Squashed commit of the following:

commit e5cd59e Author: Robbe Derks <robbe.derks@gmail.com> Date: Thu May 4 16:35:03 2023 +0200 Add device type (commaai#440) tizi commit fe87410 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Apr 28 15:11:43 2023 -0700 fix names commit 938f576 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Apr 28 15:08:57 2023 -0700 CI: run tests with sanitizers (commaai#438) * matrix * add ubsan * named commit 37157b1 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Apr 21 16:22:37 2023 -0700 locationd: log timeToFirstFix (commaai#436) locationd ttff commit f6afcaf Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Apr 20 13:25:15 2023 -0700 add pandaState.fanStallCount (commaai#435) Co-authored-by: Comma Device <device@comma.ai> commit a70f1a8 Author: Dean Lee <deanlee3@gmail.com> Date: Sun Apr 16 12:29:49 2023 +0800 Deprecate unused fields in FrameData (commaai#423) * Deprecate unused fields in FrameData * Update log.capnp --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 911cfac Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Apr 15 17:57:58 2023 -0700 switch to pat so tests run on bot pr commit ae896d9 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Apr 15 17:39:26 2023 -0700 CI: add job to update pre-commit hooks (commaai#434) commit 6e32e41 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Apr 15 16:29:35 2023 -0700 pre-commit update commit 4f5502c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Apr 5 21:26:43 2023 -0700 add spiChecksumErrorCount to pandaState commit 9baf462 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Apr 4 18:52:48 2023 -0700 bump ordinal commit b752a90 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Apr 4 18:49:44 2023 -0700 add heartbeatLoopWatchdog panda fault commit 5827c4e Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Apr 2 12:35:42 2023 -0700 pandaState: add voltage and current back (commaai#432) commit 5646788 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Apr 2 11:25:30 2023 -0700 CI: set PYTHONWARNINGS=error (commaai#431) * CI: set PYTHONWARNINGS=error * precommit update * try that * unset * Revert "precommit update" This reverts commit 3e1e9a0. commit d70d215 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Mar 29 15:07:36 2023 -0700 add panda siren fault (commaai#429) Co-authored-by: Comma Device <device@comma.ai> commit 1f0d21d Author: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue Mar 28 18:15:05 2023 -0400 VW: Add CarEvent for EPS timer soft disable (commaai#422) * add steerTimeLimit * recycle accFaultedTemp commit e276226 Author: Shane Smiskol <shane@smiskol.com> Date: Mon Mar 27 11:50:53 2023 -0700 Ecu: shuffle around parking fields (commaai#428) * shuffle around * ECU * no hyundai * can remove * add unused ecu * Update car.capnp Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * follow convention --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit c516d5e Author: Shane Smiskol <shane@smiskol.com> Date: Fri Mar 24 00:23:53 2023 -0700 CarFw: add obdMultiplexing (commaai#425) add obdMultiplexing commit 3c5ff1c Author: Shane Smiskol <shane@smiskol.com> Date: Thu Mar 23 23:52:18 2023 -0700 Ecu: add parking (commaai#426) * rename unused vcu and add parking ecu * move * move it to Hyundai commit d0ca263 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Mar 23 23:28:57 2023 -0700 Ecu: add hvac (commaai#427) * rename unused vcu and add parking ecu * move * just hvac commit 494cd28 Author: Dean Lee <deanlee3@gmail.com> Date: Wed Mar 22 01:52:27 2023 +0800 add function available_streams to visionipc_pyx.pyx (commaai#424) commit 7492dc3 Author: Harald Schäfer <harald.the.engineer@gmail.com> Date: Thu Mar 16 16:44:56 2023 -0700 Ephem status (commaai#421) ephem status commit 915baae Author: Harald Schäfer <harald.the.engineer@gmail.com> Date: Wed Mar 15 11:45:22 2023 -0700 GnssMeasurements: Add TTFF (commaai#420) add ttff commit 80a8eb8 Author: Harald Schäfer <harald.the.engineer@gmail.com> Date: Wed Mar 15 00:43:15 2023 -0700 sat info (commaai#419) commit c579889 Author: Harald Schäfer <harald.the.engineer@gmail.com> Date: Wed Mar 15 00:02:00 2023 -0700 laika structs (commaai#418) commit 9888e04 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Mar 13 14:48:45 2023 -0700 add frameId to uiPlan (commaai#417) commit 42f84fd Author: Shane Smiskol <shane@smiskol.com> Date: Thu Mar 2 18:53:46 2023 -0800 add accels field to uiPlan (commaai#415) add accels to uiplan Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com> commit b88523f Author: Harald Schäfer <harald.the.engineer@gmail.com> Date: Fri Feb 17 19:35:13 2023 -0800 Uiplan (commaai#413) * ui plan * uiplan * keep backwards compatibility * more decimation --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 162a26c Author: Shane Smiskol <shane@smiskol.com> Date: Tue Feb 14 16:57:05 2023 -0800 Log if data-collection for each carFw (commaai#412) log responses from logging/debugging queries commit fa3e77b Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Tue Feb 7 11:21:45 2023 -0700 GPS: add tow count (commaai#411) add tow count Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit bdbac40 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Feb 2 11:03:26 2023 -0800 carState.radarOffCan -> radarUnavailable (commaai#409) commit e24f52b Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Wed Feb 1 16:12:04 2023 -0700 Glonass Ephemeris support (commaai#408) * add v1 * small cleanup * rename speedup to accel * add space for freqNum --------- Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit b27131e Author: Shane Smiskol <shane@smiskol.com> Date: Tue Jan 17 19:25:32 2023 -0800 CarState: deprecate canMonoTimes (commaai#406) * deprecate canMonoTimes * deprecate more commit 6b91a52 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Jan 17 16:12:41 2023 -0800 fix ar0231 typo commit 35264cb Author: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri Jan 13 17:27:03 2023 -0500 VW MLB: Add safety mode (commaai#404) commit c0d9abf Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Jan 11 15:01:37 2023 -0800 add a few can msgs in qlog (commaai#403) commit 959ff79 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Dec 31 16:33:09 2022 -0800 add cpplint (commaai#401) * add cpplint * include what you use * whitespace fixes * passes commit da48ed5 Author: Dean Lee <deanlee3@gmail.com> Date: Sun Jan 1 06:59:24 2023 +0800 vipc: add function to get available streams (commaai#400) * add function to get available streams * add test case * cleanup * use set * public type * Update visionipc_server.cc * apply review Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 6e58b29 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sat Dec 31 14:19:29 2022 -0800 include from project root (commaai#402) commit f200875 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Thu Dec 29 17:53:12 2022 -0700 gnssMeasurement Renaming (commaai#398) * use laika instand fix * rename time * fix indent Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com> Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 22b1431 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Dec 12 13:26:26 2022 -0800 carControl: add blinker controls (commaai#397) * carControl: add blinker controls * cleanup commit 439429c Author: Shane Smiskol <shane@smiskol.com> Date: Sat Dec 10 00:14:27 2022 -0800 Add CAN output torque actuator field (commaai#396) * log value sent to the car * rename commit eaf962b Author: Shane Smiskol <shane@smiskol.com> Date: Fri Dec 9 18:37:33 2022 -0800 Deprecate LQR state field (commaai#394) * first commit * log p and i * compile * remove these * revert * revert * revert commit 609491e Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Dec 9 13:15:18 2022 -0800 add frameId to mapRenderState commit a33e25e Author: Cameron Clough <cameronjclough@gmail.com> Date: Thu Dec 8 21:47:59 2022 -0800 add curvature steer control type (commaai#381) * add curvature steer control type * add new line Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove d gain Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 8825337 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 8 20:37:39 2022 -0800 decimate navModel to 0.5Hz commit fd1ca09 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 8 20:33:42 2022 -0800 add mapRenderState (commaai#393) * add mapRenderState * better name commit 7765176 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Dec 1 23:31:27 2022 -0800 Micd: add A-weighted sound level fields (commaai#392) * new fields * add temp field * Revert "add temp field" This reverts commit 54b5974. * move Co-authored-by: Cameron Clough <cameronjclough@gmail.com> commit 22e7261 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 1 16:29:11 2022 -0800 Nav model (commaai#380) * Added navModel field * Add navModel to services.py * Added position/desire fields * Bump navModel field index Co-authored-by: mitchellgoffpc <mitchellgoffpc@gmail.com> commit dbc9846 Author: Cameron Clough <cameronjclough@gmail.com> Date: Wed Nov 30 21:19:53 2022 -0800 Micd fields (commaai#391) * add new field * uncalib Co-authored-by: Shane Smiskol <shane@smiskol.com> commit 790d383 Author: Cameron Clough <cameronjclough@gmail.com> Date: Wed Nov 30 11:37:35 2022 -0800 fix CI badge commit 4ec689c Author: ntegan1 <ntegan1@gmail.com> Date: Wed Nov 30 14:36:17 2022 -0500 fix set but unused warning (commaai#390) * fix set but unused warning * re-run ci maybe commit 19a0c46 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 30 00:06:23 2022 -0800 Deprecate noTarget event commit 7f55399 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 29 14:38:56 2022 -0800 Rename event to preEnableStandstill (commaai#389) rename event commit 2b54c11 Author: Cameron Clough <cameronjclough@gmail.com> Date: Mon Nov 28 12:51:57 2022 -0800 add microphone (commaai#382) * add microphone socket * increase freq * add raw noise level * rename to ambient * switch commit 72fb965 Author: Willem Melching <willem.melching@gmail.com> Date: Tue Nov 22 01:10:55 2022 +0100 Add missing time.h include (commaai#385) add missing time.h include commit 3bae09c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Nov 15 16:50:27 2022 -0800 add experimenalMode to controlsState commit 25767df Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Nov 14 15:44:36 2022 -0800 panda spi and uart7 faults commit afafa0a Author: Shane Smiskol <shane@smiskol.com> Date: Thu Nov 10 17:16:58 2022 -0800 Add regen braking field (commaai#384) * regen braking field * fix duplicate ordinal * Update car.capnp commit cdba1aa Author: YassineYousfi <yyousfi1@binghamton.edu> Date: Mon Nov 7 17:07:38 2022 -0800 Add temporal pose to modelv2 (commaai#383) * add simpose to modelv2 * rename commit 9cc550d Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Nov 2 14:34:03 2022 -0700 add tres commit 1d25fc3 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 24 17:53:32 2022 -0700 msgq: bump num readers up a bit (commaai#379) commit 79e6e4c Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Oct 21 16:55:41 2022 -0700 wide calibration (commaai#378) commit 3813330 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Oct 21 00:41:30 2022 -0700 Add wide transform (commaai#377) commit 1e3dd70 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Oct 19 01:29:49 2022 -0700 Rename gmAccFaultedTemp -> accFaultedTemp commit 315ddcb Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Oct 18 18:53:26 2022 -0700 add cornerRadar ECU commit 107048c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 17 15:53:57 2022 -0700 ui debug message (commaai#376) * ui debug message * put in the qlogs commit 5766e64 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Oct 14 19:33:28 2022 -0700 Add temporarily ACC fault event (commaai#375) * add depress brake pedal * fixup alert name commit 3eca747 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Oct 11 21:26:32 2022 -0700 deprecate unused carParams fields commit b1003dd Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 11 15:50:52 2022 -0700 carControl->cruiseControl: add override bool (commaai#373) Add override bool commit b29717c Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Fri Oct 7 16:47:32 2022 -0700 add qcom ephemerisSourceType (commaai#372) Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 446f316 Author: Greg Hogan <gregjhogan@gmail.com> Date: Wed Oct 5 21:18:05 2022 -0700 add CAN-FD non-ISO mode flag to panda can health (commaai#369) commit 33256c9 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Wed Oct 5 20:30:40 2022 -0700 rename unknown6 to sbas (commaai#371) Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 58b87bd Author: Cameron Clough <cameronjclough@gmail.com> Date: Tue Oct 4 10:48:50 2022 -0700 make shiftByWire non-Honda specific (commaai#370) commit c8542cf Author: Cameron Clough <cameronjclough@gmail.com> Date: Tue Oct 4 10:39:34 2022 -0700 fix duplicate ordinal commit 1db91ee Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 4 01:30:57 2022 -0700 Ecu: add vcu (for Hyundai) (commaai#348) * Add VMCU ecu * update * rename to more generic name * Update car.capnp commit 5ba96b6 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 3 15:08:40 2022 -0700 make rx checks invalid a bool commit ea9d19f Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Oct 2 17:25:53 2022 -0700 add safetyRxChecksInvalid panda fault commit d4cf872 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Thu Sep 29 11:04:55 2022 -0700 mark sensorEvents deprecated (commaai#367) Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 5aa4986 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Sep 28 15:15:48 2022 -0700 add exposure value percent to camera state packets (commaai#368) * add exposure value percent to camera state packets * it's a real percent commit e310f48 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Tue Sep 27 15:28:22 2022 -0700 Sensor events splitup (commaai#357) * change from sensorEvents to separated events * fix numbering * remove sensorEvent * update after rebase * . * move bmx gyro and accel to its own channels * address PR comments * . * inc frequency in tests * . * rename sensorEventsDEPRECATED sensorEvents * readd sensorEvents in services.py * . Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit a0c6f28 Author: Robbe Derks <robbe.derks@gmail.com> Date: Fri Sep 23 11:17:22 2022 +0200 Add adas ecu and make the brake booster non-Honda specific (commaai#362) add adas ecu commit 3baa20e Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Sat Sep 17 00:15:31 2022 -0700 Add panda CAN health to logs (commaai#361) * init * typo * fix * add canfd stats and speed commit e4130c9 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Sep 15 17:03:38 2022 -0700 Live torque params (commaai#354) * add live torque messages * add to services * add decay to msg * store debug points * bump livetorqueparams ordinal in log capnp, after rebasing * rename slope and offset * store reset count instead of bool * renaming in tuning params * add tag to livetorqueparams struct * make this an int * add useParams to roll out per fingerprint Co-authored-by: nuwandavek <vivekaithal44@gmail.com> commit 513dfc7 Author: Igor Biletksyy <bs@privacy.im> Date: Thu Sep 15 13:30:29 2022 -0700 PandaState: fix mixup commit 3f5bc84 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Thu Sep 15 13:09:52 2022 -0700 Panda health: names and mixup fix (commaai#359) * init * naming commit bd2f7fa Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Sep 14 14:56:26 2022 -0700 add image sensor to camera states (commaai#360) commit f363cc1 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Sep 13 22:50:17 2022 -0700 Add fields for lateral override (commaai#350) * add fields for lateral override state * comment * spelled out commit 2335f98 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Sep 9 20:13:25 2022 -0700 add RP with chiplet (commaai#358) * chiplet * Update log.capnp Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 04b1cf2 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Sep 9 16:49:12 2022 -0700 includes tape reel commit cea51af Author: Cameron Clough <cameronjclough@gmail.com> Date: Wed Sep 7 13:49:16 2022 -0700 Ecu: rename esp to abs (commaai#353) ecu: rename esp to abs commit ac98471 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Sep 7 11:42:09 2022 -0700 add carParams.experimentalLongitudinalAvailable (commaai#356) * add carParams.disableRadarAvailable * better name commit f26ee5a Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Tue Sep 6 21:59:25 2022 -0700 Refactor longcontrol (commaai#355) * Bring starting back * Add starting params commit 6323950 Author: Bruce Wayne <harald.the.engineer@gmail.com> Date: Fri Sep 2 15:59:56 2022 -0700 Remove lane planning stuff commit d3a943e Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Aug 31 20:41:39 2022 -0700 deviceState: deprecate battery + charging fields (commaai#352) * deviceState: deprecate battery + charging fields * deprecate that one too * deprecated commit d05d3cb Author: Shane Smiskol <shane@smiskol.com> Date: Tue Aug 30 22:59:38 2022 -0700 Chrysler: add Ecu for Hybrid Control Processor (commaai#351) Add hcp commit aaf67ac Author: Shane Smiskol <shane@smiskol.com> Date: Tue Aug 30 11:14:07 2022 -0700 CarParams: add field for auto resume capability (commaai#349) * Add field for auto resume * Update car.capnp * add a comment section
budney · May 5, 2023 · 0047d93 · 0047d93
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diff --git a/.github/workflows/repo.yml b/.github/workflows/repo.yml
@@ -0,0 +1,28 @@
+name: repo
+
+on:
+  schedule:
+    - cron: "0 15 * * 2"
+  workflow_dispatch:
+
+jobs:
+  pre-commit-autoupdate:
+    name: pre-commit autoupdate
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/cereal:latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update pre-commit hook versions
+        title: 'pre-commit: autoupdate hooks'
+        branch: pre-commit-updates
+        base: master
+        delete-branch: true
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -4,12 +4,14 @@ on: [push, pull_request]
 
 env:
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G --name cereal cereal /bin/sh -c
+  RUN: docker run -e PYTHONWARNINGS=error --shm-size 1G --name cereal cereal /bin/sh -c
+  RUN_NAMED: docker run -e PYTHONWARNINGS=error --shm-size 1G --rm cereal /bin/sh -c
   CI_RUN: docker run -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID --rm cerealci /bin/bash -c
   BUILD: |
       docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
       docker pull $DOCKER_REGISTRY/cereal:latest || true
       docker build --cache-from $DOCKER_REGISTRY/cereal:latest -t cereal -f Dockerfile .
+  PYTHONWARNINGS: error
 
 jobs:
   build:
@@ -29,52 +31,26 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        flags: ['', '--asan', '--ubsan']
+        backend: ['MSGQ', 'ZMQ']
     steps:
     - uses: actions/checkout@v3
     - name: Build docker image
       run: eval "$BUILD"
-    - name: Unit Tests
+    - name: C++ tests
       run: |
-        $RUN "scons --test --asan -j$(nproc) && messaging/test_runner && visionipc/test_runner"
-
-  unit_tests_zmq:
-    name: unit tests zmq
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-    - name: Build docker image
-      run: eval "$BUILD"
-    - name: Unit Tests
-      run: |
-        $RUN "scons --test --asan -j$(nproc) && ZMQ=1 messaging/test_runner && ZMQ=1 visionipc/test_runner"
-
-  test_zmq:
-    name: zmq
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-    - name: Build docker image
-      run: eval "$BUILD"
-    - name: Test ZMQ
-      run: $RUN "ZMQ=1 coverage run -m unittest discover ."
-    - name: Upload coverage
-      run: |
-        docker commit cereal cerealci
-        $CI_RUN "cd /project/cereal && bash <(curl -s https://codecov.io/bash) -v -F unit_tests_zmq"
-
-  test_msgq:
-    name: msgq
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-    - name: Build docker image
-      run: eval "$BUILD"
-    - name: Test MSGQ
-      run: $RUN "MSGQ=1 coverage run -m unittest discover ."
+        $RUN "export ${{ matrix.backend }}=1 && \
+              scons --test ${{ matrix.flags }} -j$(nproc) && \
+              messaging/test_runner && \
+              visionipc/test_runner"
+    - name: python tests
+      run: $RUN_NAMED "${{ matrix.backend }}=1 coverage run -m unittest discover ."
     - name: Upload coverage
       run: |
         docker commit cereal cerealci
-        $CI_RUN "cd /project/cereal && bash <(curl -s https://codecov.io/bash) -v -F unit_tests_msgq"
+        $CI_RUN "cd /project/cereal && bash <(curl -s https://codecov.io/bash) -v -F unit_tests_${{ matrix.backend }}"
 
   static_analysis:
     name: static analysis
@@ -84,4 +60,5 @@ jobs:
     - name: Build docker image
       run: eval "$BUILD"
     - name: Static analysis
-      run: $RUN "git init && git add -A && pre-commit run --all"
+      # TODO: a package pre-commit installs has a warning, remove the unset once that's fixed
+      run: $RUN "git init && git add -A && unset PYTHONWARNINGS && pre-commit run --all"
diff --git a/.gitignore b/.gitignore
@@ -1,6 +1,4 @@
-gen
-node_modules
-package-lock.json
+/gen/
 *.tmp
 *.pyc
 __pycache__
@@ -18,4 +16,3 @@ services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
-catch2/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,15 +1,15 @@
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.4.0
     hooks:
     -   id: check-ast
     -   id: check-yaml
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.940
+    rev: v1.2.0
     hooks:
     -   id: mypy
 -   repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
+    rev: 6.0.0
     hooks:
     -   id: flake8
         args:
@@ -41,8 +41,17 @@ repos:
         - --force
         - --quiet
         - -j4
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        args:
+        - --quiet
+        - --counting=detailed
+        - --linelength=240
+        - --filter=-legal,-build/include_order,-readability/casting,-whitespace/braces,-whitespace/indent,-whitespace/operators,-build/c++11,-readability/todo,-runtime/explicit,-runtime/int,-whitespace/comments,-readability/braces,-runtime/arrays,-runtime/references
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.1
+    rev: v2.2.4
     hooks:
     -   id: codespell
         args:

diff --git a/Dockerfile b/Dockerfile
@@ -39,11 +39,12 @@ RUN pyenv install 3.8.10 && \
     pyenv rehash && \
     pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
 
-WORKDIR /project/cereal/messaging
-RUN git clone https://github.com/catchorg/Catch2.git && \
+WORKDIR /project/
+RUN cd /tmp/ && \
+    git clone https://github.com/catchorg/Catch2.git && \
     cd Catch2 && \
     git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
-    mv single_include/catch2 ../catch2 && \
+    mv single_include/catch2/ /project/ && \
     cd .. \
     rm -rf Catch2
 

diff --git a/SConstruct b/SConstruct
@@ -8,13 +8,10 @@ arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
 
-cereal_dir = Dir('.')
-messaging_dir = Dir('./messaging')
 common = ''
 
 cpppath = [
-  cereal_dir,
-  messaging_dir,
+  f"#/../",
   '/usr/lib/include',
   '/opt/homebrew/include',
   sysconfig.get_paths()['include'],
@@ -32,8 +29,22 @@ AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
 
-ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
-ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+ccflags = []
+ldflags = []
+if GetOption('ubsan'):
+  flags = [
+    "-fsanitize=undefined",
+    "-fno-sanitize-recover=undefined",
+  ]
+  ccflags += flags
+  ldflags += flags
+elif GetOption('asan'):
+  ccflags += ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags += ["-fsanitize=address"]
 
 env = Environment(
   ENV=os.environ,
@@ -46,9 +57,9 @@ env = Environment(
     "-Wunused",
     "-Werror",
     "-Wshadow",
-  ] + ccflags_asan,
-  LDFLAGS=ldflags_asan,
-  LINKFLAGS=ldflags_asan,
+  ] + ccflags,
+  LDFLAGS=ldflags,
+  LINKFLAGS=ldflags,
 
   CFLAGS="-std=gnu11",
   CXXFLAGS="-std=c++1z",

diff --git a/car.capnp b/car.capnp
@@ -114,6 +114,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     canBusMissing @111;
     controlsdLagging @112;
     resumeBlocked @113;
+    steerTimeLimit @115;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -205,9 +206,6 @@ struct CarState {
   # clutch (manual transmission only)
   clutchPressed @28 :Bool;
 
-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
-
   # blindspot sensors
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -267,9 +265,11 @@ struct CarState {
     }
   }
 
+  # deprecated
   errorsDEPRECATED @0 :List(CarEvent.EventName);
   brakeLightsDEPRECATED @19 :Bool;
   steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
 }
 
 # ******* radar state @ 20hz *******
@@ -278,9 +278,6 @@ struct RadarData @0x888ad6581cf0aacb {
   errors @0 :List(Error);
   points @1 :List(RadarPoint);
 
-  # which packets this state came from
-  canMonoTimes @2 :List(UInt64);
-
   enum Error {
     canError @0;
     fault @1;
@@ -304,6 +301,9 @@ struct RadarData @0x888ad6581cf0aacb {
     # some radars flag measurements VS estimates
     measured @6 :Bool;
   }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
 }
 
 # ******* car controls @ 100hz *******
@@ -465,7 +465,7 @@ struct CarParams {
   vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
   stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
   stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
   startAccel @32 :Float32; # Required acceleration to get car moving
@@ -583,7 +583,7 @@ struct CarParams {
     subaruLegacy @22;  # pre-Global platform
     hyundaiLegacy @23;
     hyundaiCommunity @24;
-    stellantisDEPRECATED @25;  # Consolidated with Chrysler; may be recycled for the next new model
+    volkswagenMlb @25;
     hongqi @26;
     body @27;
     hyundaiCanfd @28;
@@ -612,6 +612,8 @@ struct CarParams {
     request @5 :List(Data);
     brand @6 :Text;
     bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
   }
 
   enum Ecu {
@@ -630,10 +632,11 @@ struct CarParams {
     shiftByWire @16;
     adas @19;
     cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
 
     # Toyota only
     dsu @6;
-    apgs @7;
 
     # Honda only
     vsa @13; # Vehicle Stability Assist
@@ -642,10 +645,8 @@ struct CarParams {
     # Chrysler only
     hcp @18;  # Hybrid Control Processor
 
-    # Hyundai only
-    vcu @20;  # Vehicle (Motor) Control Unit
-
     debug @17;
+    unused @22;
   }
 
   enum FingerprintSource {