openpilot v0.2.4 release

old-commit-hash: ecc565aa3f

.gitignore

@@ -1,5 +1,6 @@
 .DS_Store
 .tags
+.ipynb_checkpoints
 
 *.pyc
 .*.swp

Makefile

@@ -0,0 +1,6 @@
+.PHONY: all
+
+# TODO: Add a global build system to openpilot
+all:
+	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+

README.md

@@ -10,15 +10,9 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
 Hardware
 ------
 
-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support [Open Source Car Control](https://github.com/PolySync/OSCC) as well.
+Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
 
-To install it on the NEO:
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
-
-```bash
-# Requires working adb in PATH
-cd installation
-./install.sh
-```
 
 Supported Cars
 ------
@@ -36,7 +30,6 @@ Directory structure
 - cereal        -- The messaging spec used for all logs on the phone
 - common        -- Library like functionality we've developed here
 - dbcs          -- Files showing how to interpret data from cars
-- installation  -- Installation on the neo platform
 - phonelibs     -- Libraries used on the phone
 - selfdrive     -- Code needed to drive the car
   - assets        -- Fonts for ui

RELEASES.md

@@ -1,3 +1,9 @@
+Version 0.2.4  (2017-01-27)
+===========================
+  * OnePlus 3T support
+  * Enable installation as NEOS app
+  * Various minor bugfixes
+
 Version 0.2.3  (2017-01-11)
 ===========================
   * Reduce space usage by 80%

board/can.h

@@ -1,4 +1,13 @@
 void can_init(CAN_TypeDef *CAN) {
+  // enable CAN busses
+  if (CAN == CAN1) {
+    // CAN1_EN
+    GPIOB->ODR |= (1 << 3);
+  } else if (CAN == CAN2) {
+    // CAN2_EN
+    GPIOB->ODR |= (1 << 4);
+  }
+
   CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
   while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
   puts("CAN initting\n");

board/inc/stm32f2xx_hal_def.h

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740f87930e67d4288d9e89186a89ca71254acd3981dc7231157a3c41305152b2
+size 6017

board/inc/stm32f2xx_hal_gpio_ex.h

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99bd10a191f12b66e5a58fee1176f419785cb3c0ced16fc8f9c879682912aa64
+size 11218

board/libc.h

@@ -13,19 +13,7 @@
 #define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
 #define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
 
-#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
+#include "stm32f2xx_hal_gpio_ex.h"
-#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping     */
-#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping     */
-#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
-#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
-#define GPIO_AF12_OTG_HS_FS       ((uint8_t)0xC)  /* OTG HS configured in FS */
-
-#ifdef OLD_BOARD
-  #define USART USART2
-#else
-  #define USART USART3
-#endif
-
 
 // **** shitty libc ****
 
@@ -68,15 +56,20 @@ void clock_init() {
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
   RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+
   RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
   RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
   RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
   RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
   RCC->APB1ENR |= RCC_APB1ENR_DACEN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
   RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
 
   // turn on alt USB
   RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
@@ -101,7 +94,7 @@ void gpio_init() {
   // IGNITION on C13
 
   // set mode for LEDs and CAN
-  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0;
+  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0 | GPIO_MODER_MODER12_0;
   // CAN 2
   GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
   // CAN 1
@@ -125,6 +118,12 @@ void gpio_init() {
 
   GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
 
+  // setup SPI
+  GPIOA->MODER |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 |
+                  GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1;
+  GPIOA->AFR[0] |= GPIO_AF5_SPI1 << (4*4) | GPIO_AF5_SPI1 << (5*4) |
+                   GPIO_AF5_SPI1 << (6*4) | GPIO_AF5_SPI1 << (7*4);
+
   // set mode for CAN / USB_HS pins
   GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
   GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
@@ -136,9 +135,6 @@ void gpio_init() {
 
   GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
 
-  // enable CAN busses
-  GPIOB->ODR |= (1 << 3) | (1 << 4);
-
   // enable OTG out tied to ground
   GPIOA->ODR = 0;
   GPIOA->MODER |= GPIO_MODER_MODER1_0;
@@ -223,4 +219,13 @@ void *memcpy(void *dest, const void *src, unsigned int n) {
   return dest;
 }
 
+void set_led(int led_num, int state) {
+  if (state) {
+    // turn on
+    GPIOB->ODR &= ~(1 << (10 + led_num));
+  } else {
+    // turn off
+    GPIOB->ODR |= (1 << (10 + led_num));
+  }
+}
 

board/main.c

@@ -3,6 +3,11 @@
 //#define USE_INTERNAL_OSC
 //#define OLD_BOARD
 //#define ENABLE_CURRENT_SENSOR
+//#define ENABLE_SPI
+
+// choose serial port for debugging
+//#define USART USART2
+#define USART USART3
 
 #define USB_VID 0xbbaa
 #define USB_PID 0xddcc
@@ -22,6 +27,7 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #include "timer.h"
 #include "usb.h"
 #include "can.h"
+#include "spi.h"
 
 // debug safety check: is controls allowed?
 int controls_allowed = 0;
@@ -394,6 +400,48 @@ void ADC_IRQHandler(void) {
   puts("ADC_IRQ\n");
 }
 
+#ifdef ENABLE_SPI
+
+#define SPI_BUF_SIZE 128
+uint8_t spi_buf[SPI_BUF_SIZE];
+int spi_buf_count = 0;
+uint8_t spi_tx_buf[0x10];
+
+void DMA2_Stream3_IRQHandler(void) {
+  #ifdef DEBUG
+    puts("DMA2\n");
+  #endif
+  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+
+  pop(&can_rx_q, spi_tx_buf);
+  spi_tx_dma(spi_tx_buf, 0x10);
+}
+
+void SPI1_IRQHandler(void) {
+  // status is 0x43
+  if (SPI1->SR & SPI_SR_RXNE) {
+    uint8_t dat = SPI1->DR;
+    /*spi_buf[spi_buf_count] = dat;
+    if (spi_buf_count < SPI_BUF_SIZE-1) {
+      spi_buf_count += 1;
+    }*/
+  }
+
+  if (SPI1->SR & SPI_SR_TXE) {
+    // all i send is U U U no matter what
+    //SPI1->DR = 'U';
+  }
+
+  int stat = SPI1->SR;
+  if (stat & ((~SPI_SR_RXNE) & (~SPI_SR_TXE) & (~SPI_SR_BSY))) {
+    puts("SPI status: ");
+    puth(stat);
+    puts("\n");
+  }
+}
+
+#endif
+
 // ***************************** main code *****************************
 
 void __initialize_hardware_early() {
@@ -428,11 +476,6 @@ int main() {
   // init devices
   clock_init();
 
-  // test the USB choice before GPIO init
-  if (GPIOA->IDR & (1 << 12)) {
-    USBx = USB_OTG_HS;
-  }
-
   gpio_init();
   uart_init();
   usb_init();
@@ -440,6 +483,14 @@ int main() {
   can_init(CAN2);
   adc_init();
 
+#ifdef ENABLE_SPI
+  spi_init();
+
+  // set up DMA
+  memset(spi_tx_buf, 0, 0x10);
+  spi_tx_dma(spi_tx_buf, 0x10);
+#endif
+
   // timer for fan PWM
   #ifdef OLD_BOARD
     TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
@@ -475,13 +526,21 @@ int main() {
   NVIC_EnableIRQ(CAN2_TX_IRQn);
   NVIC_EnableIRQ(CAN2_RX0_IRQn);
   NVIC_EnableIRQ(CAN2_SCE_IRQn);
+
+#ifdef ENABLE_SPI
+  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  NVIC_EnableIRQ(SPI1_IRQn);
+#endif
   __enable_irq();
 
 
   // LED should keep on blinking all the time
-  while (1) {
+  int cnt;
+  for (cnt=0;;cnt++) {
     can_live = pending_can_live;
-    pending_can_live = 0;
+
+    // reset this every 16th pass
+    if ((cnt&0xF) == 0) pending_can_live = 0;
 
     #ifdef DEBUG
       puts("** blink ");
@@ -504,6 +563,13 @@ int main() {
     GPIOB->ODR &= ~(1 << 10);
     delay(1000000);
 
+    #ifdef ENABLE_SPI
+      if (spi_buf_count > 0) {
+        hexdump(spi_buf, spi_buf_count);
+        spi_buf_count = 0;
+      }
+    #endif
+
     // started logic
     int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
     if (started_signal) { started_signal_detected = 1; }

board/spi.h

@@ -0,0 +1,23 @@
+void spi_init() {
+  puts("SPI init\n");
+  SPI1->CR1 = SPI_CR1_SPE;
+  SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
+}
+
+void spi_tx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
+  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
+
+  // DMA2, stream 3, channel 3
+  DMA2_Stream3->M0AR = addr;
+  DMA2_Stream3->NDTR = len;
+  DMA2_Stream3->PAR = &(SPI1->DR);
+
+  // channel3, increment memory, memory -> periph, enable
+  DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  DMA2_Stream3->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_TXDMAEN;
+}
+

cereal/gen/c/car.capnp.c

@@ -0,0 +1,337 @@
+#include "car.capnp.h"
+/* AUTO GENERATED - DO NOT EDIT */
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment *s) {
+	cereal_CarState_ptr p;
+	p.p = capn_new_struct(s, 24, 5);
+	return p;
+}
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment *s, int len) {
+	cereal_CarState_list p;
+	p.p = capn_new_list(s, len, 24, 5);
+	return p;
+}
+void cereal_read_CarState(struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->vEgo = capn_to_f32(capn_read32(p.p, 0));
+	s->wheelSpeeds.p = capn_getp(p.p, 1, 0);
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->gasPressed = (capn_read8(p.p, 8) & 1) != 0;
+	s->brake = capn_to_f32(capn_read32(p.p, 12));
+	s->brakePressed = (capn_read8(p.p, 8) & 2) != 0;
+	s->steeringAngle = capn_to_f32(capn_read32(p.p, 16));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 20));
+	s->steeringPressed = (capn_read8(p.p, 8) & 4) != 0;
+	s->cruiseState.p = capn_getp(p.p, 2, 0);
+	s->buttonEvents.p = capn_getp(p.p, 3, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 4, 0);
+}
+void cereal_write_CarState(const struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_write32(p.p, 0, capn_from_f32(s->vEgo));
+	capn_setp(p.p, 1, s->wheelSpeeds.p);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write1(p.p, 64, s->gasPressed != 0);
+	capn_write32(p.p, 12, capn_from_f32(s->brake));
+	capn_write1(p.p, 65, s->brakePressed != 0);
+	capn_write32(p.p, 16, capn_from_f32(s->steeringAngle));
+	capn_write32(p.p, 20, capn_from_f32(s->steeringTorque));
+	capn_write1(p.p, 66, s->steeringPressed != 0);
+	capn_setp(p.p, 2, s->cruiseState.p);
+	capn_setp(p.p, 3, s->buttonEvents.p);
+	capn_setp(p.p, 4, s->canMonoTimes.p);
+}
+void cereal_get_CarState(struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState(s, p);
+}
+void cereal_set_CarState(const struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState(s, p);
+}
+
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment *s) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment *s, int len) {
+	cereal_CarState_WheelSpeeds_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	s->fl = capn_to_f32(capn_read32(p.p, 0));
+	s->fr = capn_to_f32(capn_read32(p.p, 4));
+	s->rl = capn_to_f32(capn_read32(p.p, 8));
+	s->rr = capn_to_f32(capn_read32(p.p, 12));
+}
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	capn_write32(p.p, 0, capn_from_f32(s->fl));
+	capn_write32(p.p, 4, capn_from_f32(s->fr));
+	capn_write32(p.p, 8, capn_from_f32(s->rl));
+	capn_write32(p.p, 12, capn_from_f32(s->rr));
+}
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_WheelSpeeds(s, p);
+}
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_WheelSpeeds(s, p);
+}
+
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment *s) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment *s, int len) {
+	cereal_CarState_CruiseState_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->speed = capn_to_f32(capn_read32(p.p, 4));
+}
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speed));
+}
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_CruiseState(s, p);
+}
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_CruiseState(s, p);
+}
+
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment *s) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment *s, int len) {
+	cereal_CarState_ButtonEvent_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	s->pressed = (capn_read8(p.p, 0) & 1) != 0;
+	s->type = (enum cereal_CarState_ButtonEvent_Type)(int) capn_read16(p.p, 2);
+}
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->pressed != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->type));
+}
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_ButtonEvent(s, p);
+}
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_ButtonEvent(s, p);
+}
+
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment *s) {
+	cereal_RadarState_ptr p;
+	p.p = capn_new_struct(s, 0, 3);
+	return p;
+}
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment *s, int len) {
+	cereal_RadarState_list p;
+	p.p = capn_new_list(s, len, 0, 3);
+	return p;
+}
+void cereal_read_RadarState(struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->points.p = capn_getp(p.p, 1, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 2, 0);
+}
+void cereal_write_RadarState(const struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_setp(p.p, 1, s->points.p);
+	capn_setp(p.p, 2, s->canMonoTimes.p);
+}
+void cereal_get_RadarState(struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState(s, p);
+}
+void cereal_set_RadarState(const struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState(s, p);
+}
+
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment *s) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_new_struct(s, 32, 0);
+	return p;
+}
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment *s, int len) {
+	cereal_RadarState_RadarPoint_list p;
+	p.p = capn_new_list(s, len, 32, 0);
+	return p;
+}
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	s->trackId = capn_read64(p.p, 0);
+	s->dRel = capn_to_f32(capn_read32(p.p, 8));
+	s->yRel = capn_to_f32(capn_read32(p.p, 12));
+	s->vRel = capn_to_f32(capn_read32(p.p, 16));
+	s->aRel = capn_to_f32(capn_read32(p.p, 20));
+	s->yvRel = capn_to_f32(capn_read32(p.p, 24));
+}
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	capn_write64(p.p, 0, s->trackId);
+	capn_write32(p.p, 8, capn_from_f32(s->dRel));
+	capn_write32(p.p, 12, capn_from_f32(s->yRel));
+	capn_write32(p.p, 16, capn_from_f32(s->vRel));
+	capn_write32(p.p, 20, capn_from_f32(s->aRel));
+	capn_write32(p.p, 24, capn_from_f32(s->yvRel));
+}
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState_RadarPoint(s, p);
+}
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState_RadarPoint(s, p);
+}
+
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment *s) {
+	cereal_CarControl_ptr p;
+	p.p = capn_new_struct(s, 16, 2);
+	return p;
+}
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_list p;
+	p.p = capn_new_list(s, len, 16, 2);
+	return p;
+}
+void cereal_read_CarControl(struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->brake = capn_to_f32(capn_read32(p.p, 8));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 12));
+	s->cruiseControl.p = capn_getp(p.p, 0, 0);
+	s->hudControl.p = capn_getp(p.p, 1, 0);
+}
+void cereal_write_CarControl(const struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write32(p.p, 8, capn_from_f32(s->brake));
+	capn_write32(p.p, 12, capn_from_f32(s->steeringTorque));
+	capn_setp(p.p, 0, s->cruiseControl.p);
+	capn_setp(p.p, 1, s->hudControl.p);
+}
+void cereal_get_CarControl(struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl(s, p);
+}
+void cereal_set_CarControl(const struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl(s, p);
+}
+
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment *s) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_CruiseControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	s->cancel = (capn_read8(p.p, 0) & 1) != 0;
+	s->override = (capn_read8(p.p, 0) & 2) != 0;
+	s->speedOverride = capn_to_f32(capn_read32(p.p, 4));
+	s->accelOverride = capn_to_f32(capn_read32(p.p, 8));
+}
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->cancel != 0);
+	capn_write1(p.p, 1, s->override != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speedOverride));
+	capn_write32(p.p, 8, capn_from_f32(s->accelOverride));
+}
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_CruiseControl(s, p);
+}
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_CruiseControl(s, p);
+}
+
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment *s) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_HUDControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	s->speedVisible = (capn_read8(p.p, 0) & 1) != 0;
+	s->setSpeed = capn_to_f32(capn_read32(p.p, 4));
+	s->lanesVisible = (capn_read8(p.p, 0) & 2) != 0;
+	s->leadVisible = (capn_read8(p.p, 0) & 4) != 0;
+	s->visualAlert = (enum cereal_CarControl_HUDControl_VisualAlert)(int) capn_read16(p.p, 2);
+	s->audibleAlert = (enum cereal_CarControl_HUDControl_AudibleAlert)(int) capn_read16(p.p, 8);
+}
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->speedVisible != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->setSpeed));
+	capn_write1(p.p, 1, s->lanesVisible != 0);
+	capn_write1(p.p, 2, s->leadVisible != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->visualAlert));
+	capn_write16(p.p, 8, (uint16_t) (s->audibleAlert));
+}
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_HUDControl(s, p);
+}
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_HUDControl(s, p);
+}

cereal/gen/c/car.capnp.h

@@ -0,0 +1,287 @@
+#ifndef CAPN_8E2AF1E78AF8B8D
+#define CAPN_8E2AF1E78AF8B8D
+/* AUTO GENERATED - DO NOT EDIT */
+#include <capnp_c.h>
+
+#if CAPN_VERSION != 1
+#error "version mismatch between capnp_c.h and generated code"
+#endif
+
+#include "c++.capnp.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct cereal_CarState;
+struct cereal_CarState_WheelSpeeds;
+struct cereal_CarState_CruiseState;
+struct cereal_CarState_ButtonEvent;
+struct cereal_RadarState;
+struct cereal_RadarState_RadarPoint;
+struct cereal_CarControl;
+struct cereal_CarControl_CruiseControl;
+struct cereal_CarControl_HUDControl;
+
+typedef struct {capn_ptr p;} cereal_CarState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_ptr;
+
+typedef struct {capn_ptr p;} cereal_CarState_list;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_list;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_list;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_list;
+typedef struct {capn_ptr p;} cereal_RadarState_list;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_list;
+typedef struct {capn_ptr p;} cereal_CarControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_list;
+
+enum cereal_CarState_Error {
+	cereal_CarState_Error_commIssue = 0,
+	cereal_CarState_Error_steerUnavailable = 1,
+	cereal_CarState_Error_brakeUnavailable = 2,
+	cereal_CarState_Error_gasUnavailable = 3,
+	cereal_CarState_Error_wrongGear = 4,
+	cereal_CarState_Error_doorOpen = 5,
+	cereal_CarState_Error_seatbeltNotLatched = 6,
+	cereal_CarState_Error_espDisabled = 7,
+	cereal_CarState_Error_wrongCarMode = 8,
+	cereal_CarState_Error_steerTemporarilyUnavailable = 9,
+	cereal_CarState_Error_reverseGear = 10
+};
+
+enum cereal_CarState_ButtonEvent_Type {
+	cereal_CarState_ButtonEvent_Type_unknown = 0,
+	cereal_CarState_ButtonEvent_Type_leftBlinker = 1,
+	cereal_CarState_ButtonEvent_Type_rightBlinker = 2,
+	cereal_CarState_ButtonEvent_Type_accelCruise = 3,
+	cereal_CarState_ButtonEvent_Type_decelCruise = 4,
+	cereal_CarState_ButtonEvent_Type_cancel = 5,
+	cereal_CarState_ButtonEvent_Type_altButton1 = 6,
+	cereal_CarState_ButtonEvent_Type_altButton2 = 7,
+	cereal_CarState_ButtonEvent_Type_altButton3 = 8
+};
+
+enum cereal_RadarState_Error {
+	cereal_RadarState_Error_notValid = 0
+};
+
+enum cereal_CarControl_HUDControl_VisualAlert {
+	cereal_CarControl_HUDControl_VisualAlert_none = 0,
+	cereal_CarControl_HUDControl_VisualAlert_fcw = 1,
+	cereal_CarControl_HUDControl_VisualAlert_steerRequired = 2,
+	cereal_CarControl_HUDControl_VisualAlert_brakePressed = 3,
+	cereal_CarControl_HUDControl_VisualAlert_wrongGear = 4,
+	cereal_CarControl_HUDControl_VisualAlert_seatbeltUnbuckled = 5,
+	cereal_CarControl_HUDControl_VisualAlert_speedTooHigh = 6
+};
+
+enum cereal_CarControl_HUDControl_AudibleAlert {
+	cereal_CarControl_HUDControl_AudibleAlert_none = 0,
+	cereal_CarControl_HUDControl_AudibleAlert_beepSingle = 1,
+	cereal_CarControl_HUDControl_AudibleAlert_beepTriple = 2,
+	cereal_CarControl_HUDControl_AudibleAlert_beepRepeated = 3,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeSingle = 4,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeDouble = 5,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeRepeated = 6,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeContinuous = 7
+};
+
+struct cereal_CarState {
+	capn_list16 errors;
+	float vEgo;
+	cereal_CarState_WheelSpeeds_ptr wheelSpeeds;
+	float gas;
+	unsigned gasPressed : 1;
+	float brake;
+	unsigned brakePressed : 1;
+	float steeringAngle;
+	float steeringTorque;
+	unsigned steeringPressed : 1;
+	cereal_CarState_CruiseState_ptr cruiseState;
+	cereal_CarState_ButtonEvent_list buttonEvents;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_CarState_word_count = 3;
+
+static const size_t cereal_CarState_pointer_count = 5;
+
+static const size_t cereal_CarState_struct_bytes_count = 64;
+
+struct cereal_CarState_WheelSpeeds {
+	float fl;
+	float fr;
+	float rl;
+	float rr;
+};
+
+static const size_t cereal_CarState_WheelSpeeds_word_count = 2;
+
+static const size_t cereal_CarState_WheelSpeeds_pointer_count = 0;
+
+static const size_t cereal_CarState_WheelSpeeds_struct_bytes_count = 16;
+
+struct cereal_CarState_CruiseState {
+	unsigned enabled : 1;
+	float speed;
+};
+
+static const size_t cereal_CarState_CruiseState_word_count = 1;
+
+static const size_t cereal_CarState_CruiseState_pointer_count = 0;
+
+static const size_t cereal_CarState_CruiseState_struct_bytes_count = 8;
+
+struct cereal_CarState_ButtonEvent {
+	unsigned pressed : 1;
+	enum cereal_CarState_ButtonEvent_Type type;
+};
+
+static const size_t cereal_CarState_ButtonEvent_word_count = 1;
+
+static const size_t cereal_CarState_ButtonEvent_pointer_count = 0;
+
+static const size_t cereal_CarState_ButtonEvent_struct_bytes_count = 8;
+
+struct cereal_RadarState {
+	capn_list16 errors;
+	cereal_RadarState_RadarPoint_list points;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_RadarState_word_count = 0;
+
+static const size_t cereal_RadarState_pointer_count = 3;
+
+static const size_t cereal_RadarState_struct_bytes_count = 24;
+
+struct cereal_RadarState_RadarPoint {
+	uint64_t trackId;
+	float dRel;
+	float yRel;
+	float vRel;
+	float aRel;
+	float yvRel;
+};
+
+static const size_t cereal_RadarState_RadarPoint_word_count = 4;
+
+static const size_t cereal_RadarState_RadarPoint_pointer_count = 0;
+
+static const size_t cereal_RadarState_RadarPoint_struct_bytes_count = 32;
+
+struct cereal_CarControl {
+	unsigned enabled : 1;
+	float gas;
+	float brake;
+	float steeringTorque;
+	cereal_CarControl_CruiseControl_ptr cruiseControl;
+	cereal_CarControl_HUDControl_ptr hudControl;
+};
+
+static const size_t cereal_CarControl_word_count = 2;
+
+static const size_t cereal_CarControl_pointer_count = 2;
+
+static const size_t cereal_CarControl_struct_bytes_count = 32;
+
+struct cereal_CarControl_CruiseControl {
+	unsigned cancel : 1;
+	unsigned override : 1;
+	float speedOverride;
+	float accelOverride;
+};
+
+static const size_t cereal_CarControl_CruiseControl_word_count = 2;
+
+static const size_t cereal_CarControl_CruiseControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_CruiseControl_struct_bytes_count = 16;
+
+struct cereal_CarControl_HUDControl {
+	unsigned speedVisible : 1;
+	float setSpeed;
+	unsigned lanesVisible : 1;
+	unsigned leadVisible : 1;
+	enum cereal_CarControl_HUDControl_VisualAlert visualAlert;
+	enum cereal_CarControl_HUDControl_AudibleAlert audibleAlert;
+};
+
+static const size_t cereal_CarControl_HUDControl_word_count = 2;
+
+static const size_t cereal_CarControl_HUDControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_HUDControl_struct_bytes_count = 16;
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment*);
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment*);
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment*);
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment*);
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment*);
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment*);
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment*);
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment*);
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment*);
+
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment*, int len);
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment*, int len);
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment*, int len);
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment*, int len);
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment*, int len);
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment*, int len);
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment*, int len);
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment*, int len);
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment*, int len);
+
+void cereal_read_CarState(struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_read_RadarState(struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_read_CarControl(struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_write_CarState(const struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_write_RadarState(const struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_write_CarControl(const struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_get_CarState(struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_get_RadarState(struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_get_CarControl(struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+void cereal_set_CarState(const struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_set_RadarState(const struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_set_CarControl(const struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

cereal/gen/c/log.capnp.c

@@ -137,6 +137,7 @@ void cereal_read_SensorEventData(struct cereal_SensorEventData *s, cereal_Sensor
 	default:
 		break;
 	}
+	s->source = (enum cereal_SensorEventData_SensorSource)(int) capn_read16(p.p, 14);
 }
 void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal_SensorEventData_ptr p) {
 	capn_resolve(&p.p);
@@ -155,6 +156,7 @@ void cereal_write_SensorEventData(const struct cereal_SensorEventData *s, cereal
 	default:
 		break;
 	}
+	capn_write16(p.p, 14, (uint16_t) (s->source));
 }
 void cereal_get_SensorEventData(struct cereal_SensorEventData *s, cereal_SensorEventData_list l, int i) {
 	cereal_SensorEventData_ptr p;
@@ -198,6 +200,49 @@ void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_Se
 	cereal_write_SensorEventData_SensorVec(s, p);
 }
 
+cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment *s) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_new_struct(s, 48, 0);
+	return p;
+}
+cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment *s, int len) {
+	cereal_GpsLocationData_list p;
+	p.p = capn_new_list(s, len, 48, 0);
+	return p;
+}
+void cereal_read_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
+	capn_resolve(&p.p);
+	s->flags = capn_read16(p.p, 0);
+	s->latitude = capn_to_f64(capn_read64(p.p, 8));
+	s->longitude = capn_to_f64(capn_read64(p.p, 16));
+	s->altitude = capn_to_f64(capn_read64(p.p, 24));
+	s->speed = capn_to_f32(capn_read32(p.p, 4));
+	s->bearing = capn_to_f32(capn_read32(p.p, 32));
+	s->accuracy = capn_to_f32(capn_read32(p.p, 36));
+	s->timestamp = (int64_t) ((int64_t)(capn_read64(p.p, 40)));
+}
+void cereal_write_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_ptr p) {
+	capn_resolve(&p.p);
+	capn_write16(p.p, 0, s->flags);
+	capn_write64(p.p, 8, capn_from_f64(s->latitude));
+	capn_write64(p.p, 16, capn_from_f64(s->longitude));
+	capn_write64(p.p, 24, capn_from_f64(s->altitude));
+	capn_write32(p.p, 4, capn_from_f32(s->speed));
+	capn_write32(p.p, 32, capn_from_f32(s->bearing));
+	capn_write32(p.p, 36, capn_from_f32(s->accuracy));
+	capn_write64(p.p, 40, (uint64_t) (s->timestamp));
+}
+void cereal_get_GpsLocationData(struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_GpsLocationData(s, p);
+}
+void cereal_set_GpsLocationData(const struct cereal_GpsLocationData *s, cereal_GpsLocationData_list l, int i) {
+	cereal_GpsLocationData_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_GpsLocationData(s, p);
+}
+
 cereal_CanData_ptr cereal_new_CanData(struct capn_segment *s) {
 	cereal_CanData_ptr p;
 	p.p = capn_new_struct(s, 8, 1);
@@ -253,6 +298,7 @@ void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_pt
 	s->gpu = capn_read16(p.p, 10);
 	s->bat = capn_read32(p.p, 12);
 	s->freeSpace = capn_to_f32(capn_read32(p.p, 16));
+	s->batteryPercent = (int16_t) ((int16_t)capn_read16(p.p, 20));
 }
 void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
 	capn_resolve(&p.p);
@@ -264,6 +310,7 @@ void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_Thermal
 	capn_write16(p.p, 10, s->gpu);
 	capn_write32(p.p, 12, s->bat);
 	capn_write32(p.p, 16, capn_from_f32(s->freeSpace));
+	capn_write16(p.p, 20, (uint16_t) (s->batteryPercent));
 }
 void cereal_get_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_list l, int i) {
 	cereal_ThermalData_ptr p;
@@ -969,7 +1016,9 @@ void cereal_read_Event(struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_sendcan:
 	case cereal_Event_liveCalibration:
 	case cereal_Event_androidLogEntry:
-		s->androidLogEntry.p = capn_getp(p.p, 0, 0);
+	case cereal_Event_gpsLocation:
+	case cereal_Event_carState:
+		s->carState.p = capn_getp(p.p, 0, 0);
 		break;
 	default:
 		break;
@@ -1002,7 +1051,9 @@ void cereal_write_Event(const struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_sendcan:
 	case cereal_Event_liveCalibration:
 	case cereal_Event_androidLogEntry:
-		capn_setp(p.p, 0, s->androidLogEntry.p);
+	case cereal_Event_gpsLocation:
+	case cereal_Event_carState:
+		capn_setp(p.p, 0, s->carState.p);
 		break;
 	default:
 		break;

cereal/gen/c/log.capnp.h

@@ -8,6 +8,7 @@
 #endif
 
 #include "c++.capnp.h"
+#include "car.capnp.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -18,6 +19,7 @@ struct cereal_FrameData;
 struct cereal_GPSNMEAData;
 struct cereal_SensorEventData;
 struct cereal_SensorEventData_SensorVec;
+struct cereal_GpsLocationData;
 struct cereal_CanData;
 struct cereal_ThermalData;
 struct cereal_HealthData;
@@ -43,6 +45,7 @@ typedef struct {capn_ptr p;} cereal_FrameData_ptr;
 typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
 typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
 typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
+typedef struct {capn_ptr p;} cereal_GpsLocationData_ptr;
 typedef struct {capn_ptr p;} cereal_CanData_ptr;
 typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
 typedef struct {capn_ptr p;} cereal_HealthData_ptr;
@@ -68,6 +71,7 @@ typedef struct {capn_ptr p;} cereal_FrameData_list;
 typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
 typedef struct {capn_ptr p;} cereal_SensorEventData_list;
 typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
+typedef struct {capn_ptr p;} cereal_GpsLocationData_list;
 typedef struct {capn_ptr p;} cereal_CanData_list;
 typedef struct {capn_ptr p;} cereal_ThermalData_list;
 typedef struct {capn_ptr p;} cereal_HealthData_list;
@@ -88,6 +92,13 @@ typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
 typedef struct {capn_ptr p;} cereal_LogRotate_list;
 typedef struct {capn_ptr p;} cereal_Event_list;
 
+enum cereal_SensorEventData_SensorSource {
+	cereal_SensorEventData_SensorSource_android = 0,
+	cereal_SensorEventData_SensorSource_iOS = 1,
+	cereal_SensorEventData_SensorSource_fiber = 2,
+	cereal_SensorEventData_SensorSource_velodyne = 3
+};
+
 enum cereal_EncodeIndex_Type {
 	cereal_EncodeIndex_Type_bigBoxLossless = 0,
 	cereal_EncodeIndex_Type_fullHEVC = 1,
@@ -153,6 +164,7 @@ struct cereal_SensorEventData {
 		cereal_SensorEventData_SensorVec_ptr orientation;
 		cereal_SensorEventData_SensorVec_ptr gyro;
 	};
+	enum cereal_SensorEventData_SensorSource source;
 };
 
 static const size_t cereal_SensorEventData_word_count = 3;
@@ -172,6 +184,23 @@ static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
 
 static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
 
+struct cereal_GpsLocationData {
+	uint16_t flags;
+	double latitude;
+	double longitude;
+	double altitude;
+	float speed;
+	float bearing;
+	float accuracy;
+	int64_t timestamp;
+};
+
+static const size_t cereal_GpsLocationData_word_count = 6;
+
+static const size_t cereal_GpsLocationData_pointer_count = 0;
+
+static const size_t cereal_GpsLocationData_struct_bytes_count = 48;
+
 struct cereal_CanData {
 	uint32_t address;
 	uint16_t busTime;
@@ -194,6 +223,7 @@ struct cereal_ThermalData {
 	uint16_t gpu;
 	uint32_t bat;
 	float freeSpace;
+	int16_t batteryPercent;
 };
 
 static const size_t cereal_ThermalData_word_count = 3;
@@ -477,7 +507,9 @@ enum cereal_Event_which {
 	cereal_Event_sendcan = 16,
 	cereal_Event_logMessage = 17,
 	cereal_Event_liveCalibration = 18,
-	cereal_Event_androidLogEntry = 19
+	cereal_Event_androidLogEntry = 19,
+	cereal_Event_gpsLocation = 20,
+	cereal_Event_carState = 21
 };
 
 struct cereal_Event {
@@ -504,6 +536,8 @@ struct cereal_Event {
 		capn_text logMessage;
 		cereal_LiveCalibrationData_ptr liveCalibration;
 		cereal_AndroidLogEntry_ptr androidLogEntry;
+		cereal_GpsLocationData_ptr gpsLocation;
+		cereal_CarState_ptr carState;
 	};
 };
 
@@ -518,6 +552,7 @@ cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
 cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
 cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
 cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
+cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment*);
 cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
 cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
 cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
@@ -543,6 +578,7 @@ cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
 cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
 cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
 cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
+cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment*, int len);
 cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
 cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
 cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
@@ -568,6 +604,7 @@ void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
 void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
 void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
 void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
+void cereal_read_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
 void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
 void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
 void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
@@ -593,6 +630,7 @@ void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr
 void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
 void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
 void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
+void cereal_write_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
 void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
 void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
 void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
@@ -618,6 +656,7 @@ void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i
 void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
 void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
 void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
+void cereal_get_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
 void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
 void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
 void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
@@ -643,6 +682,7 @@ void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list,
 void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
 void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
 void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
+void cereal_set_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
 void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
 void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
 void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);

cereal/gen/cpp/log.capnp.c++

@@ -329,7 +329,7 @@ const ::capnp::_::RawSchema s_9d291d7813ba4a88 = {
   0, 3, i_9d291d7813ba4a88, nullptr, nullptr, { &s_9d291d7813ba4a88, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
+static const ::capnp::_::AlignedData<165> b_a2b29a69d44529a1 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     161,  41,  69, 212, 105, 154, 178, 162,
      10,   0,   0,   0,   1,   0,   3,   0,
@@ -337,77 +337,88 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
       1,   0,   7,   0,   0,   0,   4,   0,
       6,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 210,   0,   0,   0,
-     33,   0,   0,   0,  23,   0,   0,   0,
+     33,   0,   0,   0,  39,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     45,   0,   0,   0, 199,   1,   0,   0,
+     61,   0,   0,   0, 255,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  83, 101, 110, 115, 111, 114,
      69, 118, 101, 110, 116,  68,  97, 116,
      97,   0,   0,   0,   0,   0,   0,   0,
-      4,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   1,   0,   1,   0,
     252,  36, 252,  43, 189,  41,  52, 164,
-      1,   0,   0,   0,  82,   0,   0,   0,
+      9,   0,   0,   0,  82,   0,   0,   0,
+     13, 141, 244, 247, 232,  60, 155, 228,
+      9,   0,   0,   0, 106,   0,   0,   0,
      83, 101, 110, 115, 111, 114,  86, 101,
      99,   0,   0,   0,   0,   0,   0,   0,
-     32,   0,   0,   0,   3,   0,   4,   0,
+     83, 101, 110, 115, 111, 114,  83, 111,
+    117, 114,  99, 101,   0,   0,   0,   0,
+     36,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   0,   0,   0,  66,   0,   0,   0,
+    237,   0,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    204,   0,   0,   0,   3,   0,   1,   0,
+    232,   0,   0,   0,   3,   0,   1,   0,
-    216,   0,   0,   0,   2,   0,   1,   0,
+    244,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    213,   0,   0,   0,  58,   0,   0,   0,
+    241,   0,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    208,   0,   0,   0,   3,   0,   1,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
-    220,   0,   0,   0,   2,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    217,   0,   0,   0,  42,   0,   0,   0,
+    245,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    212,   0,   0,   0,   3,   0,   1,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
-    224,   0,   0,   0,   2,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    221,   0,   0,   0,  82,   0,   0,   0,
+    249,   0,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    220,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   3,   0,   1,   0,
-    232,   0,   0,   0,   2,   0,   1,   0,
+      4,   1,   0,   0,   2,   0,   1,   0,
       4,   0, 255, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    229,   0,   0,   0, 106,   0,   0,   0,
+      1,   1,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    228,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   3,   0,   1,   0,
-    240,   0,   0,   0,   2,   0,   1,   0,
+     12,   1,   0,   0,   2,   0,   1,   0,
       5,   0, 254, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  74,   0,   0,   0,
+      9,   1,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    236,   0,   0,   0,   3,   0,   1,   0,
+      8,   1,   0,   0,   3,   0,   1,   0,
-    248,   0,   0,   0,   2,   0,   1,   0,
+     20,   1,   0,   0,   2,   0,   1,   0,
       6,   0, 253, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    245,   0,   0,   0,  98,   0,   0,   0,
+     17,   1,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    244,   0,   0,   0,   3,   0,   1,   0,
+     16,   1,   0,   0,   3,   0,   1,   0,
-      0,   1,   0,   0,   2,   0,   1,   0,
+     28,   1,   0,   0,   2,   0,   1,   0,
       7,   0, 252, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    253,   0,   0,   0,  42,   0,   0,   0,
+     25,   1,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    248,   0,   0,   0,   3,   0,   1,   0,
+     20,   1,   0,   0,   3,   0,   1,   0,
-      4,   1,   0,   0,   2,   0,   1,   0,
+     32,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   1,   0,   0,  58,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     24,   1,   0,   0,   3,   0,   1,   0,
+     36,   1,   0,   0,   2,   0,   1,   0,
     118, 101, 114, 115, 105, 111, 110,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -474,6 +485,14 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 111, 117, 114,  99, 101,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+     13, 141, 244, 247, 232,  60, 155, 228,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
@@ -481,12 +500,13 @@ static const ::capnp::_::AlignedData<146> b_a2b29a69d44529a1 = {
 #if !CAPNP_LITE
 static const ::capnp::_::RawSchema* const d_a2b29a69d44529a1[] = {
   &s_a43429bd2bfc24fc,
+  &s_e49b3ce8f7f48d0d,
 };
-static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 5, 6, 1, 3, 2, 0};
+static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 5, 6, 1, 8, 3, 2, 0};
-static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 0, 1, 2, 3};
+static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 0, 1, 2, 3, 8};
 const ::capnp::_::RawSchema s_a2b29a69d44529a1 = {
-  0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 146, d_a2b29a69d44529a1, m_a2b29a69d44529a1,
+  0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 165, d_a2b29a69d44529a1, m_a2b29a69d44529a1,
-  1, 8, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }
+  2, 9, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<53> b_a43429bd2bfc24fc = {
@@ -553,6 +573,207 @@ const ::capnp::_::RawSchema s_a43429bd2bfc24fc = {
   0, 2, i_a43429bd2bfc24fc, nullptr, nullptr, { &s_a43429bd2bfc24fc, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
+static const ::capnp::_::AlignedData<36> b_e49b3ce8f7f48d0d = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     13, 141, 244, 247, 232,  60, 155, 228,
+     26,   0,   0,   0,   2,   0,   0,   0,
+    161,  41,  69, 212, 105, 154, 178, 162,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  58,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 103,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 103,  46,  99,  97, 112, 110,
+    112,  58,  83, 101, 110, 115, 111, 114,
+     69, 118, 101, 110, 116,  68,  97, 116,
+     97,  46,  83, 101, 110, 115, 111, 114,
+     83, 111, 117, 114,  99, 101,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     16,   0,   0,   0,   1,   0,   2,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0,  34,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
+     25,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+     17,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 110, 100, 114, 111, 105, 100,   0,
+    105,  79,  83,   0,   0,   0,   0,   0,
+    102, 105,  98, 101, 114,   0,   0,   0,
+    118, 101, 108, 111, 100, 121, 110, 101,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_e49b3ce8f7f48d0d = b_e49b3ce8f7f48d0d.words;
+#if !CAPNP_LITE
+static const uint16_t m_e49b3ce8f7f48d0d[] = {0, 2, 1, 3};
+const ::capnp::_::RawSchema s_e49b3ce8f7f48d0d = {
+  0xe49b3ce8f7f48d0d, b_e49b3ce8f7f48d0d.words, 36, nullptr, m_e49b3ce8f7f48d0d,
+  0, 4, nullptr, nullptr, nullptr, { &s_e49b3ce8f7f48d0d, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
+CAPNP_DEFINE_ENUM(SensorSource_e49b3ce8f7f48d0d, e49b3ce8f7f48d0d);
+static const ::capnp::_::AlignedData<143> b_e946524859add50e = {
+  {   0,   0,   0,   0,   5,   0,   6,   0,
+     14, 213, 173,  89,  72,  82,  70, 233,
+     10,   0,   0,   0,   1,   0,   6,   0,
+     91,  40, 164,  37, 126, 241, 177, 243,
+      0,   0,   7,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0, 210,   0,   0,   0,
+     33,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0, 199,   1,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 103,  46,  99,  97, 112, 110,
+    112,  58,  71, 112, 115,  76, 111,  99,
+     97, 116, 105, 111, 110,  68,  97, 116,
+     97,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     32,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    209,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    204,   0,   0,   0,   3,   0,   1,   0,
+    216,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    213,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    212,   0,   0,   0,   3,   0,   1,   0,
+    224,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    221,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    220,   0,   0,   0,   3,   0,   1,   0,
+    232,   0,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    229,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    228,   0,   0,   0,   3,   0,   1,   0,
+    240,   0,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    237,   0,   0,   0,  50,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    232,   0,   0,   0,   3,   0,   1,   0,
+    244,   0,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   8,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    245,   0,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    253,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    252,   0,   0,   0,   3,   0,   1,   0,
+      8,   1,   0,   0,   2,   0,   1,   0,
+    102, 108,  97, 103, 115,   0,   0,   0,
+      7,   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,
+      7,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 116, 105, 116, 117, 100, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   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,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108, 111, 110, 103, 105, 116, 117, 100,
+    101,   0,   0,   0,   0,   0,   0,   0,
+     11,   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,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 108, 116, 105, 116, 117, 100, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   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,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 112, 101, 101, 100,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98, 101,  97, 114, 105, 110, 103,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97,  99,  99, 117, 114,  97,  99, 121,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   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,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    116, 105, 109, 101, 115, 116,  97, 109,
+    112,   0,   0,   0,   0,   0,   0,   0,
+      5,   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,
+      5,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
+};
+::capnp::word const* const bp_e946524859add50e = b_e946524859add50e.words;
+#if !CAPNP_LITE
+static const uint16_t m_e946524859add50e[] = {6, 3, 5, 0, 1, 2, 4, 7};
+static const uint16_t i_e946524859add50e[] = {0, 1, 2, 3, 4, 5, 6, 7};
+const ::capnp::_::RawSchema s_e946524859add50e = {
+  0xe946524859add50e, b_e946524859add50e.words, 143, nullptr, m_e946524859add50e,
+  0, 8, i_e946524859add50e, nullptr, nullptr, { &s_e946524859add50e, nullptr, nullptr, 0, 0, nullptr }
+};
+#endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<77> b_8785009a964c7c59 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      89, 124,  76, 150, 154,   0, 133, 135,
@@ -641,7 +862,7 @@ const ::capnp::_::RawSchema s_8785009a964c7c59 = {
   0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
+static const ::capnp::_::AlignedData<154> b_8d8231a40b7fe6e0 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     224, 230, 127,  11, 164,  49, 130, 141,
      10,   0,   0,   0,   1,   0,   3,   0,
@@ -651,70 +872,77 @@ static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
      21,   0,   0,   0, 178,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 199,   1,   0,   0,
+     25,   0,   0,   0, 255,   1,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  84, 104, 101, 114, 109,  97,
     108,  68,  97, 116,  97,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     32,   0,   0,   0,   3,   0,   4,   0,
+     36,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   0,   0,   0,  42,   0,   0,   0,
+    237,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    204,   0,   0,   0,   3,   0,   1,   0,
+    232,   0,   0,   0,   3,   0,   1,   0,
-    216,   0,   0,   0,   2,   0,   1,   0,
+    244,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    213,   0,   0,   0,  42,   0,   0,   0,
+    241,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    208,   0,   0,   0,   3,   0,   1,   0,
+    236,   0,   0,   0,   3,   0,   1,   0,
-    220,   0,   0,   0,   2,   0,   1,   0,
+    248,   0,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    217,   0,   0,   0,  42,   0,   0,   0,
+    245,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    212,   0,   0,   0,   3,   0,   1,   0,
+    240,   0,   0,   0,   3,   0,   1,   0,
-    224,   0,   0,   0,   2,   0,   1,   0,
+    252,   0,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    221,   0,   0,   0,  42,   0,   0,   0,
+    249,   0,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    216,   0,   0,   0,   3,   0,   1,   0,
+    244,   0,   0,   0,   3,   0,   1,   0,
-    228,   0,   0,   0,   2,   0,   1,   0,
+      0,   1,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    225,   0,   0,   0,  34,   0,   0,   0,
+    253,   0,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    220,   0,   0,   0,   3,   0,   1,   0,
+    248,   0,   0,   0,   3,   0,   1,   0,
-    232,   0,   0,   0,   2,   0,   1,   0,
+      4,   1,   0,   0,   2,   0,   1,   0,
       5,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    229,   0,   0,   0,  34,   0,   0,   0,
+      1,   1,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    224,   0,   0,   0,   3,   0,   1,   0,
+    252,   0,   0,   0,   3,   0,   1,   0,
-    236,   0,   0,   0,   2,   0,   1,   0,
+      8,   1,   0,   0,   2,   0,   1,   0,
       6,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    233,   0,   0,   0,  34,   0,   0,   0,
+      5,   1,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    228,   0,   0,   0,   3,   0,   1,   0,
+      0,   1,   0,   0,   3,   0,   1,   0,
-    240,   0,   0,   0,   2,   0,   1,   0,
+     12,   1,   0,   0,   2,   0,   1,   0,
       7,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  82,   0,   0,   0,
+      9,   1,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    236,   0,   0,   0,   3,   0,   1,   0,
+      8,   1,   0,   0,   3,   0,   1,   0,
-    248,   0,   0,   0,   2,   0,   1,   0,
+     20,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   1,   0,   0,   3,   0,   1,   0,
+     28,   1,   0,   0,   2,   0,   1,   0,
      99, 112, 117,  48,   0,   0,   0,   0,
       7,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -778,16 +1006,25 @@ static const ::capnp::_::AlignedData<138> b_8d8231a40b7fe6e0 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98,  97, 116, 116, 101, 114, 121,  80,
+    101, 114,  99, 101, 110, 116,   0,   0,
+      3,   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,
+      3,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_8d8231a40b7fe6e0 = b_8d8231a40b7fe6e0.words;
 #if !CAPNP_LITE
-static const uint16_t m_8d8231a40b7fe6e0[] = {6, 0, 1, 2, 3, 7, 5, 4};
+static const uint16_t m_8d8231a40b7fe6e0[] = {6, 8, 0, 1, 2, 3, 7, 5, 4};
-static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7};
+static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
 const ::capnp::_::RawSchema s_8d8231a40b7fe6e0 = {
-  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 138, nullptr, m_8d8231a40b7fe6e0,
+  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 154, nullptr, m_8d8231a40b7fe6e0,
-  0, 8, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
+  0, 9, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<112> b_cfa2b0c2c82af1e4 = {
@@ -3102,170 +3339,184 @@ const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = {
   0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<366> b_d314cfd957229c11 = {
+static const ::capnp::_::AlignedData<398> b_d314cfd957229c11 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      17, 156,  34,  87, 217, 207,  20, 211,
      10,   0,   0,   0,   1,   0,   2,   0,
      91,  40, 164,  37, 126, 241, 177, 243,
-      1,   0,   7,   0,   0,   0,  20,   0,
+      1,   0,   7,   0,   0,   0,  22,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 130,   0,   0,   0,
      25,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 159,   4,   0,   0,
+     21,   0,   0,   0,  15,   5,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  69, 118, 101, 110, 116,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     84,   0,   0,   0,   3,   0,   4,   0,
+     92,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     61,   2,   0,   0,  98,   0,   0,   0,
+    117,   2,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     60,   2,   0,   0,   3,   0,   1,   0,
+    116,   2,   0,   0,   3,   0,   1,   0,
-     72,   2,   0,   0,   2,   0,   1,   0,
+    128,   2,   0,   0,   2,   0,   1,   0,
       1,   0, 255, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   2,   0,   0,  74,   0,   0,   0,
+    125,   2,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     68,   2,   0,   0,   3,   0,   1,   0,
+    124,   2,   0,   0,   3,   0,   1,   0,
-     80,   2,   0,   0,   2,   0,   1,   0,
+    136,   2,   0,   0,   2,   0,   1,   0,
       2,   0, 254, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     77,   2,   0,   0,  50,   0,   0,   0,
+    133,   2,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     72,   2,   0,   0,   3,   0,   1,   0,
+    128,   2,   0,   0,   3,   0,   1,   0,
-     84,   2,   0,   0,   2,   0,   1,   0,
+    140,   2,   0,   0,   2,   0,   1,   0,
       3,   0, 253, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     81,   2,   0,   0,  66,   0,   0,   0,
+    137,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     76,   2,   0,   0,   3,   0,   1,   0,
+    132,   2,   0,   0,   3,   0,   1,   0,
-     88,   2,   0,   0,   2,   0,   1,   0,
+    144,   2,   0,   0,   2,   0,   1,   0,
       4,   0, 252, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     85,   2,   0,   0, 178,   0,   0,   0,
+    141,   2,   0,   0, 178,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     88,   2,   0,   0,   3,   0,   1,   0,
+    144,   2,   0,   0,   3,   0,   1,   0,
-    100,   2,   0,   0,   2,   0,   1,   0,
+    156,   2,   0,   0,   2,   0,   1,   0,
       5,   0, 251, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     97,   2,   0,   0,  34,   0,   0,   0,
+    153,   2,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     92,   2,   0,   0,   3,   0,   1,   0,
+    148,   2,   0,   0,   3,   0,   1,   0,
-    120,   2,   0,   0,   2,   0,   1,   0,
+    176,   2,   0,   0,   2,   0,   1,   0,
       6,   0, 250, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    117,   2,   0,   0,  66,   0,   0,   0,
+    173,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    112,   2,   0,   0,   3,   0,   1,   0,
+    168,   2,   0,   0,   3,   0,   1,   0,
-    124,   2,   0,   0,   2,   0,   1,   0,
+    180,   2,   0,   0,   2,   0,   1,   0,
       7,   0, 249, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    121,   2,   0,   0,  66,   0,   0,   0,
+    177,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    116,   2,   0,   0,   3,   0,   1,   0,
+    172,   2,   0,   0,   3,   0,   1,   0,
-    128,   2,   0,   0,   2,   0,   1,   0,
+    184,   2,   0,   0,   2,   0,   1,   0,
       8,   0, 248, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    125,   2,   0,   0, 162,   0,   0,   0,
+    181,   2,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    128,   2,   0,   0,   3,   0,   1,   0,
+    184,   2,   0,   0,   3,   0,   1,   0,
-    156,   2,   0,   0,   2,   0,   1,   0,
+    212,   2,   0,   0,   2,   0,   1,   0,
       9,   0, 247, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   9,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    153,   2,   0,   0,  50,   0,   0,   0,
+    209,   2,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    148,   2,   0,   0,   3,   0,   1,   0,
+    204,   2,   0,   0,   3,   0,   1,   0,
-    160,   2,   0,   0,   2,   0,   1,   0,
+    216,   2,   0,   0,   2,   0,   1,   0,
      10,   0, 246, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    157,   2,   0,   0,  74,   0,   0,   0,
+    213,   2,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    156,   2,   0,   0,   3,   0,   1,   0,
+    212,   2,   0,   0,   3,   0,   1,   0,
-    168,   2,   0,   0,   2,   0,   1,   0,
+    224,   2,   0,   0,   2,   0,   1,   0,
      11,   0, 245, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  11,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    165,   2,   0,   0, 106,   0,   0,   0,
+    221,   2,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    164,   2,   0,   0,   3,   0,   1,   0,
+    220,   2,   0,   0,   3,   0,   1,   0,
-    192,   2,   0,   0,   2,   0,   1,   0,
+    248,   2,   0,   0,   2,   0,   1,   0,
      12,   0, 244, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  12,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    189,   2,   0,   0,  58,   0,   0,   0,
+    245,   2,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    184,   2,   0,   0,   3,   0,   1,   0,
+    240,   2,   0,   0,   3,   0,   1,   0,
-    196,   2,   0,   0,   2,   0,   1,   0,
+    252,   2,   0,   0,   2,   0,   1,   0,
      13,   0, 243, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  13,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    193,   2,   0,   0,  58,   0,   0,   0,
+    249,   2,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    188,   2,   0,   0,   3,   0,   1,   0,
+    244,   2,   0,   0,   3,   0,   1,   0,
-    200,   2,   0,   0,   2,   0,   1,   0,
+      0,   3,   0,   0,   2,   0,   1,   0,
      14,   0, 242, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  14,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    197,   2,   0,   0, 138,   0,   0,   0,
+    253,   2,   0,   0, 138,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    200,   2,   0,   0,   3,   0,   1,   0,
+      0,   3,   0,   0,   3,   0,   1,   0,
-    212,   2,   0,   0,   2,   0,   1,   0,
+     12,   3,   0,   0,   2,   0,   1,   0,
      15,   0, 241, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  15,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   2,   0,   0,  82,   0,   0,   0,
+      9,   3,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    208,   2,   0,   0,   3,   0,   1,   0,
+      8,   3,   0,   0,   3,   0,   1,   0,
-    220,   2,   0,   0,   2,   0,   1,   0,
+     20,   3,   0,   0,   2,   0,   1,   0,
      16,   0, 240, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  16,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    217,   2,   0,   0,  90,   0,   0,   0,
+     17,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    216,   2,   0,   0,   3,   0,   1,   0,
+     16,   3,   0,   0,   3,   0,   1,   0,
-    244,   2,   0,   0,   2,   0,   1,   0,
+     44,   3,   0,   0,   2,   0,   1,   0,
      17,   0, 239, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  17,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    241,   2,   0,   0,  66,   0,   0,   0,
+     41,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    236,   2,   0,   0,   3,   0,   1,   0,
+     36,   3,   0,   0,   3,   0,   1,   0,
-      8,   3,   0,   0,   2,   0,   1,   0,
+     64,   3,   0,   0,   2,   0,   1,   0,
      18,   0, 238, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  18,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      5,   3,   0,   0,  90,   0,   0,   0,
+     61,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      4,   3,   0,   0,   3,   0,   1,   0,
+     60,   3,   0,   0,   3,   0,   1,   0,
-     16,   3,   0,   0,   2,   0,   1,   0,
+     72,   3,   0,   0,   2,   0,   1,   0,
      19,   0, 237, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  19,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     13,   3,   0,   0, 130,   0,   0,   0,
+     69,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     12,   3,   0,   0,   3,   0,   1,   0,
+     68,   3,   0,   0,   3,   0,   1,   0,
-     24,   3,   0,   0,   2,   0,   1,   0,
+     80,   3,   0,   0,   2,   0,   1,   0,
      20,   0, 236, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  20,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   3,   0,   0, 130,   0,   0,   0,
+     77,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     20,   3,   0,   0,   3,   0,   1,   0,
+     76,   3,   0,   0,   3,   0,   1,   0,
-     32,   3,   0,   0,   2,   0,   1,   0,
+     88,   3,   0,   0,   2,   0,   1,   0,
+     21,   0, 235, 255,   0,   0,   0,   0,
+      0,   0,   1,   0,  21,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     85,   3,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     84,   3,   0,   0,   3,   0,   1,   0,
+     96,   3,   0,   0,   2,   0,   1,   0,
+     22,   0, 234, 255,   0,   0,   0,   0,
+      0,   0,   1,   0,  22,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     93,   3,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     92,   3,   0,   0,   3,   0,   1,   0,
+    104,   3,   0,   0,   2,   0,   1,   0,
     108, 111, 103,  77, 111, 110, 111,  84,
     105, 109, 101,   0,   0,   0,   0,   0,
       9,   0,   0,   0,   0,   0,   0,   0,
@@ -3466,6 +3717,24 @@ static const ::capnp::_::AlignedData<366> b_d314cfd957229c11 = {
     133, 125,  79, 137, 161,  93,   9, 234,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    103, 112, 115,  76, 111,  99,  97, 116,
+    105, 111, 110,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+     14, 213, 173,  89,  72,  82,  70, 233,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  83, 116,  97, 116, 101,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+     60, 144,  82, 224,   9, 250, 164, 157,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
      16,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
@@ -3483,19 +3752,21 @@ static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = {
   &s_97ff69c53601abf1,
   &s_9a185389d6fdd05f,
   &s_9d291d7813ba4a88,
+  &s_9da4fa09e052903c,
   &s_a2b29a69d44529a1,
   &s_b8aad62cffef28a9,
   &s_c08240f996aefced,
   &s_cfa2b0c2c82af1e4,
   &s_e71008caeb3fb65c,
+  &s_e946524859add50e,
   &s_ea0245f695ae0a33,
   &s_ea095da1894f7d85,
 };
-static const uint16_t m_d314cfd957229c11[] = {20, 5, 15, 10, 2, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
+static const uint16_t m_d314cfd957229c11[] = {20, 5, 22, 15, 10, 2, 21, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
-static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 0};
+static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 0};
 const ::capnp::_::RawSchema s_d314cfd957229c11 = {
-  0xd314cfd957229c11, b_d314cfd957229c11.words, 366, d_d314cfd957229c11, m_d314cfd957229c11,
+  0xd314cfd957229c11, b_d314cfd957229c11.words, 398, d_d314cfd957229c11, m_d314cfd957229c11,
-  17, 21, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
+  19, 23, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 }  // namespace schemas
@@ -3560,6 +3831,17 @@ constexpr ::capnp::_::RawSchema const* SensorEventData::SensorVec::_capnpPrivate
 constexpr ::capnp::_::RawBrandedSchema const* SensorEventData::SensorVec::_capnpPrivate::brand;
 #endif  // !CAPNP_LITE
 
+// GpsLocationData
+#ifndef _MSC_VER
+constexpr uint16_t GpsLocationData::_capnpPrivate::dataWordSize;
+constexpr uint16_t GpsLocationData::_capnpPrivate::pointerCount;
+#endif
+#if !CAPNP_LITE
+constexpr ::capnp::Kind GpsLocationData::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* GpsLocationData::_capnpPrivate::schema;
+constexpr ::capnp::_::RawBrandedSchema const* GpsLocationData::_capnpPrivate::brand;
+#endif  // !CAPNP_LITE
+
 // CanData
 #ifndef _MSC_VER
 constexpr uint16_t CanData::_capnpPrivate::dataWordSize;

cereal/gen/cpp/log.capnp.h

@@ -10,6 +10,7 @@
 #error "Version mismatch between generated code and library headers.  You must use the same version of the Cap'n Proto compiler and library."
 #endif
 
+#include "car.capnp.h"
 
 namespace capnp {
 namespace schemas {
@@ -20,6 +21,15 @@ CAPNP_DECLARE_SCHEMA(ea0245f695ae0a33);
 CAPNP_DECLARE_SCHEMA(9d291d7813ba4a88);
 CAPNP_DECLARE_SCHEMA(a2b29a69d44529a1);
 CAPNP_DECLARE_SCHEMA(a43429bd2bfc24fc);
+CAPNP_DECLARE_SCHEMA(e49b3ce8f7f48d0d);
+enum class SensorSource_e49b3ce8f7f48d0d: uint16_t {
+  ANDROID,
+  I_O_S,
+  FIBER,
+  VELODYNE,
+};
+CAPNP_DECLARE_ENUM(SensorSource, e49b3ce8f7f48d0d);
+CAPNP_DECLARE_SCHEMA(e946524859add50e);
 CAPNP_DECLARE_SCHEMA(8785009a964c7c59);
 CAPNP_DECLARE_SCHEMA(8d8231a40b7fe6e0);
 CAPNP_DECLARE_SCHEMA(cfa2b0c2c82af1e4);
@@ -111,6 +121,8 @@ struct SensorEventData {
     GYRO,
   };
   struct SensorVec;
+  typedef ::capnp::schemas::SensorSource_e49b3ce8f7f48d0d SensorSource;
+
 
   struct _capnpPrivate {
     CAPNP_DECLARE_STRUCT_HEADER(a2b29a69d44529a1, 3, 1)
@@ -135,6 +147,21 @@ struct SensorEventData::SensorVec {
   };
 };
 
+struct GpsLocationData {
+  GpsLocationData() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(e946524859add50e, 6, 0)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
+    #endif  // !CAPNP_LITE
+  };
+};
+
 struct CanData {
   CanData() = delete;
 
@@ -438,6 +465,8 @@ struct Event {
     LOG_MESSAGE,
     LIVE_CALIBRATION,
     ANDROID_LOG_ENTRY,
+    GPS_LOCATION,
+    CAR_STATE,
   };
 
   struct _capnpPrivate {
@@ -796,6 +825,8 @@ public:
   inline bool hasGyro() const;
   inline  ::cereal::SensorEventData::SensorVec::Reader getGyro() const;
 
+  inline  ::cereal::SensorEventData::SensorSource getSource() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -869,6 +900,9 @@ public:
   inline void adoptGyro(::capnp::Orphan< ::cereal::SensorEventData::SensorVec>&& value);
   inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> disownGyro();
 
+  inline  ::cereal::SensorEventData::SensorSource getSource();
+  inline void setSource( ::cereal::SensorEventData::SensorSource value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -982,6 +1016,117 @@ private:
 };
 #endif  // !CAPNP_LITE
 
+class GpsLocationData::Reader {
+public:
+  typedef GpsLocationData Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand);
+  }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint16_t getFlags() const;
+
+  inline double getLatitude() const;
+
+  inline double getLongitude() const;
+
+  inline double getAltitude() const;
+
+  inline float getSpeed() const;
+
+  inline float getBearing() const;
+
+  inline float getAccuracy() const;
+
+  inline  ::int64_t getTimestamp() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class GpsLocationData::Builder {
+public:
+  typedef GpsLocationData Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline  ::uint16_t getFlags();
+  inline void setFlags( ::uint16_t value);
+
+  inline double getLatitude();
+  inline void setLatitude(double value);
+
+  inline double getLongitude();
+  inline void setLongitude(double value);
+
+  inline double getAltitude();
+  inline void setAltitude(double value);
+
+  inline float getSpeed();
+  inline void setSpeed(float value);
+
+  inline float getBearing();
+  inline void setBearing(float value);
+
+  inline float getAccuracy();
+  inline void setAccuracy(float value);
+
+  inline  ::int64_t getTimestamp();
+  inline void setTimestamp( ::int64_t value);
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class GpsLocationData::Pipeline {
+public:
+  typedef GpsLocationData Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
 class CanData::Reader {
 public:
   typedef CanData Reads;
@@ -1111,6 +1256,8 @@ public:
 
   inline float getFreeSpace() const;
 
+  inline  ::int16_t getBatteryPercent() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1163,6 +1310,9 @@ public:
   inline float getFreeSpace();
   inline void setFreeSpace(float value);
 
+  inline  ::int16_t getBatteryPercent();
+  inline void setBatteryPercent( ::int16_t value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3127,6 +3277,14 @@ public:
   inline bool hasAndroidLogEntry() const;
   inline  ::cereal::AndroidLogEntry::Reader getAndroidLogEntry() const;
 
+  inline bool isGpsLocation() const;
+  inline bool hasGpsLocation() const;
+  inline  ::cereal::GpsLocationData::Reader getGpsLocation() const;
+
+  inline bool isCarState() const;
+  inline bool hasCarState() const;
+  inline  ::cereal::CarState::Reader getCarState() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -3319,6 +3477,22 @@ public:
   inline void adoptAndroidLogEntry(::capnp::Orphan< ::cereal::AndroidLogEntry>&& value);
   inline ::capnp::Orphan< ::cereal::AndroidLogEntry> disownAndroidLogEntry();
 
+  inline bool isGpsLocation();
+  inline bool hasGpsLocation();
+  inline  ::cereal::GpsLocationData::Builder getGpsLocation();
+  inline void setGpsLocation( ::cereal::GpsLocationData::Reader value);
+  inline  ::cereal::GpsLocationData::Builder initGpsLocation();
+  inline void adoptGpsLocation(::capnp::Orphan< ::cereal::GpsLocationData>&& value);
+  inline ::capnp::Orphan< ::cereal::GpsLocationData> disownGpsLocation();
+
+  inline bool isCarState();
+  inline bool hasCarState();
+  inline  ::cereal::CarState::Builder getCarState();
+  inline void setCarState( ::cereal::CarState::Reader value);
+  inline  ::cereal::CarState::Builder initCarState();
+  inline void adoptCarState(::capnp::Orphan< ::cereal::CarState>&& value);
+  inline ::capnp::Orphan< ::cereal::CarState> disownCarState();
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3894,6 +4068,20 @@ inline ::capnp::Orphan< ::cereal::SensorEventData::SensorVec> SensorEventData::B
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
+inline  ::cereal::SensorEventData::SensorSource SensorEventData::Reader::getSource() const {
+  return _reader.getDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::SensorEventData::SensorSource SensorEventData::Builder::getSource() {
+  return _builder.getDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS);
+}
+inline void SensorEventData::Builder::setSource( ::cereal::SensorEventData::SensorSource value) {
+  _builder.setDataField< ::cereal::SensorEventData::SensorSource>(
+      7 * ::capnp::ELEMENTS, value);
+}
+
 inline bool SensorEventData::SensorVec::Reader::hasV() const {
   return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
 }
@@ -3944,6 +4132,118 @@ inline void SensorEventData::SensorVec::Builder::setStatus( ::int8_t value) {
       0 * ::capnp::ELEMENTS, value);
 }
 
+inline  ::uint16_t GpsLocationData::Reader::getFlags() const {
+  return _reader.getDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS);
+}
+
+inline  ::uint16_t GpsLocationData::Builder::getFlags() {
+  return _builder.getDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setFlags( ::uint16_t value) {
+  _builder.setDataField< ::uint16_t>(
+      0 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getLatitude() const {
+  return _reader.getDataField<double>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getLatitude() {
+  return _builder.getDataField<double>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setLatitude(double value) {
+  _builder.setDataField<double>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getLongitude() const {
+  return _reader.getDataField<double>(
+      2 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getLongitude() {
+  return _builder.getDataField<double>(
+      2 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setLongitude(double value) {
+  _builder.setDataField<double>(
+      2 * ::capnp::ELEMENTS, value);
+}
+
+inline double GpsLocationData::Reader::getAltitude() const {
+  return _reader.getDataField<double>(
+      3 * ::capnp::ELEMENTS);
+}
+
+inline double GpsLocationData::Builder::getAltitude() {
+  return _builder.getDataField<double>(
+      3 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setAltitude(double value) {
+  _builder.setDataField<double>(
+      3 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getSpeed() const {
+  return _reader.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getSpeed() {
+  return _builder.getDataField<float>(
+      1 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setSpeed(float value) {
+  _builder.setDataField<float>(
+      1 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getBearing() const {
+  return _reader.getDataField<float>(
+      8 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getBearing() {
+  return _builder.getDataField<float>(
+      8 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setBearing(float value) {
+  _builder.setDataField<float>(
+      8 * ::capnp::ELEMENTS, value);
+}
+
+inline float GpsLocationData::Reader::getAccuracy() const {
+  return _reader.getDataField<float>(
+      9 * ::capnp::ELEMENTS);
+}
+
+inline float GpsLocationData::Builder::getAccuracy() {
+  return _builder.getDataField<float>(
+      9 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setAccuracy(float value) {
+  _builder.setDataField<float>(
+      9 * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int64_t GpsLocationData::Reader::getTimestamp() const {
+  return _reader.getDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS);
+}
+
+inline  ::int64_t GpsLocationData::Builder::getTimestamp() {
+  return _builder.getDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setTimestamp( ::int64_t value) {
+  _builder.setDataField< ::int64_t>(
+      5 * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t CanData::Reader::getAddress() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -4130,6 +4430,20 @@ inline void ThermalData::Builder::setFreeSpace(float value) {
       4 * ::capnp::ELEMENTS, value);
 }
 
+inline  ::int16_t ThermalData::Reader::getBatteryPercent() const {
+  return _reader.getDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t ThermalData::Builder::getBatteryPercent() {
+  return _builder.getDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS);
+}
+inline void ThermalData::Builder::setBatteryPercent( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      10 * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t HealthData::Reader::getVoltage() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -7284,6 +7598,110 @@ inline ::capnp::Orphan< ::cereal::AndroidLogEntry> Event::Builder::disownAndroid
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
+inline bool Event::Reader::isGpsLocation() const {
+  return which() == Event::GPS_LOCATION;
+}
+inline bool Event::Builder::isGpsLocation() {
+  return which() == Event::GPS_LOCATION;
+}
+inline bool Event::Reader::hasGpsLocation() const {
+  if (which() != Event::GPS_LOCATION) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasGpsLocation() {
+  if (which() != Event::GPS_LOCATION) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::GpsLocationData::Reader Event::Reader::getGpsLocation() const {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::GpsLocationData::Builder Event::Builder::getGpsLocation() {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setGpsLocation( ::cereal::GpsLocationData::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::GpsLocationData::Builder Event::Builder::initGpsLocation() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptGpsLocation(
+    ::capnp::Orphan< ::cereal::GpsLocationData>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::GPS_LOCATION);
+  ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::GpsLocationData> Event::Builder::disownGpsLocation() {
+  KJ_IREQUIRE(which() == Event::GPS_LOCATION,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::GpsLocationData>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
+inline bool Event::Reader::isCarState() const {
+  return which() == Event::CAR_STATE;
+}
+inline bool Event::Builder::isCarState() {
+  return which() == Event::CAR_STATE;
+}
+inline bool Event::Reader::hasCarState() const {
+  if (which() != Event::CAR_STATE) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasCarState() {
+  if (which() != Event::CAR_STATE) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarState::Reader Event::Reader::getCarState() const {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarState::Builder Event::Builder::getCarState() {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setCarState( ::cereal::CarState::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  ::capnp::_::PointerHelpers< ::cereal::CarState>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarState::Builder Event::Builder::initCarState() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptCarState(
+    ::capnp::Orphan< ::cereal::CarState>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_STATE);
+  ::capnp::_::PointerHelpers< ::cereal::CarState>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarState> Event::Builder::disownCarState() {
+  KJ_IREQUIRE(which() == Event::CAR_STATE,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarState>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
 }  // namespace
 
 #endif  // CAPNP_INCLUDED_f3b1f17e25a4285b_

cereal/log.capnp

@@ -1,6 +1,8 @@
 using Cxx = import "c++.capnp";
 $Cxx.namespace("cereal");
 
+using Car = import "car.capnp";
+
 @0xf3b1f17e25a4285b;
 
 const logVersion :Int32 = 1;
@@ -39,11 +41,47 @@ struct SensorEventData {
     orientation @6 :SensorVec;
     gyro @7 :SensorVec;
   }
+  source @8 :SensorSource;
 
   struct SensorVec {
     v @0 :List(Float32);
     status @1 :Int8;
   }
+
+  enum SensorSource {
+    android @0;
+    iOS @1;
+    fiber @2;
+    velodyne @3;  # Velodyne IMU
+  }
+}
+
+# android struct GpsLocation
+struct GpsLocationData {
+  # Contains GpsLocationFlags bits.
+  flags @0 :UInt16;
+
+  # Represents latitude in degrees.
+  latitude @1 :Float64;
+
+  # Represents longitude in degrees.
+  longitude @2 :Float64;
+
+  # Represents altitude in meters above the WGS 84 reference ellipsoid.
+  altitude @3 :Float64;
+
+  # Represents speed in meters per second.
+  speed @4 :Float32;
+
+  # Represents heading in degrees.
+  bearing @5 :Float32;
+
+  # Represents expected accuracy in meters.
+  accuracy @6 :Float32;
+
+  # Timestamp for the location fix.
+  # Milliseconds since January 1, 1970.
+  timestamp @7 :Int64;
 }
 
 struct CanData {
@@ -64,6 +102,7 @@ struct ThermalData {
 
   # not thermal
   freeSpace @7 :Float32;
+  batteryPercent @8 :Int16;
 }
 
 struct HealthData {
@@ -272,5 +311,7 @@ struct Event {
     logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
     androidLogEntry @20 :AndroidLogEntry;
+    gpsLocation @21 :GpsLocationData;
+    carState @22 :Car.CarState;
   }
 }

common/services.py

@@ -33,6 +33,7 @@ service_list = {
   "logMessage": Service(8018, True),
   "liveCalibration": Service(8019, True),
   "androidLog": Service(8020, True),
+  "carState": Service(8021, True),
 }
 
 # manager -- base process to manage starting and stopping of all others
@@ -56,7 +57,7 @@ service_list = {
 
 # controlsd -- actually drives the car
 #   subscribes: can, thermal, model, live20
-#   publishes:  sendcan, live100
+#   publishes:  carState, sendcan, live100
 
 # radard -- processes the radar data
 #   subscribes: can, live100, model

installation/files/continue.sh

@@ -1,26 +0,0 @@
-#!/usr/bin/bash
-
-# enable wifi access point for debugging only!
-#service call wifi 37 i32 0 i32 1 # WifiService.setWifiApEnabled(null, true)
-
-# check out the openpilot repo
-if [ ! -d /data/openpilot ]; then
-  cd /tmp
-  git clone https://github.com/commaai/openpilot.git -b release
-  mv /tmp/openpilot /data/openpilot
-fi
-
-# enter openpilot directory
-cd /data/openpilot
-
-# automatic update
-git pull
-
-# start manager
-cd selfdrive
-mkdir -p /sdcard/realdata
-PYTHONPATH=/data/openpilot ./manager.py
-
-# if broken, keep on screen error
-while true; do sleep 1; done
-

installation/install.sh

@@ -1,7 +0,0 @@
-#!/bin/bash
-set -e
-
-# moving continue into place runs the continue script
-adb push files/continue.sh /tmp/continue.sh
-adb shell mv /tmp/continue.sh /data/data/com.termux/files/
-

phonelibs/json/src/json.c

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e39e76315aa470f9a3f8b3bd0dfa56dd07bb9aa2daf36a6b37e7d84b9165e21
+size 29298

phonelibs/json/src/json.h

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e647e8960b76dd9b022132d9fb9aa115f07ba004ed41b7704add69fd8da5b66
+size 3492

selfdrive/boardd/Makefile

@@ -19,10 +19,7 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
+JSON_FLAGS = -I$(PHONELIBS)/json/src
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
-              -l:libcapnp.a -l:libkj.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
 
 EXTRA_LIBS = -lusb
 
@@ -34,14 +31,18 @@ CEREAL_LIBS = -L$(HOME)/drive/external/capnp/lib/ \
 EXTRA_LIBS = -lusb-1.0 -lpthread
 endif
 
+.PHONY: all
+all: boardd
+
+-include ../common/cereal.mk
 
 OBJS = boardd.o \
-       log.capnp.o
+       ../common/swaglog.o \
+       $(PHONELIBS)/json/src/json.o \
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: boardd
-
 boardd: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -53,18 +54,20 @@ boardd.o: boardd.cc
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-
+%.o: %.c
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
+	@echo "[ CC ] $@"
-	@echo "[ CXX ] $@"
+	$(CC) $(CFLAGS) -MMD \
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
+          -Iinclude -I.. -I../.. \
-           -c -o '$@' '$<'
+          $(CEREAL_CFLAGS) \
-  
+          $(ZMQ_FLAGS) \
+          $(JSON_FLAGS) \
+          -c -o '$@' '$<'
 
 .PHONY: clean
 clean:

selfdrive/boardd/boardd.cc

@@ -20,6 +20,7 @@
 #include <capnp/serialize.h>
 #include "cereal/gen/cpp/log.capnp.h"
 
+#include "common/swaglog.h"
 #include "common/timing.h"
 
 int do_exit = 0;
@@ -29,18 +30,12 @@ libusb_device_handle *dev_handle;
 pthread_mutex_t usb_lock;
 
 bool spoofing_started = false;
+bool fake_send = false;
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
-#define DEBUG_BOARDD
-#ifdef DEBUG_BOARDD
-#define DPRINTF(fmt, ...) printf("boardd(%lu): " fmt, time(NULL), ## __VA_ARGS__)
-#else
-#define DPRINTF(fmt, ...)
-#endif
-
 bool usb_connect() {
   int err;
 
@@ -56,11 +51,17 @@ bool usb_connect() {
   return true;
 }
 
+void usb_retry_connect() {
+  LOG("attempting to connect");
+  while (!usb_connect()) { usleep(100*1000); }
+  LOGW("connected to board");
+}
 
 void handle_usb_issue(int err, const char func[]) {
-  DPRINTF("usb error %d \"%s\" in %s\n", err, libusb_strerror((enum libusb_error)err), func);
+  LOGE("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
   if (err == -4) {
-    while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
+    LOGE("lost connection");
+    usb_retry_connect();
   }
   // TODO: check other errors, is simply retrying okay?
 }
@@ -77,7 +78,7 @@ void can_recv(void *s) {
   do {
     err = libusb_bulk_transfer(dev_handle, 0x81, (uint8_t*)data, RECV_SIZE, &recv, TIMEOUT);
     if (err != 0) { handle_usb_issue(err, __func__); }
-    if (err == -8) { DPRINTF("overflow got 0x%x\n", recv); };
+    if (err == -8) { LOGE("overflow got 0x%x", recv); };
 
     // timeout is okay to exit, recv still happened
     if (err == -7) { break; }
@@ -199,8 +200,6 @@ void can_send(void *s) {
     memcpy(&send[i*4+2], cmsg.getDat().begin(), cmsg.getDat().size());
   }
 
-  //DPRINTF("got send message: %d\n", msg_count);
-
   // release msg
   zmq_msg_close(&msg);
 
@@ -208,10 +207,12 @@ void can_send(void *s) {
   int sent;
   pthread_mutex_lock(&usb_lock);
 
-  do {
+  if (!fake_send) {
-    err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
+    do {
-    if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
+      err = libusb_bulk_transfer(dev_handle, 3, (uint8_t*)send, msg_count*0x10, &sent, TIMEOUT);
-  } while(err != 0);
+      if (err != 0 || msg_count*0x10 != sent) { handle_usb_issue(err, __func__); }
+    } while(err != 0);
+  }
 
   pthread_mutex_unlock(&usb_lock);
 
@@ -223,7 +224,7 @@ void can_send(void *s) {
 // **** threads ****
 
 void *can_send_thread(void *crap) {
-  DPRINTF("start send thread\n");
+  LOGD("start send thread");
 
   // sendcan = 8017
   void *context = zmq_ctx_new();
@@ -239,7 +240,7 @@ void *can_send_thread(void *crap) {
 }
 
 void *can_recv_thread(void *crap) {
-  DPRINTF("start recv thread\n");
+  LOGD("start recv thread");
 
   // can = 8006
   void *context = zmq_ctx_new();
@@ -256,7 +257,7 @@ void *can_recv_thread(void *crap) {
 }
 
 void *can_health_thread(void *crap) {
-  DPRINTF("start health thread\n");
+  LOGD("start health thread");
 
   // health = 8011
   void *context = zmq_ctx_new();
@@ -281,35 +282,31 @@ int set_realtime_priority(int level) {
 
 int main() {
   int err;
-  DPRINTF("starting boardd\n");
+  LOGW("starting boardd");
 
   // set process priority
   err = set_realtime_priority(4);
-  DPRINTF("setpriority returns %d\n", err);
+  LOG("setpriority returns %d", err);
 
   // check the environment
   if (getenv("STARTED")) {
     spoofing_started = true;
   }
 
-  // connect to the board
+  if (getenv("FAKESEND")) {
+    fake_send = true;
+  }
+
+  // init libusb
   err = libusb_init(&ctx);
   assert(err == 0);
   libusb_set_debug(ctx, 3);
 
-  // TODO: duplicate code from error handling
+  // connect to the board
-  while (!usb_connect()) { DPRINTF("attempting to connect\n"); usleep(100*1000); }
+  usb_retry_connect();
-
-  /*int config;
-  err = libusb_get_configuration(dev_handle, &config);
-  assert(err == 0);
-  DPRINTF("configuration is %d\n", config);*/
 
-  /*err = libusb_set_interface_alt_setting(dev_handle, 0, 0);
-  assert(err == 0);*/
 
   // create threads
-
   pthread_t can_health_thread_handle;
   err = pthread_create(&can_health_thread_handle, NULL,
                        can_health_thread, NULL);

selfdrive/calibrationd/calibrationd.py

@@ -1,6 +1,9 @@
 #!/usr/bin/env python
+from __future__ import print_function
+
 import os
 import numpy as np
+import tempfile
 import zmq
 
 from common.services import service_list
@@ -8,6 +11,7 @@ import selfdrive.messaging as messaging
 from selfdrive.config import ImageParams, VehicleParams
 from selfdrive.calibrationd.calibration import ViewCalibrator, CalibStatus
 
+CALIBRATION_TMP_DIR = "/sdcard"
 CALIBRATION_FILE = "/sdcard/calibration_param"
 
 def load_calibration(gctx):
@@ -32,28 +36,33 @@ def load_calibration(gctx):
 
   # load calibration data
   if os.path.isfile(CALIBRATION_FILE):
-    # if the calibration file exist, start from the last cal values
+    try:
-    with open(CALIBRATION_FILE, "r") as cal_file:
+      # If the calibration file exist, start from the last cal values
-      data = [float(l.strip()) for l in cal_file.readlines()]
+      with open(CALIBRATION_FILE, "r") as cal_file:
-      calib = ViewCalibrator((I.X, I.Y),
+        data = [float(l.strip()) for l in cal_file.readlines()]
-                             big_box_size,
+        return ViewCalibrator(
-                             vp_img,
+            (I.X, I.Y),
-                             warp_matrix_start,
+            big_box_size,
-                             vp_f=[data[2], data[3]],
+            vp_img,
-                             cal_cycle=data[0],
+            warp_matrix_start,
-                             cal_status=data[1])
+            vp_f=[data[2], data[3]],
-
+            cal_cycle=data[0],
-      if calib.cal_status == CalibStatus.INCOMPLETE:
+            cal_status=data[1])
-        print "CALIBRATION IN PROGRESS", calib.cal_cycle
+    except Exception as e:
-  else:
+      print("Could not load calibration file: {}".format(e))
-    print "NO CALIBRATION FILE"
+
-    calib = ViewCalibrator((I.X, I.Y),
+  return ViewCalibrator(
-                           big_box_size,
+    (I.X, I.Y), big_box_size, vp_img, warp_matrix_start, vp_f=vp_guess)
-                           vp_img,
+
-                           warp_matrix_start,
+def store_calibration(calib):
-                           vp_f=vp_guess)
+  # Tempfile needs to be on the same device as the calbration file.
-
+  with tempfile.NamedTemporaryFile(delete=False, dir=CALIBRATION_TMP_DIR) as cal_file:
-  return calib
+    print(calib.cal_cycle, file=cal_file)
+    print(calib.cal_status, file=cal_file)
+    print(calib.vp_f[0], file=cal_file)
+    print(calib.vp_f[1], file=cal_file)
+    cal_file_name = cal_file.name
+  os.rename(cal_file_name, CALIBRATION_FILE)
 
 def calibrationd_thread(gctx):
   context = zmq.Context()
@@ -69,7 +78,7 @@ def calibrationd_thread(gctx):
   v_ego = None
 
   calib = load_calibration(gctx)
-  last_cal_cycle = calib.cal_cycle
+  last_write_cycle = calib.cal_cycle
 
   while 1:
     # calibration at the end so it does not delay radar processing above
@@ -91,14 +100,10 @@ def calibrationd_thread(gctx):
     calib.calibration(p0, p1, st, v_ego, steer_angle, VP)
 
     # write a new calibration every 100 cal cycle
-    if calib.cal_cycle - last_cal_cycle >= 100:
+    if calib.cal_cycle - last_write_cycle >= 100:
-      print "writing cal", calib.cal_cycle
+      print("writing cal", calib.cal_cycle)
-      with open(CALIBRATION_FILE, "w") as cal_file:
+      store_calibration(calib)
-        cal_file.write(str(calib.cal_cycle)+'\n')
+      last_write_cycle = calib.cal_cycle
-        cal_file.write(str(calib.cal_status)+'\n')
-        cal_file.write(str(calib.vp_f[0])+'\n')
-        cal_file.write(str(calib.vp_f[1])+'\n')
-      last_cal_cycle = calib.cal_cycle
 
     warp_matrix = map(float, calib.warp_matrix.reshape(9).tolist())
     dat = messaging.new_message()

selfdrive/common/cereal.mk

@@ -0,0 +1,17 @@
+CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
+CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
+CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
+              -L$(PHONELIBS)/capnp-c/aarch64/lib/ \
+              -l:libcapn.a -l:libcapnp.a -l:libkj.a
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
+
+log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+
+car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+  

selfdrive/common/framebuffer.cc

@@ -53,6 +53,7 @@ extern "C" FramebufferState* framebuffer_init(
   assert(status == 0);
 
   int orientation = 3; // rotate framebuffer 270 degrees
+  //int orientation = 1; // rotate framebuffer 90 degrees
   if(orientation == 1 || orientation == 3) {
       int temp = s->dinfo.h;
       s->dinfo.h = s->dinfo.w;

selfdrive/common/glutil.c

@@ -0,0 +1,71 @@
+#include <stdlib.h>
+#include <stdio.h>
+
+#include <GLES3/gl3.h>
+
+#include "glutil.h"
+
+GLuint load_shader(GLenum shaderType, const char *src) {
+  GLint status = 0, len = 0;
+  GLuint shader;
+
+  if (!(shader = glCreateShader(shaderType)))
+    return 0;
+
+  glShaderSource(shader, 1, &src, NULL);
+  glCompileShader(shader);
+  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
+
+  if (status)
+    return shader;
+
+  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *msg = (char*)malloc(len);
+    if (msg) {
+      glGetShaderInfoLog(shader, len, NULL, msg);
+      msg[len-1] = 0;
+      fprintf(stderr, "error compiling shader:\n%s\n", msg);
+      free(msg);
+    }
+  }
+  glDeleteShader(shader);
+  return 0;
+}
+
+GLuint load_program(const char *vert_src, const char *frag_src) {
+  GLuint vert, frag, prog;
+  GLint status = 0, len = 0;
+
+  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
+    return 0;
+  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
+    goto fail_frag;
+  if (!(prog = glCreateProgram()))
+    goto fail_prog;
+
+  glAttachShader(prog, vert);
+  glAttachShader(prog, frag);
+  glLinkProgram(prog);
+
+  glGetProgramiv(prog, GL_LINK_STATUS, &status);
+  if (status)
+    return prog;
+
+  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *buf = (char*) malloc(len);
+    if (buf) {
+      glGetProgramInfoLog(prog, len, NULL, buf);
+      buf[len-1] = 0;
+      fprintf(stderr, "error linking program:\n%s\n", buf);
+      free(buf);
+    }
+  }
+  glDeleteProgram(prog);
+fail_prog:
+  glDeleteShader(frag);
+fail_frag:
+  glDeleteShader(vert);
+  return 0;
+}

selfdrive/common/glutil.h

@@ -0,0 +1,8 @@
+#ifndef COMMON_GLUTIL_H
+#define COMMON_GLUTIL_H
+
+#include <GLES3/gl3.h>
+GLuint load_shader(GLenum shaderType, const char *src);
+GLuint load_program(const char *vert_src, const char *frag_src);
+
+#endif

selfdrive/common/swaglog.c

@@ -19,6 +19,7 @@ typedef struct LogState {
   JsonNode *ctx_j;
   void *zctx;
   void *sock;
+  int print_level;
 } LogState;
 
 static LogState s = {
@@ -31,6 +32,19 @@ static void cloudlog_init() {
   s.zctx = zmq_ctx_new();
   s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
   zmq_connect(s.sock, "ipc:///tmp/logmessage");
+
+  s.print_level = CLOUDLOG_WARNING;
+  const char* print_level = getenv("LOGPRINT");
+  if (print_level) {
+    if (strcmp(print_level, "debug") == 0) {
+      s.print_level = CLOUDLOG_DEBUG;
+    } else if (strcmp(print_level, "info") == 0) {
+      s.print_level = CLOUDLOG_INFO;
+    } else if (strcmp(print_level, "warning") == 0) {
+      s.print_level = CLOUDLOG_WARNING;
+    }
+  }
+
   s.inited = true;
 }
 
@@ -50,7 +64,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
     return;
   }
 
-  if (levelnum >= CLOUDLOG_PRINT_LEVEL) {
+  if (levelnum >= s.print_level) {
     printf("%s: %s\n", filename, msg_buf);
   }
 

selfdrive/common/swaglog.h

@@ -7,13 +7,19 @@
 #define CLOUDLOG_ERROR 40
 #define CLOUDLOG_CRITICAL 50
 
-#define CLOUDLOG_PRINT_LEVEL CLOUDLOG_WARNING
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime, 
                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
 
 void cloudlog_bind(const char* k, const char* v);
 
+#ifdef __cplusplus
+}
+#endif
+
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, __DATE__ " " __TIME__, \
                                            fmt, ## __VA_ARGS__)

selfdrive/common/version.h

@@ -1 +1 @@
-const char *openpilot_version = "0.2.3";
+const char *openpilot_version = "0.2.4";

selfdrive/controls/controlsd.py

@@ -38,6 +38,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
   # *** log ***
   context = zmq.Context()
   live100 = messaging.pub_sock(context, service_list['live100'].port)
+  carstate = messaging.pub_sock(context, service_list['carState'].port)
 
   thermal = messaging.sub_sock(context, service_list['thermal'].port)
   live20 = messaging.sub_sock(context, service_list['live20'].port)
@@ -88,6 +89,12 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     # read CAN
     CS = CI.update()
 
+    # broadcast carState
+    cs_send = messaging.new_message()
+    cs_send.init('carState')
+    cs_send.carState = CS    # copy?
+    carstate.send(cs_send.to_bytes())
+
     prof.checkpoint("CarInterface")
 
     # did it request to enable?

selfdrive/controls/lib/alertmanager.py

@@ -57,10 +57,12 @@ class AlertManager(object):
     "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",             ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
     "outOfSpace":         alert("Comma Unavailable","Out of Space",                ET.NO_ENTRY,     None, "chimeDouble", .4, 0., 3.),
     "ethicalDilemma":     alert("Take Control Immediately","Ethical Dilemma Detected", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "startup":            alert("Always Keep Hands on Wheel","Be Ready to Take Over Any Time", ET.NO_ENTRY, None, None, 0., 0., 15.),
   }
   def __init__(self):
     self.activealerts = []
     self.current_alert = None
+    self.add("startup", False)
 
   def alertPresent(self):
     return len(self.activealerts) > 0

selfdrive/controls/lib/radar_helpers.py

@@ -219,7 +219,7 @@ class Cluster(object):
       ret += " vision_cnt: %6.0f" % self.vision_cnt
     return ret
 
-  def is_potential_lead(self, v_ego, enabled):
+  def is_potential_lead(self, v_ego):
     # predict cut-ins by extrapolating lateral speed by a lookahead time
     # lookahead time depends on cut-in distance. more attentive for close cut-ins
     # also, above 50 meters the predicted path isn't very reliable
@@ -233,12 +233,11 @@ class Cluster(object):
     # average dist
     d_path = self.dPath
 
-    if enabled:
+    # lat_corr used to be gated on enabled, now always running
-      t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
+    t_lookahead = interp(self.dRel, t_lookahead_bp, t_lookahead_v)
-      # correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
+    # correct d_path for lookahead time, considering only cut-ins and no more than 1m impact
-      lat_corr = clip(t_lookahead * self.vLat, -1, 0)
+    lat_corr = clip(t_lookahead * self.vLat, -1, 0)
-    else:
+
-      lat_corr = 0.
     d_path = max(d_path + lat_corr, 0)
 
     if d_path < 1.5 and not self.stationary and not self.oncoming:

selfdrive/controls/radard.py

@@ -196,7 +196,7 @@ def radard_thread(gctx=None):
 
     # *** extract the lead car ***
     lead_clusters = [c for c in clusters
-                     if c.is_potential_lead(v_ego, enabled)]
+                     if c.is_potential_lead(v_ego)]
     lead_clusters.sort(key=lambda x: x.dRel)
     lead_len = len(lead_clusters)
 

selfdrive/logcatd/Makefile

@@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
+.PHONY: all
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
+all: logcatd
-              -l:libcapnp.a -l:libkj.a
+
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+-include ../common/cereal.mk
 
 OBJS = logcatd.o \
-       log.capnp.o
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: logcatd
-
 logcatd: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -40,17 +38,12 @@ logcatd: $(OBJS)
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-
 .PHONY: clean
 clean:
 	rm -f logcatd $(OBJS) $(DEPS)

selfdrive/manager.py

@@ -194,6 +194,10 @@ def manager_thread():
 
   count = 0
 
+  # set 5 second timeout on health socket
+  # 5x slower than expected
+  health_sock.RCVTIMEO = 5000
+
   while 1:
     # get health of board, log this in "thermal"
     td = messaging.recv_sock(health_sock, wait=True)
@@ -208,6 +212,8 @@ def manager_thread():
 
     # thermal message now also includes free space
     msg.thermal.freeSpace = avail
+    with open("/sys/class/power_supply/battery/capacity") as f:
+      msg.thermal.batteryPercent = int(f.read())
     thermal_sock.send(msg.to_bytes())
     print msg
 
@@ -228,7 +234,7 @@ def manager_thread():
     # start constellation of processes when the car starts
     if not os.getenv("STARTALL"):
       # with 2% left, we killall, otherwise the phone is bricked
-      if td.health.started and avail > 0.02:
+      if td is not None and td.health.started and avail > 0.02:
         for p in car_started_processes:
           if p == "loggerd" and logger_dead:
             kill_managed_process(p)
@@ -246,7 +252,14 @@ def manager_thread():
     # report to server once per minute
     if (count%60) == 0:
       names, total_size = fake_uploader.get_data_stats()
-      cloudlog.info({"names": names, "total_size": total_size, "running": running.keys(), "count": count, "health": td.to_dict(), "thermal": msg.to_dict(), "version": version, "nonce": "THIS_STATUS_PACKET"})
+      cloudlog.event("STATUS_PACKET",
+        names=names,
+        total_size=total_size,
+        running=running.keys(),
+        count=count,
+        health=(td.to_dict() if td else None),
+        thermal=msg.to_dict(),
+        version=version)
 
     count += 1
 
@@ -270,24 +283,6 @@ def manager_prepare():
         subprocess.check_call(["make", "clean"], cwd=proc[0])
         subprocess.check_call(["make", "-j4"], cwd=proc[0])
 
-def manager_test():
-  global managed_processes
-  managed_processes = {}
-  managed_processes["test1"] = ("test", ["./test.py"])
-  managed_processes["test2"] = ("test", ["./test.py"])
-  managed_processes["test3"] = "selfdrive.test.test"
-  manager_prepare()
-  start_managed_process("test1")
-  start_managed_process("test2")
-  start_managed_process("test3")
-  print running
-  time.sleep(3)
-  kill_managed_process("test1")
-  kill_managed_process("test2")
-  kill_managed_process("test3")
-  print running
-  time.sleep(10)
-
 def wait_for_device():
   while 1:
     try:
@@ -319,20 +314,23 @@ def main():
     del managed_processes['loggerd']
     del managed_processes['logmessaged']
     del managed_processes['logcatd']
+  if os.getenv("NOCONTROL") is not None:
+    del managed_processes['controlsd']
+    del managed_processes['radard']
 
   manager_init()
+  manager_prepare()
   
-  if len(sys.argv) > 1 and sys.argv[1] == "test":
+  if os.getenv("PREPAREONLY") is not None:
-    manager_test()
+    sys.exit(0)
-  else:
+
-    manager_prepare()
+  try:
-    try:
+    manager_thread()
-      manager_thread()
+  except Exception:
-    except Exception:
+    traceback.print_exc()
-      traceback.print_exc()
+    common.crash.capture_exception()
-      common.crash.capture_exception()
+  finally:
-    finally:
+    cleanup_all_processes(None, None)
-      cleanup_all_processes(None, None)
 
 if __name__ == "__main__":
   main()

selfdrive/sensord/Makefile

@@ -17,18 +17,16 @@ ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
            -l:libczmq.a -l:libzmq.a \
            -lgnustl_shared
 
-CEREAL_FLAGS = -I$(PHONELIBS)/capnp-cpp/include
+.PHONY: all
-CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
+all: sensord
-              -l:libcapnp.a -l:libkj.a
+
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+-include ../common/cereal.mk
 
 OBJS = sensors.o \
-       log.capnp.o
+       $(CEREAL_OBJS)
 
 DEPS := $(OBJS:.o=.d)
 
-all: sensord
-
 sensord: $(OBJS)
 	@echo "[ LINK ] $@"
 	$(CXX) -fPIC -o '$@' $^ \
@@ -40,19 +38,12 @@ sensors.o: sensors.cc
 	@echo "[ CXX ] $@"
 	$(CXX) $(CXXFLAGS) \
            -I$(PHONELIBS)/android_system_core/include \
-           $(CEREAL_FLAGS) \
+           $(CEREAL_CFLAGS) \
            $(ZMQ_FLAGS) \
            -I../ \
            -I../../ \
            -c -o '$@' '$<'
 
-
-log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) $(CEREAL_FLAGS) \
-           -c -o '$@' '$<'
-  
-
 .PHONY: clean
 clean:
 	rm -f sensord $(OBJS) $(DEPS)

selfdrive/sensord/sensors.cc

@@ -83,6 +83,7 @@ void sensor_loop() {
 
       const sensors_event_t& data = buffer[i];
 
+      sensorEvents[i].setSource(cereal::SensorEventData::SensorSource::ANDROID);
       sensorEvents[i].setVersion(data.version);
       sensorEvents[i].setSensor(data.sensor);
       sensorEvents[i].setType(data.type);

selfdrive/ui/Makefile

@@ -30,6 +30,7 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 
 OBJS = ui.o \
        touch.o \
+       ../common/glutil.o \
        ../common/visionipc.o \
        ../common/framebuffer.o \
        $(PHONELIBS)/nanovg/nanovg.o \

selfdrive/ui/touch.c

@@ -1,15 +1,50 @@
+#include <stdio.h>
+#include <stdlib.h>
 #include <stdbool.h>
+#include <assert.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <assert.h>
+#include <dirent.h>
 #include <sys/poll.h>
 #include <linux/input.h>
 
 #include "touch.h"
 
+static int find_dev() {
+  int err;
+
+  int ret = -1;
+
+  DIR *dir = opendir("/dev/input");
+  assert(dir);
+  struct dirent* de = NULL;
+  while ((de = readdir(dir))) {
+    if (strncmp(de->d_name, "event", 5)) continue;
+
+    int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
+    assert(fd >= 0);
+
+    char name[128] = {0};
+    err = ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name);
+    assert(err >= 0);
+
+    unsigned long ev_bits[8] = {0};
+    err = ioctl(fd, EVIOCGBIT(0, sizeof(ev_bits)), ev_bits);
+    assert(err >= 0);
+
+    if (strncmp(name, "synaptics", 9) == 0 && ev_bits[0] == 0xb) {
+      ret = fd;
+      break;
+    }
+    close(fd);
+  }
+  closedir(dir);
+
+  return ret;
+}
+
 void touch_init(TouchState *s) {
-  // synaptics touch screen on oneplus 3
+  s->fd = find_dev();
-  s->fd = open("/dev/input/event4", O_RDONLY);
   assert(s->fd >= 0);
 }
 

selfdrive/ui/ui.c

@@ -20,6 +20,7 @@
 #include "common/timing.h"
 #include "common/util.h"
 #include "common/mat.h"
+#include "common/glutil.h"
 
 #include "common/framebuffer.h"
 #include "common/visionipc.h"
@@ -250,70 +251,6 @@ static const char line_fragment_shader[] =
   "  gl_FragColor = vColor;\n"
   "}\n";
 
-static GLuint load_shader(GLenum shaderType, const char *src) {
-  GLint status = 0, len = 0;
-  GLuint shader;
-
-  if (!(shader = glCreateShader(shaderType)))
-    return 0;
-
-  glShaderSource(shader, 1, &src, NULL);
-  glCompileShader(shader);
-  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
-
-  if (status)
-    return shader;
-
-  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *msg = malloc(len);
-    if (msg) {
-      glGetShaderInfoLog(shader, len, NULL, msg);
-      msg[len-1] = 0;
-      fprintf(stderr, "error compiling shader:\n%s\n", msg);
-      free(msg);
-    }
-  }
-  glDeleteShader(shader);
-  return 0;
-}
-
-static GLuint load_program(const char *vert_src, const char *frag_src) {
-  GLuint vert, frag, prog;
-  GLint status = 0, len = 0;
-
-  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
-    return 0;
-  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
-    goto fail_frag;
-  if (!(prog = glCreateProgram()))
-    goto fail_prog;
-
-  glAttachShader(prog, vert);
-  glAttachShader(prog, frag);
-  glLinkProgram(prog);
-
-  glGetProgramiv(prog, GL_LINK_STATUS, &status);
-  if (status)
-    return prog;
-
-  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *buf = (char*) malloc(len);
-    if (buf) {
-      glGetProgramInfoLog(prog, len, NULL, buf);
-      buf[len-1] = 0;
-      fprintf(stderr, "error linking program:\n%s\n", buf);
-      free(buf);
-    }
-  }
-  glDeleteProgram(prog);
-fail_prog:
-  glDeleteShader(frag);
-fail_frag:
-  glDeleteShader(vert);
-  return 0;
-}
 
 static const mat4 device_transform = {{
   1.0,  0.0, 0.0, 0.0,
@@ -760,9 +697,9 @@ static void ui_draw_vision(UIState *s) {
   draw_frame(s);
 
   if (!scene->frontview) {
-    draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
+    /*draw_rgb_box(s, scene->big_box_x, s->rgb_height-scene->big_box_height-scene->big_box_y,
                     scene->big_box_width, scene->big_box_height,
-                    0xFF0000FF);
+                    0xFF0000FF);*/
 
     ui_draw_transformed_box(s, 0xFF00FF00);
 
@@ -843,7 +780,7 @@ static void ui_draw_vision(UIState *s) {
       if (strlen(scene->alert_text2) > 0) {
         nvgFillColor(s->vg, nvgRGBA(255,255,255,255));
         nvgFontSize(s->vg, 100.0f);
-        nvgText(s->vg, 100+1700/2, 200+500, scene->alert_text2, NULL);
+        nvgText(s->vg, 100+1700/2, 200+550, scene->alert_text2, NULL);
       }
     }
 
@@ -1271,10 +1208,12 @@ static void ui_update(UIState *s) {
 
     s->last_base_update = ts;
 
-    if (s->awake_timeout > 0) {
+    if (!activity_running()) {
-      s->awake_timeout--;
+      if (s->awake_timeout > 0) {
-    } else {
+        s->awake_timeout--;
-      set_awake(s, false);
+      } else {
+        set_awake(s, false);
+      }
     }
   }
 

selfdrive/visiond/visiond

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fa55f398631e8831c45a93e32e00909d2464c80a263fdede974fcf030e5085cc
+oid sha256:6f627ba11b5b9bff1b620bda632c4648378c0232d3725f8b0a5052fae13a02d9
-size 14723648
+size 14737936