QButtonGroup *group = new QButtonGroup(this);
-  group->setExclusive(true);
-  for (float speed : {0.1, 0.5, 1., 2.}) {
-    QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
-    btn->setCheckable(true);
-    QObject::connect(btn, &QPushButton::clicked, [speed]() { can->setSpeed(speed); });
-    control_layout->addWidget(btn);
-    group->addButton(btn);
-    if (speed == 1.0) btn->setChecked(true);
-  }
-  main_layout->addLayout(control_layout);
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
-
-  QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
-  QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState);
-  updatePlayBtnState();
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &VideoWidget::updateState);
 
+  updatePlayBtnState();
   setWhatsThis(tr(R"(
     <b>Video</b><br />
     <!-- TODO: add descprition here -->
@@ -81,95 +62,181 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
           timeline_colors[(int)TimelineType::AlertCritical].name()));
 }
 
+QHBoxLayout *VideoWidget::createPlaybackController() {
+  QHBoxLayout *layout = new QHBoxLayout();
+  layout->addWidget(seek_backward_btn = new ToolButton("rewind", tr("Seek backward")));
+  layout->addWidget(play_btn = new ToolButton("play", tr("Play")));
+  layout->addWidget(seek_forward_btn = new ToolButton("fast-forward", tr("Seek forward")));
+
+  if (can->liveStreaming()) {
+    layout->addWidget(skip_to_end_btn = new ToolButton("skip-end", tr("Skip to the end"), this));
+    QObject::connect(skip_to_end_btn, &QToolButton::clicked, [this]() {
+      // set speed to 1.0
+      speed_btn->menu()->actions()[7]->setChecked(true);
+      can->pause(false);
+      can->seekTo(can->totalSeconds() + 1);
+    });
+  }
+
+  layout->addWidget(time_btn = new QToolButton);
+  time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+  time_btn->setAutoRaise(true);
+  layout->addStretch(0);
+
+  if (!can->liveStreaming()) {
+    layout->addWidget(loop_btn = new ToolButton("repeat", tr("Loop playback")));
+    QObject::connect(loop_btn, &QToolButton::clicked, this, &VideoWidget::loopPlaybackClicked);
+  }
+
+  // speed selector
+  layout->addWidget(speed_btn = new QToolButton(this));
+  speed_btn->setAutoRaise(true);
+  speed_btn->setMenu(new QMenu(speed_btn));
+  speed_btn->setPopupMode(QToolButton::InstantPopup);
+  QActionGroup *speed_group = new QActionGroup(this);
+  speed_group->setExclusive(true);
+
+  int max_width = 0;
+  QFont font = speed_btn->font();
+  font.setBold(true);
+  speed_btn->setFont(font);
+  QFontMetrics fm(font);
+  for (float speed : {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 0.8, 1., 2., 3., 5.}) {
+    QString name = QString("%1x").arg(speed);
+    max_width = std::max(max_width, fm.width(name) + fm.horizontalAdvance(QLatin1Char(' ')) * 2);
+
+    QAction *act = new QAction(name, speed_group);
+    act->setCheckable(true);
+    QObject::connect(act, &QAction::toggled, [this, speed]() {
+      can->setSpeed(speed);
+      speed_btn->setText(QString("%1x  ").arg(speed));
+    });
+    speed_btn->menu()->addAction(act);
+    if (speed == 1.0)act->setChecked(true);
+  }
+  speed_btn->setMinimumWidth(max_width + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
+
+  QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); });
+  QObject::connect(seek_backward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() - 1); });
+  QObject::connect(seek_forward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() + 1); });
+  QObject::connect(time_btn, &QToolButton::clicked, [this]() {
+    settings.absolute_time = !settings.absolute_time;
+    time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time"));
+    updateState();
+  });
+  return layout;
+}
+
 QWidget *VideoWidget::createCameraWidget() {
   QWidget *w = new QWidget(this);
   QVBoxLayout *l = new QVBoxLayout(w);
   l->setContentsMargins(0, 0, 0, 0);
+  l->setSpacing(0);
+
+  l->addWidget(camera_tab = new TabBar(w));
+  camera_tab->setAutoHide(true);
+  camera_tab->setExpanding(false);
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false));
+  stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
   l->addLayout(stacked);
 
-  // slider controls
-  auto slider_layout = new QHBoxLayout();
-  slider_layout->addWidget(time_label = new QLabel("00:00"));
-
-  slider = new Slider(this);
+  l->addWidget(slider = new Slider(w));
   slider->setSingleStep(0);
-  slider_layout->addWidget(slider);
-
-  slider_layout->addWidget(end_time_label = new QLabel(this));
-  l->addLayout(slider_layout);
 
   setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
-  QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); });
   QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
+  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
-  QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
+  QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
+  QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
+    if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
+  });
   return w;
 }
 
+void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
+  static const QString stream_names[] = {
+    [VISION_STREAM_ROAD] = "Road camera",
+    [VISION_STREAM_WIDE_ROAD] = "Wide road camera",
+    [VISION_STREAM_DRIVER] = "Driver camera"};
+
+  for (int i = 0; i < streams.size(); ++i) {
+    if (camera_tab->count() <= i) {
+      camera_tab->addTab(QString());
+    }
+    int type = *std::next(streams.begin(), i);
+    camera_tab->setTabText(i, stream_names[type]);
+    camera_tab->setTabData(i, type);
+  }
+  while (camera_tab->count() > streams.size()) {
+    camera_tab->removeTab(camera_tab->count() - 1);
+  }
+}
+
+void VideoWidget::loopPlaybackClicked() {
+  auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  if (!replay) return;
+
+  if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
+    replay->removeFlag(REPLAY_FLAG_NO_LOOP);
+    loop_btn->setIcon("repeat");
+  } else {
+    replay->addFlag(REPLAY_FLAG_NO_LOOP);
+    loop_btn->setIcon("repeat-1");
+  }
+}
+
 void VideoWidget::setMaximumTime(double sec) {
   maximum_time = sec;
-  end_time_label->setText(utils::formatSeconds(sec));
   slider->setTimeRange(0, sec);
 }
 
 void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
-  if (can->liveStreaming()) return;
-
-  if (!is_zoomed) {
-    min = 0;
-    max = maximum_time;
+  if (can->liveStreaming()) {
+    skip_to_end_btn->setEnabled(!is_zoomed);
+    return;
   }
-  end_time_label->setText(utils::formatSeconds(max));
-  slider->setTimeRange(min, max);
+  is_zoomed ? slider->setTimeRange(min, max)
+            : slider->setTimeRange(0, maximum_time);
+}
+
+QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
+  if (settings.absolute_time)
+    sec = can->beginDateTime().addMSecs(sec * 1000).toMSecsSinceEpoch() / 1000.0;
+  return utils::formatSeconds(sec, include_milliseconds, settings.absolute_time);
 }
 
 void VideoWidget::updateState() {
-  if (!slider->isSliderDown()) {
-    slider->setCurrentSecond(can->currentSec());
+  if (slider) {
+    if (!slider->isSliderDown())
+      slider->setCurrentSecond(can->currentSec());
+    alert_label->showAlert(slider->alertInfo(can->currentSec()));
+    time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
+                                             formatTime(slider->maximum() / slider->factor)));
+  } else {
+    time_btn->setText(formatTime(can->currentSec(), true));
   }
-  alert_label->showAlert(slider->alertInfo(can->currentSec()));
 }
 
 void VideoWidget::updatePlayBtnState() {
-  play_btn->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
+  play_btn->setIcon(can->isPaused() ? "play" : "pause");
   play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
 }
 
 // Slider
 
-Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
+Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
+  thumbnail_label = new InfoLabel(parent);
   setMouseTracking(true);
-  auto timer = new QTimer(this);
-  timer->callOnTimeout([this]() {
-    timeline = can->getTimeline();
-    std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
-    update();
-  });
-  timer->start(2000);
-  QObject::connect(can, &AbstractStream::eventsMerged, [this]() {
-    if (!qlog_future) {
-      qlog_future = std::make_unique<QFuture<void>>(QtConcurrent::run(this, &Slider::parseQLog));
-    }
-  });
-}
-
-Slider::~Slider() {
-  abort_parse_qlog = true;
-  if (qlog_future) {
-    qlog_future->waitForFinished();
-  }
 }
 
 AlertInfo Slider::alertInfo(double seconds) {
-  std::lock_guard lk(thumbnail_lock);
   uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
   auto alert_it = alerts.lower_bound(mono_time);
   bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
@@ -177,7 +244,6 @@ AlertInfo Slider::alertInfo(double seconds) {
 }
 
 QPixmap Slider::thumbnail(double seconds)  {
-  std::lock_guard lk(thumbnail_lock);
   uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
   auto it = thumbnails.lowerBound(mono_time);
   return it != thumbnails.end() ? it.value() : QPixmap();
@@ -188,36 +254,32 @@ void Slider::setTimeRange(double min, double max) {
   setRange(min * factor, max * factor);
 }
 
-void Slider::parseQLog() {
-  const auto &segments = can->route()->segments();
-  for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) {
-    LogReader log;
-    std::string qlog = it->second.qlog.toStdString();
-    if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
-      if (it == segments.rbegin() && !log.events.empty()) {
-        double max_time = log.events.back()->mono_time / 1e9 - can->routeStartTime();
-        emit updateMaximumTime(max_time);
+void Slider::parseQLog(int segnum, std::shared_ptr<LogReader> qlog) {
+ const auto &segments = qobject_cast<ReplayStream *>(can)->route()->segments();
+  if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
+    emit updateMaximumTime(qlog->events.back()->mono_time / 1e9 - can->routeStartTime());
+  }
+
+  std::mutex mutex;
+  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event *e) {
+    if (e->which == cereal::Event::Which::THUMBNAIL) {
+      auto thumb = e->event.getThumbnail();
+      auto data = thumb.getThumbnail();
+      if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
+        QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+        std::lock_guard lk(mutex);
+        thumbnails[thumb.getTimestampEof()] = scaled;
       }
-      for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) {
-        if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
-          auto thumb = (*ev)->event.getThumbnail();
-          auto data = thumb.getThumbnail();
-          if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
-            pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
-            std::lock_guard lk(thumbnail_lock);
-            thumbnails[thumb.getTimestampEof()] = pm;
-          }
-        } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) {
-          auto cs = (*ev)->event.getControlsState();
-          if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
-              cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
-            std::lock_guard lk(thumbnail_lock);
-            alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
-          }
-        }
+    } else if (e->which == cereal::Event::Which::CONTROLS_STATE) {
+      auto cs = e->event.getControlsState();
+      if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
+          cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
+        std::lock_guard lk(mutex);
+        alerts.emplace(e->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
       }
     }
-  }
+  });
+  update();
 }
 
 void Slider::paintEvent(QPaintEvent *ev) {
@@ -227,12 +289,23 @@ void Slider::paintEvent(QPaintEvent *ev) {
   double min = minimum() / factor;
   double max = maximum() / factor;
 
-  for (auto [begin, end, type] : timeline) {
-    if (begin > max || end < min)
-      continue;
+  auto fillRange = [&](double begin, double end, const QColor &color) {
+    if (begin > max || end < min) return;
     r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
     r.setRight(((std::min(max, end) - min) / (max - min)) * width());
-    p.fillRect(r, timeline_colors[(int)type]);
+    p.fillRect(r, color);
+  };
+
+  const auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  for (auto [begin, end, type] : replay->getTimeline()) {
+    fillRange(begin, end, timeline_colors[(int)type]);
+  }
+
+  QColor empty_color = palette().color(QPalette::Window);
+  empty_color.setAlpha(160);
+  for (const auto &[n, seg] : replay->segments()) {
+    if (!(seg && seg->isLoaded()))
+      fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
   }
 
   QStyleOptionSlider opt;
@@ -247,8 +320,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
 void Slider::mousePressEvent(QMouseEvent *e) {
   QSlider::mousePressEvent(e);
   if (e->button() == Qt::LeftButton && !isSliderDown()) {
-    int value = minimum() + ((maximum() - minimum()) * e->x()) / width();
-    setValue(value);
+    setValue(minimum() + ((maximum() - minimum()) * e->x()) / width());
     emit sliderReleased();
   }
 }
@@ -258,11 +330,11 @@ void Slider::mouseMoveEvent(QMouseEvent *e) {
   double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
   QPixmap thumb = thumbnail(seconds);
   if (!thumb.isNull()) {
-    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
-    int y = -thumb.height();
-    thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
+    int y = -thumb.height() - THUMBNAIL_MARGIN;
+    thumbnail_label->showPixmap(mapToParent(QPoint(x, y)), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
   } else {
-    thumbnail_label.hide();
+    thumbnail_label->hide();
   }
   QSlider::mouseMoveEvent(e);
 }
@@ -274,7 +346,7 @@ bool Slider::event(QEvent *event) {
     case QEvent::FocusIn:
     case QEvent::FocusOut:
     case QEvent::Leave:
-      thumbnail_label.hide();
+      thumbnail_label->hide();
       break;
     default:
       break;
@@ -293,8 +365,7 @@ void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &
   second = sec;
   pixmap = pm;
   alert_info = alert;
-  resize(pm.size());
-  move(pt);
+  setGeometry(QRect(pt, pm.size()));
   setVisible(true);
   update();
 }
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 7ddd315e48..67c2c8a29f 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,19 +1,17 @@
 #pragma once
 
-#include <atomic>
 #include <map>
 #include <memory>
-#include <mutex>
-#include <tuple>
-#include <vector>
+#include <set>
 
-#include <QFuture>
-#include <QLabel>
-#include <QPushButton>
+#include <QHBoxLayout>
+#include <QFrame>
 #include <QSlider>
+#include <QTabBar>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
-#include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/util.h"
+#include "tools/replay/logreader.h"
 
 struct AlertInfo {
   cereal::ControlsState::AlertStatus status;
@@ -37,12 +35,14 @@ class Slider : public QSlider {
 
 public:
   Slider(QWidget *parent);
-  ~Slider();
   double currentSecond() const { return value() / factor; }
   void setCurrentSecond(double sec) { setValue(sec * factor); }
   void setTimeRange(double min, double max);
   AlertInfo alertInfo(double sec);
   QPixmap thumbnail(double sec);
+  void parseQLog(int segnum, std::shared_ptr<LogReader> qlog);
+
+  const double factor = 1000.0;
 
 signals:
   void updateMaximumTime(double);
@@ -52,16 +52,10 @@ private:
   void mouseMoveEvent(QMouseEvent *e) override;
   bool event(QEvent *event) override;
   void paintEvent(QPaintEvent *ev) override;
-  void parseQLog();
 
-  const double factor = 1000.0;
-  std::vector<std::tuple<double, double, TimelineType>> timeline;
-  std::mutex thumbnail_lock;
-  std::atomic<bool> abort_parse_qlog = false;
   QMap<uint64_t, QPixmap> thumbnails;
   std::map<uint64_t, AlertInfo> alerts;
-  std::unique_ptr<QFuture<void>> qlog_future;
-  InfoLabel thumbnail_label;
+  InfoLabel *thumbnail_label;
 };
 
 class VideoWidget : public QFrame {
@@ -73,15 +67,24 @@ public:
   void setMaximumTime(double sec);
 
 protected:
+  QString formatTime(double sec, bool include_milliseconds = false);
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
+  QHBoxLayout *createPlaybackController();
+  void loopPlaybackClicked();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
   CameraWidget *cam_widget;
   double maximum_time = 0;
-  QLabel *end_time_label;
-  QLabel *time_label;
-  QPushButton *play_btn;
-  InfoLabel *alert_label;
-  Slider *slider;
+  QToolButton *time_btn = nullptr;
+  ToolButton *seek_backward_btn = nullptr;
+  ToolButton *play_btn = nullptr;
+  ToolButton *seek_forward_btn = nullptr;
+  ToolButton *loop_btn = nullptr;
+  QToolButton *speed_btn = nullptr;
+  ToolButton *skip_to_end_btn = nullptr;
+  InfoLabel *alert_label = nullptr;
+  Slider *slider = nullptr;
+  QTabBar *camera_tab = nullptr;
 };
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index ac7ca2520b..c6e05a0af8 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -19,7 +19,11 @@ ENCODE_SOCKETS = {
   VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
 }
 
-def decoder(addr, vipc_server, vst, nvidia, debug=False):
+def decoder(addr, vst, nvidia, debug=False):
+  vipc_server = VisionIpcServer("camerad")
+  vipc_server.create_buffers(vst, 4, False, W, H)
+  vipc_server.start_listener()
+
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print("start decoder for %s" % sock_name)
@@ -101,14 +105,9 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):
 
 class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
-    self.vipc_server = VisionIpcServer("camerad")
-    for vst in vision_streams:
-      self.vipc_server.create_buffers(vst, 4, False, W, H)
-    self.vipc_server.start_listener()
-
     self.procs = []
     for vst in vision_streams:
-      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
+      p = multiprocessing.Process(target=decoder, args=(addr, vst, nvidia, debug))
       p.start()
       self.procs.append(p)
 
diff --git a/tools/gpstest/.gitignore b/tools/gpstest/.gitignore
deleted file mode 100644
index 992088ef34..0000000000
--- a/tools/gpstest/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-LimeGPS/
-LimeSuite/
-hackrf/
-gps-sdr-sim/
diff --git a/tools/gpstest/README.md b/tools/gpstest/README.md
deleted file mode 100644
index 01f44df0ce..0000000000
--- a/tools/gpstest/README.md
+++ /dev/null
@@ -1,33 +0,0 @@
-# GPS test setup
-Testing the GPS receiver using GPS spoofing. At the moment only
-static location relpay is supported.
-
-# Usage
-on C3 run `rpc_server.py`, on host PC run `fuzzy_testing.py`
-
-`simulate_gps_signal.py` downloads the latest ephemeris file from
-https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/.
-
-
-# Hardware Setup
-* [LimeSDR USB](https://wiki.myriadrf.org/LimeSDR-USB)
-* Asus AX58BT antenna
-
-# Software Setup
-* https://github.com/myriadrf/LimeSuite
-To communicate with LimeSDR the LimeSuite is needed it abstracts the direct
-communication. It also contains examples for a quick start.
-
-The latest stable version (22.09) does not have the corresponding firmware
-download available at https://downloads.myriadrf.org/project/limesuite. Therefore
-version 20.10 was chosen.
-
-* https://github.com/osqzss/LimeGPS
-Built on top of LimeSuite (libLimeSuite.so.20.10-1), generates the GPS signal.
-
-```
-./LimeGPS -e <ephemeris file> -l <location coordinates>
-
-# Example
-./LimeGPS -e /pathTo/brdc2660.22n -l 47.202028,15.740394,100
-```
diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py
deleted file mode 100755
index 3bad2770cd..0000000000
--- a/tools/gpstest/fuzzy_testing.py
+++ /dev/null
@@ -1,115 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import multiprocessing
-import rpyc
-from collections import defaultdict
-
-from helper import download_rinex, exec_LimeGPS_bin
-from helper import get_random_coords, get_continuous_coords
-
-#------------------------------------------------------------------------------
-# this script is supposed to run on HOST PC
-# limeSDR is unreliable via c3 USB
-#------------------------------------------------------------------------------
-
-
-def run_lime_gps(rinex_file: str, location: str, timeout: int):
-  # needs to run longer than the checker
-  timeout += 10
-  print(f"LimeGPS {location} {timeout}")
-  p = multiprocessing.Process(target=exec_LimeGPS_bin,
-                              args=(rinex_file, location, timeout))
-  p.start()
-  return p
-
-con = None
-def run_remote_checker(lat, lon, alt, duration, ip_addr):
-  global con
-  try:
-    con = rpyc.connect(ip_addr, 18861)
-    con._config['sync_request_timeout'] = duration+20
-  except ConnectionRefusedError:
-    print("could not run remote checker is 'rpc_server.py' running???")
-    return False, None, None
-
-  matched, log, info = con.root.exposed_run_checker(lat, lon, alt,
-                        timeout=duration,
-                        use_laikad=True)
-  con.close() # TODO: might wanna fetch more logs here
-  con = None
-
-  print(f"Remote Checker: {log} {info}")
-  return matched, log, info
-
-
-stats = defaultdict(int) # type: ignore
-keys = ['success', 'failed', 'ublox_fail', 'laikad_fail', 'proc_crash', 'checker_crash']
-
-def print_report():
-  print("\nFuzzy testing report summary:")
-  for k in keys:
-    print(f"  {k}: {stats[k]}")
-
-
-def update_stats(matched, log, info):
-  if matched:
-    stats['success'] += 1
-    return
-
-  stats['failed'] += 1
-  if log == "PROC CRASH":
-    stats['proc_crash'] += 1
-  if log == "CHECKER CRASHED":
-    stats['checker_crash'] += 1
-  if log == "TIMEOUT":
-    if "LAIKAD" in info:
-      stats['laikad_fail'] += 1
-    else: # "UBLOX" in info
-      stats['ublox_fail'] += 1
-
-
-def main(ip_addr, continuous_mode, timeout, pos):
-  rinex_file = download_rinex()
-
-  lat, lon, alt = pos
-  if lat == 0 and lon == 0 and alt == 0:
-    lat, lon, alt = get_random_coords(47.2020, 15.7403)
-
-  try:
-    while True:
-      # spoof random location
-      spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},{alt}", timeout)
-
-      # remote checker execs blocking
-      matched, log, info = run_remote_checker(lat, lon, alt, timeout, ip_addr)
-      update_stats(matched, log, info)
-      spoof_proc.terminate()
-      spoof_proc = None
-
-      if continuous_mode:
-        lat, lon, alt = get_continuous_coords(lat, lon, alt)
-      else:
-        lat, lon, alt = get_random_coords(lat, lon)
-  except KeyboardInterrupt:
-    if spoof_proc is not None:
-      spoof_proc.terminate()
-
-    if con is not None and not con.closed:
-      con.root.exposed_kill_procs()
-      con.close()
-
-    print_report()
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Fuzzy test GPS stack with random locations.")
-  parser.add_argument("ip_addr", type=str)
-  parser.add_argument("-c", "--contin", type=bool, nargs='?', default=False, help='Continous location change')
-  parser.add_argument("-t", "--timeout", type=int, nargs='?', default=180, help='Timeout to get location')
-
-  # for replaying a location
-  parser.add_argument("lat", type=float, nargs='?', default=0)
-  parser.add_argument("lon", type=float, nargs='?', default=0)
-  parser.add_argument("alt", type=float, nargs='?', default=0)
-  args = parser.parse_args()
-  main(args.ip_addr, args.contin, args.timeout, (args.lat, args.lon, args.alt))
diff --git a/tools/gpstest/helper.py b/tools/gpstest/helper.py
deleted file mode 100644
index 4f62e60db0..0000000000
--- a/tools/gpstest/helper.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import random
-import datetime as dt
-import subprocess as sp
-from typing import Tuple
-
-from laika.downloader import download_nav
-from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
-
-
-def download_rinex():
-  # TODO: check if there is a better way to get the full brdc file for LimeGPS
-  gps_time = GPSTime.from_datetime(dt.datetime.utcnow())
-  utc_time = dt.datetime.utcnow() - dt.timedelta(1)
-  gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day))
-  return download_nav(gps_time, '/tmp/gpstest/', ConstellationId.GPS)
-
-
-def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int):
-  # this functions should never return, cause return means, timeout is
-  # reached or it crashed
-  try:
-    cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location]
-    sp.check_output(cmd, timeout=duration)
-  except sp.TimeoutExpired:
-    print("LimeGPS timeout reached!")
-  except Exception as e:
-    print(f"LimeGPS crashed: {str(e)}")
-
-
-def get_random_coords(lat, lon) -> Tuple[float, float, int]:
-  # jump around the world
-  # max values, lat: -90 to 90, lon: -180 to 180
-
-  lat_add = random.random()*20 + 10
-  lon_add = random.random()*20 + 20
-  alt = random.randint(-10**3, 4*10**3)
-
-  lat = ((lat + lat_add + 90) % 180) - 90
-  lon = ((lon + lon_add + 180) % 360) - 180
-  return round(lat, 5), round(lon, 5), alt
-
-
-def get_continuous_coords(lat, lon, alt) -> Tuple[float, float, int]:
-  # continuously move around the world
-  lat_add = random.random()*0.01
-  lon_add = random.random()*0.01
-  alt_add = random.randint(-100, 100)
-
-  lat = ((lat + lat_add + 90) % 180) - 90
-  lon = ((lon + lon_add + 180) % 360) - 180
-  alt += alt_add
-  return round(lat, 5), round(lon, 5), alt
diff --git a/tools/gpstest/patches/hackrf.patch b/tools/gpstest/patches/hackrf.patch
deleted file mode 100644
index afc9ac437b..0000000000
--- a/tools/gpstest/patches/hackrf.patch
+++ /dev/null
@@ -1,44 +0,0 @@
-diff --git a/host/hackrf-tools/src/CMakeLists.txt b/host/hackrf-tools/src/CMakeLists.txt
-index 7115151c..a51388ba 100644
---- a/host/hackrf-tools/src/CMakeLists.txt
-+++ b/host/hackrf-tools/src/CMakeLists.txt
-@@ -23,20 +23,20 @@
- 
- set(INSTALL_DEFAULT_BINDIR "bin" CACHE STRING "Appended to CMAKE_INSTALL_PREFIX")
- 
--find_package(FFTW REQUIRED)
--include_directories(${FFTW_INCLUDES})
--get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY)
--link_directories(${FFTW_LIBRARY_DIRS})
-+#find_package(FFTW REQUIRED)
-+#include_directories(${FFTW_INCLUDES})
-+#get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY)
-+#link_directories(${FFTW_LIBRARY_DIRS})
- 
- SET(TOOLS
- 	hackrf_transfer
--	hackrf_spiflash
--	hackrf_cpldjtag
-+	#hackrf_spiflash
-+	#hackrf_cpldjtag
- 	hackrf_info
--	hackrf_debug
--	hackrf_clock
--	hackrf_sweep
--	hackrf_operacake
-+	#hackrf_debug
-+	#hackrf_clock
-+	#hackrf_sweep
-+	#hackrf_operacake
- )
- 
- if(MSVC)
-@@ -45,7 +45,7 @@ if(MSVC)
- 	)
- 	LIST(APPEND TOOLS_LINK_LIBS ${FFTW_LIBRARIES})
- else()
--    LIST(APPEND TOOLS_LINK_LIBS m fftw3f)
-+    LIST(APPEND TOOLS_LINK_LIBS m)# fftw3f)
- endif()
- 
- if(NOT libhackrf_SOURCE_DIR)
diff --git a/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch b/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch
deleted file mode 100644
index 9a3525d346..0000000000
--- a/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/gpssim.h b/gpssim.h
-index c30b227..2ae0802 100644
---- a/gpssim.h
-+++ b/gpssim.h
-@@ -75,7 +75,7 @@
- #define SC08 (8)
- #define SC16 (16)
- 
--#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc)
-+#define EPHEM_ARRAY_SIZE (20) // for daily GPS broadcast ephemers file (brdc)
- 
- /*! \brief Structure representing GPS time */
- typedef struct
diff --git a/tools/gpstest/patches/limeGPS/makefile.patch b/tools/gpstest/patches/limeGPS/makefile.patch
deleted file mode 100644
index f99ce551db..0000000000
--- a/tools/gpstest/patches/limeGPS/makefile.patch
+++ /dev/null
@@ -1,11 +0,0 @@
-diff --git a/makefile b/makefile
-index 51bfabf..d0ea1eb 100644
---- a/makefile
-+++ b/makefile
-@@ -1,5 +1,4 @@
- CC=gcc -O2 -Wall
- 
- all: limegps.c gpssim.c
--	$(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite
--	
-+	$(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite -I../LimeSuite/src -L../LimeSuite/builddir/src -Wl,-rpath="$(PWD)/../LimeSuite/builddir/src"
diff --git a/tools/gpstest/patches/limeSuite/mcu_error.patch b/tools/gpstest/patches/limeSuite/mcu_error.patch
deleted file mode 100644
index 91790a4a2b..0000000000
--- a/tools/gpstest/patches/limeSuite/mcu_error.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp
-index 41a37044..ac29c6b6 100644
---- a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp
-+++ b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp
-@@ -254,7 +254,7 @@ int LMS7002M::CalibrateTx(float_type bandwidth_Hz, bool useExtLoopback)
-         mcuControl->RunProcedure(useExtLoopback ? MCU_FUNCTION_CALIBRATE_TX_EXTLOOPB : MCU_FUNCTION_CALIBRATE_TX);
-         status = mcuControl->WaitForMCU(1000);
-         if(status != MCU_BD::MCU_NO_ERROR)
--            return ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status));
-+            return -1; //ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status));
-     }
- 
-     //sync registers to cache
diff --git a/tools/gpstest/patches/limeSuite/reference_print.patch b/tools/gpstest/patches/limeSuite/reference_print.patch
deleted file mode 100644
index 5bd7cdf1ed..0000000000
--- a/tools/gpstest/patches/limeSuite/reference_print.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/src/FPGA_common/FPGA_common.cpp b/src/FPGA_common/FPGA_common.cpp
-index 4e81f33e..7381c475 100644
---- a/src/FPGA_common/FPGA_common.cpp
-+++ b/src/FPGA_common/FPGA_common.cpp
-@@ -946,7 +946,7 @@ double FPGA::DetectRefClk(double fx3Clk)
- 
-     if (i == 0)
-         return -1;
--    lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6);
-+    //lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6);
-     return clkTbl[i - 1];
- }
- 
diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py
deleted file mode 100644
index cdedd8ea57..0000000000
--- a/tools/gpstest/rpc_server.py
+++ /dev/null
@@ -1,185 +0,0 @@
-import os
-import time
-import shutil
-from datetime import datetime
-from collections import defaultdict
-
-import rpyc
-from rpyc.utils.server import ThreadedServer
-
-#from openpilot.common.params import Params
-import cereal.messaging as messaging
-from openpilot.selfdrive.manager.process_config import managed_processes
-from laika.lib.coordinates import ecef2geodetic
-
-DELTA = 0.001
-ALT_DELTA = 30
-MATCH_NUM = 10
-REPORT_STATS = 10
-
-EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3"
-DOWNLOAD_CACHE = "/tmp/comma_download_cache"
-
-SERVER_LOG_FILE = "/tmp/fuzzy_server.log"
-server_log = open(SERVER_LOG_FILE, "w+")
-
-def slog(msg):
-  server_log.write(f"{datetime.now().strftime('%H:%M:%S.%f')} | {msg}\n")
-  server_log.flush()
-
-def handle_laikad(msg):
-  if not hasattr(msg, 'correctedMeasurements'):
-    return None
-
-  num_corr = len(msg.correctedMeasurements)
-  pos_ecef = msg.positionECEF.value
-  pos_geo = []
-  if len(pos_ecef) > 0:
-    pos_geo = ecef2geodetic(pos_ecef)
-
-  pos_std = msg.positionECEF.std
-  pos_valid = msg.positionECEF.valid
-
-  slog(f"{num_corr} {pos_geo} {pos_ecef} {pos_std} {pos_valid}")
-  return pos_geo, (num_corr, pos_geo, list(pos_ecef), list(msg.positionECEF.std))
-
-hw_msgs = 0
-ephem_msgs: dict = defaultdict(int)
-def handle_ublox(msg):
-  global hw_msgs
-
-  d = msg.to_dict()
-
-  if 'hwStatus2' in d:
-    hw_msgs += 1
-
-  if 'ephemeris' in d:
-    ephem_msgs[msg.ephemeris.svId] += 1
-
-  num_meas = None
-  if 'measurementReport' in d:
-    num_meas = msg.measurementReport.numMeas
-
-  return [hw_msgs, ephem_msgs, num_meas]
-
-
-def start_procs(procs):
-  for p in procs:
-    managed_processes[p].start()
-  time.sleep(1)
-
-def kill_procs(procs, no_retry=False):
-  for p in procs:
-    managed_processes[p].stop()
-  time.sleep(1)
-
-  if not no_retry:
-    for p in procs:
-      mp = managed_processes[p].proc
-      if mp is not None and mp.is_alive():
-        managed_processes[p].stop()
-    time.sleep(3)
-
-def check_alive_procs(procs):
-  for p in procs:
-    mp = managed_processes[p].proc
-    if mp is None or not mp.is_alive():
-      return False, p
-  return True, None
-
-
-class RemoteCheckerService(rpyc.Service):
-  def on_connect(self, conn):
-    pass
-
-  def on_disconnect(self, conn):
-    #kill_procs(self.procs, no_retry=False)
-    # this execution is delayed, it will kill the next run of laikad
-    # TODO: add polling to wait for everything is killed
-    pass
-
-  def run_checker(self, slat, slon, salt, sockets, procs, timeout):
-    global hw_msgs, ephem_msgs
-    hw_msgs = 0
-    ephem_msgs = defaultdict(int)
-
-    slog(f"Run test: {slat} {slon} {salt}")
-
-    # quectel_mod = Params().get_bool("UbloxAvailable")
-
-    match_cnt = 0
-    msg_cnt = 0
-    stats_laikad = []
-    stats_ublox = []
-
-    self.procs = procs
-    start_procs(procs)
-    sm = messaging.SubMaster(sockets)
-
-    start_time = time.monotonic()
-    while True:
-      sm.update()
-
-      if sm.updated['ubloxGnss']:
-        stats_ublox.append(handle_ublox(sm['ubloxGnss']))
-
-      if sm.updated['gnssMeasurements']:
-        pos_geo, stats = handle_laikad(sm['gnssMeasurements'])
-        if pos_geo is None or len(pos_geo) == 0:
-          continue
-
-        match  = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True))
-        match &= abs(pos_geo[2] - salt) < ALT_DELTA
-        if match:
-          match_cnt += 1
-          if match_cnt >= MATCH_NUM:
-            return True, "MATCH", f"After: {round(time.monotonic() - start_time, 4)}"
-
-        # keep some stats for error reporting
-        stats_laikad.append(stats)
-
-      if (msg_cnt % 10) == 0:
-        a, p = check_alive_procs(procs)
-        if not a:
-          return False, "PROC CRASH", f"{p}"
-      msg_cnt += 1
-
-      if (time.monotonic() - start_time) > timeout:
-        h = f"LAIKAD: {stats_laikad[-REPORT_STATS:]}"
-        if len(h) == 0:
-          h = f"UBLOX: {stats_ublox[-REPORT_STATS:]}"
-        return False, "TIMEOUT", h
-
-
-  def exposed_run_checker(self, slat, slon, salt, timeout=180, use_laikad=True):
-    try:
-      procs = []
-      sockets = []
-
-      if use_laikad:
-        procs.append("laikad") # pigeond, ubloxd # might wanna keep them running
-        sockets += ['ubloxGnss', 'gnssMeasurements']
-
-        if os.path.exists(EPHEM_CACHE):
-          os.remove(EPHEM_CACHE)
-        shutil.rmtree(DOWNLOAD_CACHE, ignore_errors=True)
-
-      ret = self.run_checker(slat, slon, salt, sockets, procs, timeout)
-      kill_procs(procs)
-      return ret
-
-    except Exception as e:
-      # always make sure processes get killed
-      kill_procs(procs)
-      return False, "CHECKER CRASHED", f"{str(e)}"
-
-
-  def exposed_kill_procs(self):
-    kill_procs(self.procs, no_retry=True)
-
-
-if __name__ == "__main__":
-  print(f"Sever Log written to: {SERVER_LOG_FILE}")
-  t = ThreadedServer(RemoteCheckerService, port=18861)
-  t.start()
-
diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh
deleted file mode 100755
index e0ca017a6d..0000000000
--- a/tools/gpstest/run_unittest.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/bash
-
-# NOTE: can only run inside limeGPS test box!
-
-# run limeGPS with random static location
-timeout 300 ./simulate_gps_signal.py 32.7518 -117.1962 &
-gps_PID=$(ps -aux | grep -m 1 "timeout 300" | awk '{print $2}')
-
-echo "starting limeGPS..."
-sleep 10
-
-# run unit tests (skipped when module not present)
-python -m unittest test_gps.py
-python -m unittest test_gps_qcom.py
-
-kill $gps_PID
diff --git a/tools/gpstest/setup.sh b/tools/gpstest/setup.sh
deleted file mode 100755
index ddf41dd260..0000000000
--- a/tools/gpstest/setup.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-if [ ! -d LimeSuite ]; then
-  git clone https://github.com/myriadrf/LimeSuite.git
-  cd LimeSuite
-  # checkout latest version which has firmware updates available
-  git checkout v20.10.0
-  git apply ../patches/limeSuite/*
-  mkdir builddir && cd builddir
-  cmake -DCMAKE_BUILD_TYPE=Release ..
-  make -j4
-  cd ../..
-fi
-
-if [ ! -d LimeGPS ]; then
-  git clone https://github.com/osqzss/LimeGPS.git
-  cd LimeGPS
-  git apply ../patches/limeGPS/*
-  make
-  cd ..
-fi
diff --git a/tools/gpstest/setup_hackrf.sh b/tools/gpstest/setup_hackrf.sh
deleted file mode 100755
index e504ec9447..0000000000
--- a/tools/gpstest/setup_hackrf.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-if [ ! -d gps-sdr-sim ]; then
-  git clone https://github.com/osqzss/gps-sdr-sim.git
-  cd gps-sdr-sim
-  make
-  cd ..
-fi
-
-if [ ! -d hackrf ]; then
-  git clone https://github.com/greatscottgadgets/hackrf.git
-  cd hackrf/host
-  git apply ../../patches/hackrf.patch
-  cmake .
-  make
-fi
-
diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py
deleted file mode 100755
index da0f64eaca..0000000000
--- a/tools/gpstest/simulate_gps_signal.py
+++ /dev/null
@@ -1,151 +0,0 @@
-#!/usr/bin/env python3
-import os
-import random
-import argparse
-import datetime as dt
-import subprocess as sp
-from typing import Tuple
-
-from laika.downloader import download_nav
-from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
-
-cache_dir = '/tmp/gpstest/'
-
-
-def download_rinex():
-  # TODO: check if there is a better way to get the full brdc file for LimeGPS
-  gps_time = GPSTime.from_datetime(dt.datetime.utcnow())
-  utc_time = dt.datetime.utcnow()# - dt.timedelta(1)
-  gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day))
-  return download_nav(gps_time, cache_dir, ConstellationId.GPS)
-
-def get_coords(lat, lon, s1, s2, o1=0, o2=0) -> Tuple[int, int]:
-  lat_add = random.random()*s1 + o1
-  lon_add = random.random()*s2 + o2
-
-  lat = ((lat + lat_add + 90) % 180) - 90
-  lon = ((lon + lon_add + 180) % 360) - 180
-  return round(lat, 5), round(lon, 5)
-
-def get_continuous_coords(lat, lon) -> Tuple[int, int]:
-  # continuously move around the world
-  return get_coords(lat, lon, 0.01, 0.01)
-
-def get_random_coords(lat, lon) -> Tuple[int, int]:
-  # jump around the world
-  return get_coords(lat, lon, 20, 20, 10, 20)
-
-def run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout):
-  while True:
-    try:
-      # TODO: add starttime setting and altitude
-      # -t 2023/01/15,00:00:00 -T 2023/01/15,00:00:00
-      # this needs to match the date of the navigation file
-      print(f"starting LimeGPS, Location: {lat} {lon} {alt}")
-      cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},{alt}"]
-      print(f"CMD: {cmd}")
-      sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout)
-    except KeyboardInterrupt:
-      print("stopping LimeGPS")
-      return
-    except sp.TimeoutExpired:
-      print("LimeGPS timeout reached!")
-    except Exception as e:
-      out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member
-      if "Device is busy." in out_stderr:
-        print("GPS simulation is already running, Device is busy!")
-        return
-
-      print(f"LimeGPS crashed: {str(e)}")
-      print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member
-      return
-
-    if contin_sim:
-      lat, lon = get_continuous_coords(lat, lon)
-    else:
-      lat, lon = get_random_coords(lat, lon)
-
-def run_hackRF_loop(lat, lon, rinex_file, timeout):
-
-  if timeout is not None:
-    print("no jump mode for hackrf!")
-    return
-
-  try:
-    print(f"starting gps-sdr-sim, Location: {lat},{lon}")
-    # create 30second file and replay with hackrf endless
-    cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},-200", "-d", "30"]
-    sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout)
-    # created in current working directory
-  except Exception:
-    print("Failed to generate gpssim.bin")
-
-  try:
-    print("starting hackrf_transfer")
-    # create 30second file and replay with hackrf endless
-    cmd = ["hackrf/host/hackrf-tools/src/hackrf_transfer", "-t", "gpssim.bin",
-           "-f", "1575420000", "-s", "2600000", "-a", "1", "-R"]
-    sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout)
-  except KeyboardInterrupt:
-    print("stopping hackrf_transfer")
-    return
-  except Exception as e:
-    print(f"hackrf_transfer crashed:{str(e)}")
-
-
-def main(lat, lon, alt, jump_sim, contin_sim, hackrf_mode):
-
-  if hackrf_mode:
-    if not os.path.exists('hackrf'):
-      print("hackrf not found run 'setup_hackrf.sh' first")
-      return
-
-    if not os.path.exists('gps-sdr-sim'):
-      print("gps-sdr-sim not found run 'setup_hackrf.sh' first")
-      return
-
-    output = sp.check_output(["hackrf/host/hackrf-tools/src/hackrf_info"])
-    if output.strip() == b"" or b"No HackRF boards found." in output:
-      print("No HackRF boards found!")
-      return
-
-  else:
-    if not os.path.exists('LimeGPS'):
-      print("LimeGPS not found run 'setup.sh' first")
-      return
-
-    if not os.path.exists('LimeSuite'):
-      print("LimeSuite not found run 'setup.sh' first")
-      return
-
-    output = sp.check_output(["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"])
-    if output.strip() == b"":
-      print("No LimeSDR device found!")
-      return
-    print(f"Device: {output.strip().decode('utf-8')}")
-
-  if lat == 0 and lon == 0:
-    lat, lon = get_random_coords(47.2020, 15.7403)
-
-  rinex_file = download_rinex()
-
-  timeout = None
-  if jump_sim:
-    timeout = 30
-
-  if hackrf_mode:
-    run_hackRF_loop(lat, lon, rinex_file, timeout)
-  else:
-    run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout)
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.")
-  parser.add_argument("lat", type=float, nargs='?', default=0)
-  parser.add_argument("lon", type=float, nargs='?', default=0)
-  parser.add_argument("alt", type=float, nargs='?', default=0)
-  parser.add_argument("--jump", action="store_true", help="signal that jumps around the world")
-  parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world")
-  parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)")
-  args = parser.parse_args()
-  main(args.lat, args.lon, args.alt, args.jump, args.contin, args.hackrf)
diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py
deleted file mode 100644
index 98f1ad84b8..0000000000
--- a/tools/gpstest/test_gps.py
+++ /dev/null
@@ -1,191 +0,0 @@
-#!/usr/bin/env python3
-import time
-import unittest
-import struct
-
-from openpilot.common.params import Params
-import cereal.messaging as messaging
-import openpilot.system.sensord.pigeond as pd
-from openpilot.system.hardware import TICI
-from openpilot.selfdrive.test.helpers import with_processes
-
-
-def read_events(service, duration_sec):
-  service_sock = messaging.sub_sock(service, timeout=0.1)
-  start_time_sec = time.monotonic()
-  events = []
-  while time.monotonic() - start_time_sec < duration_sec:
-    events += messaging.drain_sock(service_sock)
-    time.sleep(0.1)
-
-  assert len(events) != 0, f"No '{service}'events collected!"
-  return events
-
-
-def create_backup(pigeon):
-  # controlled GNSS stop
-  pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")
-
-  # store almanac in flash
-  pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
-  try:
-    if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK):
-      raise RuntimeError("Could not store almanac")
-  except TimeoutError:
-    pass
-
-
-def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int):
-  start_time = 0
-  end_time = 0
-  events = messaging.drain_sock(socket)
-  assert len(events) != 0, "no ublxGnss measurements"
-
-  for event in events:
-    if event.ubloxGnss.which() != "measurementReport":
-      continue
-
-    if start_time == 0:
-      start_time = event.logMonoTime
-
-    if event.ubloxGnss.measurementReport.numMeas != 0:
-      end_time = event.logMonoTime
-      break
-
-  assert end_time != 0, "no ublox measurements received!"
-
-  ttfm = (end_time - start_time)/1e9
-  assert ttfm < max_time, f"Time to first measurement > {max_time}s, {ttfm}"
-
-  # check for satellite count in measurements
-  sat_count = []
-  end_id = events.index(event)# pylint:disable=undefined-loop-variable
-  for event in events[end_id:]:
-    if event.ubloxGnss.which() == "measurementReport":
-      sat_count.append(event.ubloxGnss.measurementReport.numMeas)
-
-  num_sat = int(sum(sat_count)/len(sat_count))
-  assert num_sat >= 5, f"Not enough satellites {num_sat} (TestBox setup!)"
-
-
-def verify_gps_location(socket: messaging.SubSocket, max_time: int):
-  events = messaging.drain_sock(socket)
-  assert len(events) != 0, "no gpsLocationExternal measurements"
-
-  start_time = events[0].logMonoTime
-  end_time = 0
-  for event in events:
-    gps_valid = event.gpsLocationExternal.flags % 2
-
-    if gps_valid:
-      end_time = event.logMonoTime
-      break
-
-  assert end_time != 0, "GPS location never converged!"
-
-  ttfl = (end_time - start_time)/1e9
-  assert ttfl < max_time, f"Time to first location > {max_time}s, {ttfl}"
-
-  hacc = events[-1].gpsLocationExternal.accuracy
-  vacc = events[-1].gpsLocationExternal.verticalAccuracy
-  assert hacc < 20, f"Horizontal accuracy too high, {hacc}"
-  assert vacc < 45,  f"Vertical accuracy too high, {vacc}"
-
-
-def verify_time_to_first_fix(pigeon):
-  # get time to first fix from nav status message
-  nav_status = b""
-  while True:
-    pigeon.send(b"\xb5\x62\x01\x03\x00\x00\x04\x0d")
-    nav_status = pigeon.receive()
-    if nav_status[:4] == b"\xb5\x62\x01\x03":
-      break
-
-  values = struct.unpack("<HHHIBBBBIIH", nav_status[:24])
-  ttff = values[8]/1000
-  # srms = values[9]/1000
-  assert ttff < 40, f"Time to first fix > 40s, {ttff}"
-
-
-class TestGPS(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
-    ublox_available = Params().get_bool("UbloxAvailable")
-    if not ublox_available:
-      raise unittest.SkipTest
-
-
-  def tearDown(self):
-    pd.set_power(False)
-
-  @with_processes(['ubloxd'])
-  def test_a_ublox_reset(self):
-
-    pigeon, pm = pd.create_pigeon()
-    pd.init_baudrate(pigeon)
-    assert pigeon.reset_device(), "Could not reset device!"
-
-    pd.initialize_pigeon(pigeon)
-
-    ugs = messaging.sub_sock("ubloxGnss", timeout=0.1)
-    gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1)
-
-    # receive some messages (restart after cold start takes up to 30seconds)
-    pd.run_receiving(pigeon, pm, 60)
-
-    # store almanac for next test
-    create_backup(pigeon)
-
-    verify_ubloxgnss_data(ugs, 60)
-    verify_gps_location(gle, 60)
-
-    # skip for now, this might hang for a while
-    #verify_time_to_first_fix(pigeon)
-
-
-  @with_processes(['ubloxd'])
-  def test_b_ublox_almanac(self):
-    pigeon, pm = pd.create_pigeon()
-    pd.init_baudrate(pigeon)
-
-    # device cold start
-    pigeon.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d")
-    time.sleep(1) # wait for cold start
-    pd.init_baudrate(pigeon)
-
-    # clear configuration
-    pigeon.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b")
-
-    # restoring almanac backup
-    pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60")
-    status = pigeon.wait_for_backup_restore_status()
-    assert status == 2, "Could not restore almanac backup"
-
-    pd.initialize_pigeon(pigeon)
-
-    ugs = messaging.sub_sock("ubloxGnss", timeout=0.1)
-    gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1)
-
-    pd.run_receiving(pigeon, pm, 15)
-    verify_ubloxgnss_data(ugs, 15)
-    verify_gps_location(gle, 20)
-
-
-  @with_processes(['ubloxd'])
-  def test_c_ublox_startup(self):
-    pigeon, pm = pd.create_pigeon()
-    pd.init_baudrate(pigeon)
-    pd.initialize_pigeon(pigeon)
-
-    ugs = messaging.sub_sock("ubloxGnss", timeout=0.1)
-    gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1)
-    pd.run_receiving(pigeon, pm, 10)
-    verify_ubloxgnss_data(ugs, 10)
-    verify_gps_location(gle, 10)
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py
deleted file mode 100644
index c399671715..0000000000
--- a/tools/gpstest/test_gps_qcom.py
+++ /dev/null
@@ -1,80 +0,0 @@
-#!/usr/bin/env python3
-import time
-import unittest
-import subprocess as sp
-
-from openpilot.common.params import Params
-from openpilot.system.hardware import TICI
-import cereal.messaging as messaging
-from openpilot.selfdrive.manager.process_config import managed_processes
-
-
-def exec_mmcli(cmd):
-  cmd = "mmcli -m 0 " + cmd
-  p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE)
-  return p.communicate()
-
-
-def wait_for_location(socket, timeout):
-  while True:
-    events = messaging.drain_sock(socket)
-    for event in events:
-      if event.gpsLocation.flags % 2:
-        return False
-
-    timeout -= 1
-    if timeout <= 0:
-      return True
-
-    time.sleep(0.1)
-    continue
-
-
-class TestGPS(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
-    ublox_available = Params().get_bool("UbloxAvailable")
-    if ublox_available:
-      raise unittest.SkipTest
-
-  def test_a_quectel_cold_start(self):
-    # delete assistance data to enforce cold start for GNSS
-    # testing shows that this takes up to 20min
-
-    _, err = exec_mmcli("--command='AT+QGPSDEL=0'")
-    assert len(err) == 0, f"GPSDEL failed: {err}"
-
-    managed_processes['rawgpsd'].start()
-    start_time = time.monotonic()
-    glo = messaging.sub_sock("gpsLocation", timeout=0.1)
-
-    timeout = 10*60*3 # 3 minute
-    timedout = wait_for_location(glo, timeout)
-    managed_processes['rawgpsd'].stop()
-
-    assert timedout is False, "Waiting for location timed out (3min)!"
-
-    duration = time.monotonic() - start_time
-    assert duration < 60, f"Received GPS location {duration}!"
-
-
-  def test_b_quectel_startup(self):
-    managed_processes['rawgpsd'].start()
-    start_time = time.monotonic()
-    glo = messaging.sub_sock("gpsLocation", timeout=0.1)
-
-    timeout = 10*60 # 1 minute
-    timedout = wait_for_location(glo, timeout)
-    managed_processes['rawgpsd'].stop()
-
-    assert timedout is False, "Waiting for location timed out (3min)!"
-
-    duration = time.monotonic() - start_time
-    assert duration < 60, f"Received GPS location {duration}!"
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py
deleted file mode 100644
index abb47d4bfc..0000000000
--- a/tools/gpstest/test_laikad.py
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import unittest
-
-import cereal.messaging as messaging
-import openpilot.system.sensord.pigeond as pd
-
-from openpilot.common.params import Params
-from openpilot.system.hardware import TICI
-from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.selfdrive.test.helpers import with_processes
-
-
-def wait_for_location(sm, timeout, con=10):
-  cons_meas = 0
-  start_time = time.monotonic()
-  while (time.monotonic() - start_time) < timeout:
-    sm.update()
-    if not sm.updated["gnssMeasurements"]:
-      continue
-
-    msg = sm["gnssMeasurements"]
-    cons_meas = (cons_meas + 1) if 'positionECEF' in msg.to_dict() else 0
-    if cons_meas >= con:
-      return True
-  return False
-
-
-class TestLaikad(unittest.TestCase):
-  @classmethod
-  def setUpClass(self):
-    if not TICI:
-      raise unittest.SkipTest
-
-    ublox_available = Params().get_bool("UbloxAvailable")
-    if not ublox_available:
-      raise unittest.SkipTest
-
-  def setUp(self):
-    # ensure laikad cold start
-    Params().remove("LaikadEphemerisV3")
-    os.environ["LAIKAD_NO_INTERNET"] = "1"
-    managed_processes['laikad'].start()
-
-  def tearDown(self):
-    managed_processes['laikad'].stop()
-
-
-  @with_processes(['pigeond', 'ubloxd'])
-  def test_laikad_cold_start(self):
-    time.sleep(5)
-
-    start_time = time.monotonic()
-    sm = messaging.SubMaster(["gnssMeasurements"])
-
-    success = wait_for_location(sm, 60*2, con=10)
-    duration = time.monotonic() - start_time
-
-    assert success, "Waiting for location timed out (2min)!"
-    assert duration < 60, f"Received Location {duration}!"
-
-
-  @with_processes(['ubloxd'])
-  def test_laikad_ublox_reset_start(self):
-    time.sleep(2)
-
-    pigeon, pm = pd.create_pigeon()
-    pd.init_baudrate(pigeon)
-    assert pigeon.reset_device(), "Could not reset device!"
-
-    laikad_sock = messaging.sub_sock("gnssMeasurements", timeout=0.1)
-    ublox_gnss_sock = messaging.sub_sock("ubloxGnss", timeout=0.1)
-
-    pd.init_baudrate(pigeon)
-    pd.initialize_pigeon(pigeon)
-    pd.run_receiving(pigeon, pm, 180)
-
-    ublox_msgs = messaging.drain_sock(ublox_gnss_sock)
-    laikad_msgs = messaging.drain_sock(laikad_sock)
-
-    gps_ephem_cnt = 0
-    glonass_ephem_cnt = 0
-    for um in ublox_msgs:
-      if um.ubloxGnss.which() == 'ephemeris':
-        gps_ephem_cnt += 1
-      elif um.ubloxGnss.which() == 'glonassEphemeris':
-        glonass_ephem_cnt += 1
-
-    assert gps_ephem_cnt > 0, "NO gps ephemeris collected!"
-    assert glonass_ephem_cnt > 0, "NO glonass ephemeris collected!"
-
-    pos_meas = 0
-    duration = -1
-    for lm in laikad_msgs:
-      pos_meas = (pos_meas + 1) if 'positionECEF' in lm.gnssMeasurements.to_dict() else 0
-      if pos_meas > 5:
-        duration = (lm.logMonoTime - laikad_msgs[0].logMonoTime)*1e-9
-        break
-
-    assert pos_meas > 5, "NOT enough positions at end of read!"
-    assert duration < 120, "Laikad took too long to get a Position!"
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 07bb8ac9a4..6753afffb9 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -54,8 +54,8 @@ fi
 eval "$(pyenv init --path)"
 
 echo "update pip"
-pip install pip==23.2.1
-pip install poetry==1.5.1
+pip install pip==23.3
+pip install poetry==1.6.1
 
 poetry config virtualenvs.prefer-active-python true --local
 poetry config virtualenvs.in-project true --local
diff --git a/tools/joystick/README.md b/tools/joystick/README.md
index c74e51146c..65422afe80 100644
--- a/tools/joystick/README.md
+++ b/tools/joystick/README.md
@@ -61,4 +61,4 @@ Now start your car and openpilot should go into joystick mode with an alert on s
 
 Make sure the conditions are met in the panda to allow controls (e.g. cruise control engaged). You can also make a modification to the panda code to always allow controls.
 
-![](steer.gif)
+![](https://github.com/commaai/openpilot/assets/8762862/e640cbca-cb7a-4dcb-abce-b23b036ad8e7)
diff --git a/tools/joystick/steer.gif b/tools/joystick/steer.gif
deleted file mode 100644
index 8331b50de9..0000000000
Binary files a/tools/joystick/steer.gif and /dev/null differ
diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py
index 8863dd57a2..e0989f02ea 100644
--- a/tools/lib/auth_config.py
+++ b/tools/lib/auth_config.py
@@ -1,24 +1,16 @@
 import json
 import os
 from openpilot.common.file_helpers import mkdirs_exists_ok
-from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
 
 
 class MissingAuthConfigError(Exception):
   pass
 
 
-if PC:
-  CONFIG_DIR = os.path.expanduser('~/.comma')
-else:
-  CONFIG_DIR = "/tmp/.comma"
-
-mkdirs_exists_ok(CONFIG_DIR)
-
-
 def get_token():
   try:
-    with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
+    with open(os.path.join(Paths.config_root(), 'auth.json')) as f:
       auth = json.load(f)
       return auth['access_token']
   except Exception:
@@ -26,9 +18,13 @@ def get_token():
 
 
 def set_token(token):
-  with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f:
+  mkdirs_exists_ok(Paths.config_root())
+  with open(os.path.join(Paths.config_root(), 'auth.json'), 'w') as f:
     json.dump({'access_token': token}, f)
 
 
 def clear_token():
-  os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
+  try:
+    os.unlink(os.path.join(Paths.config_root(), 'auth.json'))
+  except FileNotFoundError:
+    pass
diff --git a/tools/lib/cache.py b/tools/lib/cache.py
index d142955e59..fd214f6bb5 100644
--- a/tools/lib/cache.py
+++ b/tools/lib/cache.py
@@ -2,10 +2,10 @@ import os
 import urllib.parse
 from openpilot.common.file_helpers import mkdirs_exists_ok
 
-DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache")
+DEFAULT_CACHE_DIR = os.getenv("CACHE_ROOT", os.path.expanduser("~/.commacache"))
 
-def cache_path_for_file_path(fn, cache_prefix=None):
-  dir_ = os.path.join(DEFAULT_CACHE_DIR, "local")
+def cache_path_for_file_path(fn, cache_dir=DEFAULT_CACHE_DIR):
+  dir_ = os.path.join(cache_dir, "local")
   mkdirs_exists_ok(dir_)
   fn_parsed = urllib.parse.urlparse(fn)
   if fn_parsed.scheme == '':
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 5ac23d57ec..4aec965f1a 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -3,9 +3,13 @@ from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
-def FileReader(fn, debug=False):
+def resolve_name(fn):
   if fn.startswith("cd:/"):
-    fn = fn.replace("cd:/", DATA_ENDPOINT)
+    return fn.replace("cd:/", DATA_ENDPOINT)
+  return fn
+
+def FileReader(fn, debug=False):
+  fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
     return URLFile(fn, debug=debug)
   return open(fn, "rb")
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index cbc9310790..275b9b65b8 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -3,7 +3,6 @@ import os
 import pickle
 import struct
 import subprocess
-import tempfile
 import threading
 from enum import IntEnum
 from functools import wraps
@@ -12,11 +11,12 @@ import numpy as np
 from lru import LRU
 
 import _io
-from openpilot.tools.lib.cache import cache_path_for_file_path
+from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR
 from openpilot.tools.lib.exceptions import DataUnreadableError
+from openpilot.tools.lib.vidindex import hevc_index
 from openpilot.common.file_helpers import atomic_write_in_dir
 
-from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.filereader import FileReader, resolve_name
 
 HEVC_SLICE_B = 0
 HEVC_SLICE_P = 1
@@ -59,62 +59,35 @@ def fingerprint_video(fn):
 
 
 def ffprobe(fn, fmt=None):
-  cmd = ["ffprobe",
-         "-v", "quiet",
-         "-print_format", "json",
-         "-show_format", "-show_streams"]
+  fn = resolve_name(fn)
+  cmd = ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_format", "-show_streams"]
   if fmt:
     cmd += ["-f", fmt]
-  cmd += [fn]
+  cmd += ["-i", "-"]
 
   try:
-    ffprobe_output = subprocess.check_output(cmd)
+    with FileReader(fn) as f:
+      ffprobe_output = subprocess.check_output(cmd, input=f.read(4096))
   except subprocess.CalledProcessError as e:
     raise DataUnreadableError(fn) from e
 
   return json.loads(ffprobe_output)
 
 
-def vidindex(fn, typ):
-  vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex")
-  vidindex = os.path.join(vidindex_dir, "vidindex")
-
-  subprocess.check_call(["make"], cwd=vidindex_dir, stdout=subprocess.DEVNULL)
-
-  with tempfile.NamedTemporaryFile() as prefix_f, \
-       tempfile.NamedTemporaryFile() as index_f:
-    try:
-      subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name])
-    except subprocess.CalledProcessError as e:
-      raise DataUnreadableError(f"vidindex failed on file {fn}") from e
-    with open(index_f.name, "rb") as f:
-      index = f.read()
-    with open(prefix_f.name, "rb") as f:
-      prefix = f.read()
-
-  index = np.frombuffer(index, np.uint32).reshape(-1, 2)
-
-  assert index[-1, 0] == 0xFFFFFFFF
-  assert index[-1, 1] == os.path.getsize(fn)
-
-  return index, prefix
-
-
 def cache_fn(func):
   @wraps(func)
   def cache_inner(fn, *args, **kwargs):
     if kwargs.pop('no_cache', None):
       cache_path = None
     else:
-      cache_prefix = kwargs.pop('cache_prefix', None)
-      cache_path = cache_path_for_file_path(fn, cache_prefix)
+      cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR)
+      cache_path = cache_path_for_file_path(fn, cache_dir)
 
     if cache_path and os.path.exists(cache_path):
       with open(cache_path, "rb") as cache_file:
         cache_value = pickle.load(cache_file)
     else:
       cache_value = func(fn, *args, **kwargs)
-
       if cache_path:
         with atomic_write_in_dir(cache_path, mode="wb", overwrite=True) as cache_file:
           pickle.dump(cache_value, cache_file, -1)
@@ -125,13 +98,13 @@ def cache_fn(func):
 
 
 @cache_fn
-def index_stream(fn, typ):
-  assert typ in ("hevc", )
+def index_stream(fn, ft):
+  if ft != FrameType.h265_stream:
+    raise NotImplementedError("Only h265 supported")
 
-  with FileReader(fn) as f:
-    assert os.path.exists(f.name), fn
-    index, prefix = vidindex(f.name, typ)
-    probe = ffprobe(f.name, typ)
+  frame_types, dat_len, prefix = hevc_index(fn)
+  index = np.array(frame_types + [(0xFFFFFFFF, dat_len)], dtype=np.uint32)
+  probe = ffprobe(fn, "hevc")
 
   return {
     'index': index,
@@ -140,42 +113,8 @@ def index_stream(fn, typ):
   }
 
 
-def index_videos(camera_paths, cache_prefix=None):
-  """Requires that paths in camera_paths are contiguous and of the same type."""
-  if len(camera_paths) < 1:
-    raise ValueError("must provide at least one video to index")
-
-  frame_type = fingerprint_video(camera_paths[0])
-  for fn in camera_paths:
-    index_video(fn, frame_type, cache_prefix)
-
-
-def index_video(fn, frame_type=None, cache_prefix=None):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
-
-  if os.path.exists(cache_path):
-    return
-
-  if frame_type is None:
-    frame_type = fingerprint_video(fn[0])
-
-  if frame_type == FrameType.h265_stream:
-    index_stream(fn, "hevc", cache_prefix=cache_prefix)
-  else:
-    raise NotImplementedError("Only h265 supported")
-
-
-def get_video_index(fn, frame_type, cache_prefix=None):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
-
-  if not os.path.exists(cache_path):
-    index_video(fn, frame_type, cache_prefix)
-
-  if not os.path.exists(cache_path):
-    return None
-  with open(cache_path, "rb") as cache_file:
-    return pickle.load(cache_file)
-
+def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR):
+  return index_stream(fn, frame_type, cache_dir=cache_dir)
 
 def read_file_check_size(f, sz, cookie):
   buff = bytearray(sz)
@@ -228,31 +167,21 @@ def rgb24tonv12(rgb):
 
 
 def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt):
-  # using a tempfile is much faster than proc.communicate for some reason
-
-  with tempfile.TemporaryFile() as tmpf:
-    tmpf.write(rawdat)
-    tmpf.seek(0)
-
-    threads = os.getenv("FFMPEG_THREADS", "0")
-    cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
-    args = ["ffmpeg",
-            "-threads", threads,
-            "-hwaccel", "none" if not cuda else "cuda",
-            "-c:v", "hevc",
-            "-vsync", "0",
-            "-f", vid_fmt,
-            "-flags2", "showall",
-            "-i", "pipe:0",
-            "-threads", threads,
-            "-f", "rawvideo",
-            "-pix_fmt", pix_fmt,
-            "pipe:1"]
-    with subprocess.Popen(args, stdin=tmpf, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL) as proc:
-      # dat = proc.communicate()[0]
-      dat = proc.stdout.read()
-      if proc.wait() != 0:
-        raise DataUnreadableError("ffmpeg failed")
+  threads = os.getenv("FFMPEG_THREADS", "0")
+  cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
+  args = ["ffmpeg", "-v", "quiet",
+          "-threads", threads,
+          "-hwaccel", "none" if not cuda else "cuda",
+          "-c:v", "hevc",
+          "-vsync", "0",
+          "-f", vid_fmt,
+          "-flags2", "showall",
+          "-i", "-",
+          "-threads", threads,
+          "-f", "rawvideo",
+          "-pix_fmt", pix_fmt,
+          "-"]
+  dat = subprocess.check_output(args, input=rawdat)
 
   if pix_fmt == "rgb24":
     ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
@@ -284,13 +213,13 @@ class BaseFrameReader:
     raise NotImplementedError
 
 
-def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None):
+def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None):
   frame_type = fingerprint_video(fn)
   if frame_type == FrameType.raw:
     return RawFrameReader(fn)
   elif frame_type in (FrameType.h265_stream,):
     if not index_data:
-      index_data = get_video_index(fn, frame_type, cache_prefix)
+      index_data = get_video_index(fn, frame_type, cache_dir)
     return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind)
   else:
     raise NotImplementedError(frame_type)
diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py
old mode 100644
new mode 100755
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index e528996f32..4af922c774 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -6,11 +6,14 @@ import urllib.parse
 import capnp
 import warnings
 
+from typing import Iterable, Iterator
 
 from cereal import log as capnp_log
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.route import Route, SegmentName
 
+LogIterable = Iterable[capnp._DynamicStructReader]
+
 # this is an iterator itself, and uses private variables from LogReader
 class MultiLogIterator:
   def __init__(self, log_paths, sort_by_time=False):
@@ -30,7 +33,7 @@ class MultiLogIterator:
 
     return self._log_readers[i]
 
-  def __iter__(self):
+  def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
     return self
 
   def _inc(self):
@@ -107,7 +110,7 @@ class LogReader:
   def from_bytes(cls, dat):
     return cls("", dat=dat)
 
-  def __iter__(self):
+  def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
     for ent in self._ents:
       if self._only_union_types:
         try:
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
old mode 100644
new mode 100755
index bd93cd93ec..73ed843869
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -1,8 +1,13 @@
 #!/usr/bin/env python3
 import os
 import unittest
+
+from pathlib import Path
+from parameterized import parameterized
+from unittest import mock
+
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile
-from openpilot.selfdrive.test.helpers import temporary_cache_dir
 
 
 class TestFileDownload(unittest.TestCase):
@@ -31,8 +36,7 @@ class TestFileDownload(unittest.TestCase):
     self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
     self.assertEqual(response_cached, response_downloaded)
 
-  @temporary_cache_dir
-  def test_small_file(self, temp_dir):
+  def test_small_file(self):
     # Make sure we don't force cache
     os.environ["FILEREADER_CACHE"] = "0"
     small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md"
@@ -52,8 +56,7 @@ class TestFileDownload(unittest.TestCase):
     for i in range(length // 100):
       self.compare_loads(small_file_url, 100 * i, 100)
 
-  @temporary_cache_dir
-  def test_large_file(self, temp_dir):
+  def test_large_file(self):
     large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
     #  Load the end 100 bytes of both files
     file_large = URLFile(large_file_url)
@@ -62,6 +65,34 @@ class TestFileDownload(unittest.TestCase):
     self.compare_loads(large_file_url, length - 100, 100)
     self.compare_loads(large_file_url)
 
+  @parameterized.expand([(True, ), (False, )])
+  def test_recover_from_missing_file(self, cache_enabled):
+    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+
+    file_url = "http://localhost:5001/test.png"
+
+    file_exists = False
+
+    def get_length_online_mock(self):
+      if file_exists:
+        return 4
+      return -1
+
+    patch_length = mock.patch.object(URLFile, "get_length_online", get_length_online_mock)
+    patch_length.start()
+    try:
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, -1)
+
+      file_exists = True
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, 4)
+    finally:
+      tempfile_length = Path(Paths.download_cache_root()) / "ba2119904385654cb0105a2da174875f8e7648db175f202ecae6d6428b0e838f_length"
+      if tempfile_length.exists():
+        tempfile_length.unlink()
+      patch_length.stop()
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index e93f8e715c..315ade514b 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,25 +1,26 @@
 import os
 import time
-import tempfile
 import threading
-import urllib.parse
 import pycurl
 from hashlib import sha256
 from io import BytesIO
 from tenacity import retry, wait_random_exponential, stop_after_attempt
 from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
+from openpilot.system.hardware.hw import Paths
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K
 
-CACHE_DIR = os.environ.get("COMMA_CACHE", "/tmp/comma_download_cache/")
-
 
 def hash_256(link):
   hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest())
   return hsh
 
 
+class URLFileException(Exception):
+  pass
+
+
 class URLFile:
   _tlocal = threading.local()
 
@@ -38,7 +39,8 @@ class URLFile:
       self._curl = self._tlocal.curl
     except AttributeError:
       self._curl = self._tlocal.curl = pycurl.Curl()
-    mkdirs_exists_ok(CACHE_DIR)
+    if not self._force_download:
+      mkdirs_exists_ok(Paths.download_cache_root())
 
   def __enter__(self):
     return self
@@ -66,15 +68,16 @@ class URLFile:
   def get_length(self):
     if self._length is not None:
       return self._length
-    file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length")
-    if os.path.exists(file_length_path) and not self._force_download:
+
+    file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length")
+    if not self._force_download and os.path.exists(file_length_path):
       with open(file_length_path) as file_length:
-          content = file_length.read()
-          self._length = int(content)
-          return self._length
+        content = file_length.read()
+        self._length = int(content)
+        return self._length
 
     self._length = self.get_length_online()
-    if not self._force_download:
+    if not self._force_download and self._length != -1:
       with atomic_write_in_dir(file_length_path, mode="w") as file_length:
         file_length.write(str(self._length))
     return self._length
@@ -93,7 +96,7 @@ class URLFile:
       self._pos = position
       chunk_number = self._pos / CHUNK_SIZE
       file_name = hash_256(self._url) + "_" + str(chunk_number)
-      full_path = os.path.join(CACHE_DIR, str(file_name))
+      full_path = os.path.join(Paths.download_cache_root(), str(file_name))
       data = None
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
@@ -159,11 +162,11 @@ class URLFile:
 
     response_code = c.getinfo(pycurl.RESPONSE_CODE)
     if response_code == 416:  # Requested Range Not Satisfiable
-      raise Exception(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+      raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
     if download_range and response_code != 206:  # Partial Content
-      raise Exception(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+      raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
     if (not download_range) and response_code != 200:  # OK
-      raise Exception(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+      raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
 
     ret = dats.getvalue()
     self._pos += len(ret)
@@ -174,24 +177,4 @@ class URLFile:
 
   @property
   def name(self):
-    """Returns a local path to file with the URLFile's contents.
-
-       This can be used to interface with modules that require local files.
-    """
-    if self._local_file is None:
-      _, ext = os.path.splitext(urllib.parse.urlparse(self._url).path)
-      local_fd, local_path = tempfile.mkstemp(suffix=ext)
-      try:
-        os.write(local_fd, self.read())
-        local_file = open(local_path, "rb")
-      except Exception:
-        os.remove(local_path)
-        raise
-      finally:
-        os.close(local_fd)
-
-      self._local_file = local_file
-      self.read = self._local_file.read
-      self.seek = self._local_file.seek
-
-    return self._local_file.name
+    return self._url
diff --git a/tools/lib/vidindex.py b/tools/lib/vidindex.py
new file mode 100755
index 0000000000..8156faba6b
--- /dev/null
+++ b/tools/lib/vidindex.py
@@ -0,0 +1,312 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import struct
+from enum import IntEnum
+from typing import Tuple
+
+from openpilot.tools.lib.filereader import FileReader
+
+DEBUG = int(os.getenv("DEBUG", "0"))
+
+# compare to ffmpeg parsing
+# ffmpeg -i <input.hevc> -c copy -bsf:v trace_headers -f null - 2>&1 | grep -B4 -A32 '] 0 '
+
+# H.265 specification
+# https://www.itu.int/rec/dologin_pub.asp?lang=e&id=T-REC-H.265-201802-S!!PDF-E&type=items
+
+NAL_UNIT_START_CODE = b"\x00\x00\x01"
+NAL_UNIT_START_CODE_SIZE = len(NAL_UNIT_START_CODE)
+NAL_UNIT_HEADER_SIZE = 2
+
+class HevcNalUnitType(IntEnum):
+  TRAIL_N = 0         # RBSP structure: slice_segment_layer_rbsp( )
+  TRAIL_R = 1         # RBSP structure: slice_segment_layer_rbsp( )
+  TSA_N = 2           # RBSP structure: slice_segment_layer_rbsp( )
+  TSA_R = 3           # RBSP structure: slice_segment_layer_rbsp( )
+  STSA_N = 4          # RBSP structure: slice_segment_layer_rbsp( )
+  STSA_R = 5          # RBSP structure: slice_segment_layer_rbsp( )
+  RADL_N = 6          # RBSP structure: slice_segment_layer_rbsp( )
+  RADL_R = 7          # RBSP structure: slice_segment_layer_rbsp( )
+  RASL_N = 8          # RBSP structure: slice_segment_layer_rbsp( )
+  RASL_R = 9          # RBSP structure: slice_segment_layer_rbsp( )
+  RSV_VCL_N10 = 10
+  RSV_VCL_R11 = 11
+  RSV_VCL_N12 = 12
+  RSV_VCL_R13 = 13
+  RSV_VCL_N14 = 14
+  RSV_VCL_R15 = 15
+  BLA_W_LP = 16       # RBSP structure: slice_segment_layer_rbsp( )
+  BLA_W_RADL = 17     # RBSP structure: slice_segment_layer_rbsp( )
+  BLA_N_LP = 18       # RBSP structure: slice_segment_layer_rbsp( )
+  IDR_W_RADL = 19     # RBSP structure: slice_segment_layer_rbsp( )
+  IDR_N_LP = 20       # RBSP structure: slice_segment_layer_rbsp( )
+  CRA_NUT = 21        # RBSP structure: slice_segment_layer_rbsp( )
+  RSV_IRAP_VCL22 = 22
+  RSV_IRAP_VCL23 = 23
+  RSV_VCL24 = 24
+  RSV_VCL25 = 25
+  RSV_VCL26 = 26
+  RSV_VCL27 = 27
+  RSV_VCL28 = 28
+  RSV_VCL29 = 29
+  RSV_VCL30 = 30
+  RSV_VCL31 = 31
+  VPS_NUT = 32        # RBSP structure: video_parameter_set_rbsp( )
+  SPS_NUT = 33        # RBSP structure: seq_parameter_set_rbsp( )
+  PPS_NUT = 34        # RBSP structure: pic_parameter_set_rbsp( )
+  AUD_NUT = 35
+  EOS_NUT = 36
+  EOB_NUT = 37
+  FD_NUT = 38
+  PREFIX_SEI_NUT = 39
+  SUFFIX_SEI_NUT = 40
+  RSV_NVCL41 = 41
+  RSV_NVCL42 = 42
+  RSV_NVCL43 = 43
+  RSV_NVCL44 = 44
+  RSV_NVCL45 = 45
+  RSV_NVCL46 = 46
+  RSV_NVCL47 = 47
+  UNSPEC48 = 48
+  UNSPEC49 = 49
+  UNSPEC50 = 50
+  UNSPEC51 = 51
+  UNSPEC52 = 52
+  UNSPEC53 = 53
+  UNSPEC54 = 54
+  UNSPEC55 = 55
+  UNSPEC56 = 56
+  UNSPEC57 = 57
+  UNSPEC58 = 58
+  UNSPEC59 = 59
+  UNSPEC60 = 60
+  UNSPEC61 = 61
+  UNSPEC62 = 62
+  UNSPEC63 = 63
+
+# B.2.2 Byte stream NAL unit semantics
+# - The nal_unit_type within the nal_unit( ) syntax structure is equal to VPS_NUT, SPS_NUT or PPS_NUT.
+# - The byte stream NAL unit syntax structure contains the first NAL unit of an access unit in decoding
+#   order, as specified in clause 7.4.2.4.4.
+HEVC_PARAMETER_SET_NAL_UNITS = (
+  HevcNalUnitType.VPS_NUT,
+  HevcNalUnitType.SPS_NUT,
+  HevcNalUnitType.PPS_NUT,
+)
+
+# 3.29 coded slice segment NAL unit: A NAL unit that has nal_unit_type in the range of TRAIL_N to RASL_R,
+# inclusive, or in the range of BLA_W_LP to RSV_IRAP_VCL23, inclusive, which indicates that the NAL unit
+# contains a coded slice segment
+HEVC_CODED_SLICE_SEGMENT_NAL_UNITS = (
+  HevcNalUnitType.TRAIL_N,
+  HevcNalUnitType.TRAIL_R,
+  HevcNalUnitType.TSA_N,
+  HevcNalUnitType.TSA_R,
+  HevcNalUnitType.STSA_N,
+  HevcNalUnitType.STSA_R,
+  HevcNalUnitType.RADL_N,
+  HevcNalUnitType.RADL_R,
+  HevcNalUnitType.RASL_N,
+  HevcNalUnitType.RASL_R,
+  HevcNalUnitType.BLA_W_LP,
+  HevcNalUnitType.BLA_W_RADL,
+  HevcNalUnitType.BLA_N_LP,
+  HevcNalUnitType.IDR_W_RADL,
+  HevcNalUnitType.IDR_N_LP,
+  HevcNalUnitType.CRA_NUT,
+)
+
+class VideoFileInvalid(Exception):
+  pass
+
+def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> Tuple[int, int]:
+  prefix_val = 0
+  prefix_len = 0
+  suffix_val = 0
+  suffix_len = 0
+
+  i = start_idx
+  while i < len(dat):
+    j = 7
+    while j >= 0:
+      if skip_bits > 0:
+        skip_bits -= 1
+      elif prefix_val == 0:
+        prefix_val = (dat[i] >> j) & 1
+        prefix_len += 1
+      else:
+        suffix_val = (suffix_val << 1) | ((dat[i] >> j) & 1)
+        suffix_len += 1
+      j -= 1
+
+      if prefix_val == 1 and prefix_len - 1 == suffix_len:
+        val = 2**(prefix_len-1) - 1 + suffix_val
+        size = prefix_len + suffix_len
+        return val, size
+    i += 1
+
+  raise VideoFileInvalid("invalid exponential-golomb code")
+
+def require_nal_unit_start(dat: bytes, nal_unit_start: int) -> None:
+  if nal_unit_start < 1:
+    raise ValueError("start index must be greater than zero")
+
+  if dat[nal_unit_start:nal_unit_start + NAL_UNIT_START_CODE_SIZE] != NAL_UNIT_START_CODE:
+    raise VideoFileInvalid("data must begin with start code")
+
+def get_hevc_nal_unit_length(dat: bytes, nal_unit_start: int) -> int:
+  try:
+    pos = dat.index(NAL_UNIT_START_CODE, nal_unit_start + NAL_UNIT_START_CODE_SIZE)
+  except ValueError:
+    pos = -1
+
+  # length of NAL unit is byte count up to next NAL unit start index
+  nal_unit_len = (pos if pos != -1 else len(dat)) - nal_unit_start
+  if DEBUG:
+    print("  nal_unit_len:", nal_unit_len)
+  return nal_unit_len
+
+def get_hevc_nal_unit_type(dat: bytes, nal_unit_start: int) -> HevcNalUnitType:
+  # 7.3.1.2 NAL unit header syntax
+  # nal_unit_header( ) {    // descriptor
+  #   forbidden_zero_bit    f(1)
+  #   nal_unit_type         u(6)
+  #   nuh_layer_id          u(6)
+  #   nuh_temporal_id_plus1 u(3)
+  # }
+  header_start = nal_unit_start + NAL_UNIT_START_CODE_SIZE
+  nal_unit_header = dat[header_start:header_start + NAL_UNIT_HEADER_SIZE]
+  if len(nal_unit_header) != 2:
+    raise VideoFileInvalid("data to short to contain nal unit header")
+  nal_unit_type = HevcNalUnitType((nal_unit_header[0] >> 1) & 0x3F)
+  if DEBUG:
+    print("  nal_unit_type:", nal_unit_type.name, f"({nal_unit_type.value})")
+  return nal_unit_type
+
+def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalUnitType) -> Tuple[int, bool]:
+  # 7.3.2.9 Slice segment layer RBSP syntax
+  # slice_segment_layer_rbsp( ) {
+  #   slice_segment_header( )
+  #   slice_segment_data( )
+  #   rbsp_slice_segment_trailing_bits( )
+  # }
+  # ...
+  # 7.3.6.1 General slice segment header syntax
+  # slice_segment_header( ) {                                             // descriptor
+  #   first_slice_segment_in_pic_flag                                     u(1)
+  #   if( nal_unit_type >= BLA_W_LP && nal_unit_type <= RSV_IRAP_VCL23 )
+  #     no_output_of_prior_pics_flag                                      u(1)
+  #   slice_pic_parameter_set_id                                         ue(v)
+  #   if( !first_slice_segment_in_pic_flag ) {
+  #     if( dependent_slice_segments_enabled_flag )
+  #       dependent_slice_segment_flag                                    u(1)
+  #     slice_segment_address                                             u(v)
+  #   }
+  #   if( !dependent_slice_segment_flag ) {
+  #     for( i = 0; i < num_extra_slice_header_bits; i++ )
+  #       slice_reserved_flag[ i ]                                        u(1)
+  #     slice_type                                                       ue(v)
+  # ...
+
+  rbsp_start = nal_unit_start + NAL_UNIT_START_CODE_SIZE + NAL_UNIT_HEADER_SIZE
+  skip_bits = 0
+
+  # 7.4.7.1 General slice segment header semantics
+  # first_slice_segment_in_pic_flag equal to 1 specifies that the slice segment is the first slice segment of the picture in
+  # decoding order. first_slice_segment_in_pic_flag equal to 0 specifies that the slice segment is not the first slice segment
+  # of the picture in decoding order.
+  is_first_slice = dat[rbsp_start] >> 7 & 1 == 1
+  if not is_first_slice:
+    # TODO: parse dependent_slice_segment_flag and slice_segment_address and get real slice_type
+    # for now since we don't use it return -1 for slice_type
+    return (-1, is_first_slice)
+  skip_bits += 1 # skip past first_slice_segment_in_pic_flag
+
+  if nal_unit_type >= HevcNalUnitType.BLA_W_LP and nal_unit_type <= HevcNalUnitType.RSV_IRAP_VCL23:
+    # 7.4.7.1 General slice segment header semantics
+    # no_output_of_prior_pics_flag affects the output of previously-decoded pictures in the decoded picture buffer after the
+    # decoding of an IDR or a BLA picture that is not the first picture in the bitstream as specified in Annex C.
+    skip_bits += 1 # skip past no_output_of_prior_pics_flag
+
+  # 7.4.7.1 General slice segment header semantics
+  # slice_pic_parameter_set_id specifies the value of pps_pic_parameter_set_id for the PPS in use.
+  # The value of slice_pic_parameter_set_id shall be in the range of 0 to 63, inclusive.
+  _, size = get_ue(dat, rbsp_start, skip_bits)
+  skip_bits += size # skip past slice_pic_parameter_set_id
+
+  # 7.4.3.3.1 General picture parameter set RBSP semanal_unit_lenntics
+  # num_extra_slice_header_bits specifies the number of extra slice header bits that are present in the slice header RBSP
+  # for coded pictures referring to the PPS. The value of num_extra_slice_header_bits shall be in the range of 0 to 2, inclusive,
+  # in bitstreams conforming to this version of this Specification. Other values for num_extra_slice_header_bits are reserved
+  # for future use by ITU-T | ISO/IEC. However, decoders shall allow num_extra_slice_header_bits to have any value.
+  # TODO: get from PPS_NUT pic_parameter_set_rbsp( ) for corresponding slice_pic_parameter_set_id
+  num_extra_slice_header_bits = 0
+  skip_bits += num_extra_slice_header_bits
+
+  # 7.4.7.1 General slice segment header semantics
+  # slice_type specifies the coding type of the slice according to Table 7-7.
+  # Table 7-7 - Name association to slice_type
+  # slice_type | Name of slice_type
+  #     0      | B (B slice)
+  #     1      | P (P slice)
+  #     2      | I (I slice)
+  # unsigned integer 0-th order Exp-Golomb-coded syntax element with the left bit first
+  slice_type, _ = get_ue(dat, rbsp_start, skip_bits)
+  if DEBUG:
+    print("  slice_type:", slice_type, f"(first slice: {is_first_slice})")
+  if slice_type > 2:
+    raise VideoFileInvalid("slice_type must be 0, 1, or 2")
+  return slice_type, is_first_slice
+
+def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> Tuple[list, int, bytes]:
+  with FileReader(hevc_file_name) as f:
+    dat = f.read()
+
+  if len(dat) < NAL_UNIT_START_CODE_SIZE + 1:
+    raise VideoFileInvalid("data is too short")
+
+  if dat[0] != 0x00:
+    raise VideoFileInvalid("first byte must be 0x00")
+
+  prefix_dat = b""
+  frame_types = list()
+
+  i = 1 # skip past first byte 0x00
+  try:
+    while i < len(dat):
+      require_nal_unit_start(dat, i)
+      nal_unit_len = get_hevc_nal_unit_length(dat, i)
+      nal_unit_type = get_hevc_nal_unit_type(dat, i)
+      if nal_unit_type in HEVC_PARAMETER_SET_NAL_UNITS:
+        prefix_dat += dat[i:i+nal_unit_len]
+      elif nal_unit_type in HEVC_CODED_SLICE_SEGMENT_NAL_UNITS:
+        slice_type, is_first_slice = get_hevc_slice_type(dat, i, nal_unit_type)
+        if is_first_slice:
+          frame_types.append((slice_type, i))
+      i += nal_unit_len
+  except Exception as e:
+    if not allow_corrupt:
+      raise
+    print(f"ERROR: NAL unit skipped @ {i}\n", str(e))
+
+  return frame_types, len(dat), prefix_dat
+
+def main() -> None:
+  parser = argparse.ArgumentParser()
+  parser.add_argument("input_file", type=str)
+  parser.add_argument("output_prefix_file", type=str)
+  parser.add_argument("output_index_file", type=str)
+  args = parser.parse_args()
+
+  frame_types, dat_len, prefix_dat = hevc_index(args.input_file)
+  with open(args.output_prefix_file, "wb") as f:
+    f.write(prefix_dat)
+
+  with open(args.output_index_file, "wb") as f:
+    for ft, fp in frame_types:
+      f.write(struct.pack("<II", ft, fp))
+    f.write(struct.pack("<II", 0xFFFFFFFF, dat_len))
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/lib/vidindex/.gitignore b/tools/lib/vidindex/.gitignore
deleted file mode 100644
index a77a06e97d..0000000000
--- a/tools/lib/vidindex/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-vidindex
diff --git a/tools/lib/vidindex/Makefile b/tools/lib/vidindex/Makefile
deleted file mode 100644
index f6526db212..0000000000
--- a/tools/lib/vidindex/Makefile
+++ /dev/null
@@ -1,6 +0,0 @@
-CC := gcc
-
-vidindex: bitstream.c bitstream.h vidindex.c
-	$(eval $@_TMP := $(shell mktemp))
-	$(CC) -std=c99 bitstream.c vidindex.c -o $($@_TMP)
-	mv $($@_TMP) $@
diff --git a/tools/lib/vidindex/bitstream.c b/tools/lib/vidindex/bitstream.c
deleted file mode 100644
index dc6f43f14f..0000000000
--- a/tools/lib/vidindex/bitstream.c
+++ /dev/null
@@ -1,118 +0,0 @@
-#include "./bitstream.h"
-
-#include <stdbool.h>
-#include <assert.h>
-
-static const uint32_t BS_MASKS[33] = {
-    0,           0x1L,        0x3L,       0x7L,       0xFL,       0x1FL,
-    0x3FL,       0x7FL,       0xFFL,      0x1FFL,     0x3FFL,     0x7FFL,
-    0xFFFL,      0x1FFFL,     0x3FFFL,    0x7FFFL,    0xFFFFL,    0x1FFFFL,
-    0x3FFFFL,    0x7FFFFL,    0xFFFFFL,   0x1FFFFFL,  0x3FFFFFL,  0x7FFFFFL,
-    0xFFFFFFL,   0x1FFFFFFL,  0x3FFFFFFL, 0x7FFFFFFL, 0xFFFFFFFL, 0x1FFFFFFFL,
-    0x3FFFFFFFL, 0x7FFFFFFFL, 0xFFFFFFFFL};
-
-void bs_init(struct bitstream* bs, const uint8_t* buffer, size_t input_size) {
-  bs->buffer_ptr = buffer;
-  bs->buffer_end = buffer + input_size;
-  bs->value = 0;
-  bs->pos = 0;
-  bs->shift = 8;
-  bs->size = input_size * 8;
-}
-
-uint32_t bs_get(struct bitstream* bs, int n) {
-  if (n > 32)
-    return 0;
-
-  bs->pos += n;
-  bs->shift += n;
-  while (bs->shift > 8) {
-    if (bs->buffer_ptr < bs->buffer_end) {
-      bs->value <<= 8;
-      bs->value |= *bs->buffer_ptr++;
-      bs->shift -= 8;
-    } else {
-      bs_seek(bs, bs->pos - n);
-      return 0;
-      // bs->value <<= 8;
-      // bs->shift -= 8;
-    }
-  }
-  return (bs->value >> (8 - bs->shift)) & BS_MASKS[n];
-}
-
-void bs_seek(struct bitstream* bs, size_t new_pos) {
-  bs->pos = (new_pos / 32) * 32;
-  bs->shift = 8;
-  bs->value = 0;
-  bs_get(bs, new_pos % 32);
-}
-
-uint32_t bs_peek(struct bitstream* bs, int n) {
-  struct bitstream bak = *bs;
-  return bs_get(&bak, n);
-}
-
-size_t bs_remain(struct bitstream* bs) {
-  return bs->size - bs->pos;
-}
-
-int bs_eof(struct bitstream* bs) {
-  return bs_remain(bs) == 0;
-}
-
-uint32_t bs_ue(struct bitstream* bs) {
-  static const uint8_t exp_golomb_bits[256] = {
-      8, 7, 6, 6, 5, 5, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3,
-      3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2,
-      2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1,
-      1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
-      1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
-      1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-  };
-  uint32_t bits, read = 0;
-  int bits_left;
-  uint8_t coded;
-  int done = 0;
-  bits = 0;
-  // we want to read 8 bits at a time - if we don't have 8 bits,
-  // read what's left, and shift.  The exp_golomb_bits calc remains the
-  // same.
-  while (!done) {
-    bits_left = bs_remain(bs);
-    if (bits_left < 8) {
-      read = bs_peek(bs, bits_left) << (8 - bits_left);
-      done = 1;
-    } else {
-      read = bs_peek(bs, 8);
-      if (read == 0) {
-        bs_get(bs, 8);
-        bits += 8;
-      } else {
-        done = 1;
-      }
-    }
-  }
-  coded = exp_golomb_bits[read];
-  bs_get(bs, coded);
-  bits += coded;
-
-  //  printf("ue - bits %d\n", bits);
-  return bs_get(bs, bits + 1) - 1;
-}
-
-int32_t bs_se(struct bitstream* bs) {
-  uint32_t ret;
-  ret = bs_ue(bs);
-  if ((ret & 0x1) == 0) {
-    ret >>= 1;
-    int32_t temp = 0 - ret;
-    return temp;
-  }
-  return (ret + 1) >> 1;
-}
diff --git a/tools/lib/vidindex/bitstream.h b/tools/lib/vidindex/bitstream.h
deleted file mode 100644
index 0f538a59ab..0000000000
--- a/tools/lib/vidindex/bitstream.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef bitstream_H
-#define bitstream_H
-
-
-#include <stddef.h>
-#include <stdint.h>
-
-struct bitstream {
-  const uint8_t *buffer_ptr;
-  const uint8_t *buffer_end;
-  uint64_t value;
-  uint32_t pos;
-  uint32_t shift;
-  size_t size;
-};
-
-void bs_init(struct bitstream *bs, const uint8_t *buffer, size_t input_size);
-void bs_seek(struct bitstream *bs, size_t new_pos);
-uint32_t bs_get(struct bitstream *bs, int n);
-uint32_t bs_peek(struct bitstream *bs, int n);
-size_t bs_remain(struct bitstream *bs);
-int bs_eof(struct bitstream *bs);
-uint32_t bs_ue(struct bitstream *bs);
-int32_t bs_se(struct bitstream *bs);
-
-#endif
diff --git a/tools/lib/vidindex/vidindex.c b/tools/lib/vidindex/vidindex.c
deleted file mode 100644
index 1d7da2e193..0000000000
--- a/tools/lib/vidindex/vidindex.c
+++ /dev/null
@@ -1,307 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/stat.h>
-#include <sys/mman.h>
-
-#include "./bitstream.h"
-
-#define START_CODE 0x000001
-
-static uint32_t read24be(const uint8_t* ptr) {
-    return (ptr[0] << 16) | (ptr[1] << 8) | ptr[2];
-}
-static void write32le(FILE *of, uint32_t v) {
-  uint8_t va[4] = {
-    v & 0xff, (v >> 8) & 0xff, (v >> 16) & 0xff, (v >> 24) & 0xff
-  };
-  fwrite(va, 1, sizeof(va), of);
-}
-
-// Table 7-1
-enum hevc_nal_type {
-  HEVC_NAL_TYPE_TRAIL_N = 0,
-  HEVC_NAL_TYPE_TRAIL_R = 1,
-  HEVC_NAL_TYPE_TSA_N = 2,
-  HEVC_NAL_TYPE_TSA_R = 3,
-  HEVC_NAL_TYPE_STSA_N = 4,
-  HEVC_NAL_TYPE_STSA_R = 5,
-  HEVC_NAL_TYPE_RADL_N = 6,
-  HEVC_NAL_TYPE_RADL_R = 7,
-  HEVC_NAL_TYPE_RASL_N = 8,
-  HEVC_NAL_TYPE_RASL_R = 9,
-  HEVC_NAL_TYPE_BLA_W_LP = 16,
-  HEVC_NAL_TYPE_BLA_W_RADL = 17,
-  HEVC_NAL_TYPE_BLA_N_LP = 18,
-  HEVC_NAL_TYPE_IDR_W_RADL = 19,
-  HEVC_NAL_TYPE_IDR_N_LP = 20,
-  HEVC_NAL_TYPE_CRA_NUT = 21,
-  HEVC_NAL_TYPE_RSV_IRAP_VCL23 = 23,
-  HEVC_NAL_TYPE_VPS_NUT = 32,
-  HEVC_NAL_TYPE_SPS_NUT = 33,
-  HEVC_NAL_TYPE_PPS_NUT = 34,
-  HEVC_NAL_TYPE_AUD_NUT = 35,
-  HEVC_NAL_TYPE_EOS_NUT = 36,
-  HEVC_NAL_TYPE_EOB_NUT = 37,
-  HEVC_NAL_TYPE_FD_NUT = 38,
-  HEVC_NAL_TYPE_PREFIX_SEI_NUT = 39,
-  HEVC_NAL_TYPE_SUFFIX_SEI_NUT = 40,
-};
-
-// Table 7-7
-enum hevc_slice_type {
-  HEVC_SLICE_B = 0,
-  HEVC_SLICE_P = 1,
-  HEVC_SLICE_I = 2,
-};
-
-static void hevc_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) {
-  const uint8_t* ptr = data;
-  const uint8_t* ptr_end = data + file_size;
-
-  assert(ptr[0] == 0);
-  ptr++;
-  assert(read24be(ptr) == START_CODE);
-
-  // pps. ignore for now
-  uint32_t num_extra_slice_header_bits = 0;
-  uint32_t dependent_slice_segments_enabled_flag = 0;
-
-  while (ptr < ptr_end) {
-    const uint8_t* next = ptr+1;
-    for (; next < ptr_end-4; next++) {
-      if (read24be(next) == START_CODE) break;
-    }
-    size_t nal_size = next - ptr;
-    if (nal_size < 6) {
-      break;
-    }
-
-    {
-      struct bitstream bs = {0};
-      bs_init(&bs, ptr, nal_size);
-
-      uint32_t start_code = bs_get(&bs, 24);
-      assert(start_code == 0x000001);
-
-      // nal_unit_header
-      uint32_t forbidden_zero_bit = bs_get(&bs, 1);
-      uint32_t nal_unit_type = bs_get(&bs, 6);
-      uint32_t nuh_layer_id = bs_get(&bs, 6);
-      uint32_t nuh_temporal_id_plus1 = bs_get(&bs, 3);
-
-      // if (nal_unit_type != 1) printf("%3d -- %3d %10d %lu\n", nal_unit_type, frame_num, (uint32_t)(ptr-data), nal_size);
-
-      switch (nal_unit_type) {
-      case HEVC_NAL_TYPE_VPS_NUT:
-      case HEVC_NAL_TYPE_SPS_NUT:
-      case HEVC_NAL_TYPE_PPS_NUT:
-        fwrite(ptr, 1, nal_size, of_prefix);
-        break;
-      case HEVC_NAL_TYPE_TRAIL_N:
-      case HEVC_NAL_TYPE_TRAIL_R:
-      case HEVC_NAL_TYPE_TSA_N:
-      case HEVC_NAL_TYPE_TSA_R:
-      case HEVC_NAL_TYPE_STSA_N:
-      case HEVC_NAL_TYPE_STSA_R:
-      case HEVC_NAL_TYPE_RADL_N:
-      case HEVC_NAL_TYPE_RADL_R:
-      case HEVC_NAL_TYPE_RASL_N:
-      case HEVC_NAL_TYPE_RASL_R:
-      case HEVC_NAL_TYPE_BLA_W_LP:
-      case HEVC_NAL_TYPE_BLA_W_RADL:
-      case HEVC_NAL_TYPE_BLA_N_LP:
-      case HEVC_NAL_TYPE_IDR_W_RADL:
-      case HEVC_NAL_TYPE_IDR_N_LP:
-      case HEVC_NAL_TYPE_CRA_NUT: {
-        // slice_segment_header
-        uint32_t first_slice_segment_in_pic_flag = bs_get(&bs, 1);
-        if (nal_unit_type >= HEVC_NAL_TYPE_BLA_W_LP && nal_unit_type <= HEVC_NAL_TYPE_RSV_IRAP_VCL23) {
-          uint32_t no_output_of_prior_pics_flag = bs_get(&bs, 1);
-        }
-        uint32_t slice_pic_parameter_set_id = bs_get(&bs, 1);
-        if (!first_slice_segment_in_pic_flag) {
-          // ...
-          break;
-        }
-
-        if (!dependent_slice_segments_enabled_flag) {
-          for (int i=0; i<num_extra_slice_header_bits; i++) {
-            bs_get(&bs, 1);
-          }
-          uint32_t slice_type = bs_ue(&bs);
-
-          // write the index
-          write32le(of_index, slice_type);
-          write32le(of_index, ptr - data);
-
-          // ...
-        }
-
-        break;
-      }
-      }
-
-      //...
-      // emulation_prevention_three_byte
-    }
-
-    ptr = next;
-  }
-
-  write32le(of_index, -1);
-  write32le(of_index, file_size);
-}
-
-// Table 7-1
-enum h264_nal_type {
-  H264_NAL_SLICE           = 1,
-  H264_NAL_DPA             = 2,
-  H264_NAL_DPB             = 3,
-  H264_NAL_DPC             = 4,
-  H264_NAL_IDR_SLICE       = 5,
-  H264_NAL_SEI             = 6,
-  H264_NAL_SPS             = 7,
-  H264_NAL_PPS             = 8,
-  H264_NAL_AUD             = 9,
-  H264_NAL_END_SEQUENCE    = 10,
-  H264_NAL_END_STREAM      = 11,
-  H264_NAL_FILLER_DATA     = 12,
-  H264_NAL_SPS_EXT         = 13,
-  H264_NAL_AUXILIARY_SLICE = 19,
-};
-
-enum h264_slice_type {
-  H264_SLICE_P = 0,
-  H264_SLICE_B = 1,
-  H264_SLICE_I = 2,
-  // ...
-};
-
-static void h264_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) {
-  const uint8_t* ptr = data;
-  const uint8_t* ptr_end = data + file_size;
-
-  assert(ptr[0] == 0);
-  ptr++;
-  assert(read24be(ptr) == START_CODE);
-
-
-  uint32_t sps_log2_max_frame_num_minus4;
-
-
-  int last_frame_num = -1;
-
-  while (ptr < ptr_end) {
-    const uint8_t* next = ptr+1;
-    for (; next < ptr_end-4; next++) {
-      if (read24be(next) == START_CODE) break;
-    }
-    size_t nal_size = next - ptr;
-    if (nal_size < 5) {
-      break;
-    }
-
-    {
-      struct bitstream bs = {0};
-      bs_init(&bs, ptr, nal_size);
-
-      uint32_t start_code = bs_get(&bs, 24);
-      assert(start_code == 0x000001);
-
-      // nal_unit_header
-      uint32_t forbidden_zero_bit = bs_get(&bs, 1);
-      uint32_t nal_ref_idx = bs_get(&bs, 2);
-      uint32_t nal_unit_type = bs_get(&bs, 5);
-
-      switch (nal_unit_type) {
-      case H264_NAL_SPS:
-
-        {
-          uint32_t profile_idx = bs_get(&bs, 8);
-          uint32_t constraint_sets = bs_get(&bs, 4);
-          uint32_t reserved = bs_get(&bs, 5);
-          uint32_t level_idc = bs_get(&bs, 5);
-          uint32_t seq_parameter_set_id = bs_ue(&bs);
-          sps_log2_max_frame_num_minus4 = bs_ue(&bs);
-        }
-
-        // fallthrough
-      case H264_NAL_PPS:
-        fwrite(ptr, 1, nal_size, of_prefix);
-        break;
-
-      case H264_NAL_SLICE:
-      case H264_NAL_IDR_SLICE: {
-        // slice header
-        uint32_t first_mb_in_slice = bs_ue(&bs);
-        uint32_t slice_type = bs_ue(&bs);
-        uint32_t pic_parameter_set_id = bs_ue(&bs);
-
-        uint32_t frame_num = bs_get(&bs, sps_log2_max_frame_num_minus4+4);
-
-        if (first_mb_in_slice == 0) {
-          write32le(of_index, slice_type);
-          write32le(of_index, ptr - data);
-        }
-
-        break;
-      }
-
-      }
-
-    }
-
-    ptr = next;
-  }
-
-  write32le(of_index, -1);
-  write32le(of_index, file_size);
-}
-
-int main(int argc, char** argv) {
-  if (argc != 5) {
-    fprintf(stderr, "usage: %s h264|hevc file_path out_prefix out_index\n", argv[0]);
-    exit(1);
-  }
-
-  const char* file_type = argv[1];
-  const char* file_path = argv[2];
-
-  int fd = open(file_path, O_RDONLY, 0);
-  if (fd < 0) {
-    fprintf(stderr, "error: couldn't open %s\n", file_path);
-    exit(1);
-  }
-
-  FILE *of_prefix = fopen(argv[3], "wb");
-  assert(of_prefix);
-  FILE *of_index = fopen(argv[4], "wb");
-  assert(of_index);
-
-  off_t file_size = lseek(fd, 0, SEEK_END);
-  lseek(fd, 0, SEEK_SET);
-
-  assert(file_size > 4);
-
-  const uint8_t* data = (const uint8_t*)mmap(NULL, file_size, PROT_READ, MAP_PRIVATE, fd, 0);
-  assert(data != MAP_FAILED);
-
-  if (strcmp(file_type, "hevc") == 0) {
-    hevc_index(data, file_size, of_prefix, of_index);
-  } else if (strcmp(file_type, "h264") == 0) {
-    h264_index(data, file_size, of_prefix, of_index);
-  } else {
-    assert(false);
-  }
-
-  munmap((void*)data, file_size);
-  close(fd);
-
-  return 0;
-}
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index c767131f51..9ec2097ea4 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -2,6 +2,20 @@
 
 set -e
 
+if [ -z "$SKIP_PROMPT" ]; then
+  echo "---------------   macOS support   ---------------"
+  echo "Running openpilot natively on macOS is not officially supported."
+  echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
+  echo 
+  echo "Check out devcontainers for a seamless experience (see tools/README.md)."
+  echo "-------------------------------------------------"
+  echo -n "Are you sure you want to continue? [y/N] "
+  read -r response
+  if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then
+    exit 1
+  fi
+fi
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
 ARCH=$(uname -m)
@@ -49,7 +63,7 @@ brew "pyenv"
 brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
-brew "gcc@12"
+brew "gcc@13"
 cask "gcc-arm-embedded"
 brew "portaudio"
 EOS
@@ -74,6 +88,27 @@ export PYCURL_SSL_LIBRARY=openssl
 $DIR/install_python_dependencies.sh
 echo "[ ] installed python dependencies t=$SECONDS"
 
+# brew does not link qt5 by default
+# check if qt5 can be linked, if not, prompt the user to link it
+QT_BIN_LOCATION="$(command -v lupdate || :)"
+if [ -n "$QT_BIN_LOCATION" ]; then
+  # if qt6 is linked, prompt the user to unlink it and link the right version
+  QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')"
+  if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then
+    echo
+    echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION"
+    if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then
+      echo "Run the following command to link qt5:"
+      echo "brew unlink qt@6 && brew link qt@5"
+    else
+      echo "Remove conflicting qt entries from PATH and run the following command to link qt5:"
+      echo "brew link qt@5"
+    fi
+  fi
+else
+  brew link qt@5
+fi
+
 echo
 echo "----   OPENPILOT SETUP DONE   ----"
 echo "Open a new shell or configure your active shell env by running:"
diff --git a/tools/plotjuggler/layouts/CAN-bus-debug.xml b/tools/plotjuggler/layouts/CAN-bus-debug.xml
new file mode 100644
index 0000000000..f5b74ae71f
--- /dev/null
+++ b/tools/plotjuggler/layouts/CAN-bus-debug.xml
@@ -0,0 +1,86 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter sizes="0.33362;0.33276;0.33362" count="3" orientation="-">
+     <DockArea name="CAN RX">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="1101.875000" left="0.000000" bottom="-26.875000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalRxCnt" color="#f14cc1">
+        <transform alias="/pandaStates/0/canState0/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalRxCnt" color="#9467bd">
+        <transform alias="/pandaStates/0/canState1/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalRxCnt" color="#ff7f0e">
+        <transform alias="/pandaStates/0/canState2/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="CAN TX">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="455.100000" left="0.000000" bottom="-11.100000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalTxCnt" color="#17becf">
+        <transform alias="/pandaStates/0/canState0/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalTxCnt" color="#bcbd22">
+        <transform alias="/pandaStates/0/canState1/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalTxCnt" color="#1f77b4">
+        <transform alias="/pandaStates/0/canState2/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="CAN errors">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="2515.350000" left="0.000000" bottom="-61.350000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalErrorCnt" color="#1f77b4">
+        <transform alias="/pandaStates/0/canState0/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalErrorCnt" color="#d62728">
+        <transform alias="/pandaStates/0/canState1/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalErrorCnt" color="#1ac938">
+        <transform alias="/pandaStates/0/canState2/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/plotjuggler/layouts/gps_vs_llk.xml b/tools/plotjuggler/layouts/gps_vs_llk.xml
new file mode 100644
index 0000000000..44980712ed
--- /dev/null
+++ b/tools/plotjuggler/layouts/gps_vs_llk.xml
@@ -0,0 +1,83 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter count="3" sizes="0.333805;0.33239;0.333805" orientation="-">
+     <DockArea name="...">
+      <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+       <range bottom="0.368228" right="196.811937" left="76.646983" top="32.070386"/>
+       <limitY/>
+       <curve name="haversine distance [m]" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+       <range bottom="-0.259115" right="196.811937" left="76.646983" top="12.637299"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#17becf"/>
+       <curve name="/gpsLocationExternal/speed" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+     <DockSplitter count="2" sizes="0.500516;0.499484" orientation="|">
+      <DockArea name="...">
+       <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+        <range bottom="-0.100000" right="196.811937" left="76.646983" top="0.100000"/>
+        <limitY/>
+        <curve name="/liveLocationKalman/positionGeodetic/std/0" color="#d62728"/>
+        <curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+        <range bottom="-0.449385" right="196.811937" left="76.646983" top="7.160833"/>
+        <limitY/>
+        <curve name="/gpsLocationExternal/accuracy" color="#ff7f0e"/>
+        <curve name="/gpsLocationExternal/verticalAccuracy" color="#f14cc1"/>
+        <curve name="/gpsLocationExternal/speedAccuracy" color="#9467bd"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="haversine distance [m]">
+   <global>R = 6378.137 -- Radius of earth in KM</global>
+   <function>-- Compute the Haversine distance between 
+-- two points defined by latitude and longitude.
+-- Return the distance in meters
+lat1, lon1 = value, v1
+lat2, lon2 = v2, v3
+dLat = (lat2 - lat1) * math.pi / 180
+dLon = (lon2 - lon1) * math.pi / 180
+a = math.sin(dLat/2) * math.sin(dLat/2) +
+math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) *
+math.sin(dLon/2) * math.sin(dLon/2)
+c = 2 * math.atan(math.sqrt(a), math.sqrt(1-a))
+d = R * c
+distance = d * 1000 -- meters
+return distance</function>
+   <linked_source>/gpsLocationExternal/latitude</linked_source>
+   <additional_sources>
+    <v1>/gpsLocationExternal/longitude</v1>
+    <v2>/liveLocationKalman/positionGeodetic/value/0</v2>
+    <v3>/liveLocationKalman/positionGeodetic/value/1</v3>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml
index ff8f3ad193..33a24f76d6 100644
--- a/tools/plotjuggler/layouts/longitudinal.xml
+++ b/tools/plotjuggler/layouts/longitudinal.xml
@@ -3,10 +3,10 @@
  <tabbed_widget name="Main Window" parent="main_window">
   <Tab tab_name="tab1" containers="1">
    <Container>
-    <DockSplitter orientation="-" sizes="0.333601;0.332799;0.333601" count="3">
+    <DockSplitter orientation="-" sizes="0.250401;0.249599;0.250401;0.249599" count="4">
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="2.131164" left="0.000000" bottom="-3.377712"/>
+       <range right="126.285782" top="1.391623" left="104.907277" bottom="-2.563614"/>
        <limitY/>
        <curve name="/carState/aEgo" color="#f14cc1"/>
        <curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
@@ -15,7 +15,16 @@
      </DockArea>
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="19.304051" left="0.000000" bottom="-0.538805"/>
+       <range right="126.285782" top="1.184960" left="104.907277" bottom="-1.811222" />
+       <limitY/>
+       <curve name="/controlsState/upAccelCmd" color="#1f77b4"/>
+       <curve name="/controlsState/uiAccelCmd" color="#d62728"/>
+       <curve name="/controlsState/ufAccelCmd" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
+       <range right="126.285782" top="15.862889" left="104.907277" bottom="-0.568809" />
        <limitY/>
        <curve name="/carState/vEgo" color="#1ac938"/>
        <curve name="/longitudinalPlan/speeds/0" color="#ff7f0e"/>
@@ -23,7 +32,7 @@
      </DockArea>
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="1.025000" left="0.000000" bottom="-0.025000"/>
+       <range right="126.285782" top="1.025000" left="104.907277" bottom="-0.025000" />
        <limitY/>
        <curve name="/carControl/longActive" color="#1f77b4"/>
        <curve name="/carState/gasPressed" color="#d62728"/>
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index bce7512e44..db8447003b 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -1,25 +1,21 @@
-import os
-Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc',
-       'cereal', 'transformations')
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'zmq',
+             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"]
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
 else:
   base_libs.append('OpenCL')
 
-qt_libs = ['qt_util'] + base_libs
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
-
-replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks)
+replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
+replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs
 qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
-  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs])
+  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, base_libs])
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 719bbd69ca..3332aa9c90 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -29,7 +29,7 @@ const std::initializer_list<std::pair<std::string, std::string>> keyboard_shortc
   },
   {
     {"enter", "Enter seek request"},
-    {"x", "+/-Replay speed"},
+    {"+/-", "Playback speed"},
     {"q", "Exit"},
   },
 };
@@ -331,13 +331,18 @@ void ConsoleUI::handleKey(char c) {
     refresh();
     getch_timer.start(1000, this);
 
-  } else if (c == 'x') {
-    if (replay->hasFlag(REPLAY_FLAG_FULL_SPEED)) {
-      replay->removeFlag(REPLAY_FLAG_FULL_SPEED);
-      rWarning("replay at normal speed");
-    } else {
-      replay->addFlag(REPLAY_FLAG_FULL_SPEED);
-      rWarning("replay at full speed");
+  } else if (c == '+' || c == '=') {
+    auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
+    if (it != speed_array.end()) {
+      rWarning("playback speed: %.1fx", *it);
+      replay->setSpeed(*it);
+    }
+  } else if (c == '_' || c == '-') {
+    auto it = std::lower_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
+    if (it != speed_array.begin()) {
+      auto prev = std::prev(it);
+      rWarning("playback speed: %.1fx", *prev);
+      replay->setSpeed(*prev);
     }
   } else if (c == 'e') {
     replay->seekToFlag(FindFlag::nextEngagement);
diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h
index 20e07524dd..6ed44bc623 100644
--- a/tools/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -16,6 +16,7 @@ class ConsoleUI : public QObject {
 public:
   ConsoleUI(Replay *replay, QObject *parent = 0);
   ~ConsoleUI();
+  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
 
 private:
   void initWindows();
diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc
index 88879067c9..22af7f5f86 100644
--- a/tools/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -3,11 +3,12 @@
 #include <fstream>
 
 #include "common/util.h"
+#include "system/hardware/hw.h"
 #include "tools/replay/util.h"
 
 std::string cacheFilePath(const std::string &url) {
   static std::string cache_path = [] {
-    const std::string comma_cache = util::getenv("COMMA_CACHE", "/tmp/comma_download_cache/");
+    const std::string comma_cache = Path::download_cache_root();
     util::create_directories(comma_cache, 0755);
     return comma_cache.back() == '/' ? comma_cache : comma_cache + "/";
   }();
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 74aebceae5..c92ff4753f 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -1,6 +1,7 @@
 #include "tools/replay/logreader.h"
 
 #include <algorithm>
+#include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
 
 Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
@@ -40,9 +41,7 @@ LogReader::~LogReader() {
   }
 }
 
-bool LogReader::load(const std::string &url, std::atomic<bool> *abort,
-                     const std::set<cereal::Event::Which> &allow,
-                     bool local_cache, int chunk_size, int retries) {
+bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
   raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
   if (raw_.empty()) return false;
 
@@ -50,15 +49,15 @@ bool LogReader::load(const std::string &url, std::atomic<bool> *abort,
     raw_ = decompressBZ2(raw_, abort);
     if (raw_.empty()) return false;
   }
-  return parse(allow, abort);
+  return parse(abort);
 }
 
 bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
   raw_.assign((const char *)data, size);
-  return parse({}, abort);
+  return parse(abort);
 }
 
-bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<bool> *abort) {
+bool LogReader::parse(std::atomic<bool> *abort) {
   try {
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
     while (words.size() > 0 && !(abort && *abort)) {
@@ -67,12 +66,6 @@ bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<b
 #else
       Event *evt = new Event(words);
 #endif
-      if (!allow.empty() && allow.find(evt->which) == allow.end()) {
-        words = kj::arrayPtr(evt->reader.getEnd(), words.end());
-        delete evt;
-        continue;
-      }
-
       // Add encodeIdx packet again as a frame packet for the video stream
       if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
           evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index 77d751a91b..73f822d16c 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -6,13 +6,11 @@
 #endif
 
 #include <memory>
-#include <set>
 #include <string>
 #include <vector>
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/cameras/camera_common.h"
-#include "tools/replay/filereader.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
@@ -55,13 +53,13 @@ class LogReader {
 public:
   LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
   ~LogReader();
-  bool load(const std::string &url, std::atomic<bool> *abort = nullptr, const std::set<cereal::Event::Which> &allow = {},
+  bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
             bool local_cache = false, int chunk_size = -1, int retries = 0);
   bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
   std::vector<Event*> events;
 
 private:
-  bool parse(const std::set<cereal::Event::Which> &allow, std::atomic<bool> *abort);
+  bool parse(std::atomic<bool> *abort);
   std::string raw_;
 #ifdef HAS_MEMORY_RESOURCE
   std::unique_ptr<std::pmr::monotonic_buffer_resource> mbr_;
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 98a0bb3333..a0c072438d 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -13,7 +13,6 @@ int main(int argc, char *argv[]) {
 
   QCoreApplication app(argc, argv);
 
-  const QStringList base_blacklist = {"uiDebug", "userFlag"};
   const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
       {"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
       {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
@@ -22,7 +21,7 @@ int main(int argc, char *argv[]) {
       {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
       {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
       {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
-      {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") + 
+      {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including uiDebug, userFlag"
                                         ". this may causes issues when used along with UI"}
   };
 
@@ -34,6 +33,8 @@ int main(int argc, char *argv[]) {
   parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
   parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
   parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
+  parser.addOption({"x", QString("playback <speed>. between %1 - %2")
+                        .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"});
   parser.addOption({"demo", "use a demo route instead of providing your own"});
   parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
@@ -64,10 +65,14 @@ int main(int argc, char *argv[]) {
     op_prefix.reset(new OpenpilotPrefix(prefix.toStdString()));
   }
 
-  Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app);
+  Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
   if (!parser.value("c").isEmpty()) {
     replay->setSegmentCacheLimit(parser.value("c").toInt());
   }
+  if (!parser.value("x").isEmpty()) {
+    replay->setSpeed(std::clamp(parser.value("x").toFloat(),
+                                ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
+  }
   if (!replay->load()) {
     return 0;
   }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index e323a9f64d..9657375be7 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -7,41 +7,25 @@
 #include "cereal/services.h"
 #include "common/params.h"
 #include "common/timing.h"
-#include "system/hardware/hw.h"
 #include "tools/replay/util.h"
 
-Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
-    : sm(sm_), flags_(flags), QObject(parent) {
-  std::vector<const char *> s;
+Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_,
+               uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) {
+  if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
+    block << "uiDebug" << "userFlag";
+  }
   auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
   sockets_.resize(event_struct.getUnionFields().size());
-  for (const auto &it : services) {
-    auto name = it.second.name.c_str();
-    uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue();
-    if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) &&
-        !(flags & REPLAY_FLAG_ALL_SERVICES) &&
-        !allow.contains(name)) {
-      continue;
-    }
-
-    if ((allow.empty() || allow.contains(name)) && !block.contains(name)) {
-      sockets_[which] = name;
-      if (!allow.empty() || !block.empty()) {
-        allow_list.insert((cereal::Event::Which)which);
-      }
-      s.push_back(name);
-    }
-  }
-
-  if (!allow_list.empty()) {
-    // the following events are needed for replay to work properly.
-    allow_list.insert(cereal::Event::Which::INIT_DATA);
-    allow_list.insert(cereal::Event::Which::CAR_PARAMS);
-    if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) {
-      allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D);
+  for (const auto &[name, _] : services) {
+    if (!block.contains(name.c_str()) && (allow.empty() || allow.contains(name.c_str()))) {
+      uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue();
+      sockets_[which] = name.c_str();
     }
   }
 
+  std::vector<const char *> s;
+  std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s),
+               [](const char *name) { return name != nullptr; });
   qDebug() << "services " << s;
   qDebug() << "loading route " << route;
 
@@ -151,13 +135,12 @@ void Replay::buildTimeline() {
     [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
   };
 
-  for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) {
-    LogReader log;
-    if (!log.load(route_->at(it->first).qlog.toStdString(), &exit_,
-                  {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG},
-                  !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
+  const auto &route_segments = route_->segments();
+  for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
+    std::shared_ptr<LogReader> log(new LogReader());
+    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
 
-    for (const Event *e : log.events) {
+    for (const Event *e : log->events) {
       if (e->which == cereal::Event::Which::CONTROLS_STATE) {
         auto cs = e->event.getControlsState();
 
@@ -185,6 +168,8 @@ void Replay::buildTimeline() {
         timeline.push_back({toSeconds(e->mono_time), toSeconds(e->mono_time), TimelineType::UserFlag});
       }
     }
+    std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
+    emit qLogLoaded(it->first, log);
   }
 }
 
@@ -227,36 +212,26 @@ void Replay::segmentLoadFinished(bool success) {
   if (!success) {
     Segment *seg = qobject_cast<Segment *>(sender());
     rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num);
-    segments_.erase(seg->seg_num);
+    updateEvents([&]() {
+      segments_.erase(seg->seg_num);
+      return true;
+    });
   }
   queueSegment();
 }
 
 void Replay::queueSegment() {
-  if (segments_.empty()) return;
-
-  SegmentMap::iterator begin, cur;
-  begin = cur = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first));
-  int distance = std::max<int>(std::ceil(segment_cache_limit / 2.0) - 1, segment_cache_limit - std::distance(cur, segments_.end()));
-  for (int i = 0; begin != segments_.begin() && i < distance; ++i) {
-    --begin;
-  }
-  auto end = begin;
-  for (int i = 0; end != segments_.end() && i < segment_cache_limit; ++i) {
-    ++end;
-  }
+  auto cur = segments_.lower_bound(current_segment_.load());
+  if (cur == segments_.end()) return;
 
+  auto begin = std::prev(cur, std::min<int>(segment_cache_limit / 2, std::distance(segments_.begin(), cur)));
+  auto end = std::next(begin, std::min<int>(segment_cache_limit, segments_.size()));
   // load one segment at a time
-  for (auto it = cur; it != end; ++it) {
-    auto &[n, seg] = *it;
-    if ((seg && !seg->isLoaded()) || !seg) {
-      if (!seg) {
-        rDebug("loading segment %d...", n);
-        seg = std::make_unique<Segment>(n, route_->at(n), flags_, allow_list);
-        QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
-      }
-      break;
-    }
+  auto it = std::find_if(cur, end, [](auto &it) { return !it.second || !it.second->isLoaded(); });
+  if (it != end && !it->second) {
+    rDebug("loading segment %d...", it->first);
+    it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_);
+    QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
   }
 
   mergeSegments(begin, end);
@@ -293,13 +268,11 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
     new_events_->clear();
     new_events_->reserve(new_events_size);
     for (int n : segments_need_merge) {
-      const auto &e = segments_[n]->log->events;
-      if (e.size() > 0) {
-        auto insert_from = e.begin();
-        if (new_events_->size() > 0 && (*insert_from)->which == cereal::Event::Which::INIT_DATA) ++insert_from;
-        auto middle = new_events_->insert(new_events_->end(), insert_from, e.end());
-        std::inplace_merge(new_events_->begin(), middle, new_events_->end(), Event::lessThan());
-      }
+      size_t size = new_events_->size();
+      const auto &events = segments_[n]->log->events;
+      std::copy_if(events.begin(), events.end(), std::back_inserter(*new_events_),
+                   [this](auto e) { return e->which < sockets_.size() && sockets_[e->which] != nullptr; });
+      std::inplace_merge(new_events_->begin(), new_events_->begin() + size, new_events_->end(), Event::lessThan());
     }
 
     if (stream_thread_) {
@@ -317,13 +290,12 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
 void Replay::startStream(const Segment *cur_segment) {
   const auto &events = cur_segment->log->events;
 
-  // get route start time from initData
-  auto it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::INIT_DATA; });
-  route_start_ts_ = it != events.end() ? (*it)->mono_time : events[0]->mono_time;
-  cur_mono_time_ += route_start_ts_;
+  // each segment has an INIT_DATA
+  route_start_ts_ = events.front()->mono_time;
+  cur_mono_time_ += route_start_ts_ - 1;
 
   // write CarParams
-  it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
+  auto it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
   if (it != events.end()) {
     car_fingerprint_ = (*it)->event.getCarParams().getCarFingerprint();
     capnp::MallocMessageBuilder builder;
@@ -391,7 +363,7 @@ void Replay::publishFrame(const Event *e) {
 
 void Replay::stream() {
   cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
-  double prev_replay_speed = 1.0;
+  double prev_replay_speed = speed_;
   std::unique_lock lk(stream_lock_);
 
   while (true) {
@@ -415,35 +387,25 @@ void Replay::stream() {
       cur_mono_time_ = evt->mono_time;
       setCurrentSegment(toSeconds(cur_mono_time_) / 60);
 
-      // migration for pandaState -> pandaStates to keep UI working for old segments
-      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D &&
-          sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) {
-        MessageBuilder msg;
-        auto ps = msg.initEvent().initPandaStates(1);
-        ps[0].setIgnitionLine(true);
-        ps[0].setPandaType(cereal::PandaState::PandaType::DOS);
-        pm->send(sockets_[cereal::Event::Which::PANDA_STATES], msg);
-      }
-
-      if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) {
+      if (sockets_[cur_which] != nullptr) {
         // keep time
         long etime = (cur_mono_time_ - evt_start_ts) / speed_;
         long rtime = nanos_since_boot() - loop_start_ts;
         long behind_ns = etime - rtime;
-        // if behind_ns is greater than 1 second, it means that an invalid segemnt is skipped by seeking/replaying
+        // if behind_ns is greater than 1 second, it means that an invalid segment is skipped by seeking/replaying
         if (behind_ns >= 1 * 1e9 || speed_ != prev_replay_speed) {
           // reset event start times
           evt_start_ts = cur_mono_time_;
           loop_start_ts = nanos_since_boot();
           prev_replay_speed = speed_;
-        } else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) {
+        } else if (behind_ns > 0) {
           precise_nano_sleep(behind_ns);
         }
 
         if (!evt->frame) {
           publishMessage(evt);
         } else if (camera_server_) {
-          if (hasFlag(REPLAY_FLAG_FULL_SPEED)) {
+          if (speed_ > 1.0) {
             camera_server_->waitForSent();
           }
           publishFrame(evt);
@@ -456,7 +418,7 @@ void Replay::stream() {
     }
 
     if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
-      int last_segment = segments_.rbegin()->first;
+      int last_segment = segments_.empty() ? 0 : segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
         QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection);
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 5ed4ff11b5..1a74b69c3d 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -4,7 +4,6 @@
 #include <map>
 #include <memory>
 #include <optional>
-#include <set>
 #include <string>
 #include <tuple>
 #include <vector>
@@ -28,7 +27,6 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
   REPLAY_FLAG_QCAMERA = 0x0040,
   REPLAY_FLAG_NO_HW_DECODER = 0x0100,
-  REPLAY_FLAG_FULL_SPEED = 0x0200,
   REPLAY_FLAG_NO_VIPC = 0x0400,
   REPLAY_FLAG_ALL_SERVICES = 0x0800,
 };
@@ -44,13 +42,14 @@ enum class FindFlag {
 
 enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
 typedef bool (*replayEventFilter)(const Event *, void *);
+Q_DECLARE_METATYPE(std::shared_ptr<LogReader>);
 
 class Replay : public QObject {
   Q_OBJECT
 
 public:
-  Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr,
-          uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
+  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
+         uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
   ~Replay();
   bool load();
   void start(int seconds = 0);
@@ -91,6 +90,7 @@ signals:
   void streamStarted();
   void segmentsMerged();
   void seekedTo(double sec);
+  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -112,8 +112,6 @@ protected:
   }
 
   QThread *stream_thread_ = nullptr;
-
-  // logs
   std::mutex stream_lock_;
   std::condition_variable stream_cv_;
   std::atomic<bool> updating_events_ = false;
@@ -140,9 +138,8 @@ protected:
   std::mutex timeline_lock;
   QFuture<void> timeline_future;
   std::vector<std::tuple<double, double, TimelineType>> timeline;
-  std::set<cereal::Event::Which> allow_list;
   std::string car_fingerprint_;
-  float speed_ = 1.0;
+  std::atomic<float> speed_ = 1.0;
   replayEventFilter event_filter = nullptr;
   void *filter_opaque = nullptr;
   int segment_cache_limit = MIN_SEGMENTS_CACHE;
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 15a57e5e42..d0ddf7f3c8 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -7,9 +7,6 @@
 #include <QRegExp>
 #include <QtConcurrent>
 #include <array>
-#include <memory>
-#include <set>
-#include <string>
 
 #include "selfdrive/ui/qt/api.h"
 #include "system/hardware/hw.h"
@@ -47,7 +44,7 @@ bool Route::loadFromServer() {
 
     loop.exit(success ? loadFromJson(json) : 0);
   });
-  http.sendRequest("https://api.commadotai.com/v1/route/" + route_.str + "/files");
+  http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files");
   return loop.exec();
 }
 
@@ -102,9 +99,7 @@ void Route::addFileToSegment(int n, const QString &file) {
 
 // class Segment
 
-Segment::Segment(int n, const SegmentFile &files, uint32_t flags,
-                 const std::set<cereal::Event::Which> &allow)
-    : seg_num(n), flags(flags), allow(allow) {
+Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) {
   // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
       (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam,
@@ -135,7 +130,7 @@ void Segment::loadFile(int id, const std::string file) {
     success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
   } else {
     log = std::make_unique<LogReader>();
-    success = log->load(file, &abort_, allow, local_cache, 0, 3);
+    success = log->load(file, &abort_, local_cache, 0, 3);
   }
 
   if (!success) {
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 7207ff4f5c..4dad7a1f37 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -2,7 +2,6 @@
 
 #include <map>
 #include <memory>
-#include <set>
 #include <string>
 
 #include <QDateTime>
@@ -55,7 +54,7 @@ class Segment : public QObject {
   Q_OBJECT
 
 public:
-  Segment(int n, const SegmentFile &files, uint32_t flags, const std::set<cereal::Event::Which> &allow = {});
+  Segment(int n, const SegmentFile &files, uint32_t flags);
   ~Segment();
   inline bool isLoaded() const { return !loading_ && !abort_; }
 
@@ -73,5 +72,4 @@ protected:
   std::atomic<int> loading_ = 0;
   QFutureSynchronizer<void> synchronizer_;
   uint32_t flags;
-  std::set<cereal::Event::Which> allow;
 };
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 393a561c0f..1873daaf4b 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -12,7 +12,7 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
 
-bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
+bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
   do {
     if (httpDownload(url, local_file, chunk_size)) {
       return true;
@@ -29,7 +29,7 @@ TEST_CASE("httpMultiPartDownload") {
   const size_t chunk_size = 5 * 1024 * 1024;
   std::string content;
   SECTION("download to file") {
-    REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size));
+    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
     content = util::read_file(filename);
   }
   SECTION("download to buffer") {
@@ -110,47 +110,58 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
   loop.exec();
 }
 
-TEST_CASE("Route") {
-  // Create a local route from remote for testing
-  Route remote_route(DEMO_ROUTE);
-  REQUIRE(remote_route.load());
-  char tmp_path[] = "/tmp/root_XXXXXX";
-  const std::string data_dir = mkdtemp(tmp_path);
-  const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
-  for (int i = 0; i < 2; ++i) {
-    std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
-    util::create_directories(log_path, 0755);
-    REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
-    REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
-  }
+std::string download_demo_route() {
+  static std::string data_dir;
 
-  SECTION("Local route") {
-    auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
-    Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
-    REQUIRE(route.load());
-    REQUIRE(route.segments().size() == 2);
-    for (int i = 0; i < route.segments().size(); ++i) {
-      read_segment(i, route.at(i), flags);
-    }
-  };
-  SECTION("Remote route") {
-    auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
-    Route route(DEMO_ROUTE);
-    REQUIRE(route.load());
-    REQUIRE(route.segments().size() == 13);
+  if (data_dir == "") {
+    char tmp_path[] = "/tmp/root_XXXXXX";
+    data_dir = mkdtemp(tmp_path);
+
+    Route remote_route(DEMO_ROUTE);
+    assert(remote_route.load());
+
+    // Create a local route from remote for testing
+    const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
     for (int i = 0; i < 2; ++i) {
-      read_segment(i, route.at(i), flags);
+      std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
+      util::create_directories(log_path, 0755);
+      REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
+      REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
     }
-  };
+  }
+
+  return data_dir;
+}
+
+
+TEST_CASE("Local route") {
+  std::string data_dir = download_demo_route();
+
+  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 2);
+  for (int i = 0; i < route.segments().size(); ++i) {
+    read_segment(i, route.at(i), flags);
+  }
+}
+
+TEST_CASE("Remote route") {
+  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE);
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 13);
+  for (int i = 0; i < 2; ++i) {
+    read_segment(i, route.at(i), flags);
+  }
 }
 
 // helper class for unit tests
 class TestReplay : public Replay {
  public:
-  TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, {}, nullptr, flags) {}
+  TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, nullptr, flags) {}
   void test_seek();
   void testSeekTo(int seek_to);
 };
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 43195a481d..05e8bdec1f 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -116,9 +116,9 @@ def ui_thread(addr):
     if yuv_img_raw is None or not yuv_img_raw.data.any():
       continue
 
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
     num_px = vipc_client.width * vipc_client.height
-    bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_NV12)
+    bgr = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
 
     zoom_matrix = _BB_TO_FULL_FRAME[num_px]
     cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 172d545c75..b4f72d0530 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -4,6 +4,7 @@
 #include <curl/curl.h>
 #include <openssl/sha.h>
 
+#include <cstdarg>
 #include <cstring>
 #include <cassert>
 #include <cmath>
@@ -18,10 +19,7 @@
 #include "common/util.h"
 
 ReplayMessageHandler message_handler = nullptr;
-DownloadProgressHandler download_progress_handler = nullptr;
-
 void installMessageHandler(ReplayMessageHandler handler) { message_handler = handler; }
-void installDownloadProgressHandler(DownloadProgressHandler handler) { download_progress_handler = handler; }
 
 void logMessage(ReplyMsgType type, const char *fmt, ...) {
   static std::mutex lock;
@@ -93,6 +91,11 @@ size_t write_cb(char *data, size_t size, size_t count, void *userp) {
 size_t dumy_write_cb(char *data, size_t size, size_t count, void *userp) { return size * count; }
 
 struct DownloadStats {
+  void installDownloadProgressHandler(DownloadProgressHandler handler) {
+    std::lock_guard lk(lock);
+    download_progress_handler = handler;
+  }
+
   void add(const std::string &url, uint64_t total_bytes) {
     std::lock_guard lk(lock);
     items[url] = {0, total_bytes};
@@ -120,10 +123,17 @@ struct DownloadStats {
   std::mutex lock;
   std::map<std::string, std::pair<uint64_t, uint64_t>> items;
   double prev_tm = 0;
+  DownloadProgressHandler download_progress_handler = nullptr;
 };
 
+static DownloadStats download_stats;
+
 } // namespace
 
+void installDownloadProgressHandler(DownloadProgressHandler handler) {
+  download_stats.installDownloadProgressHandler(handler);
+}
+
 std::string formattedDataSize(size_t size) {
   if (size < 1024) {
     return std::to_string(size) + " B";
@@ -166,7 +176,6 @@ std::string getUrlWithoutQuery(const std::string &url) {
 
 template <class T>
 bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t content_length, std::atomic<bool> *abort) {
-  static DownloadStats download_stats;
   download_stats.add(url, content_length);
 
   int parts = 1;
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
index 471db7ee3e..b59e7c895e 100755
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@@ -2,10 +2,16 @@
 import sys
 
 if len(sys.argv) < 4:
-  print(f"{sys.argv[0]} <route> <segment> <frame number>")
-  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500')
+  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
+  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
   exit(0)
 
+cameras = {
+  "front": "cameras",
+  "wide": "ecameras",
+  "driver": "dcameras"
+}
+
 import requests
 from PIL import Image
 from openpilot.tools.lib.auth_config import get_token
@@ -16,22 +22,22 @@ jwt = get_token()
 route = sys.argv[1]
 segment = int(sys.argv[2])
 frame = int(sys.argv[3])
+camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
 
-url = 'https://api.commadotai.com/v1/route/'+sys.argv[1]+"/files"
-r = requests.get(url, headers={"Authorization": "JWT "+jwt}, timeout=10)
+url = f'https://api.commadotai.com/v1/route/{route}/files'
+r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
 assert r.status_code == 200
 print("got api response")
 
-cameras = r.json()['cameras']
-if segment >= len(cameras):
-  raise Exception("segment %d not found, got %d segments" % (segment, len(cameras)))
+segments = r.json()[camera]
+if segment >= len(segments):
+  raise Exception("segment %d not found, got %d segments" % (segment, len(segments)))
 
-fr = FrameReader(cameras[segment])
+fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
   raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))
 
 im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
-fn = "uxxx_"+route.replace("|", "_")+"_%d_%d.png" % (segment, frame)
+fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
 im.save(fn)
 print(f"saved {fn}")
-
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
old mode 100644
new mode 100755
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index 9fd8a56101..a183002589 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -22,8 +22,7 @@ COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
-RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika
+COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
 COPY ./common ${OPENPILOT_PATH}/common
 COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
@@ -31,6 +30,7 @@ COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 COPY ./tools ${OPENPILOT_PATH}/tools
+COPY ./release ${OPENPILOT_PATH}/release
 
 RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
 
diff --git a/tools/sim/README.md b/tools/sim/README.md
index 69a89aefab..0892e77736 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -1,58 +1,82 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
 
-## System Requirements
+## Launching openpilot
+First, start openpilot.
+``` bash
+# Run locally
+./tools/sim/launch_openpilot.sh
+```
+
+## Bridge usage
+```
+$ ./run_bridge.py -h
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
+
+Bridge between the simulator and openpilot.
+
+options:
+  -h, --help            show this help message and exit
+  --joystick
+  --high_quality
+  --dual_camera
+  --simulator SIMULATOR
+  --town TOWN
+  --spawn_point NUM_SELECTED_SPAWN_POINT
+  --host HOST
+  --port PORT
+```
+
+#### Bridge Controls:
+- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
+- To disengage, press "S" (simulates a user brake)
+
+#### All inputs:
+
+```
+| key  |   functionality       |
+|------|-----------------------|
+|  1   | Cruise Resume / Accel |
+|  2   | Cruise Set    / Decel |
+|  3   | Cruise Cancel         |
+|  r   | Reset Simulation      |
+|  i   | Toggle Ignition       |
+|  q   | Exit all              |
+| wasd | Control manually      |
+```
+
+## MetaDrive
+
+### Launching Metadrive
+Start bridge processes located in tools/sim:
+``` bash
+./run_bridge.py --simulator metadrive
+```
+
+## Carla
+
+CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
+
+```bash
+poetry install --with=carla
+```
 
 openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
 For this case, we have the simulator in low quality by default.
 
 You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
 
-## Running the simulator
-Start Carla simulator, openpilot and bridge processes located in tools/sim:
+### Launching Carla
+Start Carla simulator and bridge processes located in tools/sim:
 ``` bash
 # Terminal 1
 ./start_carla.sh
 
-# Terminal 2 - Run openpilot and bridge in one Docker:
-./start_openpilot_docker.sh
-
-# Running the latest local code execute
-    # Terminal 2:
-    ./launch_openpilot.sh
-    # Terminal 3
-    ./bridge.py
-```
-
-### Bridge usage
-_Same commands hold for start_openpilot_docker_
+# Terminal 2
+./run_bridge.py --simulator carla
 ```
-$ ./bridge.py -h
-Usage: bridge.py [options]
-Bridge between CARLA and openpilot.
-
-Options:
-  -h, --help            show this help message and exit
-  --joystick            Use joystick input to control the car
-  --high_quality        Set simulator to higher quality (requires good GPU)
-  --town TOWN           Select map to drive in
-  --spawn_point NUM     Number of the spawn point to start in
-  --host HOST           Host address of Carla client (127.0.0.1 as default)
-  --port PORT           Port of Carla client (2000 as default)
-```
-
-To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
-All inputs:
-
-| key  |   functionality   |
-|:----:|:-----------------:|
-|  1   |  Cruise up 1 mph  |
-|  2   | Cruise down 1 mph |
-|  3   |   Cruise cancel   |
-|  q   |     Exit all      |
-| wasd | Control manually  |
 
 ## Further Reading
 
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
deleted file mode 100755
index 33fb2c020e..0000000000
--- a/tools/sim/bridge.py
+++ /dev/null
@@ -1,561 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import math
-import os
-import signal
-import threading
-import time
-from multiprocessing import Process, Queue
-from typing import Any
-
-import carla
-import numpy as np
-import pyopencl as cl
-import pyopencl.array as cl_array
-
-import cereal.messaging as messaging
-from cereal import log
-from cereal.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.numpy_fast import clip
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_DMON, Ratekeeper
-from openpilot.selfdrive.car.honda.values import CruiseButtons
-from openpilot.selfdrive.test.helpers import set_params_enabled
-from openpilot.tools.sim.lib.can import can_function
-
-W, H = 1928, 1208
-REPEAT_COUNTER = 5
-PRINT_DECIMATION = 100
-STEER_RATIO = 15.
-
-pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'accelerometer', 'gyroscope', 'can', "gpsLocationExternal"])
-sm = messaging.SubMaster(['carControl', 'controlsState'])
-
-def parse_args(add_args=None):
-  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
-  parser.add_argument('--joystick', action='store_true')
-  parser.add_argument('--high_quality', action='store_true')
-  parser.add_argument('--dual_camera', action='store_true')
-  parser.add_argument('--town', type=str, default='Town04_Opt')
-  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
-  parser.add_argument('--host', dest='host', type=str, default='127.0.0.1')
-  parser.add_argument('--port', dest='port', type=int, default=2000)
-
-  return parser.parse_args(add_args)
-
-
-class VehicleState:
-  def __init__(self):
-    self.speed = 0.0
-    self.angle = 0.0
-    self.bearing_deg = 0.0
-    self.vel = carla.Vector3D()
-    self.cruise_button = 0
-    self.is_engaged = False
-    self.ignition = True
-
-
-def steer_rate_limit(old, new):
-  # Rate limiting to 0.5 degrees per step
-  limit = 0.5
-  if new > old + limit:
-    return old + limit
-  elif new < old - limit:
-    return old - limit
-  else:
-    return new
-
-
-class Camerad:
-  def __init__(self, dual_camera):
-    self.frame_road_id = 0
-    self.frame_wide_id = 0
-    self.vipc_server = VisionIpcServer("camerad")
-
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
-    if dual_camera:
-      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
-    self.vipc_server.start_listener()
-
-    # set up for pyopencl rgb to yuv conversion
-    self.ctx = cl.create_some_context()
-    self.queue = cl.CommandQueue(self.ctx)
-    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
-
-    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
-    with open(kernel_fn) as f:
-      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
-      self.krnl = prg.rgb_to_nv12
-    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
-    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
-
-  def cam_callback_road(self, image):
-    self._cam_callback(image, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
-    self.frame_road_id += 1
-
-  def cam_callback_wide_road(self, image):
-    self._cam_callback(image, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
-    self.frame_wide_id += 1
-
-  def _cam_callback(self, image, frame_id, pub_type, yuv_type):
-    img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-    img = np.reshape(img, (H, W, 4))
-    img = img[:, :, [0, 1, 2]].copy()
-
-    # convert RGB frame to YUV
-    rgb = np.reshape(img, (H, W * 3))
-    rgb_cl = cl_array.to_device(self.queue, rgb)
-    yuv_cl = cl_array.empty_like(rgb_cl)
-    self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
-    eof = int(frame_id * 0.05 * 1e9)
-
-    self.vipc_server.send(yuv_type, yuv.data.tobytes(), frame_id, eof, eof)
-
-    dat = messaging.new_message(pub_type)
-    msg = {
-      "frameId": frame_id,
-      "transform": [1.0, 0.0, 0.0,
-                    0.0, 1.0, 0.0,
-                    0.0, 0.0, 1.0]
-    }
-    setattr(dat, pub_type, msg)
-    pm.send(pub_type, dat)
-
-def imu_callback(imu, vehicle_state):
-  # send 5x since 'sensor_tick' doesn't seem to work. limited by the world tick?
-  for _ in range(5):
-    vehicle_state.bearing_deg = math.degrees(imu.compass)
-    dat = messaging.new_message('accelerometer')
-    dat.accelerometer.sensor = 4
-    dat.accelerometer.type = 0x10
-    dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
-    dat.accelerometer.init('acceleration')
-    dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
-    pm.send('accelerometer', dat)
-
-    # copied these numbers from locationd
-    dat = messaging.new_message('gyroscope')
-    dat.gyroscope.sensor = 5
-    dat.gyroscope.type = 0x10
-    dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
-    dat.gyroscope.init('gyroUncalibrated')
-    dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
-    pm.send('gyroscope', dat)
-    time.sleep(0.01)
-
-
-def panda_state_function(vs: VehicleState, exit_event: threading.Event):
-  pm = messaging.PubMaster(['pandaStates'])
-  while not exit_event.is_set():
-    dat = messaging.new_message('pandaStates', 1)
-    dat.valid = True
-    dat.pandaStates[0] = {
-      'ignitionLine': vs.ignition,
-      'pandaType': "blackPanda",
-      'controlsAllowed': True,
-      'safetyModel': 'hondaNidec'
-    }
-    pm.send('pandaStates', dat)
-    time.sleep(0.5)
-
-
-def peripheral_state_function(exit_event: threading.Event):
-  pm = messaging.PubMaster(['peripheralState'])
-  while not exit_event.is_set():
-    dat = messaging.new_message('peripheralState')
-    dat.valid = True
-    # fake peripheral state data
-    dat.peripheralState = {
-      'pandaType': log.PandaState.PandaType.blackPanda,
-      'voltage': 12000,
-      'current': 5678,
-      'fanSpeedRpm': 1000
-    }
-    pm.send('peripheralState', dat)
-    time.sleep(0.5)
-
-
-def gps_callback(gps, vehicle_state):
-  dat = messaging.new_message('gpsLocationExternal')
-
-  # transform vel from carla to NED
-  # north is -Y in CARLA
-  velNED = [
-    -vehicle_state.vel.y,  # north/south component of NED is negative when moving south
-    vehicle_state.vel.x,  # positive when moving east, which is x in carla
-    vehicle_state.vel.z,
-  ]
-
-  dat.gpsLocationExternal = {
-    "unixTimestampMillis": int(time.time() * 1000),
-    "flags": 1,  # valid fix
-    "accuracy": 1.0,
-    "verticalAccuracy": 1.0,
-    "speedAccuracy": 0.1,
-    "bearingAccuracyDeg": 0.1,
-    "vNED": velNED,
-    "bearingDeg": vehicle_state.bearing_deg,
-    "latitude": gps.latitude,
-    "longitude": gps.longitude,
-    "altitude": gps.altitude,
-    "speed": vehicle_state.speed,
-    "source": log.GpsLocationData.SensorSource.ublox,
-  }
-
-  pm.send('gpsLocationExternal', dat)
-
-
-def fake_driver_monitoring(exit_event: threading.Event):
-  pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
-  while not exit_event.is_set():
-    # dmonitoringmodeld output
-    dat = messaging.new_message('driverStateV2')
-    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
-    dat.driverStateV2.leftDriverData.faceProb = 1.0
-    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
-    dat.driverStateV2.rightDriverData.faceProb = 1.0
-    pm.send('driverStateV2', dat)
-
-    # dmonitoringd output
-    dat = messaging.new_message('driverMonitoringState')
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
-    pm.send('driverMonitoringState', dat)
-
-    time.sleep(DT_DMON)
-
-
-def can_function_runner(vs: VehicleState, exit_event: threading.Event):
-  i = 0
-  while not exit_event.is_set():
-    can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
-    time.sleep(0.01)
-    i += 1
-
-
-def connect_carla_client(host: str, port: int):
-  client = carla.Client(host, port)
-  client.set_timeout(5)
-  return client
-
-
-class CarlaBridge:
-
-  def __init__(self, arguments):
-    set_params_enabled()
-
-    self.params = Params()
-
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = 20
-    msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-    self.params.put("CalibrationParams", msg.to_bytes())
-    self.params.put_bool("DisengageOnAccelerator", True)
-
-    self._args = arguments
-    self._carla_objects = []
-    self._camerad = None
-    self._exit_event = threading.Event()
-    self._threads = []
-    self._keep_alive = True
-    self.started = False
-    signal.signal(signal.SIGTERM, self._on_shutdown)
-    self._exit = threading.Event()
-
-  def _on_shutdown(self, signal, frame):
-    self._keep_alive = False
-
-  def bridge_keep_alive(self, q: Queue, retries: int):
-    try:
-      while self._keep_alive:
-        try:
-          self._run(q)
-          break
-        except RuntimeError as e:
-          self.close()
-          if retries == 0:
-            raise
-
-          # Reset for another try
-          self._carla_objects = []
-          self._threads = []
-          self._exit_event = threading.Event()
-
-          retries -= 1
-          if retries <= -1:
-            print(f"Restarting bridge. Error: {e} ")
-          else:
-            print(f"Restarting bridge. Retries left {retries}. Error: {e} ")
-    finally:
-      # Clean up resources in the opposite order they were created.
-      self.close()
-
-  def _run(self, q: Queue):
-    client = connect_carla_client(self._args.host, self._args.port)
-    world = client.load_world(self._args.town)
-
-    settings = world.get_settings()
-    settings.synchronous_mode = True  # Enables synchronous mode
-    settings.fixed_delta_seconds = 0.05
-    world.apply_settings(settings)
-
-    world.set_weather(carla.WeatherParameters.ClearSunset)
-
-    if not self._args.high_quality:
-      world.unload_map_layer(carla.MapLayer.Foliage)
-      world.unload_map_layer(carla.MapLayer.Buildings)
-      world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-      world.unload_map_layer(carla.MapLayer.Props)
-      world.unload_map_layer(carla.MapLayer.StreetLights)
-      world.unload_map_layer(carla.MapLayer.Particles)
-
-    blueprint_library = world.get_blueprint_library()
-
-    world_map = world.get_map()
-
-    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
-    vehicle_bp.set_attribute('role_name', 'hero')
-    spawn_points = world_map.get_spawn_points()
-    assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and
-      {len(spawn_points)} for this town.'''
-    spawn_point = spawn_points[self._args.num_selected_spawn_point]
-    vehicle = world.spawn_actor(vehicle_bp, spawn_point)
-    self._carla_objects.append(vehicle)
-    max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
-
-    # make tires less slippery
-    # wheel_control = carla.WheelPhysicsControl(tire_friction=5)
-    physics_control = vehicle.get_physics_control()
-    physics_control.mass = 2326
-    # physics_control.wheels = [wheel_control]*4
-    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
-    physics_control.gear_switch_time = 0.0
-    vehicle.apply_physics_control(physics_control)
-
-    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
-
-    def create_camera(fov, callback):
-      blueprint = blueprint_library.find('sensor.camera.rgb')
-      blueprint.set_attribute('image_size_x', str(W))
-      blueprint.set_attribute('image_size_y', str(H))
-      blueprint.set_attribute('fov', str(fov))
-      if not self._args.high_quality:
-        blueprint.set_attribute('enable_postprocess_effects', 'False')
-      camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
-      camera.listen(callback)
-      return camera
-
-    self._camerad = Camerad(self._args.dual_camera)
-
-    if self._args.dual_camera:
-      road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-      self._carla_objects.append(road_wide_camera)
-    road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
-    self._carla_objects.append(road_camera)
-
-    vehicle_state = VehicleState()
-
-    # re-enable IMU
-    imu_bp = blueprint_library.find('sensor.other.imu')
-    imu_bp.set_attribute('sensor_tick', '0.01')
-    imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
-    imu.listen(lambda imu: imu_callback(imu, vehicle_state))
-
-    gps_bp = blueprint_library.find('sensor.other.gnss')
-    gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
-    gps.listen(lambda gps: gps_callback(gps, vehicle_state))
-    self.params.put_bool("UbloxAvailable", True)
-
-    self._carla_objects.extend([imu, gps])
-    # launch fake car threads
-    self._threads.append(threading.Thread(target=panda_state_function, args=(vehicle_state, self._exit_event,)))
-    self._threads.append(threading.Thread(target=peripheral_state_function, args=(self._exit_event,)))
-    self._threads.append(threading.Thread(target=fake_driver_monitoring, args=(self._exit_event,)))
-    self._threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, self._exit_event,)))
-    for t in self._threads:
-      t.start()
-
-    # init
-    throttle_ease_out_counter = REPEAT_COUNTER
-    brake_ease_out_counter = REPEAT_COUNTER
-    steer_ease_out_counter = REPEAT_COUNTER
-
-    vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
-
-    is_openpilot_engaged = False
-    throttle_out = steer_out = brake_out = 0.
-    throttle_op = steer_op = brake_op = 0.
-    throttle_manual = steer_manual = brake_manual = 0.
-
-    old_steer = old_brake = old_throttle = 0.
-    throttle_manual_multiplier = 0.7  # keyboard signal is always 1
-    brake_manual_multiplier = 0.7  # keyboard signal is always 1
-    steer_manual_multiplier = 45 * STEER_RATIO  # keyboard signal is always 1
-
-    # Simulation tends to be slow in the initial steps. This prevents lagging later
-    for _ in range(20):
-      world.tick()
-
-    # loop
-    rk = Ratekeeper(100, print_delay_threshold=0.05)
-
-    while self._keep_alive:
-      # 1. Read the throttle, steer and brake from op or manual controls
-      # 2. Set instructions in Carla
-      # 3. Send current carstate to op via can
-
-      cruise_button = 0
-      throttle_out = steer_out = brake_out = 0.0
-      throttle_op = steer_op = brake_op = 0.0
-      throttle_manual = steer_manual = brake_manual = 0.0
-
-      # --------------Step 1-------------------------------
-      if not q.empty():
-        message = q.get()
-        m = message.split('_')
-        if m[0] == "steer":
-          steer_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "throttle":
-          throttle_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "brake":
-          brake_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "reverse":
-          cruise_button = CruiseButtons.CANCEL
-          is_openpilot_engaged = False
-        elif m[0] == "cruise":
-          if m[1] == "down":
-            cruise_button = CruiseButtons.DECEL_SET
-            is_openpilot_engaged = True
-          elif m[1] == "up":
-            cruise_button = CruiseButtons.RES_ACCEL
-            is_openpilot_engaged = True
-          elif m[1] == "cancel":
-            cruise_button = CruiseButtons.CANCEL
-            is_openpilot_engaged = False
-        elif m[0] == "ignition":
-          vehicle_state.ignition = not vehicle_state.ignition
-        elif m[0] == "quit":
-          break
-
-        throttle_out = throttle_manual * throttle_manual_multiplier
-        steer_out = steer_manual * steer_manual_multiplier
-        brake_out = brake_manual * brake_manual_multiplier
-
-        old_steer = steer_out
-        old_throttle = throttle_out
-        old_brake = brake_out
-
-      if is_openpilot_engaged:
-        sm.update(0)
-
-        # TODO gas and brake is deprecated
-        throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
-        brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
-        steer_op = sm['carControl'].actuators.steeringAngleDeg
-
-        throttle_out = throttle_op
-        steer_out = steer_op
-        brake_out = brake_op
-
-        steer_out = steer_rate_limit(old_steer, steer_out)
-        old_steer = steer_out
-
-      else:
-        if throttle_out == 0 and old_throttle > 0:
-          if throttle_ease_out_counter > 0:
-            throttle_out = old_throttle
-            throttle_ease_out_counter += -1
-          else:
-            throttle_ease_out_counter = REPEAT_COUNTER
-            old_throttle = 0
-
-        if brake_out == 0 and old_brake > 0:
-          if brake_ease_out_counter > 0:
-            brake_out = old_brake
-            brake_ease_out_counter += -1
-          else:
-            brake_ease_out_counter = REPEAT_COUNTER
-            old_brake = 0
-
-        if steer_out == 0 and old_steer != 0:
-          if steer_ease_out_counter > 0:
-            steer_out = old_steer
-            steer_ease_out_counter += -1
-          else:
-            steer_ease_out_counter = REPEAT_COUNTER
-            old_steer = 0
-
-      # --------------Step 2-------------------------------
-      steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
-
-      steer_carla = np.clip(steer_carla, -1, 1)
-      steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
-      old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)
-
-      vc.throttle = throttle_out / 0.6
-      vc.steer = steer_carla
-      vc.brake = brake_out
-      vehicle.apply_control(vc)
-
-      # --------------Step 3-------------------------------
-      vel = vehicle.get_velocity()
-      speed = math.sqrt(vel.x ** 2 + vel.y ** 2 + vel.z ** 2)  # in m/s
-      vehicle_state.speed = speed
-      vehicle_state.vel = vel
-      vehicle_state.angle = steer_out
-      vehicle_state.cruise_button = cruise_button
-      vehicle_state.is_engaged = is_openpilot_engaged
-
-      if rk.frame % PRINT_DECIMATION == 0:
-        print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ",
-              round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))
-
-      if rk.frame % 5 == 0:
-        world.tick()
-      rk.keep_time()
-      self.started = True
-
-  def close(self):
-    self.started = False
-    self._exit_event.set()
-
-    for s in self._carla_objects:
-      try:
-        s.destroy()
-      except Exception as e:
-        print("Failed to destroy carla object", e)
-    for t in reversed(self._threads):
-      t.join()
-
-  def run(self, queue, retries=-1):
-    bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
-    bridge_p.start()
-    return bridge_p
-
-
-if __name__ == "__main__":
-  q: Any = Queue()
-  args = parse_args()
-
-  carla_bridge = CarlaBridge(args)
-  p = carla_bridge.run(q)
-
-  if args.joystick:
-    # start input poll for joystick
-    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
-
-    wheel_poll_thread(q)
-  else:
-    # start input poll for keyboard
-    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
-
-    keyboard_poll_thread(q)
-  p.join()
diff --git a/tools/sim/bridge/__init__.py b/tools/sim/bridge/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/tools/sim/bridge/carla/carla_bridge.py b/tools/sim/bridge/carla/carla_bridge.py
new file mode 100644
index 0000000000..dc2377df30
--- /dev/null
+++ b/tools/sim/bridge/carla/carla_bridge.py
@@ -0,0 +1,22 @@
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
+
+
+class CarlaBridge(SimulatorBridge):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, arguments):
+    super().__init__(arguments)
+    self.host = arguments.host
+    self.port = arguments.port
+    self.town = arguments.town
+    self.num_selected_spawn_point = arguments.num_selected_spawn_point
+
+  def spawn_world(self):
+    import carla
+
+    client = carla.Client(self.host, self.port)
+    client.set_timeout(5)
+
+    return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
+                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
\ No newline at end of file
diff --git a/tools/sim/bridge/carla/carla_world.py b/tools/sim/bridge/carla/carla_world.py
new file mode 100644
index 0000000000..14b300ed7b
--- /dev/null
+++ b/tools/sim/bridge/carla/carla_world.py
@@ -0,0 +1,145 @@
+import numpy as np
+
+from openpilot.common.params import Params
+from openpilot.tools.sim.lib.common import SimulatorState, vec3
+from openpilot.tools.sim.bridge.common import World
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+class CarlaWorld(World):
+  def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
+    super().__init__(dual_camera)
+    import carla
+
+    low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
+
+    layers = carla.MapLayer.All if high_quality else low_quality_layers
+
+    world = client.load_world(town, map_layers=layers)
+
+    settings = world.get_settings()
+    settings.fixed_delta_seconds = 0.01
+    world.apply_settings(settings)
+
+    world.set_weather(carla.WeatherParameters.ClearSunset)
+
+    self.world = world
+    world_map = world.get_map()
+
+    blueprint_library = world.get_blueprint_library()
+
+    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
+    vehicle_bp.set_attribute('role_name', 'hero')
+    spawn_points = world_map.get_spawn_points()
+    assert len(spawn_points) > num_selected_spawn_point, \
+      f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
+    self.spawn_point = spawn_points[num_selected_spawn_point]
+    self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point)
+
+    physics_control = self.vehicle.get_physics_control()
+    physics_control.mass = 2326
+    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
+    physics_control.gear_switch_time = 0.0
+    self.vehicle.apply_physics_control(physics_control)
+
+    self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
+    self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle
+    self.params = Params()
+
+    self.steer_ratio = 15
+
+    self.carla_objects = []
+
+    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
+
+    def create_camera(fov, callback):
+      blueprint = blueprint_library.find('sensor.camera.rgb')
+      blueprint.set_attribute('image_size_x', str(W))
+      blueprint.set_attribute('image_size_y', str(H))
+      blueprint.set_attribute('fov', str(fov))
+      blueprint.set_attribute('sensor_tick', str(1/20))
+      if not high_quality:
+        blueprint.set_attribute('enable_postprocess_effects', 'False')
+      camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle)
+      camera.listen(callback)
+      return camera
+
+    self.road_camera = create_camera(fov=40, callback=self.cam_callback_road)
+    if dual_camera:
+      self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
+    else:
+      self.road_wide_camera = None
+
+    # re-enable IMU
+    imu_bp = blueprint_library.find('sensor.other.imu')
+    imu_bp.set_attribute('sensor_tick', '0.01')
+    self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle)
+
+    gps_bp = blueprint_library.find('sensor.other.gnss')
+    self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle)
+    self.params.put_bool("UbloxAvailable", True)
+
+    self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle]
+
+  def close(self):
+    for s in self.carla_objects:
+      if s is not None:
+        try:
+          s.destroy()
+        except Exception as e:
+          print("Failed to destroy carla object", e)
+
+  def carla_image_to_rgb(self, image):
+    rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
+    rgb = np.reshape(rgb, (H, W, 4))
+    return np.ascontiguousarray(rgb[:, :, [0, 1, 2]])
+
+  def cam_callback_road(self, image):
+    with self.image_lock:
+      self.road_image = self.carla_image_to_rgb(image)
+
+  def cam_callback_wide_road(self, image):
+    with self.image_lock:
+      self.wide_road_image = self.carla_image_to_rgb(image)
+
+  def apply_controls(self, steer_angle, throttle_out, brake_out):
+    self.vc.throttle = throttle_out
+
+    steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio)
+    steer_carla = np.clip(steer_carla, -1, 1)
+
+    self.vc.steer = steer_carla
+    self.vc.brake = brake_out
+    self.vehicle.apply_control(self.vc)
+
+  def read_sensors(self, simulator_state: SimulatorState):
+    simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw
+
+    simulator_state.imu.accelerometer = vec3(
+      self.imu.get_acceleration().x,
+      self.imu.get_acceleration().y,
+      self.imu.get_acceleration().z
+    )
+
+    simulator_state.imu.gyroscope = vec3(
+      self.imu.get_angular_velocity().x,
+      self.imu.get_angular_velocity().y,
+      self.imu.get_angular_velocity().z
+    )
+
+    simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y])
+
+    simulator_state.velocity = self.vehicle.get_velocity()
+    simulator_state.valid = True
+    simulator_state.steering_angle = self.vc.steer * self.max_steer_angle
+
+  def read_cameras(self):
+    pass # cameras are read within a callback for carla
+
+  def tick(self):
+    self.world.tick()
+
+  def reset(self):
+    import carla
+    self.vehicle.set_transform(self.spawn_point)
+    self.vehicle.set_target_velocity(carla.Vector3D())
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
new file mode 100644
index 0000000000..a0e6538b2c
--- /dev/null
+++ b/tools/sim/bridge/common.py
@@ -0,0 +1,186 @@
+import signal
+import threading
+import functools
+
+from multiprocessing import Process, Queue
+from abc import ABC, abstractmethod
+from typing import Optional
+
+from openpilot.common.params import Params
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import Ratekeeper
+from openpilot.selfdrive.test.helpers import set_params_enabled
+from openpilot.selfdrive.car.honda.values import CruiseButtons
+from openpilot.tools.sim.lib.common import SimulatorState, World
+from openpilot.tools.sim.lib.simulated_car import SimulatedCar
+from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors
+from openpilot.tools.sim.lib.keyboard_ctrl import KEYBOARD_HELP
+
+
+def rk_loop(function, hz, exit_event: threading.Event):
+  rk = Ratekeeper(hz, None)
+  while not exit_event.is_set():
+    function()
+    rk.keep_time()
+
+
+class SimulatorBridge(ABC):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, arguments):
+    set_params_enabled()
+    self.params = Params()
+
+    self.rk = Ratekeeper(100, None)
+
+    self.dual_camera = arguments.dual_camera
+    self.high_quality = arguments.high_quality
+
+    self._exit_event = threading.Event()
+    self._threads = []
+    self._keep_alive = True
+    self.started = False
+    signal.signal(signal.SIGTERM, self._on_shutdown)
+    self._exit = threading.Event()
+    self.simulator_state = SimulatorState()
+
+    self.world: Optional[World] = None
+
+    self.past_startup_engaged = False
+
+  def _on_shutdown(self, signal, frame):
+    self.shutdown()
+
+  def shutdown(self):
+    self._keep_alive = False
+
+  def bridge_keep_alive(self, q: Queue, retries: int):
+    try:
+      self._run(q)
+    finally:
+      self.close()
+
+  def close(self):
+    self.started = False
+    self._exit_event.set()
+
+    if self.world is not None:
+      self.world.close()
+
+  def run(self, queue, retries=-1):
+    bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
+    bridge_p.start()
+    return bridge_p
+
+  def print_status(self):
+    print(
+    f"""
+Keyboard Commands:
+{KEYBOARD_HELP}
+
+State:
+Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_engaged}
+    """)
+
+  @abstractmethod
+  def spawn_world(self) -> World:
+    pass
+
+  def _run(self, q: Queue):
+    self.world = self.spawn_world()
+
+    self.simulated_car = SimulatedCar()
+    self.simulated_sensors = SimulatedSensors(self.dual_camera)
+
+    self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
+                                                                        100, self._exit_event))
+    self.simulated_car_thread.start()
+
+    self.simulated_camera_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_sensors.send_camera_images, self.world),
+                                                                        20, self._exit_event))
+    self.simulated_camera_thread.start()
+
+    # Simulation tends to be slow in the initial steps. This prevents lagging later
+    for _ in range(20):
+      self.world.tick()
+
+    while self._keep_alive:
+      throttle_out = steer_out = brake_out = 0.0
+      throttle_op = steer_op = brake_op = 0.0
+
+      self.simulator_state.cruise_button = 0
+      self.simulator_state.left_blinker = False
+      self.simulator_state.right_blinker = False
+
+      throttle_manual = steer_manual = brake_manual = 0.
+
+      # Read manual controls
+      if not q.empty():
+        message = q.get()
+        m = message.split('_')
+        if m[0] == "steer":
+          steer_manual = float(m[1])
+        elif m[0] == "throttle":
+          throttle_manual = float(m[1])
+        elif m[0] == "brake":
+          brake_manual = float(m[1])
+        elif m[0] == "cruise":
+          if m[1] == "down":
+            self.simulator_state.cruise_button = CruiseButtons.DECEL_SET
+          elif m[1] == "up":
+            self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL
+          elif m[1] == "cancel":
+            self.simulator_state.cruise_button = CruiseButtons.CANCEL
+          elif m[1] == "main":
+            self.simulator_state.cruise_button = CruiseButtons.MAIN
+        elif m[0] == "blinker":
+          if m[1] == "left":
+            self.simulator_state.left_blinker = True
+          elif m[1] == "right":
+            self.simulator_state.right_blinker = True
+        elif m[0] == "ignition":
+          self.simulator_state.ignition = not self.simulator_state.ignition
+        elif m[0] == "reset":
+          self.world.reset()
+        elif m[0] == "quit":
+          break
+
+      self.simulator_state.user_brake = brake_manual
+      self.simulator_state.user_gas = throttle_manual
+      self.simulator_state.user_torque = steer_manual * 10000
+
+      steer_manual = steer_manual * -40
+
+      # Update openpilot on current sensor state
+      self.simulated_sensors.update(self.simulator_state, self.world)
+
+      self.simulated_car.sm.update(0)
+      controlsState = self.simulated_car.sm['controlsState']
+      self.simulator_state.is_engaged = controlsState.active
+
+      if self.simulator_state.is_engaged:
+        throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
+        brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
+        steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
+
+        self.past_startup_engaged = True
+      elif not self.past_startup_engaged and controlsState.engageable:
+        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
+
+      throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
+      brake_out = brake_op if self.simulator_state.is_engaged else brake_manual
+      steer_out = steer_op if self.simulator_state.is_engaged else steer_manual
+
+      self.world.apply_controls(steer_out, throttle_out, brake_out)
+      self.world.read_sensors(self.simulator_state)
+
+      if self.rk.frame % self.TICKS_PER_FRAME == 0:
+        self.world.tick()
+        self.world.read_cameras()
+
+      if self.rk.frame % 25 == 0:
+        self.print_status()
+
+      self.started = True
+
+      self.rk.keep_time()
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
new file mode 100644
index 0000000000..fa946e11e3
--- /dev/null
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -0,0 +1,119 @@
+import numpy as np
+
+from metadrive.component.sensors.rgb_camera import RGBCamera
+from metadrive.component.sensors.base_camera import _cuda_enable
+from metadrive.component.map.pg_map import MapGenerateMethod
+from panda3d.core import Vec3, Texture, GraphicsOutput
+
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+C3_POSITION = Vec3(0, 0, 1)
+
+
+class CopyRamRGBCamera(RGBCamera):
+  """Camera which copies its content into RAM during the render process, for faster image grabbing."""
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.cpu_texture = Texture()
+    self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
+
+  def get_rgb_array_cpu(self):
+    origin_img = self.cpu_texture
+    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
+    img = img[:,:,:3] # RGBA to RGB
+    # img = np.swapaxes(img, 1, 0)
+    img = img[::-1] # Flip on vertical axis
+    return img
+
+
+class RGBCameraWide(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraWide, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(160)
+
+class RGBCameraRoad(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraRoad, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(40)
+
+
+def straight_block(length):
+  return {
+    "id": "S",
+    "pre_block_socket_index": 0,
+    "length": length
+  }
+
+def curve_block(length, angle=45, direction=0):
+  return {
+    "id": "C",
+    "pre_block_socket_index": 0,
+    "length": length,
+    "radius": length,
+    "angle": angle,
+    "dir": direction
+  }
+
+
+class MetaDriveBridge(SimulatorBridge):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, args):
+    self.should_render = False
+
+    super(MetaDriveBridge, self).__init__(args)
+
+  def spawn_world(self):
+    sensors = {
+      "rgb_road": (RGBCameraRoad, W, H, )
+    }
+
+    if self.dual_camera:
+      sensors["rgb_wide"] = (RGBCameraWide, W, H)
+
+    config = dict(
+      use_render=self.should_render,
+      vehicle_config=dict(
+        enable_reverse=False,
+        image_source="rgb_road",
+        spawn_longitude=15
+      ),
+      sensors=sensors,
+      image_on_cuda=_cuda_enable,
+      image_observation=True,
+      interface_panel=[],
+      out_of_route_done=False,
+      on_continuous_line_done=False,
+      crash_vehicle_done=False,
+      crash_object_done=False,
+      traffic_density=0.0, # traffic is incredibly expensive
+      map_config=dict(
+        type=MapGenerateMethod.PG_MAP_FILE,
+        config=[
+          None,
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+        ]
+      ),
+      decision_repeat=1,
+      physics_world_step_size=self.TICKS_PER_FRAME/100,
+      preload_models=False
+    )
+
+    return MetaDriveWorld(config)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
new file mode 100644
index 0000000000..3d21c0e508
--- /dev/null
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -0,0 +1,99 @@
+import math
+import numpy as np
+
+from collections import namedtuple
+from multiprocessing.connection import Connection
+
+from metadrive.engine.core.engine_core import EngineCore
+from metadrive.engine.core.image_buffer import ImageBuffer
+from metadrive.envs.metadrive_env import MetaDriveEnv
+from metadrive.obs.image_obs import ImageObservation
+
+from openpilot.common.realtime import Ratekeeper
+from openpilot.tools.sim.lib.common import vec3
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"])
+
+def apply_metadrive_patches():
+  # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
+  def add_image_sensor_patched(self, name: str, cls, args):
+    if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
+        sensor = cls(*args, self, cuda=True)
+    else:
+        sensor = cls(*args, self, cuda=False)
+    assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
+    self.sensors[name] = sensor
+
+  EngineCore.add_image_sensor = add_image_sensor_patched
+
+  # we aren't going to use the built-in observation stack, so disable it to save time
+  def observe_patched(self, vehicle):
+    return self.state
+
+  ImageObservation.observe = observe_patched
+
+  def arrive_destination_patch(self, vehicle):
+    return False
+
+  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+
+def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_recv: Connection, state_send: Connection, exit_event):
+  apply_metadrive_patches()
+
+  road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
+
+  env = MetaDriveEnv(config)
+
+  def reset():
+    env.reset()
+    env.vehicle.config["max_speed_km_h"] = 1000
+
+  reset()
+
+  def get_cam_as_rgb(cam):
+    cam = env.engine.sensors[cam]
+    img = cam.perceive(env.vehicle, clip=False)
+    if type(img) != np.ndarray:
+      img = img.get() # convert cupy array to numpy
+    return img
+
+  rk = Ratekeeper(100, None)
+
+  steer_ratio = 15
+  vc = [0,0]
+
+  while not exit_event.is_set():
+    state = metadrive_state(
+      velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
+      position=env.vehicle.position,
+      bearing=float(math.degrees(env.vehicle.heading_theta)),
+      steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING
+    )
+
+    state_send.send(state)
+
+    if controls_recv.poll(0):
+      while controls_recv.poll(0):
+        steer_angle, gas, should_reset = controls_recv.recv()
+
+      steer_metadrive = steer_angle * 1 / (env.vehicle.MAX_STEERING * steer_ratio)
+      steer_metadrive = np.clip(steer_metadrive, -1, 1)
+
+      vc = [steer_metadrive, gas]
+
+      if should_reset:
+        reset()
+
+    if rk.frame % 5 == 0:
+      obs, _, terminated, _, info = env.step(vc)
+
+      if terminated:
+        reset()
+
+      #if dual_camera:
+      #  wide_road_image = get_cam_as_rgb("rgb_wide")
+      road_image[...] = get_cam_as_rgb("rgb_road")
+
+    rk.keep_time()
\ No newline at end of file
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
new file mode 100644
index 0000000000..3705f19a97
--- /dev/null
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -0,0 +1,75 @@
+import ctypes
+import functools
+import multiprocessing
+import numpy as np
+import time
+
+from multiprocessing import Pipe, Array
+from openpilot.tools.sim.bridge.metadrive.metadrive_process import metadrive_process, metadrive_state
+from openpilot.tools.sim.lib.common import SimulatorState, World
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+class MetaDriveWorld(World):
+  def __init__(self, config, dual_camera = False):
+    super().__init__(dual_camera)
+    self.camera_array = Array(ctypes.c_uint8, W*H*3)
+    self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
+
+    self.controls_send, self.controls_recv = Pipe()
+    self.state_send, self.state_recv = Pipe()
+
+    self.exit_event = multiprocessing.Event()
+
+    self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
+                              functools.partial(metadrive_process, dual_camera, config,
+                                                self.camera_array, self.controls_recv, self.state_send, self.exit_event))
+    self.metadrive_process.start()
+
+    print("----------------------------------------------------------")
+    print("---- Spawning Metadrive world, this might take awhile ----")
+    print("----------------------------------------------------------")
+
+    self.state_recv.recv() # wait for a state message to ensure metadrive is launched
+
+    self.steer_ratio = 15
+    self.vc = [0.0,0.0]
+    self.reset_time = 0
+    self.should_reset = False
+
+  def apply_controls(self, steer_angle, throttle_out, brake_out):
+    if (time.monotonic() - self.reset_time) > 2:
+      self.vc[0] = steer_angle
+
+      if throttle_out:
+        self.vc[1] = throttle_out
+      else:
+        self.vc[1] = -brake_out
+    else:
+      self.vc[0] = 0
+      self.vc[1] = 0
+
+    self.controls_send.send([*self.vc, self.should_reset])
+    self.should_reset = False
+
+  def read_sensors(self, state: SimulatorState):
+    while self.state_recv.poll(0):
+      md_state: metadrive_state = self.state_recv.recv()
+      state.velocity = md_state.velocity
+      state.bearing = md_state.bearing
+      state.steering_angle = md_state.steering_angle
+      state.gps.from_xy(md_state.position)
+      state.valid = True
+
+  def read_cameras(self):
+    pass
+
+  def tick(self):
+    pass
+
+  def reset(self):
+    self.should_reset = True
+
+  def close(self):
+    self.exit_event.set()
+    self.metadrive_process.join()
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index d5922a4819..9532537283 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,11 +6,16 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA CIVIC 2016"
 
-export BLOCK="camerad,loggerd,encoderd,micd,logmessaged"
+export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"
 fi
 
+python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
+
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd ../../selfdrive/manager && exec ./manager.py
+cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
new file mode 100644
index 0000000000..4621347787
--- /dev/null
+++ b/tools/sim/lib/camerad.py
@@ -0,0 +1,70 @@
+import numpy as np
+import os
+import pyopencl as cl
+import pyopencl.array as cl_array
+
+from cereal.visionipc import VisionIpcServer, VisionStreamType
+from cereal import messaging
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.sim.lib.common import W, H
+
+class Camerad:
+  """Simulates the camerad daemon"""
+  def __init__(self, dual_camera):
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState'])
+
+    self.frame_road_id = 0
+    self.frame_wide_id = 0
+    self.vipc_server = VisionIpcServer("camerad")
+
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
+    if dual_camera:
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+
+    self.vipc_server.start_listener()
+
+    # set up for pyopencl rgb to yuv conversion
+    self.ctx = cl.create_some_context()
+    self.queue = cl.CommandQueue(self.ctx)
+    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
+
+    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
+    with open(kernel_fn) as f:
+      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
+      self.krnl = prg.rgb_to_nv12
+    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
+    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
+
+  def cam_send_yuv_road(self, yuv):
+    self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
+    self.frame_road_id += 1
+
+  def cam_send_yuv_wide_road(self, yuv):
+    self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
+    self.frame_wide_id += 1
+
+  # Returns: yuv bytes
+  def rgb_to_yuv(self, rgb):
+    assert rgb.shape == (H, W, 3), f"{rgb.shape}"
+    assert rgb.dtype == np.uint8
+
+    rgb_cl = cl_array.to_device(self.queue, rgb)
+    yuv_cl = cl_array.empty_like(rgb_cl)
+    self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait()
+    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
+    return yuv.data.tobytes()
+
+  def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
+    eof = int(frame_id * 0.05 * 1e9)
+    self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
+
+    dat = messaging.new_message(pub_type)
+    msg = {
+      "frameId": frame_id,
+      "transform": [1.0, 0.0, 0.0,
+                    0.0, 1.0, 0.0,
+                    0.0, 0.0, 1.0]
+    }
+    setattr(dat, pub_type, msg)
+    self.pm.send(pub_type, dat)
\ No newline at end of file
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
deleted file mode 100755
index db321d3193..0000000000
--- a/tools/sim/lib/can.py
+++ /dev/null
@@ -1,94 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-from opendbc.can.packer import CANPacker
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.car import crc8_pedal
-
-packer = CANPacker("honda_civic_touring_2016_can_generated")
-rpacker = CANPacker("acura_ilx_2016_nidec")
-
-
-def get_car_can_parser():
-  dbc_f = 'honda_civic_touring_2016_can_generated'
-  checks = [
-    (0xe4, 100),
-    (0x1fa, 50),
-    (0x200, 50),
-  ]
-  return CANParser(dbc_f, checks, 0)
-cp = get_car_can_parser()
-
-def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
-
-  msg = []
-
-  # *** powertrain bus ***
-
-  speed = speed * 3.6 # convert m/s to kph
-  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
-  msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
-    "WHEEL_SPEED_FL": speed,
-    "WHEEL_SPEED_FR": speed,
-    "WHEEL_SPEED_RL": speed,
-    "WHEEL_SPEED_RR": speed
-  }))
-
-  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}))
-
-  values = {"COUNTER_PEDAL": idx & 0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1])
-  values["CHECKSUM_PEDAL"] = checksum
-  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values))
-
-  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
-  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}))
-  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
-  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}))
-  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}))
-  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
-  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}))
-  msg.append(packer.make_can_msg("CRUISE", 0, {}))
-  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
-  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}))
-  msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
-  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
-
-  # *** cam bus ***
-  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
-  msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
-  msg.append(packer.make_can_msg("LKAS_HUD", 2, {}))
-  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
-
-  # *** radar bus ***
-  if idx % 5 == 0:
-    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
-    for i in range(16):
-      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
-
-  pm.send('can', can_list_to_can_capnp(msg))
-
-def sendcan_function(sendcan):
-  sc = messaging.drain_sock_raw(sendcan)
-  cp.update_strings(sc, sendcan=True)
-
-  if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
-    brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024.
-  else:
-    brake = 0.0
-
-  if cp.vl[0x200]['GAS_COMMAND'] > 0:
-    gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
-  else:
-    gas = 0.0
-
-  if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
-    steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840
-  else:
-    steer_torque = 0.0
-
-  return gas, brake, steer_torque
diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py
new file mode 100644
index 0000000000..b7aa66f5c5
--- /dev/null
+++ b/tools/sim/lib/common.py
@@ -0,0 +1,94 @@
+import math
+import threading
+import numpy as np
+
+from abc import ABC, abstractmethod
+from collections import namedtuple
+
+W, H = 1928, 1208
+
+
+vec3 = namedtuple("vec3", ["x", "y", "z"])
+
+class GPSState:
+  def __init__(self):
+    self.latitude = 0
+    self.longitude = 0
+    self.altitude = 0
+
+  def from_xy(self, xy):
+    """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?"""
+    BASE_LAT = 32.75308505188913
+    BASE_LON = -117.2095393365393
+    DEG_TO_METERS = 100000
+
+    self.latitude = float(BASE_LAT + xy[0] / DEG_TO_METERS)
+    self.longitude = float(BASE_LON + xy[1] / DEG_TO_METERS)
+    self.altitude = 0
+
+
+class IMUState:
+  def __init__(self):
+    self.accelerometer: vec3 = vec3(0,0,0)
+    self.gyroscope: vec3 = vec3(0,0,0)
+    self.bearing: float = 0
+
+
+class SimulatorState:
+  def __init__(self):
+    self.valid = False
+    self.is_engaged = False
+    self.ignition = True
+
+    self.velocity: vec3 = None
+    self.bearing: float = 0
+    self.gps = GPSState()
+    self.imu = IMUState()
+
+    self.steering_angle: float = 0
+
+    self.user_gas: float = 0
+    self.user_brake: float = 0
+    self.user_torque: float = 0
+
+    self.cruise_button = 0
+
+    self.left_blinker = False
+    self.right_blinker = False
+
+  @property
+  def speed(self):
+    return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)
+
+
+class World(ABC):
+  def __init__(self, dual_camera):
+    self.dual_camera = dual_camera
+
+    self.image_lock = threading.Lock()
+    self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
+    self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)
+
+  @abstractmethod
+  def apply_controls(self, steer_sim, throttle_out, brake_out):
+    pass
+
+  @abstractmethod
+  def tick(self):
+    pass
+
+  @abstractmethod
+  def read_sensors(self, simulator_state: SimulatorState):
+    pass
+
+  @abstractmethod
+  def read_cameras(self):
+    pass
+
+  @abstractmethod
+  def close(self):
+    pass
+
+  @abstractmethod
+  def reset(self):
+    pass
\ No newline at end of file
diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py
index 803aa091a3..c37f6ea479 100644
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@@ -1,6 +1,7 @@
 import sys
 import termios
 import time
+
 from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
                      ISTRIP, IXON, PARENB, VMIN, VTIME)
 from typing import NoReturn
@@ -16,6 +17,20 @@ CC = 6
 
 STDIN_FD = sys.stdin.fileno()
 
+
+KEYBOARD_HELP = """
+  | key  |   functionality       |
+  |------|-----------------------|
+  |  1   | Cruise Resume / Accel |
+  |  2   | Cruise Set    / Decel |
+  |  3   | Cruise Cancel         |
+  |  r   | Reset Simulation      |
+  |  i   | Toggle Ignition       |
+  |  q   | Exit all              |
+  | wasd | Control manually      |
+"""
+
+
 def getch() -> str:
   old_settings = termios.tcgetattr(STDIN_FD)
   try:
@@ -38,7 +53,6 @@ def getch() -> str:
 def keyboard_poll_thread(q: 'Queue[str]'):
   while True:
     c = getch()
-    print("got %s" % c)
     if c == '1':
       q.put("cruise_up")
     elif c == '2':
@@ -53,8 +67,14 @@ def keyboard_poll_thread(q: 'Queue[str]'):
       q.put("brake_%f" % 1.0)
     elif c == 'd':
       q.put("steer_%f" % -0.15)
+    elif c == 'z':
+      q.put("blinker_left")
+    elif c == 'x':
+      q.put("blinker_right")
     elif c == 'i':
       q.put("ignition")
+    elif c == 'r':
+      q.put("reset")
     elif c == 'q':
       q.put("quit")
       break
diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py
index 1687a2e6ba..04e228c18c 100755
--- a/tools/sim/lib/manual_ctrl.py
+++ b/tools/sim/lib/manual_ctrl.py
@@ -4,7 +4,7 @@ import array
 import os
 import struct
 from fcntl import ioctl
-from typing import NoReturn
+from typing import NoReturn, Dict, List
 
 # Iterate over the joystick devices.
 print('Available devices:')
@@ -13,8 +13,8 @@ for fn in os.listdir('/dev/input'):
     print(f'  /dev/input/{fn}')
 
 # We'll store the states here.
-axis_states = {}
-button_states = {}
+axis_states: Dict[str, float] = {}
+button_states: Dict[str, float] = {}
 
 # These constants were borrowed from linux/input.h
 axis_names = {
@@ -88,8 +88,8 @@ button_names = {
   0x2c3 : 'dpad_down',
 }
 
-axis_map = []
-button_map = []
+axis_name_list: List[str] = []
+button_name_list: List[str] = []
 
 def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
   # Open the joystick device.
@@ -119,7 +119,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
   for _axis in buf[:num_axes]:
     axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})')
-    axis_map.append(axis_name)
+    axis_name_list.append(axis_name)
     axis_states[axis_name] = 0.0
 
   # Get the button map.
@@ -128,11 +128,11 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
   for btn in buf[:num_buttons]:
     btn_name = button_names.get(btn, f'unknown(0x{btn:03x})')
-    button_map.append(btn_name)
+    button_name_list.append(btn_name)
     button_states[btn_name] = 0
 
-  print('%d axes found: %s' % (num_axes, ', '.join(axis_map)))
-  print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))
+  print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list)))
+  print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list)))
 
   # Enable FF
   import evdev
@@ -147,7 +147,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
     value, mtype, number = struct.unpack('4xhBB', evbuf)
     # print(mtype, number, value)
     if mtype & 0x02:  # wheel & paddles
-      axis = axis_map[number]
+      axis = axis_name_list[number]
 
       if axis == "z":  # gas
         fvalue = value / 32767.0
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
new file mode 100644
index 0000000000..ab60fad8d3
--- /dev/null
+++ b/tools/sim/lib/simulated_car.py
@@ -0,0 +1,119 @@
+import cereal.messaging as messaging
+
+from opendbc.can.packer import CANPacker
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.car import crc8_pedal
+from openpilot.tools.sim.lib.common import SimulatorState
+
+
+class SimulatedCar:
+  """Simulates a honda civic 2016 (panda state + can messages) to OpenPilot"""
+  packer = CANPacker("honda_civic_touring_2016_can_generated")
+  rpacker = CANPacker("acura_ilx_2016_nidec")
+
+  def __init__(self):
+    self.pm = messaging.PubMaster(['can', 'pandaStates'])
+    self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams'])
+    self.cp = self.get_car_can_parser()
+    self.idx = 0
+
+  @staticmethod
+  def get_car_can_parser():
+    dbc_f = 'honda_civic_touring_2016_can_generated'
+    checks = [
+      (0xe4, 100),
+      (0x1fa, 50),
+      (0x200, 50),
+    ]
+    return CANParser(dbc_f, checks, 0)
+
+  def send_can_messages(self, simulator_state: SimulatorState):
+    if not simulator_state.valid:
+      return
+
+    msg = []
+
+    # *** powertrain bus ***
+
+    speed = simulator_state.speed * 3.6 # convert m/s to kph
+    msg.append(self.packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
+    msg.append(self.packer.make_can_msg("WHEEL_SPEEDS", 0, {
+      "WHEEL_SPEED_FL": speed,
+      "WHEEL_SPEED_FR": speed,
+      "WHEEL_SPEED_RL": speed,
+      "WHEEL_SPEED_RR": speed
+    }))
+
+    msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button}))
+
+    values = {
+      "COUNTER_PEDAL": self.idx & 0xF,
+      "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12,
+      "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12,
+    }
+    checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1])
+    values["CHECKSUM_PEDAL"] = checksum
+    msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values))
+
+    msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+    msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
+    msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
+    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
+    msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle}))
+    msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0}))
+    msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
+    msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
+    msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
+    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
+                                    {
+                                      "MAIN_ON": 1,
+                                      "LEFT_BLINKER": simulator_state.left_blinker,
+                                      "RIGHT_BLINKER": simulator_state.right_blinker
+                                    }))
+    msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0,
+                                    {
+                                    "ACC_STATUS": int(simulator_state.is_engaged),
+                                    "PEDAL_GAS": simulator_state.user_gas,
+                                    "BRAKE_PRESSED": simulator_state.user_brake > 0
+                                    }))
+    msg.append(self.packer.make_can_msg("HUD_SETTING", 0, {}))
+    msg.append(self.packer.make_can_msg("CAR_SPEED", 0, {}))
+
+    # *** cam bus ***
+    msg.append(self.packer.make_can_msg("STEERING_CONTROL", 2, {}))
+    msg.append(self.packer.make_can_msg("ACC_HUD", 2, {}))
+    msg.append(self.packer.make_can_msg("LKAS_HUD", 2, {}))
+    msg.append(self.packer.make_can_msg("BRAKE_COMMAND", 2, {}))
+
+    # *** radar bus ***
+    if self.idx % 5 == 0:
+      msg.append(self.rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
+      for i in range(16):
+        msg.append(self.rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
+
+    self.pm.send('can', can_list_to_can_capnp(msg))
+
+  def send_panda_state(self, simulator_state):
+    self.sm.update(0)
+    dat = messaging.new_message('pandaStates', 1)
+    dat.valid = True
+    dat.pandaStates[0] = {
+      'ignitionLine': simulator_state.ignition,
+      'pandaType': "blackPanda",
+      'controlsAllowed': True,
+      'safetyModel': 'hondaNidec',
+      'alternativeExperience': self.sm["carParams"].alternativeExperience
+    }
+    self.pm.send('pandaStates', dat)
+
+  def update(self, simulator_state: SimulatorState):
+    self.send_can_messages(simulator_state)
+
+    if self.idx % 50 == 0: # only send panda states at 2hz
+      self.send_panda_state(simulator_state)
+
+    self.idx += 1
\ No newline at end of file
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
new file mode 100644
index 0000000000..4520ed35ae
--- /dev/null
+++ b/tools/sim/lib/simulated_sensors.py
@@ -0,0 +1,125 @@
+import time
+
+from cereal import log
+import cereal.messaging as messaging
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_DMON
+from openpilot.tools.sim.lib.camerad import Camerad
+
+from typing import TYPE_CHECKING
+if TYPE_CHECKING:
+  from openpilot.tools.sim.lib.common import World, SimulatorState
+
+
+class SimulatedSensors:
+  """Simulates the C3 sensors (acc, gyro, gps, peripherals, dm state, cameras) to OpenPilot"""
+
+  def __init__(self, dual_camera=False):
+    self.pm = messaging.PubMaster(['accelerometer', 'gyroscope', 'gpsLocationExternal', 'driverStateV2', 'driverMonitoringState', 'peripheralState'])
+    self.camerad = Camerad(dual_camera=dual_camera)
+    self.last_perp_update = 0
+    self.last_dmon_update = 0
+
+  def send_imu_message(self, simulator_state: 'SimulatorState'):
+    for _ in range(5):
+      dat = messaging.new_message('accelerometer')
+      dat.accelerometer.sensor = 4
+      dat.accelerometer.type = 0x10
+      dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
+      dat.accelerometer.init('acceleration')
+      dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
+      self.pm.send('accelerometer', dat)
+
+      # copied these numbers from locationd
+      dat = messaging.new_message('gyroscope')
+      dat.gyroscope.sensor = 5
+      dat.gyroscope.type = 0x10
+      dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
+      dat.gyroscope.init('gyroUncalibrated')
+      dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]
+      self.pm.send('gyroscope', dat)
+
+  def send_gps_message(self, simulator_state: 'SimulatorState'):
+    if not simulator_state.valid:
+      return
+
+    # transform vel from carla to NED
+    # north is -Y in CARLA
+    velNED = [
+      -simulator_state.velocity.y,  # north/south component of NED is negative when moving south
+      simulator_state.velocity.x,  # positive when moving east, which is x in carla
+      simulator_state.velocity.z,
+    ]
+
+    for _ in range(10):
+      dat = messaging.new_message('gpsLocationExternal')
+      dat.gpsLocationExternal = {
+        "unixTimestampMillis": int(time.time() * 1000),
+        "flags": 1,  # valid fix
+        "accuracy": 1.0,
+        "verticalAccuracy": 1.0,
+        "speedAccuracy": 0.1,
+        "bearingAccuracyDeg": 0.1,
+        "vNED": velNED,
+        "bearingDeg": simulator_state.imu.bearing,
+        "latitude": simulator_state.gps.latitude,
+        "longitude": simulator_state.gps.longitude,
+        "altitude": simulator_state.gps.altitude,
+        "speed": simulator_state.speed,
+        "source": log.GpsLocationData.SensorSource.ublox,
+      }
+
+      self.pm.send('gpsLocationExternal', dat)
+
+  def send_peripheral_state(self):
+    dat = messaging.new_message('peripheralState')
+    dat.valid = True
+    dat.peripheralState = {
+      'pandaType': log.PandaState.PandaType.blackPanda,
+      'voltage': 12000,
+      'current': 5678,
+      'fanSpeedRpm': 1000
+    }
+    Params().put_bool("ObdMultiplexingEnabled", False)
+    self.pm.send('peripheralState', dat)
+
+  def send_fake_driver_monitoring(self):
+    # dmonitoringmodeld output
+    dat = messaging.new_message('driverStateV2')
+    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.leftDriverData.faceProb = 1.0
+    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.rightDriverData.faceProb = 1.0
+    self.pm.send('driverStateV2', dat)
+
+    # dmonitoringd output
+    dat = messaging.new_message('driverMonitoringState')
+    dat.driverMonitoringState = {
+      "faceDetected": True,
+      "isDistracted": False,
+      "awarenessStatus": 1.,
+    }
+    self.pm.send('driverMonitoringState', dat)
+
+  def send_camera_images(self, world: 'World'):
+    with world.image_lock:
+      yuv = self.camerad.rgb_to_yuv(world.road_image)
+      self.camerad.cam_send_yuv_road(yuv)
+
+      if world.dual_camera:
+        yuv = self.camerad.rgb_to_yuv(world.wide_road_image)
+        self.camerad.cam_send_yuv_wide_road(yuv)
+
+  def update(self, simulator_state: 'SimulatorState', world: 'World'):
+    now = time.time()
+    self.send_imu_message(simulator_state)
+    self.send_gps_message(simulator_state)
+
+    if (now - self.last_dmon_update) > DT_DMON/2:
+      self.send_fake_driver_monitoring()
+      self.last_dmon_update = now
+
+    if (now - self.last_perp_update) > 0.25:
+      self.send_peripheral_state()
+      self.last_perp_update = now
\ No newline at end of file
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
new file mode 100755
index 0000000000..99617b181e
--- /dev/null
+++ b/tools/sim/run_bridge.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+import argparse
+import os
+
+from typing import Any
+from multiprocessing import Queue
+
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
+from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+
+
+def parse_args(add_args=None):
+  parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
+  parser.add_argument('--joystick', action='store_true')
+  parser.add_argument('--high_quality', action='store_true')
+  parser.add_argument('--dual_camera', action='store_true')
+  parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
+
+  # Carla specific
+  parser.add_argument('--town', type=str, default='Town04_Opt')
+  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
+  parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1'))
+  parser.add_argument('--port', dest='port', type=int, default=2000)
+
+  return parser.parse_args(add_args)
+
+if __name__ == "__main__":
+  q: Any = Queue()
+  args = parse_args()
+
+  simulator_bridge: SimulatorBridge
+  if args.simulator == "carla":
+    simulator_bridge = CarlaBridge(args)
+  elif args.simulator == "metadrive":
+    simulator_bridge = MetaDriveBridge(args)
+  else:
+    raise AssertionError("simulator type not supported")
+  p = simulator_bridge.run(q)
+
+  if args.joystick:
+    # start input poll for joystick
+    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
+
+    wheel_poll_thread(q)
+  else:
+    # start input poll for keyboard
+    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
+
+    keyboard_poll_thread(q)
+
+  simulator_bridge.shutdown()
+
+  p.join()
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index dba89b8b70..54f4995e45 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -3,7 +3,7 @@
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-OPENPILOT_DIR="/openpilot"
+OPENPILOT_DIR="/tmp/openpilot"
 if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
   OPENPILOT_DIR="$(dirname $(dirname $DIR))"
   EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py
new file mode 100755
index 0000000000..3a654c993a
--- /dev/null
+++ b/tools/sim/tests/test_carla_bridge.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import subprocess
+import time
+import unittest
+from subprocess import Popen
+
+from openpilot.selfdrive.manager.helpers import unblock_stdout
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
+from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
+
+from typing import Optional
+
+class TestCarlaBridge(TestSimBridgeBase):
+  """
+  Tests need Carla simulator to run
+  """
+  carla_process: Optional[Popen] = None
+
+  def setUp(self):
+    super().setUp()
+
+    # We want to make sure that carla_sim docker isn't still running.
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
+
+    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
+    unblock_stdout()
+    # Wait 10 seconds to startup carla
+    time.sleep(10)
+
+  def create_bridge(self):
+    return CarlaBridge(parse_args([]))
+
+  def tearDown(self):
+    super().tearDown()
+
+    # Stop carla simulator by removing docker container
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    if self.carla_process is not None:
+      self.carla_process.wait()
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
new file mode 100755
index 0000000000..2c534656bb
--- /dev/null
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+import unittest
+
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
+
+
+class TestMetaDriveBridge(TestSimBridgeBase):
+  def create_bridge(self):
+    return MetaDriveBridge(parse_args([]))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_sim_bridge.py
old mode 100755
new mode 100644
similarity index 71%
rename from tools/sim/tests/test_carla_integration.py
rename to tools/sim/tests/test_sim_bridge.py
index 65f5f4a30f..b00527b322
--- a/tools/sim/tests/test_carla_integration.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -1,40 +1,24 @@
-#!/usr/bin/env python3
+import os
 import subprocess
 import time
 import unittest
-import os
+
 from multiprocessing import Queue
 
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.manager.helpers import unblock_stdout
-from openpilot.tools.sim import bridge
-from openpilot.tools.sim.bridge import CarlaBridge
-
-CI = "CI" in os.environ
 
 SIM_DIR = os.path.join(BASEDIR, "tools/sim")
 
-class TestCarlaIntegration(unittest.TestCase):
-  """
-  Tests need Carla simulator to run
-  """
-  processes = None
-  carla_process = None
+class TestSimBridgeBase(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    if cls is TestSimBridgeBase:
+      raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead")
 
   def setUp(self):
     self.processes = []
 
-    if not CI:
-      # We want to make sure that carla_sim docker isn't still running.
-      subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-      self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
-
-    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
-    unblock_stdout()
-    # Wait 10 seconds to startup carla
-    time.sleep(10)
-
   def test_engage(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
@@ -42,7 +26,7 @@ class TestCarlaIntegration(unittest.TestCase):
 
     sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
     q = Queue()
-    carla_bridge = CarlaBridge(bridge.parse_args([]))
+    carla_bridge = self.create_bridge()
     p_bridge = carla_bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
@@ -99,11 +83,6 @@ class TestCarlaIntegration(unittest.TestCase):
       else:
         p.join(15)
 
-    # Stop carla simulator by removing docker container
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-    if self.carla_process is not None:
-      self.carla_process.wait()
-
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh
index 333fce304b..2a1e74958a 100755
--- a/tools/sim/tmux_script.sh
+++ b/tools/sim/tmux_script.sh
@@ -2,5 +2,5 @@
 tmux new -d -s carla-sim
 tmux send-keys "./launch_openpilot.sh" ENTER
 tmux neww
-tmux send-keys "./bridge.py $*" ENTER
+tmux send-keys "./run_bridge.py $*" ENTER
 tmux a -t carla-sim
diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py
index 42438cb209..598e0a0587 100644
--- a/tools/zookeeper/__init__.py
+++ b/tools/zookeeper/__init__.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import ft4222
 import ft4222.I2CMaster