dkiiv
diff --git a/‎.github/ISSUE_TEMPLATE/car_bug_report.yml
+1-1 b/‎.github/ISSUE_TEMPLATE/car_bug_report.yml
+1-1
diff --git a/‎.github/workflows/selfdrive_tests.yaml
+1-1 b/‎.github/workflows/selfdrive_tests.yaml
+1-1
diff --git a/‎.gitignore
+2-2 b/‎.gitignore
+2-2
diff --git a/‎.pre-commit-config.yaml
+1-1 b/‎.pre-commit-config.yaml
+1-1
diff --git a/‎Jenkinsfile
+5-3 b/‎Jenkinsfile
+5-3
diff --git a/‎README.md
+1 b/‎README.md
+1
diff --git a/‎RELEASES.md
+1 b/‎RELEASES.md
+1
diff --git a/‎SConstruct
+2-2 b/‎SConstruct
+2-2
diff --git a/‎cereal b/‎cereal
diff --git a/‎common/modeldata.h
-6 b/‎common/modeldata.h
-6
diff --git a/‎common/params.cc
+1 b/‎common/params.cc
+1
@@ -1,6 +1,6 @@
 name: Car bug report
 description: For issues with a particular car make or model
-labels: ["car bug"]
+labels: ["car", "bug"]
 body:
 
   - type: markdown
 
@@ -310,7 +310,7 @@ jobs:
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
 
@@ -49,8 +49,8 @@ selfdrive/loggerd/loggerd
 selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
@@ -20,7 +20,7 @@ repos:
     hooks:
     -   id: mypy
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
-        additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
+        additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
         - --warn-redundant-casts
         - --warn-return-any
 
@@ -10,6 +10,7 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
@@ -45,6 +46,7 @@ pipeline {
     CI = "1"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
+    AZURE_TOKEN = credentials('azure_token')
   }
   options {
     timeout(time: 4, unit: 'HOURS')
@@ -88,8 +90,8 @@ pipeline {
           steps {
             sh "git config --global --add safe.directory ${WORKSPACE}"
             sh "git lfs pull"
-            sh "${WORKSPACE}/tools/sim/build_container.sh"
             lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+              sh "${WORKSPACE}/tools/sim/build_container.sh"
               sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
               sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
             }
@@ -139,8 +141,8 @@ pipeline {
           steps {
             phone_steps("tici-party", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-              ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
             ])
           }
         }
 
@@ -121,6 +121,7 @@ Directory Structure
         ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc
         ├── sensord         # IMU interface code
+        ├── navd            # Turn-by-turn navigation
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 
 
@@ -13,6 +13,7 @@ Version 0.8.15 (2022-XX-XX)
 * Display speed limit while navigating
 * Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
+* Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
 
 
@@ -94,7 +94,7 @@ if arch == "larch64":
     "/usr/lib/aarch64-linux-gnu"
   ]
   cpppath += [
-    "#selfdrive/camerad/include",
+    "#system/camerad/include",
   ]
   cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
@@ -379,6 +379,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
 ])
@@ -396,7 +397,6 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 
@@ -24,12 +24,6 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-namespace tici_dm_crop {
-  const int x_offset = -72;
-  const int y_offset = -144;
-  const int width = 954;
-};
-
 const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                            0.0, 2648.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
 
@@ -94,6 +94,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"DashcamOverride", PERSISTENT},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"DisableRadar_Allow", PERSISTENT},