clearpilot: initial commit of full source

system/camerad/SConscript

@@ -0,0 +1,10 @@
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
+
+libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
+
+camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
+                         'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
+
+if GetOption("extras") and arch == "x86_64":
+  env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs)

system/camerad/cameras/camera_common.cc

@@ -0,0 +1,355 @@
+#include "system/camerad/cameras/camera_common.h"
+
+#include <cassert>
+#include <string>
+
+#include "third_party/libyuv/include/libyuv.h"
+#include <jpeglib.h>
+
+#include "common/clutil.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "third_party/linux/include/msm_media_info.h"
+
+#include "system/camerad/cameras/camera_qcom2.h"
+#ifdef QCOM2
+#include "CL/cl_ext_qcom.h"
+#endif
+
+ExitHandler do_exit;
+
+class Debayer {
+public:
+  Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
+    char args[4096];
+    const SensorInfo *ci = s->ci.get();
+    snprintf(args, sizeof(args),
+             "-cl-fast-relaxed-math -cl-denorms-are-zero "
+             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
+             "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
+             "-DIS_OX=%d -DIS_OS=%d -DIS_BGGR=%d -DCAM_NUM=%d%s",
+             ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
+             b->rgb_width, b->rgb_height, buf_width, uv_offset,
+             ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10,
+             ci->image_sensor == cereal::FrameData::ImageSensor::OS04C10,
+             ci->image_sensor == cereal::FrameData::ImageSensor::OS04C10,
+             s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+    const char *cl_file = "cameras/real_debayer.cl";
+    cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
+    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
+    CL_CHECK(clReleaseProgram(prg_debayer));
+
+  }
+
+  void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *debayer_event) {
+    CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
+    CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
+
+    const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)};
+    const int debayer_local_worksize = 16;
+    const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
+    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
+  }
+
+  ~Debayer() {
+    CL_CHECK(clReleaseKernel(krnl_));
+  }
+
+private:
+  cl_kernel krnl_;
+};
+
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+  vipc_server = v;
+  stream_type = type;
+  frame_buf_count = frame_cnt;
+
+  const SensorInfo *ci = s->ci.get();
+  // RAW frame
+  const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride;
+  camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
+  camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
+
+  for (int i = 0; i < frame_buf_count; i++) {
+    camera_bufs[i].allocate(frame_size);
+    camera_bufs[i].init_cl(device_id, context);
+  }
+  LOGD("allocated %d CL buffers", frame_buf_count);
+
+  rgb_width = ci->frame_width;
+  rgb_height = ci->frame_height;
+
+  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
+  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
+  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width));
+  assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height));
+  size_t nv12_uv_offset = nv12_width * nv12_height;
+
+  // the encoder HW tells us the size it wants after setting it up.
+  // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
+  size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width;
+
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
+  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
+
+  debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
+
+  const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
+  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+}
+
+CameraBuf::~CameraBuf() {
+  for (int i = 0; i < frame_buf_count; i++) {
+    camera_bufs[i].free();
+  }
+  if (debayer) delete debayer;
+  if (q) CL_CHECK(clReleaseCommandQueue(q));
+}
+
+bool CameraBuf::acquire() {
+  if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
+
+  if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
+    LOGE("no frame data? wtf");
+    return false;
+  }
+
+  cur_frame_data = camera_bufs_metadata[cur_buf_idx];
+  cur_yuv_buf = vipc_server->get_buffer(stream_type);
+  cur_camera_buf = &camera_bufs[cur_buf_idx];
+
+  double start_time = millis_since_boot();
+  cl_event event;
+  debayer->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);
+  clWaitForEvents(1, &event);
+  CL_CHECK(clReleaseEvent(event));
+  cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+
+  VisionIpcBufExtra extra = {
+    cur_frame_data.frame_id,
+    cur_frame_data.timestamp_sof,
+    cur_frame_data.timestamp_eof,
+  };
+  cur_yuv_buf->set_frame_id(cur_frame_data.frame_id);
+  vipc_server->send(cur_yuv_buf, &extra);
+
+  return true;
+}
+
+void CameraBuf::queue(size_t buf_idx) {
+  safe_queue.push(buf_idx);
+}
+
+// common functions
+
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) {
+  framed.setFrameId(frame_data.frame_id);
+  framed.setRequestId(frame_data.request_id);
+  framed.setTimestampEof(frame_data.timestamp_eof);
+  framed.setTimestampSof(frame_data.timestamp_sof);
+  framed.setIntegLines(frame_data.integ_lines);
+  framed.setGain(frame_data.gain);
+  framed.setHighConversionGain(frame_data.high_conversion_gain);
+  framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction);
+  framed.setTargetGreyFraction(frame_data.target_grey_fraction);
+  framed.setProcessingTime(frame_data.processing_time);
+
+  const float ev = c->cur_ev[frame_data.frame_id % 3];
+  const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f);
+  framed.setExposureValPercent(perc);
+  framed.setSensor(c->ci->image_sensor);
+}
+
+kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
+  const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;
+
+  kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(b->cur_camera_buf->len);
+  uint8_t *resized_dat = frame_image.begin();
+
+  memcpy(resized_dat, dat, b->cur_camera_buf->len);
+
+  return kj::mv(frame_image);
+}
+
+static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) {
+  int downscale = b->cur_yuv_buf->width / thumbnail_width;
+  assert(downscale * thumbnail_height == b->cur_yuv_buf->height);
+  int in_stride = b->cur_yuv_buf->stride;
+
+  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
+  std::unique_ptr<uint8[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
+  uint8_t *y_plane = buf.get();
+  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
+  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
+  {
+    // subsampled conversion from nv12 to yuv
+    for (int hy = 0; hy < thumbnail_height/2; hy++) {
+      for (int hx = 0; hx < thumbnail_width/2; hx++) {
+        int ix = hx * downscale + (downscale-1)/2;
+        int iy = hy * downscale + (downscale-1)/2;
+        y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 0];
+        y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 1];
+        y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 0];
+        y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 1];
+        u_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 0];
+        v_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 1];
+      }
+    }
+  }
+
+  struct jpeg_compress_struct cinfo;
+  struct jpeg_error_mgr jerr;
+  cinfo.err = jpeg_std_error(&jerr);
+  jpeg_create_compress(&cinfo);
+
+  uint8_t *thumbnail_buffer = nullptr;
+  size_t thumbnail_len = 0;
+  jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len);
+
+  cinfo.image_width = thumbnail_width;
+  cinfo.image_height = thumbnail_height;
+  cinfo.input_components = 3;
+
+  jpeg_set_defaults(&cinfo);
+  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
+  // configure sampling factors for yuv420.
+  cinfo.comp_info[0].h_samp_factor = 2;  // Y
+  cinfo.comp_info[0].v_samp_factor = 2;
+  cinfo.comp_info[1].h_samp_factor = 1;  // U
+  cinfo.comp_info[1].v_samp_factor = 1;
+  cinfo.comp_info[2].h_samp_factor = 1;  // V
+  cinfo.comp_info[2].v_samp_factor = 1;
+  cinfo.raw_data_in = TRUE;
+
+  jpeg_set_quality(&cinfo, 50, TRUE);
+  jpeg_start_compress(&cinfo, TRUE);
+
+  JSAMPROW y[16], u[8], v[8];
+  JSAMPARRAY planes[3]{y, u, v};
+
+  for (int line = 0; line < cinfo.image_height; line += 16) {
+    for (int i = 0; i < 16; ++i) {
+      y[i] = y_plane + (line + i) * cinfo.image_width;
+      if (i % 2 == 0) {
+        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
+        u[i / 2] = u_plane + offset;
+        v[i / 2] = v_plane + offset;
+      }
+    }
+    jpeg_write_raw_data(&cinfo, planes, 16);
+  }
+
+  jpeg_finish_compress(&cinfo);
+  jpeg_destroy_compress(&cinfo);
+
+  kj::Array<capnp::byte> dat = kj::heapArray<capnp::byte>(thumbnail_buffer, thumbnail_len);
+  free(thumbnail_buffer);
+  return dat;
+}
+
+static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
+  auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4);
+  if (thumbnail.size() == 0) return;
+
+  MessageBuilder msg;
+  auto thumbnaild = msg.initEvent().initThumbnail();
+  thumbnaild.setFrameId(b->cur_frame_data.frame_id);
+  thumbnaild.setTimestampEof(b->cur_frame_data.timestamp_eof);
+  thumbnaild.setThumbnail(thumbnail);
+
+  pm->send("thumbnail", msg);
+}
+
+float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
+  int lum_med;
+  uint32_t lum_binning[256] = {0};
+  const uint8_t *pix_ptr = b->cur_yuv_buf->y;
+
+  unsigned int lum_total = 0;
+  for (int y = y_start; y < y_end; y += y_skip) {
+    for (int x = x_start; x < x_end; x += x_skip) {
+      uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
+      lum_binning[lum]++;
+      lum_total += 1;
+    }
+  }
+
+  // Find mean lumimance value
+  unsigned int lum_cur = 0;
+  for (lum_med = 255; lum_med >= 0; lum_med--) {
+    lum_cur += lum_binning[lum_med];
+
+    if (lum_cur >= lum_total / 2) {
+      break;
+    }
+  }
+
+  return lum_med / 256.0;
+}
+
+void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
+  const char *thread_name = nullptr;
+  if (cs == &cameras->road_cam) {
+    thread_name = "RoadCamera";
+  } else if (cs == &cameras->driver_cam) {
+    thread_name = "DriverCamera";
+  } else {
+    thread_name = "WideRoadCamera";
+  }
+  util::set_thread_name(thread_name);
+
+  uint32_t cnt = 0;
+  while (!do_exit) {
+    if (!cs->buf.acquire()) continue;
+
+    callback(cameras, cs, cnt);
+
+    if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
+      // this takes 10ms???
+      publish_thumbnail(cameras->pm, &(cs->buf));
+    }
+    ++cnt;
+  }
+  return NULL;
+}
+
+std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
+  return std::thread(processing_thread, cameras, cs, callback);
+}
+
+void camerad_thread() {
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+#ifdef QCOM2
+  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
+  cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
+#else
+  cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+#endif
+
+  {
+    MultiCameraState cameras = {};
+    VisionIpcServer vipc_server("camerad", device_id, context);
+
+    cameras_open(&cameras);
+    cameras_init(&vipc_server, &cameras, device_id, context);
+
+    vipc_server.start_listener();
+
+    cameras_run(&cameras);
+  }
+
+  CL_CHECK(clReleaseContext(context));
+}
+
+int open_v4l_by_name_and_index(const char name[], int index, int flags) {
+  for (int v4l_index = 0; /**/; ++v4l_index) {
+    std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
+    if (v4l_name.empty()) return -1;
+    if (v4l_name.find(name) == 0) {
+      if (index == 0) {
+        return HANDLE_EINTR(open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags));
+      }
+      index--;
+    }
+  }
+}

system/camerad/cameras/camera_common.h

@@ -0,0 +1,87 @@
+#pragma once
+
+#include <fcntl.h>
+#include <memory>
+#include <thread>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "common/queue.h"
+
+const int YUV_BUFFER_COUNT = 20;
+
+enum CameraType {
+  RoadCam = 0,
+  DriverCam,
+  WideRoadCam
+};
+
+// for debugging
+const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
+const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
+const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
+const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
+const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
+const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
+
+typedef struct FrameMetadata {
+  uint32_t frame_id;
+  uint32_t request_id;
+
+  // Timestamps
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+
+  // Exposure
+  unsigned int integ_lines;
+  bool high_conversion_gain;
+  float gain;
+  float measured_grey_fraction;
+  float target_grey_fraction;
+
+  float processing_time;
+} FrameMetadata;
+
+struct MultiCameraState;
+class CameraState;
+class Debayer;
+
+class CameraBuf {
+private:
+  VisionIpcServer *vipc_server;
+  Debayer *debayer = nullptr;
+  VisionStreamType stream_type;
+  int cur_buf_idx;
+  SafeQueue<int> safe_queue;
+  int frame_buf_count;
+
+public:
+  cl_command_queue q;
+  FrameMetadata cur_frame_data;
+  VisionBuf *cur_yuv_buf;
+  VisionBuf *cur_camera_buf;
+  std::unique_ptr<VisionBuf[]> camera_bufs;
+  std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
+  int rgb_width, rgb_height;
+
+  CameraBuf() = default;
+  ~CameraBuf();
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  bool acquire();
+  void queue(size_t buf_idx);
+};
+
+typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
+
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
+kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
+float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
+std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
+
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
+void cameras_open(MultiCameraState *s);
+void cameras_run(MultiCameraState *s);
+void cameras_close(MultiCameraState *s);
+void camerad_thread();
+
+int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);

system/camerad/cameras/camera_qcom2.h

@@ -0,0 +1,98 @@
+#pragma once
+
+#include <memory>
+#include <utility>
+
+#include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_util.h"
+#include "system/camerad/sensors/sensor.h"
+#include "common/params.h"
+#include "common/util.h"
+
+#define FRAME_BUF_COUNT 4
+
+class CameraState {
+public:
+  MultiCameraState *multi_cam_state;
+  std::unique_ptr<const SensorInfo> ci;
+  bool enabled;
+
+  std::mutex exp_lock;
+
+  int exposure_time;
+  bool dc_gain_enabled;
+  int dc_gain_weight;
+  int gain_idx;
+  float analog_gain_frac;
+
+  float cur_ev[3];
+  float best_ev_score;
+  int new_exp_g;
+  int new_exp_t;
+
+  float measured_grey_fraction;
+  float target_grey_fraction;
+
+  unique_fd sensor_fd;
+  unique_fd csiphy_fd;
+
+  int camera_num;
+
+  void handle_camera_event(void *evdat);
+  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
+  void set_camera_exposure(float grey_frac);
+
+  void sensors_start();
+
+  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void sensor_set_parameters();
+  void camera_map_bufs(MultiCameraState *s);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
+  void camera_close();
+
+  int32_t session_handle;
+  int32_t sensor_dev_handle;
+  int32_t isp_dev_handle;
+  int32_t csiphy_dev_handle;
+
+  int32_t link_handle;
+
+  int buf0_handle;
+  int buf_handle[FRAME_BUF_COUNT];
+  int sync_objs[FRAME_BUF_COUNT];
+  int request_ids[FRAME_BUF_COUNT];
+  int request_id_last;
+  int frame_id_last;
+  int idx_offset;
+  bool skipped;
+
+  CameraBuf buf;
+  MemoryManager mm;
+
+  void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
+  void enqueue_req_multi(int start, int n, bool dp);
+  void enqueue_buffer(int i, bool dp);
+  int clear_req_queue();
+
+  int sensors_init();
+  void sensors_poke(int request_id);
+  void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
+
+private:
+  // for debugging
+  Params params;
+};
+
+typedef struct MultiCameraState {
+  unique_fd video0_fd;
+  unique_fd cam_sync_fd;
+  unique_fd isp_fd;
+  int device_iommu;
+  int cdm_iommu;
+
+  CameraState road_cam;
+  CameraState wide_road_cam;
+  CameraState driver_cam;
+
+  PubMaster *pm;
+} MultiCameraState;

system/camerad/cameras/camera_util.cc

@@ -0,0 +1,138 @@
+#include "system/camerad/cameras/camera_util.h"
+
+#include <string.h>
+
+#include <cassert>
+
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+
+// ************** low level camera helpers ****************
+int do_cam_control(int fd, int op_code, void *handle, int size) {
+  struct cam_control camcontrol = {0};
+  camcontrol.op_code = op_code;
+  camcontrol.handle = (uint64_t)handle;
+  if (size == 0) {
+    camcontrol.size = 8;
+    camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
+  } else {
+    camcontrol.size = size;
+    camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
+  }
+
+  int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
+  if (ret == -1) {
+    LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
+  }
+  return ret;
+}
+
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
+  struct cam_acquire_dev_cmd cmd = {
+    .session_handle = session_handle,
+    .handle_type = CAM_HANDLE_USER_POINTER,
+    .num_resources = (uint32_t)(data ? num_resources : 0),
+    .resource_hdl = (uint64_t)data,
+  };
+  int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
+  return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
+}
+
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
+  struct cam_config_dev_cmd cmd = {
+    .session_handle = session_handle,
+    .dev_handle = dev_handle,
+    .packet_handle = packet_handle,
+  };
+  return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
+}
+
+int device_control(int fd, int op_code, int session_handle, int dev_handle) {
+  // start stop and release are all the same
+  struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
+  return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
+}
+
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) {
+  struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
+  mem_mgr_alloc_cmd.len = len;
+  mem_mgr_alloc_cmd.align = align;
+  mem_mgr_alloc_cmd.flags = flags;
+  mem_mgr_alloc_cmd.num_hdl = 0;
+  if (mmu_hdl != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+  if (mmu_hdl2 != 0) {
+    mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
+    mem_mgr_alloc_cmd.num_hdl++;
+  }
+
+  do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
+  *handle = mem_mgr_alloc_cmd.out.buf_handle;
+
+  void *ptr = NULL;
+  if (mem_mgr_alloc_cmd.out.fd > 0) {
+    ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
+    assert(ptr != MAP_FAILED);
+  }
+
+  // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
+
+  return ptr;
+}
+
+void release(int video0_fd, uint32_t handle) {
+  int ret;
+  struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
+  mem_mgr_release_cmd.buf_handle = handle;
+
+  ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
+  assert(ret == 0);
+}
+
+void release_fd(int video0_fd, uint32_t handle) {
+  // handle to fd
+  close(handle>>16);
+  release(video0_fd, handle);
+}
+
+void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
+  lock.lock();
+  void *ptr;
+  if (!cached_allocations[size].empty()) {
+    ptr = cached_allocations[size].front();
+    cached_allocations[size].pop();
+    *handle = handle_lookup[ptr];
+  } else {
+    ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
+    handle_lookup[ptr] = *handle;
+    size_lookup[ptr] = size;
+  }
+  lock.unlock();
+  memset(ptr, 0, size);
+  return ptr;
+}
+
+void MemoryManager::free(void *ptr) {
+  lock.lock();
+  cached_allocations[size_lookup[ptr]].push(ptr);
+  lock.unlock();
+}
+
+MemoryManager::~MemoryManager() {
+  for (auto& x : cached_allocations) {
+    while (!x.second.empty()) {
+      void *ptr = x.second.front();
+      x.second.pop();
+      LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
+      munmap(ptr, size_lookup[ptr]);
+      release_fd(video0_fd, handle_lookup[ptr]);
+      handle_lookup.erase(ptr);
+      size_lookup.erase(ptr);
+    }
+  }
+}

system/camerad/cameras/camera_util.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <functional>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <optional>
+#include <queue>
+
+#include <media/cam_req_mgr.h>
+
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
+int device_control(int fd, int op_code, int session_handle, int dev_handle);
+int do_cam_control(int fd, int op_code, void *handle, int size);
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                      int mmu_hdl = 0, int mmu_hdl2 = 0);
+void release(int video0_fd, uint32_t handle);
+
+class MemoryManager {
+  public:
+    void init(int _video0_fd) { video0_fd = _video0_fd; }
+    ~MemoryManager();
+
+    template <class T>
+    auto alloc(int len, uint32_t *handle) {
+      return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
+    }
+
+  private:
+    void *alloc_buf(int len, uint32_t *handle);
+    void free(void *ptr);
+
+    std::mutex lock;
+    std::map<void *, uint32_t> handle_lookup;
+    std::map<void *, int> size_lookup;
+    std::map<int, std::queue<void *> > cached_allocations;
+    int video0_fd;
+};

system/camerad/cameras/real_debayer.cl

@@ -0,0 +1,260 @@
+#define UV_WIDTH RGB_WIDTH / 2
+#define UV_HEIGHT RGB_HEIGHT / 2
+
+#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
+#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
+#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
+#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
+
+float3 color_correct(float3 rgb) {
+  // color correction
+  #if IS_OX | IS_OS
+  float3 x = rgb.x * (float3)(1.5664815 , -0.29808738, -0.03973474);
+  x += rgb.y * (float3)(-0.48672447,  1.41914433, -0.40295248);
+  x += rgb.z * (float3)(-0.07975703, -0.12105695,  1.44268722);
+  #else
+  float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
+  x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
+  x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
+  #endif
+
+  #if IS_OX
+  return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089;
+  #elif IS_OS
+  return powr(x,0.7);
+  #else
+  // tone mapping params
+  const float gamma_k = 0.75;
+  const float gamma_b = 0.125;
+  const float mp = 0.01; // ideally midpoint should be adaptive
+  const float rk = 9 - 100*mp;
+
+  // poly approximation for s curve
+  return (x > mp) ?
+    ((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) :
+    ((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b);
+  #endif
+}
+
+float get_vignetting_s(float r) {
+  #if IS_OS
+    r = r / 2.2545f;
+  #endif
+  if (r < 62500) {
+    return (1.0f + 0.0000008f*r);
+  } else if (r < 490000) {
+    return (0.9625f + 0.0000014f*r);
+  } else if (r < 1102500) {
+    return (1.26434f + 0.0000000000016f*r*r);
+  } else {
+    return (0.53503625f + 0.0000000000022f*r*r);
+  }
+}
+
+constant float ox03c10_lut[] = {
+  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, 
+  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, 
+  3.0458e-05, 3.0577e-05, 3.0697e-05, 3.0816e-05, 3.0936e-05, 3.1055e-05, 3.1175e-05, 3.1294e-05, 3.1414e-05, 3.1533e-05, 3.1652e-05, 3.1772e-05, 3.1891e-05, 3.2011e-05, 3.2130e-05, 3.2250e-05, 3.2369e-05, 3.2489e-05, 3.2608e-05, 3.2727e-05, 3.2847e-05, 3.2966e-05, 3.3086e-05, 3.3205e-05, 3.3325e-05, 3.3444e-05, 3.3563e-05, 3.3683e-05, 3.3802e-05, 3.3922e-05, 3.4041e-05, 3.4161e-05, 3.4280e-05, 3.4400e-05, 3.4519e-05, 3.4638e-05, 3.4758e-05, 3.4877e-05, 3.4997e-05, 3.5116e-05, 3.5236e-05, 3.5355e-05, 3.5475e-05, 3.5594e-05, 3.5713e-05, 3.5833e-05, 3.5952e-05, 3.6072e-05, 3.6191e-05, 3.6311e-05, 3.6430e-05, 3.6550e-05, 3.6669e-05, 3.6788e-05, 3.6908e-05, 3.7027e-05, 3.7147e-05, 3.7266e-05, 3.7386e-05, 3.7505e-05, 3.7625e-05, 3.7744e-05, 3.7863e-05, 3.7983e-05, 3.8102e-05, 3.8222e-05, 3.8341e-05, 3.8461e-05, 3.8580e-05, 3.8700e-05, 3.8819e-05, 3.8938e-05, 3.9058e-05, 3.9177e-05, 3.9297e-05, 3.9416e-05, 3.9536e-05, 3.9655e-05, 3.9775e-05, 3.9894e-05, 4.0013e-05, 4.0133e-05, 4.0252e-05, 4.0372e-05, 4.0491e-05, 4.0611e-05, 4.0730e-05, 4.0850e-05, 4.0969e-05, 4.1088e-05, 4.1208e-05, 4.1327e-05, 4.1447e-05, 4.1566e-05, 4.1686e-05, 4.1805e-05, 4.1925e-05, 4.2044e-05, 4.2163e-05, 4.2283e-05, 4.2402e-05, 4.2522e-05, 4.2641e-05, 4.2761e-05, 4.2880e-05, 4.2999e-05, 4.3119e-05, 4.3238e-05, 4.3358e-05, 4.3477e-05, 4.3597e-05, 4.3716e-05, 4.3836e-05, 4.3955e-05, 4.4074e-05, 4.4194e-05, 4.4313e-05, 4.4433e-05, 4.4552e-05, 4.4672e-05, 4.4791e-05, 4.4911e-05, 4.5030e-05, 4.5149e-05, 4.5269e-05, 4.5388e-05, 4.5508e-05, 4.5627e-05, 4.5747e-05, 4.5866e-05, 4.5986e-05, 4.6105e-05, 4.6224e-05, 4.6344e-05, 4.6463e-05, 4.6583e-05, 4.6702e-05, 4.6822e-05, 4.6941e-05, 4.7061e-05, 4.7180e-05, 4.7299e-05, 4.7419e-05, 4.7538e-05, 4.7658e-05, 4.7777e-05, 4.7897e-05, 4.8016e-05, 4.8136e-05, 4.8255e-05, 4.8374e-05, 4.8494e-05, 4.8613e-05, 4.8733e-05, 4.8852e-05, 4.8972e-05, 4.9091e-05, 4.9211e-05, 4.9330e-05, 4.9449e-05, 4.9569e-05, 4.9688e-05, 4.9808e-05, 4.9927e-05, 5.0047e-05, 5.0166e-05, 5.0286e-05, 5.0405e-05, 5.0524e-05, 5.0644e-05, 5.0763e-05, 5.0883e-05, 5.1002e-05, 5.1122e-05, 5.1241e-05, 5.1361e-05, 5.1480e-05, 5.1599e-05, 5.1719e-05, 5.1838e-05, 5.1958e-05, 5.2077e-05, 5.2197e-05, 5.2316e-05, 5.2435e-05, 5.2555e-05, 5.2674e-05, 5.2794e-05, 5.2913e-05, 5.3033e-05, 5.3152e-05, 5.3272e-05, 5.3391e-05, 5.3510e-05, 5.3630e-05, 5.3749e-05, 5.3869e-05, 5.3988e-05, 5.4108e-05, 5.4227e-05, 5.4347e-05, 5.4466e-05, 5.4585e-05, 5.4705e-05, 5.4824e-05, 5.4944e-05, 5.5063e-05, 5.5183e-05, 5.5302e-05, 5.5422e-05, 5.5541e-05, 5.5660e-05, 5.5780e-05, 5.5899e-05, 5.6019e-05, 5.6138e-05, 5.6258e-05, 5.6377e-05, 5.6497e-05, 5.6616e-05, 5.6735e-05, 5.6855e-05, 5.6974e-05, 5.7094e-05, 5.7213e-05, 5.7333e-05, 5.7452e-05, 5.7572e-05, 5.7691e-05, 5.7810e-05, 5.7930e-05, 5.8049e-05, 5.8169e-05, 5.8288e-05, 5.8408e-05, 5.8527e-05, 5.8647e-05, 5.8766e-05, 5.8885e-05, 5.9005e-05, 5.9124e-05, 5.9244e-05, 5.9363e-05, 5.9483e-05, 5.9602e-05, 5.9722e-05, 5.9841e-05, 5.9960e-05, 6.0080e-05, 6.0199e-05, 6.0319e-05, 6.0438e-05, 6.0558e-05, 6.0677e-05, 6.0797e-05, 6.0916e-05, 
+  6.1154e-05, 6.1392e-05, 6.1631e-05, 6.1869e-05, 6.2107e-05, 6.2345e-05, 6.2583e-05, 6.2821e-05, 6.3060e-05, 6.3298e-05, 6.3536e-05, 6.3774e-05, 6.4012e-05, 6.4251e-05, 6.4489e-05, 6.4727e-05, 6.4965e-05, 6.5203e-05, 6.5441e-05, 6.5680e-05, 6.5918e-05, 6.6156e-05, 6.6394e-05, 6.6632e-05, 6.6871e-05, 6.7109e-05, 6.7347e-05, 6.7585e-05, 6.7823e-05, 6.8062e-05, 6.8300e-05, 6.8538e-05, 6.8776e-05, 6.9014e-05, 6.9252e-05, 6.9491e-05, 6.9729e-05, 6.9967e-05, 7.0205e-05, 7.0443e-05, 7.0682e-05, 7.0920e-05, 7.1158e-05, 7.1396e-05, 7.1634e-05, 7.1872e-05, 7.2111e-05, 7.2349e-05, 7.2587e-05, 7.2825e-05, 7.3063e-05, 7.3302e-05, 7.3540e-05, 7.3778e-05, 7.4016e-05, 7.4254e-05, 7.4493e-05, 7.4731e-05, 7.4969e-05, 7.5207e-05, 7.5445e-05, 7.5683e-05, 7.5922e-05, 7.6160e-05, 7.6398e-05, 7.6636e-05, 7.6874e-05, 7.7113e-05, 7.7351e-05, 7.7589e-05, 7.7827e-05, 7.8065e-05, 7.8304e-05, 7.8542e-05, 7.8780e-05, 7.9018e-05, 7.9256e-05, 7.9494e-05, 7.9733e-05, 7.9971e-05, 8.0209e-05, 8.0447e-05, 8.0685e-05, 8.0924e-05, 8.1162e-05, 8.1400e-05, 8.1638e-05, 8.1876e-05, 8.2114e-05, 8.2353e-05, 8.2591e-05, 8.2829e-05, 8.3067e-05, 8.3305e-05, 8.3544e-05, 8.3782e-05, 8.4020e-05, 8.4258e-05, 8.4496e-05, 8.4735e-05, 8.4973e-05, 8.5211e-05, 8.5449e-05, 8.5687e-05, 8.5925e-05, 8.6164e-05, 8.6402e-05, 8.6640e-05, 8.6878e-05, 8.7116e-05, 8.7355e-05, 8.7593e-05, 8.7831e-05, 8.8069e-05, 8.8307e-05, 8.8545e-05, 8.8784e-05, 8.9022e-05, 8.9260e-05, 8.9498e-05, 8.9736e-05, 8.9975e-05, 9.0213e-05, 9.0451e-05, 9.0689e-05, 9.0927e-05, 9.1166e-05, 9.1404e-05, 9.1642e-05, 9.1880e-05, 9.2118e-05, 9.2356e-05, 9.2595e-05, 9.2833e-05, 9.3071e-05, 9.3309e-05, 9.3547e-05, 9.3786e-05, 9.4024e-05, 9.4262e-05, 9.4500e-05, 9.4738e-05, 9.4977e-05, 9.5215e-05, 9.5453e-05, 9.5691e-05, 9.5929e-05, 9.6167e-05, 9.6406e-05, 9.6644e-05, 9.6882e-05, 9.7120e-05, 9.7358e-05, 9.7597e-05, 9.7835e-05, 9.8073e-05, 9.8311e-05, 9.8549e-05, 9.8787e-05, 9.9026e-05, 9.9264e-05, 9.9502e-05, 9.9740e-05, 9.9978e-05, 1.0022e-04, 1.0045e-04, 1.0069e-04, 1.0093e-04, 1.0117e-04, 1.0141e-04, 1.0165e-04, 1.0188e-04, 1.0212e-04, 1.0236e-04, 1.0260e-04, 1.0284e-04, 1.0307e-04, 1.0331e-04, 1.0355e-04, 1.0379e-04, 1.0403e-04, 1.0427e-04, 1.0450e-04, 1.0474e-04, 1.0498e-04, 1.0522e-04, 1.0546e-04, 1.0569e-04, 1.0593e-04, 1.0617e-04, 1.0641e-04, 1.0665e-04, 1.0689e-04, 1.0712e-04, 1.0736e-04, 1.0760e-04, 1.0784e-04, 1.0808e-04, 1.0831e-04, 1.0855e-04, 1.0879e-04, 1.0903e-04, 1.0927e-04, 1.0951e-04, 1.0974e-04, 1.0998e-04, 1.1022e-04, 1.1046e-04, 1.1070e-04, 1.1093e-04, 1.1117e-04, 1.1141e-04, 1.1165e-04, 1.1189e-04, 1.1213e-04, 1.1236e-04, 1.1260e-04, 1.1284e-04, 1.1308e-04, 1.1332e-04, 1.1355e-04, 1.1379e-04, 1.1403e-04, 1.1427e-04, 1.1451e-04, 1.1475e-04, 1.1498e-04, 1.1522e-04, 1.1546e-04, 1.1570e-04, 1.1594e-04, 1.1618e-04, 1.1641e-04, 1.1665e-04, 1.1689e-04, 1.1713e-04, 1.1737e-04, 1.1760e-04, 1.1784e-04, 1.1808e-04, 1.1832e-04, 1.1856e-04, 1.1880e-04, 1.1903e-04, 1.1927e-04, 1.1951e-04, 1.1975e-04, 1.1999e-04, 1.2022e-04, 1.2046e-04, 1.2070e-04, 1.2094e-04, 1.2118e-04, 1.2142e-04, 1.2165e-04, 1.2189e-04, 
+  1.2213e-04, 1.2237e-04, 1.2261e-04, 1.2284e-04, 1.2308e-04, 1.2332e-04, 1.2356e-04, 1.2380e-04, 1.2404e-04, 1.2427e-04, 1.2451e-04, 1.2475e-04, 1.2499e-04, 1.2523e-04, 1.2546e-04, 1.2570e-04, 1.2594e-04, 1.2618e-04, 1.2642e-04, 1.2666e-04, 1.2689e-04, 1.2713e-04, 1.2737e-04, 1.2761e-04, 1.2785e-04, 1.2808e-04, 1.2832e-04, 1.2856e-04, 1.2880e-04, 1.2904e-04, 1.2928e-04, 1.2951e-04, 1.2975e-04, 1.2999e-04, 1.3023e-04, 1.3047e-04, 1.3070e-04, 1.3094e-04, 1.3118e-04, 1.3142e-04, 1.3166e-04, 1.3190e-04, 1.3213e-04, 1.3237e-04, 1.3261e-04, 1.3285e-04, 1.3309e-04, 1.3332e-04, 1.3356e-04, 1.3380e-04, 1.3404e-04, 1.3428e-04, 1.3452e-04, 1.3475e-04, 1.3499e-04, 1.3523e-04, 1.3547e-04, 1.3571e-04, 1.3594e-04, 1.3618e-04, 1.3642e-04, 1.3666e-04, 1.3690e-04, 1.3714e-04, 1.3737e-04, 1.3761e-04, 1.3785e-04, 1.3809e-04, 1.3833e-04, 1.3856e-04, 1.3880e-04, 1.3904e-04, 1.3928e-04, 1.3952e-04, 1.3976e-04, 1.3999e-04, 1.4023e-04, 1.4047e-04, 1.4071e-04, 1.4095e-04, 1.4118e-04, 1.4142e-04, 1.4166e-04, 1.4190e-04, 1.4214e-04, 1.4238e-04, 1.4261e-04, 1.4285e-04, 1.4309e-04, 1.4333e-04, 1.4357e-04, 1.4380e-04, 1.4404e-04, 1.4428e-04, 1.4452e-04, 1.4476e-04, 1.4500e-04, 1.4523e-04, 1.4547e-04, 1.4571e-04, 1.4595e-04, 1.4619e-04, 1.4642e-04, 1.4666e-04, 1.4690e-04, 1.4714e-04, 1.4738e-04, 1.4762e-04, 1.4785e-04, 1.4809e-04, 1.4833e-04, 1.4857e-04, 1.4881e-04, 1.4904e-04, 1.4928e-04, 1.4952e-04, 1.4976e-04, 1.5000e-04, 1.5024e-04, 1.5047e-04, 1.5071e-04, 1.5095e-04, 1.5119e-04, 1.5143e-04, 1.5166e-04, 1.5190e-04, 1.5214e-04, 1.5238e-04, 1.5262e-04, 1.5286e-04, 1.5309e-04, 1.5333e-04, 1.5357e-04, 1.5381e-04, 1.5405e-04, 1.5428e-04, 1.5452e-04, 1.5476e-04, 1.5500e-04, 1.5524e-04, 1.5548e-04, 1.5571e-04, 1.5595e-04, 1.5619e-04, 1.5643e-04, 1.5667e-04, 1.5690e-04, 1.5714e-04, 1.5738e-04, 1.5762e-04, 1.5786e-04, 1.5810e-04, 1.5833e-04, 1.5857e-04, 1.5881e-04, 1.5905e-04, 1.5929e-04, 1.5952e-04, 1.5976e-04, 1.6000e-04, 1.6024e-04, 1.6048e-04, 1.6072e-04, 1.6095e-04, 1.6119e-04, 1.6143e-04, 1.6167e-04, 1.6191e-04, 1.6214e-04, 1.6238e-04, 1.6262e-04, 1.6286e-04, 1.6310e-04, 1.6334e-04, 1.6357e-04, 1.6381e-04, 1.6405e-04, 1.6429e-04, 1.6453e-04, 1.6476e-04, 1.6500e-04, 1.6524e-04, 1.6548e-04, 1.6572e-04, 1.6596e-04, 1.6619e-04, 1.6643e-04, 1.6667e-04, 1.6691e-04, 1.6715e-04, 1.6738e-04, 1.6762e-04, 1.6786e-04, 1.6810e-04, 1.6834e-04, 1.6858e-04, 1.6881e-04, 1.6905e-04, 1.6929e-04, 1.6953e-04, 1.6977e-04, 1.7001e-04, 1.7024e-04, 1.7048e-04, 1.7072e-04, 1.7096e-04, 1.7120e-04, 1.7143e-04, 1.7167e-04, 1.7191e-04, 1.7215e-04, 1.7239e-04, 1.7263e-04, 1.7286e-04, 1.7310e-04, 1.7334e-04, 1.7358e-04, 1.7382e-04, 1.7405e-04, 1.7429e-04, 1.7453e-04, 1.7477e-04, 1.7501e-04, 1.7525e-04, 1.7548e-04, 1.7572e-04, 1.7596e-04, 1.7620e-04, 1.7644e-04, 1.7667e-04, 1.7691e-04, 1.7715e-04, 1.7739e-04, 1.7763e-04, 1.7787e-04, 1.7810e-04, 1.7834e-04, 1.7858e-04, 1.7882e-04, 1.7906e-04, 1.7929e-04, 1.7953e-04, 1.7977e-04, 1.8001e-04, 1.8025e-04, 1.8049e-04, 1.8072e-04, 1.8096e-04, 1.8120e-04, 1.8144e-04, 1.8168e-04, 1.8191e-04, 1.8215e-04, 1.8239e-04, 1.8263e-04, 1.8287e-04, 
+  1.8311e-04, 1.8334e-04, 1.8358e-04, 1.8382e-04, 1.8406e-04, 1.8430e-04, 1.8453e-04, 1.8477e-04, 1.8501e-04, 1.8525e-04, 1.8549e-04, 1.8573e-04, 1.8596e-04, 1.8620e-04, 1.8644e-04, 1.8668e-04, 1.8692e-04, 1.8715e-04, 1.8739e-04, 1.8763e-04, 1.8787e-04, 1.8811e-04, 1.8835e-04, 1.8858e-04, 1.8882e-04, 1.8906e-04, 1.8930e-04, 1.8954e-04, 1.8977e-04, 1.9001e-04, 1.9025e-04, 1.9049e-04, 1.9073e-04, 1.9097e-04, 1.9120e-04, 1.9144e-04, 1.9168e-04, 1.9192e-04, 1.9216e-04, 1.9239e-04, 1.9263e-04, 1.9287e-04, 1.9311e-04, 1.9335e-04, 1.9359e-04, 1.9382e-04, 1.9406e-04, 1.9430e-04, 1.9454e-04, 1.9478e-04, 1.9501e-04, 1.9525e-04, 1.9549e-04, 1.9573e-04, 1.9597e-04, 1.9621e-04, 1.9644e-04, 1.9668e-04, 1.9692e-04, 1.9716e-04, 1.9740e-04, 1.9763e-04, 1.9787e-04, 1.9811e-04, 1.9835e-04, 1.9859e-04, 1.9883e-04, 1.9906e-04, 1.9930e-04, 1.9954e-04, 1.9978e-04, 2.0002e-04, 2.0025e-04, 2.0049e-04, 2.0073e-04, 2.0097e-04, 2.0121e-04, 2.0145e-04, 2.0168e-04, 2.0192e-04, 2.0216e-04, 2.0240e-04, 2.0264e-04, 2.0287e-04, 2.0311e-04, 2.0335e-04, 2.0359e-04, 2.0383e-04, 2.0407e-04, 2.0430e-04, 2.0454e-04, 2.0478e-04, 2.0502e-04, 2.0526e-04, 2.0549e-04, 2.0573e-04, 2.0597e-04, 2.0621e-04, 2.0645e-04, 2.0669e-04, 2.0692e-04, 2.0716e-04, 2.0740e-04, 2.0764e-04, 2.0788e-04, 2.0811e-04, 2.0835e-04, 2.0859e-04, 2.0883e-04, 2.0907e-04, 2.0931e-04, 2.0954e-04, 2.0978e-04, 2.1002e-04, 2.1026e-04, 2.1050e-04, 2.1073e-04, 2.1097e-04, 2.1121e-04, 2.1145e-04, 2.1169e-04, 2.1193e-04, 2.1216e-04, 2.1240e-04, 2.1264e-04, 2.1288e-04, 2.1312e-04, 2.1335e-04, 2.1359e-04, 2.1383e-04, 2.1407e-04, 2.1431e-04, 2.1455e-04, 2.1478e-04, 2.1502e-04, 2.1526e-04, 2.1550e-04, 2.1574e-04, 2.1597e-04, 2.1621e-04, 2.1645e-04, 2.1669e-04, 2.1693e-04, 2.1717e-04, 2.1740e-04, 2.1764e-04, 2.1788e-04, 2.1812e-04, 2.1836e-04, 2.1859e-04, 2.1883e-04, 2.1907e-04, 2.1931e-04, 2.1955e-04, 2.1979e-04, 2.2002e-04, 2.2026e-04, 2.2050e-04, 2.2074e-04, 2.2098e-04, 2.2121e-04, 2.2145e-04, 2.2169e-04, 2.2193e-04, 2.2217e-04, 2.2241e-04, 2.2264e-04, 2.2288e-04, 2.2312e-04, 2.2336e-04, 2.2360e-04, 2.2383e-04, 2.2407e-04, 2.2431e-04, 2.2455e-04, 2.2479e-04, 2.2503e-04, 2.2526e-04, 2.2550e-04, 2.2574e-04, 2.2598e-04, 2.2622e-04, 2.2646e-04, 2.2669e-04, 2.2693e-04, 2.2717e-04, 2.2741e-04, 2.2765e-04, 2.2788e-04, 2.2812e-04, 2.2836e-04, 2.2860e-04, 2.2884e-04, 2.2908e-04, 2.2931e-04, 2.2955e-04, 2.2979e-04, 2.3003e-04, 2.3027e-04, 2.3050e-04, 2.3074e-04, 2.3098e-04, 2.3122e-04, 2.3146e-04, 2.3170e-04, 2.3193e-04, 2.3217e-04, 2.3241e-04, 2.3265e-04, 2.3289e-04, 2.3312e-04, 2.3336e-04, 2.3360e-04, 2.3384e-04, 2.3408e-04, 2.3432e-04, 2.3455e-04, 2.3479e-04, 2.3503e-04, 2.3527e-04, 2.3551e-04, 2.3574e-04, 2.3598e-04, 2.3622e-04, 2.3646e-04, 2.3670e-04, 2.3694e-04, 2.3717e-04, 2.3741e-04, 2.3765e-04, 2.3789e-04, 2.3813e-04, 2.3836e-04, 2.3860e-04, 2.3884e-04, 2.3908e-04, 2.3932e-04, 2.3956e-04, 2.3979e-04, 2.4003e-04, 2.4027e-04, 2.4051e-04, 2.4075e-04, 2.4098e-04, 2.4122e-04, 2.4146e-04, 2.4170e-04, 2.4194e-04, 2.4218e-04, 2.4241e-04, 2.4265e-04, 2.4289e-04, 2.4313e-04, 2.4337e-04, 2.4360e-04, 2.4384e-04, 
+  2.4480e-04, 2.4575e-04, 2.4670e-04, 2.4766e-04, 2.4861e-04, 2.4956e-04, 2.5052e-04, 2.5147e-04, 2.5242e-04, 2.5337e-04, 2.5433e-04, 2.5528e-04, 2.5623e-04, 2.5719e-04, 2.5814e-04, 2.5909e-04, 2.6005e-04, 2.6100e-04, 2.6195e-04, 2.6291e-04, 2.6386e-04, 2.6481e-04, 2.6577e-04, 2.6672e-04, 2.6767e-04, 2.6863e-04, 2.6958e-04, 2.7053e-04, 2.7149e-04, 2.7244e-04, 2.7339e-04, 2.7435e-04, 2.7530e-04, 2.7625e-04, 2.7720e-04, 2.7816e-04, 2.7911e-04, 2.8006e-04, 2.8102e-04, 2.8197e-04, 2.8292e-04, 2.8388e-04, 2.8483e-04, 2.8578e-04, 2.8674e-04, 2.8769e-04, 2.8864e-04, 2.8960e-04, 2.9055e-04, 2.9150e-04, 2.9246e-04, 2.9341e-04, 2.9436e-04, 2.9532e-04, 2.9627e-04, 2.9722e-04, 2.9818e-04, 2.9913e-04, 3.0008e-04, 3.0104e-04, 3.0199e-04, 3.0294e-04, 3.0389e-04, 3.0485e-04, 3.0580e-04, 3.0675e-04, 3.0771e-04, 3.0866e-04, 3.0961e-04, 3.1057e-04, 3.1152e-04, 3.1247e-04, 3.1343e-04, 3.1438e-04, 3.1533e-04, 3.1629e-04, 3.1724e-04, 3.1819e-04, 3.1915e-04, 3.2010e-04, 3.2105e-04, 3.2201e-04, 3.2296e-04, 3.2391e-04, 3.2487e-04, 3.2582e-04, 3.2677e-04, 3.2772e-04, 3.2868e-04, 3.2963e-04, 3.3058e-04, 3.3154e-04, 3.3249e-04, 3.3344e-04, 3.3440e-04, 3.3535e-04, 3.3630e-04, 3.3726e-04, 3.3821e-04, 3.3916e-04, 3.4012e-04, 3.4107e-04, 3.4202e-04, 3.4298e-04, 3.4393e-04, 3.4488e-04, 3.4584e-04, 3.4679e-04, 3.4774e-04, 3.4870e-04, 3.4965e-04, 3.5060e-04, 3.5156e-04, 3.5251e-04, 3.5346e-04, 3.5441e-04, 3.5537e-04, 3.5632e-04, 3.5727e-04, 3.5823e-04, 3.5918e-04, 3.6013e-04, 3.6109e-04, 3.6204e-04, 3.6299e-04, 3.6395e-04, 3.6490e-04, 3.6585e-04, 3.6681e-04, 3.6776e-04, 3.6871e-04, 3.6967e-04, 3.7062e-04, 3.7157e-04, 3.7253e-04, 3.7348e-04, 3.7443e-04, 3.7539e-04, 3.7634e-04, 3.7729e-04, 3.7825e-04, 3.7920e-04, 3.8015e-04, 3.8110e-04, 3.8206e-04, 3.8301e-04, 3.8396e-04, 3.8492e-04, 3.8587e-04, 3.8682e-04, 3.8778e-04, 3.8873e-04, 3.8968e-04, 3.9064e-04, 3.9159e-04, 3.9254e-04, 3.9350e-04, 3.9445e-04, 3.9540e-04, 3.9636e-04, 3.9731e-04, 3.9826e-04, 3.9922e-04, 4.0017e-04, 4.0112e-04, 4.0208e-04, 4.0303e-04, 4.0398e-04, 4.0493e-04, 4.0589e-04, 4.0684e-04, 4.0779e-04, 4.0875e-04, 4.0970e-04, 4.1065e-04, 4.1161e-04, 4.1256e-04, 4.1351e-04, 4.1447e-04, 4.1542e-04, 4.1637e-04, 4.1733e-04, 4.1828e-04, 4.1923e-04, 4.2019e-04, 4.2114e-04, 4.2209e-04, 4.2305e-04, 4.2400e-04, 4.2495e-04, 4.2591e-04, 4.2686e-04, 4.2781e-04, 4.2877e-04, 4.2972e-04, 4.3067e-04, 4.3162e-04, 4.3258e-04, 4.3353e-04, 4.3448e-04, 4.3544e-04, 4.3639e-04, 4.3734e-04, 4.3830e-04, 4.3925e-04, 4.4020e-04, 4.4116e-04, 4.4211e-04, 4.4306e-04, 4.4402e-04, 4.4497e-04, 4.4592e-04, 4.4688e-04, 4.4783e-04, 4.4878e-04, 4.4974e-04, 4.5069e-04, 4.5164e-04, 4.5260e-04, 4.5355e-04, 4.5450e-04, 4.5545e-04, 4.5641e-04, 4.5736e-04, 4.5831e-04, 4.5927e-04, 4.6022e-04, 4.6117e-04, 4.6213e-04, 4.6308e-04, 4.6403e-04, 4.6499e-04, 4.6594e-04, 4.6689e-04, 4.6785e-04, 4.6880e-04, 4.6975e-04, 4.7071e-04, 4.7166e-04, 4.7261e-04, 4.7357e-04, 4.7452e-04, 4.7547e-04, 4.7643e-04, 4.7738e-04, 4.7833e-04, 4.7929e-04, 4.8024e-04, 4.8119e-04, 4.8214e-04, 4.8310e-04, 4.8405e-04, 4.8500e-04, 4.8596e-04, 4.8691e-04, 4.8786e-04, 
+  4.8977e-04, 4.9168e-04, 4.9358e-04, 4.9549e-04, 4.9740e-04, 4.9931e-04, 5.0121e-04, 5.0312e-04, 5.0503e-04, 5.0693e-04, 5.0884e-04, 5.1075e-04, 5.1265e-04, 5.1456e-04, 5.1647e-04, 5.1837e-04, 5.2028e-04, 5.2219e-04, 5.2409e-04, 5.2600e-04, 5.2791e-04, 5.2982e-04, 5.3172e-04, 5.3363e-04, 5.3554e-04, 5.3744e-04, 5.3935e-04, 5.4126e-04, 5.4316e-04, 5.4507e-04, 5.4698e-04, 5.4888e-04, 5.5079e-04, 5.5270e-04, 5.5460e-04, 5.5651e-04, 5.5842e-04, 5.6033e-04, 5.6223e-04, 5.6414e-04, 5.6605e-04, 5.6795e-04, 5.6986e-04, 5.7177e-04, 5.7367e-04, 5.7558e-04, 5.7749e-04, 5.7939e-04, 5.8130e-04, 5.8321e-04, 5.8512e-04, 5.8702e-04, 5.8893e-04, 5.9084e-04, 5.9274e-04, 5.9465e-04, 5.9656e-04, 5.9846e-04, 6.0037e-04, 6.0228e-04, 6.0418e-04, 6.0609e-04, 6.0800e-04, 6.0990e-04, 6.1181e-04, 6.1372e-04, 6.1563e-04, 6.1753e-04, 6.1944e-04, 6.2135e-04, 6.2325e-04, 6.2516e-04, 6.2707e-04, 6.2897e-04, 6.3088e-04, 6.3279e-04, 6.3469e-04, 6.3660e-04, 6.3851e-04, 6.4041e-04, 6.4232e-04, 6.4423e-04, 6.4614e-04, 6.4804e-04, 6.4995e-04, 6.5186e-04, 6.5376e-04, 6.5567e-04, 6.5758e-04, 6.5948e-04, 6.6139e-04, 6.6330e-04, 6.6520e-04, 6.6711e-04, 6.6902e-04, 6.7092e-04, 6.7283e-04, 6.7474e-04, 6.7665e-04, 6.7855e-04, 6.8046e-04, 6.8237e-04, 6.8427e-04, 6.8618e-04, 6.8809e-04, 6.8999e-04, 6.9190e-04, 6.9381e-04, 6.9571e-04, 6.9762e-04, 6.9953e-04, 7.0143e-04, 7.0334e-04, 7.0525e-04, 7.0716e-04, 7.0906e-04, 7.1097e-04, 7.1288e-04, 7.1478e-04, 7.1669e-04, 7.1860e-04, 7.2050e-04, 7.2241e-04, 7.2432e-04, 7.2622e-04, 7.2813e-04, 7.3004e-04, 7.3195e-04, 7.3385e-04, 7.3576e-04, 7.3767e-04, 7.3957e-04, 7.4148e-04, 7.4339e-04, 7.4529e-04, 7.4720e-04, 7.4911e-04, 7.5101e-04, 7.5292e-04, 7.5483e-04, 7.5673e-04, 7.5864e-04, 7.6055e-04, 7.6246e-04, 7.6436e-04, 7.6627e-04, 7.6818e-04, 7.7008e-04, 7.7199e-04, 7.7390e-04, 7.7580e-04, 7.7771e-04, 7.7962e-04, 7.8152e-04, 7.8343e-04, 7.8534e-04, 7.8724e-04, 7.8915e-04, 7.9106e-04, 7.9297e-04, 7.9487e-04, 7.9678e-04, 7.9869e-04, 8.0059e-04, 8.0250e-04, 8.0441e-04, 8.0631e-04, 8.0822e-04, 8.1013e-04, 8.1203e-04, 8.1394e-04, 8.1585e-04, 8.1775e-04, 8.1966e-04, 8.2157e-04, 8.2348e-04, 8.2538e-04, 8.2729e-04, 8.2920e-04, 8.3110e-04, 8.3301e-04, 8.3492e-04, 8.3682e-04, 8.3873e-04, 8.4064e-04, 8.4254e-04, 8.4445e-04, 8.4636e-04, 8.4826e-04, 8.5017e-04, 8.5208e-04, 8.5399e-04, 8.5589e-04, 8.5780e-04, 8.5971e-04, 8.6161e-04, 8.6352e-04, 8.6543e-04, 8.6733e-04, 8.6924e-04, 8.7115e-04, 8.7305e-04, 8.7496e-04, 8.7687e-04, 8.7878e-04, 8.8068e-04, 8.8259e-04, 8.8450e-04, 8.8640e-04, 8.8831e-04, 8.9022e-04, 8.9212e-04, 8.9403e-04, 8.9594e-04, 8.9784e-04, 8.9975e-04, 9.0166e-04, 9.0356e-04, 9.0547e-04, 9.0738e-04, 9.0929e-04, 9.1119e-04, 9.1310e-04, 9.1501e-04, 9.1691e-04, 9.1882e-04, 9.2073e-04, 9.2263e-04, 9.2454e-04, 9.2645e-04, 9.2835e-04, 9.3026e-04, 9.3217e-04, 9.3407e-04, 9.3598e-04, 9.3789e-04, 9.3980e-04, 9.4170e-04, 9.4361e-04, 9.4552e-04, 9.4742e-04, 9.4933e-04, 9.5124e-04, 9.5314e-04, 9.5505e-04, 9.5696e-04, 9.5886e-04, 9.6077e-04, 9.6268e-04, 9.6458e-04, 9.6649e-04, 9.6840e-04, 9.7031e-04, 9.7221e-04, 9.7412e-04, 9.7603e-04, 
+  9.7984e-04, 9.8365e-04, 9.8747e-04, 9.9128e-04, 9.9510e-04, 9.9891e-04, 1.0027e-03, 1.0065e-03, 1.0104e-03, 1.0142e-03, 1.0180e-03, 1.0218e-03, 1.0256e-03, 1.0294e-03, 1.0332e-03, 1.0371e-03, 1.0409e-03, 1.0447e-03, 1.0485e-03, 1.0523e-03, 1.0561e-03, 1.0599e-03, 1.0638e-03, 1.0676e-03, 1.0714e-03, 1.0752e-03, 1.0790e-03, 1.0828e-03, 1.0866e-03, 1.0905e-03, 1.0943e-03, 1.0981e-03, 1.1019e-03, 1.1057e-03, 1.1095e-03, 1.1133e-03, 1.1172e-03, 1.1210e-03, 1.1248e-03, 1.1286e-03, 1.1324e-03, 1.1362e-03, 1.1400e-03, 1.1439e-03, 1.1477e-03, 1.1515e-03, 1.1553e-03, 1.1591e-03, 1.1629e-03, 1.1667e-03, 1.1706e-03, 1.1744e-03, 1.1782e-03, 1.1820e-03, 1.1858e-03, 1.1896e-03, 1.1934e-03, 1.1973e-03, 1.2011e-03, 1.2049e-03, 1.2087e-03, 1.2125e-03, 1.2163e-03, 1.2201e-03, 1.2240e-03, 1.2278e-03, 1.2316e-03, 1.2354e-03, 1.2392e-03, 1.2430e-03, 1.2468e-03, 1.2507e-03, 1.2545e-03, 1.2583e-03, 1.2621e-03, 1.2659e-03, 1.2697e-03, 1.2735e-03, 1.2774e-03, 1.2812e-03, 1.2850e-03, 1.2888e-03, 1.2926e-03, 1.2964e-03, 1.3002e-03, 1.3040e-03, 1.3079e-03, 1.3117e-03, 1.3155e-03, 1.3193e-03, 1.3231e-03, 1.3269e-03, 1.3307e-03, 1.3346e-03, 1.3384e-03, 1.3422e-03, 1.3460e-03, 1.3498e-03, 1.3536e-03, 1.3574e-03, 1.3613e-03, 1.3651e-03, 1.3689e-03, 1.3727e-03, 1.3765e-03, 1.3803e-03, 1.3841e-03, 1.3880e-03, 1.3918e-03, 1.3956e-03, 1.3994e-03, 1.4032e-03, 1.4070e-03, 1.4108e-03, 1.4147e-03, 1.4185e-03, 1.4223e-03, 1.4261e-03, 1.4299e-03, 1.4337e-03, 1.4375e-03, 1.4414e-03, 1.4452e-03, 1.4490e-03, 1.4528e-03, 1.4566e-03, 1.4604e-03, 1.4642e-03, 1.4681e-03, 1.4719e-03, 1.4757e-03, 1.4795e-03, 1.4833e-03, 1.4871e-03, 1.4909e-03, 1.4948e-03, 1.4986e-03, 1.5024e-03, 1.5062e-03, 1.5100e-03, 1.5138e-03, 1.5176e-03, 1.5215e-03, 1.5253e-03, 1.5291e-03, 1.5329e-03, 1.5367e-03, 1.5405e-03, 1.5443e-03, 1.5482e-03, 1.5520e-03, 1.5558e-03, 1.5596e-03, 1.5634e-03, 1.5672e-03, 1.5710e-03, 1.5749e-03, 1.5787e-03, 1.5825e-03, 1.5863e-03, 1.5901e-03, 1.5939e-03, 1.5977e-03, 1.6016e-03, 1.6054e-03, 1.6092e-03, 1.6130e-03, 1.6168e-03, 1.6206e-03, 1.6244e-03, 1.6283e-03, 1.6321e-03, 1.6359e-03, 1.6397e-03, 1.6435e-03, 1.6473e-03, 1.6511e-03, 1.6550e-03, 1.6588e-03, 1.6626e-03, 1.6664e-03, 1.6702e-03, 1.6740e-03, 1.6778e-03, 1.6817e-03, 1.6855e-03, 1.6893e-03, 1.6931e-03, 1.6969e-03, 1.7007e-03, 1.7045e-03, 1.7084e-03, 1.7122e-03, 1.7160e-03, 1.7198e-03, 1.7236e-03, 1.7274e-03, 1.7312e-03, 1.7351e-03, 1.7389e-03, 1.7427e-03, 1.7465e-03, 1.7503e-03, 1.7541e-03, 1.7579e-03, 1.7618e-03, 1.7656e-03, 1.7694e-03, 1.7732e-03, 1.7770e-03, 1.7808e-03, 1.7846e-03, 1.7885e-03, 1.7923e-03, 1.7961e-03, 1.7999e-03, 1.8037e-03, 1.8075e-03, 1.8113e-03, 1.8152e-03, 1.8190e-03, 1.8228e-03, 1.8266e-03, 1.8304e-03, 1.8342e-03, 1.8380e-03, 1.8419e-03, 1.8457e-03, 1.8495e-03, 1.8533e-03, 1.8571e-03, 1.8609e-03, 1.8647e-03, 1.8686e-03, 1.8724e-03, 1.8762e-03, 1.8800e-03, 1.8838e-03, 1.8876e-03, 1.8914e-03, 1.8953e-03, 1.8991e-03, 1.9029e-03, 1.9067e-03, 1.9105e-03, 1.9143e-03, 1.9181e-03, 1.9220e-03, 1.9258e-03, 1.9296e-03, 1.9334e-03, 1.9372e-03, 1.9410e-03, 1.9448e-03, 1.9487e-03, 1.9525e-03, 
+  1.9601e-03, 1.9677e-03, 1.9754e-03, 1.9830e-03, 1.9906e-03, 1.9982e-03, 2.0059e-03, 2.0135e-03, 2.0211e-03, 2.0288e-03, 2.0364e-03, 2.0440e-03, 2.0516e-03, 2.0593e-03, 2.0669e-03, 2.0745e-03, 2.0822e-03, 2.0898e-03, 2.0974e-03, 2.1050e-03, 2.1127e-03, 2.1203e-03, 2.1279e-03, 2.1356e-03, 2.1432e-03, 2.1508e-03, 2.1585e-03, 2.1661e-03, 2.1737e-03, 2.1813e-03, 2.1890e-03, 2.1966e-03, 2.2042e-03, 2.2119e-03, 2.2195e-03, 2.2271e-03, 2.2347e-03, 2.2424e-03, 2.2500e-03, 2.2576e-03, 2.2653e-03, 2.2729e-03, 2.2805e-03, 2.2881e-03, 2.2958e-03, 2.3034e-03, 2.3110e-03, 2.3187e-03, 2.3263e-03, 2.3339e-03, 2.3415e-03, 2.3492e-03, 2.3568e-03, 2.3644e-03, 2.3721e-03, 2.3797e-03, 2.3873e-03, 2.3949e-03, 2.4026e-03, 2.4102e-03, 2.4178e-03, 2.4255e-03, 2.4331e-03, 2.4407e-03, 2.4483e-03, 2.4560e-03, 2.4636e-03, 2.4712e-03, 2.4789e-03, 2.4865e-03, 2.4941e-03, 2.5018e-03, 2.5094e-03, 2.5170e-03, 2.5246e-03, 2.5323e-03, 2.5399e-03, 2.5475e-03, 2.5552e-03, 2.5628e-03, 2.5704e-03, 2.5780e-03, 2.5857e-03, 2.5933e-03, 2.6009e-03, 2.6086e-03, 2.6162e-03, 2.6238e-03, 2.6314e-03, 2.6391e-03, 2.6467e-03, 2.6543e-03, 2.6620e-03, 2.6696e-03, 2.6772e-03, 2.6848e-03, 2.6925e-03, 2.7001e-03, 2.7077e-03, 2.7154e-03, 2.7230e-03, 2.7306e-03, 2.7382e-03, 2.7459e-03, 2.7535e-03, 2.7611e-03, 2.7688e-03, 2.7764e-03, 2.7840e-03, 2.7917e-03, 2.7993e-03, 2.8069e-03, 2.8145e-03, 2.8222e-03, 2.8298e-03, 2.8374e-03, 2.8451e-03, 2.8527e-03, 2.8603e-03, 2.8679e-03, 2.8756e-03, 2.8832e-03, 2.8908e-03, 2.8985e-03, 2.9061e-03, 2.9137e-03, 2.9213e-03, 2.9290e-03, 2.9366e-03, 2.9442e-03, 2.9519e-03, 2.9595e-03, 2.9671e-03, 2.9747e-03, 2.9824e-03, 2.9900e-03, 2.9976e-03, 3.0053e-03, 3.0129e-03, 3.0205e-03, 3.0281e-03, 3.0358e-03, 3.0434e-03, 3.0510e-03, 3.0587e-03, 3.0663e-03, 3.0739e-03, 3.0816e-03, 3.0892e-03, 3.0968e-03, 3.1044e-03, 3.1121e-03, 3.1197e-03, 3.1273e-03, 3.1350e-03, 3.1426e-03, 3.1502e-03, 3.1578e-03, 3.1655e-03, 3.1731e-03, 3.1807e-03, 3.1884e-03, 3.1960e-03, 3.2036e-03, 3.2112e-03, 3.2189e-03, 3.2265e-03, 3.2341e-03, 3.2418e-03, 3.2494e-03, 3.2570e-03, 3.2646e-03, 3.2723e-03, 3.2799e-03, 3.2875e-03, 3.2952e-03, 3.3028e-03, 3.3104e-03, 3.3180e-03, 3.3257e-03, 3.3333e-03, 3.3409e-03, 3.3486e-03, 3.3562e-03, 3.3638e-03, 3.3715e-03, 3.3791e-03, 3.3867e-03, 3.3943e-03, 3.4020e-03, 3.4096e-03, 3.4172e-03, 3.4249e-03, 3.4325e-03, 3.4401e-03, 3.4477e-03, 3.4554e-03, 3.4630e-03, 3.4706e-03, 3.4783e-03, 3.4859e-03, 3.4935e-03, 3.5011e-03, 3.5088e-03, 3.5164e-03, 3.5240e-03, 3.5317e-03, 3.5393e-03, 3.5469e-03, 3.5545e-03, 3.5622e-03, 3.5698e-03, 3.5774e-03, 3.5851e-03, 3.5927e-03, 3.6003e-03, 3.6079e-03, 3.6156e-03, 3.6232e-03, 3.6308e-03, 3.6385e-03, 3.6461e-03, 3.6537e-03, 3.6613e-03, 3.6690e-03, 3.6766e-03, 3.6842e-03, 3.6919e-03, 3.6995e-03, 3.7071e-03, 3.7148e-03, 3.7224e-03, 3.7300e-03, 3.7376e-03, 3.7453e-03, 3.7529e-03, 3.7605e-03, 3.7682e-03, 3.7758e-03, 3.7834e-03, 3.7910e-03, 3.7987e-03, 3.8063e-03, 3.8139e-03, 3.8216e-03, 3.8292e-03, 3.8368e-03, 3.8444e-03, 3.8521e-03, 3.8597e-03, 3.8673e-03, 3.8750e-03, 3.8826e-03, 3.8902e-03, 3.8978e-03, 3.9055e-03, 
+  3.9207e-03, 3.9360e-03, 3.9513e-03, 3.9665e-03, 3.9818e-03, 3.9970e-03, 4.0123e-03, 4.0275e-03, 4.0428e-03, 4.0581e-03, 4.0733e-03, 4.0886e-03, 4.1038e-03, 4.1191e-03, 4.1343e-03, 4.1496e-03, 4.1649e-03, 4.1801e-03, 4.1954e-03, 4.2106e-03, 4.2259e-03, 4.2412e-03, 4.2564e-03, 4.2717e-03, 4.2869e-03, 4.3022e-03, 4.3174e-03, 4.3327e-03, 4.3480e-03, 4.3632e-03, 4.3785e-03, 4.3937e-03, 4.4090e-03, 4.4243e-03, 4.4395e-03, 4.4548e-03, 4.4700e-03, 4.4853e-03, 4.5005e-03, 4.5158e-03, 4.5311e-03, 4.5463e-03, 4.5616e-03, 4.5768e-03, 4.5921e-03, 4.6074e-03, 4.6226e-03, 4.6379e-03, 4.6531e-03, 4.6684e-03, 4.6836e-03, 4.6989e-03, 4.7142e-03, 4.7294e-03, 4.7447e-03, 4.7599e-03, 4.7752e-03, 4.7905e-03, 4.8057e-03, 4.8210e-03, 4.8362e-03, 4.8515e-03, 4.8667e-03, 4.8820e-03, 4.8973e-03, 4.9125e-03, 4.9278e-03, 4.9430e-03, 4.9583e-03, 4.9736e-03, 4.9888e-03, 5.0041e-03, 5.0193e-03, 5.0346e-03, 5.0498e-03, 5.0651e-03, 5.0804e-03, 5.0956e-03, 5.1109e-03, 5.1261e-03, 5.1414e-03, 5.1567e-03, 5.1719e-03, 5.1872e-03, 5.2024e-03, 5.2177e-03, 5.2329e-03, 5.2482e-03, 5.2635e-03, 5.2787e-03, 5.2940e-03, 5.3092e-03, 5.3245e-03, 5.3398e-03, 5.3550e-03, 5.3703e-03, 5.3855e-03, 5.4008e-03, 5.4160e-03, 5.4313e-03, 5.4466e-03, 5.4618e-03, 5.4771e-03, 5.4923e-03, 5.5076e-03, 5.5229e-03, 5.5381e-03, 5.5534e-03, 5.5686e-03, 5.5839e-03, 5.5991e-03, 5.6144e-03, 5.6297e-03, 5.6449e-03, 5.6602e-03, 5.6754e-03, 5.6907e-03, 5.7060e-03, 5.7212e-03, 5.7365e-03, 5.7517e-03, 5.7670e-03, 5.7822e-03, 5.7975e-03, 5.8128e-03, 5.8280e-03, 5.8433e-03, 5.8585e-03, 5.8738e-03, 5.8891e-03, 5.9043e-03, 5.9196e-03, 5.9348e-03, 5.9501e-03, 5.9653e-03, 5.9806e-03, 5.9959e-03, 6.0111e-03, 6.0264e-03, 6.0416e-03, 6.0569e-03, 6.0722e-03, 6.0874e-03, 6.1027e-03, 6.1179e-03, 6.1332e-03, 6.1484e-03, 6.1637e-03, 6.1790e-03, 6.1942e-03, 6.2095e-03, 6.2247e-03, 6.2400e-03, 6.2553e-03, 6.2705e-03, 6.2858e-03, 6.3010e-03, 6.3163e-03, 6.3315e-03, 6.3468e-03, 6.3621e-03, 6.3773e-03, 6.3926e-03, 6.4078e-03, 6.4231e-03, 6.4384e-03, 6.4536e-03, 6.4689e-03, 6.4841e-03, 6.4994e-03, 6.5146e-03, 6.5299e-03, 6.5452e-03, 6.5604e-03, 6.5757e-03, 6.5909e-03, 6.6062e-03, 6.6215e-03, 6.6367e-03, 6.6520e-03, 6.6672e-03, 6.6825e-03, 6.6977e-03, 6.7130e-03, 6.7283e-03, 6.7435e-03, 6.7588e-03, 6.7740e-03, 6.7893e-03, 6.8046e-03, 6.8198e-03, 6.8351e-03, 6.8503e-03, 6.8656e-03, 6.8808e-03, 6.8961e-03, 6.9114e-03, 6.9266e-03, 6.9419e-03, 6.9571e-03, 6.9724e-03, 6.9877e-03, 7.0029e-03, 7.0182e-03, 7.0334e-03, 7.0487e-03, 7.0639e-03, 7.0792e-03, 7.0945e-03, 7.1097e-03, 7.1250e-03, 7.1402e-03, 7.1555e-03, 7.1708e-03, 7.1860e-03, 7.2013e-03, 7.2165e-03, 7.2318e-03, 7.2470e-03, 7.2623e-03, 7.2776e-03, 7.2928e-03, 7.3081e-03, 7.3233e-03, 7.3386e-03, 7.3539e-03, 7.3691e-03, 7.3844e-03, 7.3996e-03, 7.4149e-03, 7.4301e-03, 7.4454e-03, 7.4607e-03, 7.4759e-03, 7.4912e-03, 7.5064e-03, 7.5217e-03, 7.5370e-03, 7.5522e-03, 7.5675e-03, 7.5827e-03, 7.5980e-03, 7.6132e-03, 7.6285e-03, 7.6438e-03, 7.6590e-03, 7.6743e-03, 7.6895e-03, 7.7048e-03, 7.7201e-03, 7.7353e-03, 7.7506e-03, 7.7658e-03, 7.7811e-03, 7.7963e-03, 7.8116e-03, 
+  7.8421e-03, 7.8726e-03, 7.9032e-03, 7.9337e-03, 7.9642e-03, 7.9947e-03, 8.0252e-03, 8.0557e-03, 8.0863e-03, 8.1168e-03, 8.1473e-03, 8.1778e-03, 8.2083e-03, 8.2388e-03, 8.2694e-03, 8.2999e-03, 8.3304e-03, 8.3609e-03, 8.3914e-03, 8.4219e-03, 8.4525e-03, 8.4830e-03, 8.5135e-03, 8.5440e-03, 8.5745e-03, 8.6051e-03, 8.6356e-03, 8.6661e-03, 8.6966e-03, 8.7271e-03, 8.7576e-03, 8.7882e-03, 8.8187e-03, 8.8492e-03, 8.8797e-03, 8.9102e-03, 8.9407e-03, 8.9713e-03, 9.0018e-03, 9.0323e-03, 9.0628e-03, 9.0933e-03, 9.1238e-03, 9.1544e-03, 9.1849e-03, 9.2154e-03, 9.2459e-03, 9.2764e-03, 9.3069e-03, 9.3375e-03, 9.3680e-03, 9.3985e-03, 9.4290e-03, 9.4595e-03, 9.4900e-03, 9.5206e-03, 9.5511e-03, 9.5816e-03, 9.6121e-03, 9.6426e-03, 9.6731e-03, 9.7037e-03, 9.7342e-03, 9.7647e-03, 9.7952e-03, 9.8257e-03, 9.8563e-03, 9.8868e-03, 9.9173e-03, 9.9478e-03, 9.9783e-03, 1.0009e-02, 1.0039e-02, 1.0070e-02, 1.0100e-02, 1.0131e-02, 1.0161e-02, 1.0192e-02, 1.0222e-02, 1.0253e-02, 1.0283e-02, 1.0314e-02, 1.0345e-02, 1.0375e-02, 1.0406e-02, 1.0436e-02, 1.0467e-02, 1.0497e-02, 1.0528e-02, 1.0558e-02, 1.0589e-02, 1.0619e-02, 1.0650e-02, 1.0680e-02, 1.0711e-02, 1.0741e-02, 1.0772e-02, 1.0802e-02, 1.0833e-02, 1.0863e-02, 1.0894e-02, 1.0924e-02, 1.0955e-02, 1.0985e-02, 1.1016e-02, 1.1046e-02, 1.1077e-02, 1.1107e-02, 1.1138e-02, 1.1168e-02, 1.1199e-02, 1.1230e-02, 1.1260e-02, 1.1291e-02, 1.1321e-02, 1.1352e-02, 1.1382e-02, 1.1413e-02, 1.1443e-02, 1.1474e-02, 1.1504e-02, 1.1535e-02, 1.1565e-02, 1.1596e-02, 1.1626e-02, 1.1657e-02, 1.1687e-02, 1.1718e-02, 1.1748e-02, 1.1779e-02, 1.1809e-02, 1.1840e-02, 1.1870e-02, 1.1901e-02, 1.1931e-02, 1.1962e-02, 1.1992e-02, 1.2023e-02, 1.2053e-02, 1.2084e-02, 1.2115e-02, 1.2145e-02, 1.2176e-02, 1.2206e-02, 1.2237e-02, 1.2267e-02, 1.2298e-02, 1.2328e-02, 1.2359e-02, 1.2389e-02, 1.2420e-02, 1.2450e-02, 1.2481e-02, 1.2511e-02, 1.2542e-02, 1.2572e-02, 1.2603e-02, 1.2633e-02, 1.2664e-02, 1.2694e-02, 1.2725e-02, 1.2755e-02, 1.2786e-02, 1.2816e-02, 1.2847e-02, 1.2877e-02, 1.2908e-02, 1.2938e-02, 1.2969e-02, 1.3000e-02, 1.3030e-02, 1.3061e-02, 1.3091e-02, 1.3122e-02, 1.3152e-02, 1.3183e-02, 1.3213e-02, 1.3244e-02, 1.3274e-02, 1.3305e-02, 1.3335e-02, 1.3366e-02, 1.3396e-02, 1.3427e-02, 1.3457e-02, 1.3488e-02, 1.3518e-02, 1.3549e-02, 1.3579e-02, 1.3610e-02, 1.3640e-02, 1.3671e-02, 1.3701e-02, 1.3732e-02, 1.3762e-02, 1.3793e-02, 1.3823e-02, 1.3854e-02, 1.3885e-02, 1.3915e-02, 1.3946e-02, 1.3976e-02, 1.4007e-02, 1.4037e-02, 1.4068e-02, 1.4098e-02, 1.4129e-02, 1.4159e-02, 1.4190e-02, 1.4220e-02, 1.4251e-02, 1.4281e-02, 1.4312e-02, 1.4342e-02, 1.4373e-02, 1.4403e-02, 1.4434e-02, 1.4464e-02, 1.4495e-02, 1.4525e-02, 1.4556e-02, 1.4586e-02, 1.4617e-02, 1.4647e-02, 1.4678e-02, 1.4708e-02, 1.4739e-02, 1.4770e-02, 1.4800e-02, 1.4831e-02, 1.4861e-02, 1.4892e-02, 1.4922e-02, 1.4953e-02, 1.4983e-02, 1.5014e-02, 1.5044e-02, 1.5075e-02, 1.5105e-02, 1.5136e-02, 1.5166e-02, 1.5197e-02, 1.5227e-02, 1.5258e-02, 1.5288e-02, 1.5319e-02, 1.5349e-02, 1.5380e-02, 1.5410e-02, 1.5441e-02, 1.5471e-02, 1.5502e-02, 1.5532e-02, 1.5563e-02, 1.5593e-02, 1.5624e-02, 
+  1.5746e-02, 1.5868e-02, 1.5990e-02, 1.6112e-02, 1.6234e-02, 1.6356e-02, 1.6478e-02, 1.6601e-02, 1.6723e-02, 1.6845e-02, 1.6967e-02, 1.7089e-02, 1.7211e-02, 1.7333e-02, 1.7455e-02, 1.7577e-02, 1.7699e-02, 1.7821e-02, 1.7943e-02, 1.8065e-02, 1.8187e-02, 1.8310e-02, 1.8432e-02, 1.8554e-02, 1.8676e-02, 1.8798e-02, 1.8920e-02, 1.9042e-02, 1.9164e-02, 1.9286e-02, 1.9408e-02, 1.9530e-02, 1.9652e-02, 1.9774e-02, 1.9896e-02, 2.0018e-02, 2.0141e-02, 2.0263e-02, 2.0385e-02, 2.0507e-02, 2.0629e-02, 2.0751e-02, 2.0873e-02, 2.0995e-02, 2.1117e-02, 2.1239e-02, 2.1361e-02, 2.1483e-02, 2.1605e-02, 2.1727e-02, 2.1850e-02, 2.1972e-02, 2.2094e-02, 2.2216e-02, 2.2338e-02, 2.2460e-02, 2.2582e-02, 2.2704e-02, 2.2826e-02, 2.2948e-02, 2.3070e-02, 2.3192e-02, 2.3314e-02, 2.3436e-02, 2.3558e-02, 2.3681e-02, 2.3803e-02, 2.3925e-02, 2.4047e-02, 2.4169e-02, 2.4291e-02, 2.4413e-02, 2.4535e-02, 2.4657e-02, 2.4779e-02, 2.4901e-02, 2.5023e-02, 2.5145e-02, 2.5267e-02, 2.5390e-02, 2.5512e-02, 2.5634e-02, 2.5756e-02, 2.5878e-02, 2.6000e-02, 2.6122e-02, 2.6244e-02, 2.6366e-02, 2.6488e-02, 2.6610e-02, 2.6732e-02, 2.6854e-02, 2.6976e-02, 2.7099e-02, 2.7221e-02, 2.7343e-02, 2.7465e-02, 2.7587e-02, 2.7709e-02, 2.7831e-02, 2.7953e-02, 2.8075e-02, 2.8197e-02, 2.8319e-02, 2.8441e-02, 2.8563e-02, 2.8685e-02, 2.8807e-02, 2.8930e-02, 2.9052e-02, 2.9174e-02, 2.9296e-02, 2.9418e-02, 2.9540e-02, 2.9662e-02, 2.9784e-02, 2.9906e-02, 3.0028e-02, 3.0150e-02, 3.0272e-02, 3.0394e-02, 3.0516e-02, 3.0639e-02, 3.0761e-02, 3.0883e-02, 3.1005e-02, 3.1127e-02, 3.1249e-02, 3.1493e-02, 3.1737e-02, 3.1981e-02, 3.2225e-02, 3.2470e-02, 3.2714e-02, 3.2958e-02, 3.3202e-02, 3.3446e-02, 3.3690e-02, 3.3934e-02, 3.4179e-02, 3.4423e-02, 3.4667e-02, 3.4911e-02, 3.5155e-02, 3.5399e-02, 3.5643e-02, 3.5888e-02, 3.6132e-02, 3.6376e-02, 3.6620e-02, 3.6864e-02, 3.7108e-02, 3.7352e-02, 3.7596e-02, 3.7841e-02, 3.8085e-02, 3.8329e-02, 3.8573e-02, 3.8817e-02, 3.9061e-02, 3.9305e-02, 3.9550e-02, 3.9794e-02, 4.0038e-02, 4.0282e-02, 4.0526e-02, 4.0770e-02, 4.1014e-02, 4.1259e-02, 4.1503e-02, 4.1747e-02, 4.1991e-02, 4.2235e-02, 4.2479e-02, 4.2723e-02, 4.2968e-02, 4.3212e-02, 4.3456e-02, 4.3700e-02, 4.3944e-02, 4.4188e-02, 4.4432e-02, 4.4677e-02, 4.4921e-02, 4.5165e-02, 4.5409e-02, 4.5653e-02, 4.5897e-02, 4.6141e-02, 4.6386e-02, 4.6630e-02, 4.6874e-02, 4.7118e-02, 4.7362e-02, 4.7606e-02, 4.7850e-02, 4.8095e-02, 4.8339e-02, 4.8583e-02, 4.8827e-02, 4.9071e-02, 4.9315e-02, 4.9559e-02, 4.9803e-02, 5.0048e-02, 5.0292e-02, 5.0536e-02, 5.0780e-02, 5.1024e-02, 5.1268e-02, 5.1512e-02, 5.1757e-02, 5.2001e-02, 5.2245e-02, 5.2489e-02, 5.2733e-02, 5.2977e-02, 5.3221e-02, 5.3466e-02, 5.3710e-02, 5.3954e-02, 5.4198e-02, 5.4442e-02, 5.4686e-02, 5.4930e-02, 5.5175e-02, 5.5419e-02, 5.5663e-02, 5.5907e-02, 5.6151e-02, 5.6395e-02, 5.6639e-02, 5.6884e-02, 5.7128e-02, 5.7372e-02, 5.7616e-02, 5.7860e-02, 5.8104e-02, 5.8348e-02, 5.8593e-02, 5.8837e-02, 5.9081e-02, 5.9325e-02, 5.9569e-02, 5.9813e-02, 6.0057e-02, 6.0301e-02, 6.0546e-02, 6.0790e-02, 6.1034e-02, 6.1278e-02, 6.1522e-02, 6.1766e-02, 6.2010e-02, 6.2255e-02, 6.2499e-02, 
+  6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, 
+  1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, 
+  3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00
+};
+
+float4 val4_from_12(uchar8 pvs, float gain) {
+  uint4 parsed = (uint4)(((uint)pvs.s0<<4) + (pvs.s1>>4),  // is from the previous 10 bit
+                         ((uint)pvs.s2<<4) + (pvs.s4&0xF),
+                         ((uint)pvs.s3<<4) + (pvs.s4>>4),
+                         ((uint)pvs.s5<<4) + (pvs.s7&0xF));
+  #if IS_OX
+  // PWL
+  //float4 pv = (convert_float4(parsed) - 64.0) / (4096.0 - 64.0);
+  float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
+
+  // it's a 24 bit signal, center in the middle 8 bits
+  return clamp(pv*gain*256.0, 0.0, 1.0);
+  #else // AR
+  // normalize and scale
+  float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);
+  return clamp(pv*gain, 0.0, 1.0);
+  #endif
+
+}
+
+float4 val4_from_10(uchar8 pvs, uchar ext, bool aligned, float gain) {
+  uint4 parsed;
+  if (aligned) {
+    parsed = (uint4)(((uint)pvs.s0 << 2) + (pvs.s1 & 0b00000011),
+                     ((uint)pvs.s2 << 2) + ((pvs.s6 & 0b11000000) / 64),
+                     ((uint)pvs.s3 << 2) + ((pvs.s6 & 0b00110000) / 16),
+                     ((uint)pvs.s4 << 2) + ((pvs.s6 & 0b00001100) / 4));
+  } else {
+    parsed = (uint4)(((uint)pvs.s0 << 2) + ((pvs.s3 & 0b00110000) / 16),
+                     ((uint)pvs.s1 << 2) + ((pvs.s3 & 0b00001100) / 4),
+                     ((uint)pvs.s2 << 2) + ((pvs.s3 & 0b00000011)),
+                     ((uint)pvs.s4 << 2) + ((ext & 0b11000000) / 64));
+  }
+
+  float4 pv = convert_float4(parsed) / 1024.0;
+  return clamp(pv*gain, 0.0, 1.0);
+}
+
+float get_k(float a, float b, float c, float d) {
+  return 2.0 - (fabs(a - b) + fabs(c - d));
+}
+
+__kernel void debayer10(const __global uchar * in, __global uchar * out)
+{
+  const int gid_x = get_global_id(0);
+  const int gid_y = get_global_id(1);
+
+  const int row_before_offset = (gid_y == 0) ? 2 : 0;
+  const int row_after_offset = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1 : 3;
+
+  float3 rgb;
+  uchar3 rgb_out[4];
+
+  #if IS_BGGR
+    constant int row_read_order[] = {3, 2, 1, 0};
+    constant int rgb_write_order[] = {2, 3, 0, 1};
+  #else
+    constant int row_read_order[] = {0, 1, 2, 3};
+    constant int rgb_write_order[] = {0, 1, 2, 3};
+  #endif
+
+  int start_idx;
+  #if IS_10BIT
+    bool aligned10;
+    if (gid_x % 2 == 0) {
+      aligned10 = true;
+      start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * gid_x / 2 - 2) + (FRAME_STRIDE * FRAME_OFFSET);
+    } else {
+      aligned10 = false;
+      start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * (gid_x - 1) / 2 + 1) + (FRAME_STRIDE * FRAME_OFFSET);
+    }
+  #else
+    start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
+  #endif
+
+  // read in 8x4 chars
+  uchar8 dat[4];
+  dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*row_before_offset);
+  dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1);
+  dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2);
+  dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset);
+
+  // need extra bit for 10-bit
+  #if IS_10BIT
+    uchar extra[4];
+    if (!aligned10) {
+      extra[0] = in[start_idx + FRAME_STRIDE*row_before_offset + 8];
+      extra[1] = in[start_idx + FRAME_STRIDE*1 + 8];
+      extra[2] = in[start_idx + FRAME_STRIDE*2 + 8];
+      extra[3] = in[start_idx + FRAME_STRIDE*row_after_offset + 8];
+		}
+  #endif
+
+  // correct vignetting
+  #if VIGNETTING
+    int gx = (gid_x*2 - RGB_WIDTH/2);
+    int gy = (gid_y*2 - RGB_HEIGHT/2);
+    const float gain = get_vignetting_s(gx*gx + gy*gy);
+  #else
+    const float gain = 1.0;
+  #endif
+
+  float4 v_rows[4];
+  // parse into floats
+  #if IS_10BIT
+    v_rows[row_read_order[0]] = val4_from_10(dat[0], extra[0], aligned10, 1.0);
+    v_rows[row_read_order[1]] = val4_from_10(dat[1], extra[1], aligned10, 1.0);
+    v_rows[row_read_order[2]] = val4_from_10(dat[2], extra[2], aligned10, 1.0);
+    v_rows[row_read_order[3]] = val4_from_10(dat[3], extra[3], aligned10, 1.0);
+  #else
+    v_rows[row_read_order[0]] = val4_from_12(dat[0], gain);
+    v_rows[row_read_order[1]] = val4_from_12(dat[1], gain);
+    v_rows[row_read_order[2]] = val4_from_12(dat[2], gain);
+    v_rows[row_read_order[3]] = val4_from_12(dat[3], gain);
+  #endif
+
+  // mirror padding
+  if (gid_x == 0) {
+    v_rows[0].s0 = v_rows[0].s2;
+    v_rows[1].s0 = v_rows[1].s2;
+    v_rows[2].s0 = v_rows[2].s2;
+    v_rows[3].s0 = v_rows[3].s2;
+  } else if (gid_x == RGB_WIDTH/2 - 1) {
+    v_rows[0].s3 = v_rows[0].s1;
+    v_rows[1].s3 = v_rows[1].s1;
+    v_rows[2].s3 = v_rows[2].s1;
+    v_rows[3].s3 = v_rows[3].s1;
+  }
+
+  // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
+  const float k01 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[0].s2, v_rows[1].s1);
+  const float k02 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
+  const float k03 = get_k(v_rows[2].s0, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
+  const float k04 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[2].s0, v_rows[1].s1);
+  rgb.x = (k02*v_rows[1].s2+k04*v_rows[1].s0)/(k02+k04); // R_G1
+  rgb.y = v_rows[1].s1; // G1(R)
+  rgb.z = (k01*v_rows[0].s1+k03*v_rows[2].s1)/(k01+k03); // B_G1
+  rgb_out[rgb_write_order[0]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  const float k11 = get_k(v_rows[0].s1, v_rows[2].s1, v_rows[0].s3, v_rows[2].s3);
+  const float k12 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[1].s3, v_rows[2].s2);
+  const float k13 = get_k(v_rows[0].s1, v_rows[0].s3, v_rows[2].s1, v_rows[2].s3);
+  const float k14 = get_k(v_rows[0].s2, v_rows[1].s3, v_rows[2].s2, v_rows[1].s1);
+  rgb.x = v_rows[1].s2; // R
+  rgb.y = (k11*(v_rows[0].s2+v_rows[2].s2)*0.5+k13*(v_rows[1].s3+v_rows[1].s1)*0.5)/(k11+k13); // G_R
+  rgb.z = (k12*(v_rows[0].s3+v_rows[2].s1)*0.5+k14*(v_rows[0].s1+v_rows[2].s3)*0.5)/(k12+k14); // B_R
+  rgb_out[rgb_write_order[1]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  const float k21 = get_k(v_rows[1].s0, v_rows[3].s0, v_rows[1].s2, v_rows[3].s2);
+  const float k22 = get_k(v_rows[1].s1, v_rows[2].s0, v_rows[2].s2, v_rows[3].s1);
+  const float k23 = get_k(v_rows[1].s0, v_rows[1].s2, v_rows[3].s0, v_rows[3].s2);
+  const float k24 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s0);
+  rgb.x = (k22*(v_rows[1].s2+v_rows[3].s0)*0.5+k24*(v_rows[1].s0+v_rows[3].s2)*0.5)/(k22+k24); // R_B
+  rgb.y = (k21*(v_rows[1].s1+v_rows[3].s1)*0.5+k23*(v_rows[2].s2+v_rows[2].s0)*0.5)/(k21+k23); // G_B
+  rgb.z = v_rows[2].s1; // B
+  rgb_out[rgb_write_order[2]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  const float k31 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[1].s3, v_rows[2].s2);
+  const float k32 = get_k(v_rows[1].s3, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
+  const float k33 = get_k(v_rows[3].s1, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
+  const float k34 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s2);
+  rgb.x = (k31*v_rows[1].s2+k33*v_rows[3].s2)/(k31+k33); // R_G2
+  rgb.y = v_rows[2].s2; // G2(B)
+  rgb.z = (k32*v_rows[2].s3+k34*v_rows[2].s1)/(k32+k34); // B_G2
+  rgb_out[rgb_write_order[3]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  // write ys
+  uchar2 yy = (uchar2)(
+    RGB_TO_Y(rgb_out[0].s0, rgb_out[0].s1, rgb_out[0].s2),
+    RGB_TO_Y(rgb_out[1].s0, rgb_out[1].s1, rgb_out[1].s2)
+  );
+  vstore2(yy, 0, out + mad24(gid_y * 2, YUV_STRIDE, gid_x * 2));
+  yy = (uchar2)(
+    RGB_TO_Y(rgb_out[2].s0, rgb_out[2].s1, rgb_out[2].s2),
+    RGB_TO_Y(rgb_out[3].s0, rgb_out[3].s1, rgb_out[3].s2)
+  );
+  vstore2(yy, 0, out + mad24(gid_y * 2 + 1, YUV_STRIDE, gid_x * 2));
+
+  // write uvs
+  const short ar = AVERAGE(rgb_out[0].s0, rgb_out[1].s0, rgb_out[2].s0, rgb_out[3].s0);
+  const short ag = AVERAGE(rgb_out[0].s1, rgb_out[1].s1, rgb_out[2].s1, rgb_out[3].s1);
+  const short ab = AVERAGE(rgb_out[0].s2, rgb_out[1].s2, rgb_out[2].s2, rgb_out[3].s2);
+  uchar2 uv = (uchar2)(
+    RGB_TO_U(ar, ag, ab),
+    RGB_TO_V(ar, ag, ab)
+  );
+  vstore2(uv, 0, out + UV_OFFSET + mad24(gid_y, YUV_STRIDE, gid_x * 2));
+}

system/camerad/main.cc

@@ -0,0 +1,23 @@
+#include "system/camerad/cameras/camera_common.h"
+
+#include <cassert>
+
+#include "common/params.h"
+#include "common/util.h"
+#include "system/hardware/hw.h"
+
+int main(int argc, char *argv[]) {
+  if (Hardware::PC()) {
+    printf("exiting, camerad is not meant to run on PC\n");
+    return 0;
+  }
+
+  int ret;
+  ret = util::set_realtime_priority(53);
+  assert(ret == 0);
+  ret = util::set_core_affinity({6});
+  assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
+
+  camerad_thread();
+  return 0;
+}

system/camerad/sensors/ar0231.cc

@@ -0,0 +1,171 @@
+#include <cassert>
+
+#include "common/swaglog.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/sensors/sensor.h"
+
+namespace {
+
+const size_t AR0231_REGISTERS_HEIGHT = 2;
+// TODO: this extra height is universal and doesn't apply per camera
+const size_t AR0231_STATS_HEIGHT = 2 + 8;
+
+const float sensor_analog_gains_AR0231[] = {
+    1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0,  // 0, 1, 2, 3
+    3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0,  // 4, 5, 6, 7
+    5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
+    7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
+
+std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
+  // This function builds a lookup table from register address, to a pair of indices in the
+  // buffer where to read this address. The buffer contains padding bytes,
+  // as well as markers to indicate the type of the next byte.
+  //
+  // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
+  // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
+  // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information.
+
+  int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
+  auto get_next_idx = [](int cur_idx) {
+    return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1;  // Every third byte is padding
+  };
+
+  std::map<uint16_t, std::pair<int, int>> registers;
+  for (int register_row = 0; register_row < 2; register_row++) {
+    uint8_t *registers_raw = data + c->ci->frame_stride * register_row;
+    assert(registers_raw[0] == 0x0a);  // Start of line
+
+    int value_tag_count = 0;
+    int first_val_idx = 0;
+    uint16_t cur_addr = 0;
+
+    for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
+      int val_idx = get_next_idx(i);
+
+      uint8_t tag = registers_raw[i];
+      uint16_t val = registers_raw[val_idx];
+
+      if (tag == 0xAA) {  // Register MSB tag
+        cur_addr = val << 8;
+      } else if (tag == 0xA5) {  // Register LSB tag
+        cur_addr |= val;
+        cur_addr -= 2;           // Next value tag will increment address again
+      } else if (tag == 0x5A) {  // Value tag
+
+        // First tag
+        if (value_tag_count % 2 == 0) {
+          cur_addr += 2;
+          first_val_idx = val_idx;
+        } else {
+          registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row);
+        }
+
+        value_tag_count++;
+      }
+    }
+  }
+  return registers;
+}
+
+float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
+  // See AR0231 Developer Guide - page 36
+  float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
+  float t0 = 55.0 - slope * (float)calib2;
+  return t0 + slope * (float)data_reg;
+}
+
+}  // namespace
+
+AR0231::AR0231() {
+  image_sensor = cereal::FrameData::ImageSensor::AR0231;
+  data_word = true;
+  frame_width = 1928;
+  frame_height = 1208;
+  frame_stride = (frame_width * 12 / 8) + 4;
+  extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
+
+  registers_offset = 0;
+  frame_offset = AR0231_REGISTERS_HEIGHT;
+  stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
+
+  start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
+  init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
+  probe_reg_addr = 0x3000;
+  probe_expected_data = 0x354;
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
+  mclk_frequency = 19200000; //Hz
+
+  dc_gain_factor = 2.5;
+  dc_gain_min_weight = 0;
+  dc_gain_max_weight = 1;
+  dc_gain_on_grey = 0.2;
+  dc_gain_off_grey = 0.3;
+  exposure_time_min = 2;       // with HDR, fastest ss
+  exposure_time_max = 0x0855;  // with HDR, slowest ss, 40ms
+  analog_gain_min_idx = 0x1;   // 0.25x
+  analog_gain_rec_idx = 0x6;   // 0.8x
+  analog_gain_max_idx = 0xD;   // 4.0x
+  analog_gain_cost_delta = 0;
+  analog_gain_cost_low = 0.1;
+  analog_gain_cost_high = 5.0;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
+  }
+  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = 1.0;
+}
+
+void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {
+  const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
+  uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset;
+
+  if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
+    LOGE("unexpected register data found");
+    return;
+  }
+
+  if (ar0231_register_lut.empty()) {
+    ar0231_register_lut = ar0231_build_register_lut(c, data);
+  }
+  std::map<uint16_t, uint16_t> registers;
+  for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {
+    auto offset = ar0231_register_lut[addr];
+    registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
+  }
+
+  uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
+  framed.setFrameIdSensor(frame_id);
+
+  float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
+  float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
+  framed.setTemperaturesC({temp_0, temp_1});
+}
+
+
+std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
+  uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
+  return {
+    {0x3366, analog_gain_reg},
+    {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
+    {0x3012, (uint16_t)exposure_time},
+  };
+}
+
+int AR0231::getSlaveAddress(int port) const {
+  assert(port >= 0 && port <= 2);
+  return (int[]){0x20, 0x30, 0x20}[port];
+}
+
+float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
+  // Cost of ev diff
+  float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
+  // Cost of absolute gain
+  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+  // Cost of changing gain
+  score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
+  return score;
+}

system/camerad/sensors/ar0231_registers.h

@@ -0,0 +1,119 @@
+#pragma once
+
+const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
+const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
+
+const struct i2c_random_wr_payload init_array_ar0231[] = {
+  {0x301A, 0x0018}, // RESET_REGISTER
+
+  // CLOCK Settings
+  // input clock is 19.2 / 2 * 0x37 = 528 MHz
+  // pixclk is 528 / 6 = 88 MHz
+  // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
+  // img  roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL))   = 22.85 ms
+  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
+  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
+  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
+  {0x3030, 0x0037}, // PLL_MULTIPLIER
+  {0x3036, 0x000C}, // OP_PIX_CLK_DIV
+  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
+
+  // FORMAT
+  {0x3040, 0xC000}, // READ_MODE
+  {0x3004, 0x0000}, // X_ADDR_START_
+  {0x3008, 0x0787}, // X_ADDR_END_
+  {0x3002, 0x0000}, // Y_ADDR_START_
+  {0x3006, 0x04B7}, // Y_ADDR_END_
+  {0x3032, 0x0000}, // SCALING_MODE
+  {0x30A2, 0x0001}, // X_ODD_INC_
+  {0x30A6, 0x0001}, // Y_ODD_INC_
+  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
+  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
+  {0x3064, 0x1982}, // SMIA_TEST
+  {0x30BA, 0x11F2}, // DIGITAL_CTRL
+
+  // Enable external trigger and disable GPIO outputs
+  {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
+  {0x340A, 0xE0},   // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
+  {0x340C, 0x802},  // GPIO_HIDRV_EN | GPIO0_ISEL=2
+
+  // Readout timing
+  {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
+  {0x300A, 0x0855}, // FRAME_LENGTH_LINES
+  {0x3042, 0x0000}, // EXTRA_DELAY
+
+  // Readout Settings
+  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
+  {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
+  {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
+  {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
+  {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
+  {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
+  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
+  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
+  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
+  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
+  {0x31B0, 0x0053}, // FRAME_PREAMBLE
+  {0x31B2, 0x003B}, // LINE_PREAMBLE
+  {0x301A, 0x001C}, // RESET_REGISTER
+
+  // Noise Corrections
+  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
+  {0x337A, 0x0C80}, // DBLC_SCALE0
+  {0x3370, 0x03B1}, // DBLC
+  {0x3044, 0x0400}, // DARK_CONTROL
+
+  // Enable temperature sensor
+  {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
+  {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
+
+  // Enable dead pixel correction using
+  // the 1D line correction scheme
+  {0x31E0, 0x0003},
+
+  // HDR Settings
+  {0x3082, 0x0004}, // OPERATION_MODE_CTRL
+  {0x3238, 0x0444}, // EXPOSURE_RATIO
+
+  {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
+  {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
+  {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
+  {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
+
+  // TODO: do these have to be lower than LINE_LENGTH_PCK?
+  {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
+  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
+
+  {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
+  {0x33DA, 0x0000}, // COMPANDING
+  {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
+
+  // DLO Settings
+  {0x3100, 0x4000}, // DLO_CONTROL0
+  {0x3280, 0x0CCC}, // T1 G1
+  {0x3282, 0x0CCC}, // T1 R
+  {0x3284, 0x0CCC}, // T1 B
+  {0x3286, 0x0CCC}, // T1 G2
+  {0x3288, 0x0FA0}, // T2 G1
+  {0x328A, 0x0FA0}, // T2 R
+  {0x328C, 0x0FA0}, // T2 B
+  {0x328E, 0x0FA0}, // T2 G2
+
+   // Initial Gains
+  {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
+  {0x3366, 0xFF77}, // ANALOG_GAIN (1x)
+
+  {0x3060, 0x3333}, // ANALOG_COLOR_GAIN
+
+  {0x3362, 0x0000}, // DC GAIN
+
+  {0x305A, 0x00F8}, // red gain
+  {0x3058, 0x0122}, // blue gain
+  {0x3056, 0x009A}, // g1 gain
+  {0x305C, 0x009A}, // g2 gain
+
+  {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
+
+  // Initial Integration Time
+  {0x3012, 0x0005},
+};

system/camerad/sensors/os04c10.cc

@@ -0,0 +1,88 @@
+#include "system/camerad/sensors/sensor.h"
+
+namespace {
+
+const float sensor_analog_gains_OS04C10[] = {
+    1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
+    1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
+    3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
+    5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
+    10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
+
+const uint32_t os04c10_analog_gains_reg[] = {
+    0x080, 0x088, 0x090, 0x098, 0x0A0, 0x0A8, 0x0B0, 0x0B8, 0x0C0, 0x0C8, 0x0D8,
+    0x0E8, 0x0F8, 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180,
+    0x190, 0x1B0, 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0,
+    0x2E0, 0x300, 0x320, 0x340, 0x380, 0x3C0, 0x400, 0x440, 0x480, 0x4C0, 0x500,
+    0x540, 0x580, 0x5C0, 0x600, 0x640, 0x680, 0x6C0, 0x700, 0x740, 0x780, 0x7C0};
+
+}  // namespace
+
+OS04C10::OS04C10() {
+  image_sensor = cereal::FrameData::ImageSensor::OS04C10;
+  data_word = false;
+
+  frame_width = 2688;
+  frame_height = 1520;
+  frame_stride = (frame_width * 12 / 8); // no alignment
+
+  extra_height = 0;
+  frame_offset = 0;
+
+  start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10));
+  init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
+  probe_reg_addr = 0x300a;
+  probe_expected_data = 0x5304;
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x2c;
+  mclk_frequency = 24000000; // Hz
+
+  dc_gain_factor = 1;
+  dc_gain_min_weight = 1;  // always on is fine
+  dc_gain_max_weight = 1;
+  dc_gain_on_grey = 0.9;
+  dc_gain_off_grey = 1.0;
+  exposure_time_min = 2;  // 1x
+  exposure_time_max = 2200;
+  analog_gain_min_idx = 0x0;
+  analog_gain_rec_idx = 0x0;  // 1x
+  analog_gain_max_idx = 0x36;
+  analog_gain_cost_delta = -1;
+  analog_gain_cost_low = 0.4;
+  analog_gain_cost_high = 6.4;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
+  }
+  min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = 0.01;
+}
+
+std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
+  uint32_t long_time = exposure_time;
+  uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g];
+
+  // uint32_t short_time = long_time > exposure_time_min*8 ? long_time / 8 : exposure_time_min;
+
+  return {
+    {0x3501, long_time>>8}, {0x3502, long_time&0xFF},
+    // {0x3511, short_time>>8}, {0x3512, short_time&0xFF},
+    {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
+    // {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF},
+  };
+}
+
+int OS04C10::getSlaveAddress(int port) const {
+  assert(port >= 0 && port <= 2);
+  return (int[]){0x6C, 0x20, 0x6C}[port];
+}
+
+float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
+  float score = std::abs(desired_ev - (exp_t * exp_gain));
+  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+  score += ((1 - analog_gain_cost_delta) +
+            analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
+           std::abs(exp_g_idx - gain_idx) * 5.0;
+  return score;
+}

system/camerad/sensors/os04c10_registers.h

@@ -0,0 +1,313 @@
+#pragma once
+
+const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
+const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
+
+const struct i2c_random_wr_payload init_array_os04c10[] = {
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  {0x0103, 0x01},
+
+  // PLL
+  {0x0301, 0xe4},
+  {0x0303, 0x01},
+  {0x0305, 0xb6},
+  {0x0306, 0x01},
+  {0x0307, 0x17},
+  {0x0323, 0x04},
+  {0x0324, 0x01},
+  {0x0325, 0x62},
+
+  {0x3012, 0x06},
+  {0x3013, 0x02},
+  {0x3016, 0x72},
+  {0x3021, 0x03},
+  {0x3106, 0x21},
+  {0x3107, 0xa1},
+
+  // ?
+  {0x3624, 0x00},
+  {0x3625, 0x4c},
+  {0x3660, 0x04},
+  {0x3666, 0xa5},
+  {0x3667, 0xa5},
+  {0x366a, 0x50},
+  {0x3673, 0x0d},
+  {0x3672, 0x0d},
+  {0x3671, 0x0d},
+  {0x3670, 0x0d},
+  {0x3685, 0x00},
+  {0x3694, 0x0d},
+  {0x3693, 0x0d},
+  {0x3692, 0x0d},
+  {0x3691, 0x0d},
+  {0x3696, 0x4c},
+  {0x3697, 0x4c},
+  {0x3698, 0x40},
+  {0x3699, 0x80},
+  {0x369a, 0x18},
+  {0x369b, 0x1f},
+  {0x369c, 0x14},
+  {0x369d, 0x80},
+  {0x369e, 0x40},
+  {0x369f, 0x21},
+  {0x36a0, 0x12},
+  {0x36a1, 0x5d},
+  {0x36a2, 0x66},
+  {0x370a, 0x02},
+  {0x370e, 0x0c},
+  {0x3710, 0x00},
+  {0x3713, 0x00},
+  {0x3725, 0x02},
+  {0x372a, 0x03},
+  {0x3738, 0xce},
+  {0x3748, 0x02},
+  {0x374a, 0x02},
+  {0x374c, 0x02},
+  {0x374e, 0x02},
+  {0x3756, 0x00},
+  {0x3757, 0x00},
+  {0x3767, 0x00},
+  {0x3771, 0x00},
+  {0x377b, 0x28},
+  {0x377c, 0x00},
+  {0x377d, 0x0c},
+  {0x3781, 0x03},
+  {0x3782, 0x00},
+  {0x3789, 0x14},
+  {0x3795, 0x02},
+  {0x379c, 0x00},
+  {0x379d, 0x00},
+  {0x37b8, 0x04},
+  {0x37ba, 0x03},
+  {0x37bb, 0x00},
+  {0x37bc, 0x04},
+  {0x37be, 0x08},
+  {0x37c4, 0x11},
+  {0x37c5, 0x80},
+  {0x37c6, 0x14},
+  {0x37c7, 0x08},
+  {0x37da, 0x11},
+  {0x381f, 0x08},
+  {0x3829, 0x03},
+  {0x3881, 0x00},
+  {0x3888, 0x04},
+  {0x388b, 0x00},
+  {0x3c80, 0x10},
+  {0x3c86, 0x00},
+  {0x3c8c, 0x20},
+  {0x3c9f, 0x01},
+  {0x3d85, 0x1b},
+  {0x3d8c, 0x71},
+  {0x3d8d, 0xe2},
+  {0x3f00, 0x0b},
+  {0x3f06, 0x04},
+
+  // BLC
+  {0x400a, 0x01},
+  {0x400b, 0x50},
+  {0x400e, 0x08},
+  {0x4043, 0x7e},
+  {0x4045, 0x7e},
+  {0x4047, 0x7e},
+  {0x4049, 0x7e},
+  {0x4090, 0x04},
+  {0x40b0, 0x00},
+  {0x40b1, 0x00},
+  {0x40b2, 0x00},
+  {0x40b3, 0x00},
+  {0x40b4, 0x00},
+  {0x40b5, 0x00},
+  {0x40b7, 0x00},
+  {0x40b8, 0x00},
+  {0x40b9, 0x00},
+  {0x40ba, 0x01},
+
+  {0x4301, 0x00},
+  {0x4303, 0x00},
+  {0x4502, 0x04},
+  {0x4503, 0x00},
+  {0x4504, 0x06},
+  {0x4506, 0x00},
+  {0x4507, 0x47},
+  {0x4803, 0x00},
+  {0x480c, 0x32},
+  {0x480e, 0x04},
+  {0x4813, 0xe4},
+  {0x4819, 0x70},
+  {0x481f, 0x30},
+  {0x4823, 0x3f},
+  {0x4825, 0x30},
+  {0x4833, 0x10},
+  {0x484b, 0x27},
+  {0x488b, 0x00},
+  {0x4d00, 0x04},
+  {0x4d01, 0xad},
+  {0x4d02, 0xbc},
+  {0x4d03, 0xa1},
+  {0x4d04, 0x1f},
+  {0x4d05, 0x4c},
+  {0x4d0b, 0x01},
+  {0x4e00, 0x2a},
+  {0x4e0d, 0x00},
+
+  // ISP
+  {0x5001, 0x09},
+  {0x5004, 0x00},
+  {0x5080, 0x04},
+  {0x5036, 0x80},
+  {0x5180, 0x70},
+  {0x5181, 0x10},
+
+  // DPC
+  {0x520a, 0x03},
+  {0x520b, 0x06},
+  {0x520c, 0x0c},
+
+  {0x580b, 0x0f},
+  {0x580d, 0x00},
+  {0x580f, 0x00},
+  {0x5820, 0x00},
+  {0x5821, 0x00},
+
+  {0x301c, 0xf8},
+  {0x301e, 0xb4},
+  {0x301f, 0xf0},
+  {0x3022, 0x61},
+  {0x3109, 0xe7},
+  {0x3600, 0x00},
+  {0x3610, 0x65},
+  {0x3611, 0x85},
+  {0x3613, 0x3a},
+  {0x3615, 0x60},
+  {0x3621, 0xb0},
+  {0x3620, 0x0c},
+  {0x3629, 0x00},
+  {0x3661, 0x04},
+  {0x3664, 0x70},
+  {0x3665, 0x00},
+  {0x3681, 0xa6},
+  {0x3682, 0x53},
+  {0x3683, 0x2a},
+  {0x3684, 0x15},
+  {0x3700, 0x2a},
+  {0x3701, 0x12},
+  {0x3703, 0x28},
+  {0x3704, 0x0e},
+  {0x3706, 0x9d},
+  {0x3709, 0x4a},
+  {0x370b, 0x48},
+  {0x370c, 0x01},
+  {0x370f, 0x04},
+  {0x3714, 0x24},
+  {0x3716, 0x04},
+  {0x3719, 0x11},
+  {0x371a, 0x1e},
+  {0x3720, 0x00},
+  {0x3724, 0x13},
+  {0x373f, 0xb0},
+  {0x3741, 0x9d},
+  {0x3743, 0x9d},
+  {0x3745, 0x9d},
+  {0x3747, 0x9d},
+  {0x3749, 0x48},
+  {0x374b, 0x48},
+  {0x374d, 0x48},
+  {0x374f, 0x48},
+  {0x3755, 0x10},
+  {0x376c, 0x00},
+  {0x378d, 0x3c},
+  {0x3790, 0x01},
+  {0x3791, 0x01},
+  {0x3798, 0x40},
+  {0x379e, 0x00},
+  {0x379f, 0x04},
+  {0x37a1, 0x10},
+  {0x37a2, 0x1e},
+  {0x37a8, 0x10},
+  {0x37a9, 0x1e},
+  {0x37ac, 0xa0},
+  {0x37b9, 0x01},
+  {0x37bd, 0x01},
+  {0x37bf, 0x26},
+  {0x37c0, 0x11},
+  {0x37c2, 0x04},
+  {0x37cd, 0x19},
+  {0x37e0, 0x08},
+  {0x37e6, 0x04},
+  {0x37e5, 0x02},
+  {0x37e1, 0x0c},
+  {0x3737, 0x04},
+  {0x37d8, 0x02},
+  {0x37e2, 0x10},
+  {0x3739, 0x10},
+  {0x3662, 0x10},
+  {0x37e4, 0x20},
+  {0x37e3, 0x08},
+  {0x37d9, 0x08},
+  {0x4040, 0x00},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
+
+  // 2704x1536 -> 2688x1520 out
+  {0x3800, 0x00}, {0x3801, 0x00},
+  {0x3802, 0x00}, {0x3803, 0x00},
+  {0x3804, 0x0a}, {0x3805, 0x8f},
+  {0x3806, 0x05}, {0x3807, 0xff},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x3811, 0x08},
+  {0x3813, 0x08},
+  {0x3814, 0x01},
+  {0x3815, 0x01},
+  {0x3816, 0x01},
+  {0x3817, 0x01},
+
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
+  {0x3880, 0x25},
+  {0x3882, 0x20},
+  {0x3c91, 0x0b},
+  {0x3c94, 0x45},
+  {0x3cad, 0x00},
+  {0x3cae, 0x00},
+  {0x4000, 0xf3},
+  {0x4001, 0x60},
+  {0x4003, 0x80},
+  {0x4300, 0xff},
+  {0x4302, 0x0f},
+  {0x4305, 0x83},
+  {0x4505, 0x84},
+  {0x4809, 0x0e},
+  {0x480a, 0x04},
+  {0x4837, 0x15},
+  {0x4c00, 0x08},
+  {0x4c01, 0x08},
+  {0x4c04, 0x00},
+  {0x4c05, 0x00},
+  {0x5000, 0xf9},
+  {0x3822, 0x14},
+
+  // initialize exposure
+  {0x3503, 0x88},
+
+  // long
+  {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x80},
+  {0x3508, 0x00}, {0x3509, 0x80},
+  {0x350a, 0x04}, {0x350b, 0x00},
+
+  // short
+  // {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x10},
+  // {0x350c, 0x00}, {0x350d, 0x80},
+  // {0x350e, 0x04}, {0x350f, 0x00},
+
+  // wb
+  {0x5100, 0x06}, {0x5101, 0xcb},
+  {0x5102, 0x04}, {0x5103, 0x00},
+  {0x5104, 0x08}, {0x5105, 0xde},
+
+  {0x5106, 0x02}, {0x5107, 0x00},
+};

system/camerad/sensors/ox03c10.cc

@@ -0,0 +1,94 @@
+#include "system/camerad/sensors/sensor.h"
+
+namespace {
+
+const float sensor_analog_gains_OX03C10[] = {
+    1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
+    1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
+    3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
+    5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
+    10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
+
+const uint32_t ox03c10_analog_gains_reg[] = {
+    0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
+    0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
+    0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
+    0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
+    0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
+
+const uint32_t VS_TIME_MIN_OX03C10 = 1;
+const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
+
+}  // namespace
+
+OX03C10::OX03C10() {
+  image_sensor = cereal::FrameData::ImageSensor::OX03C10;
+  data_word = false;
+  frame_width = 1928;
+  frame_height = 1208;
+  frame_stride = (frame_width * 12 / 8) + 4;
+  extra_height = 16;            // top 2 + bot 14
+  frame_offset = 2;
+
+  start_reg_array.assign(std::begin(start_reg_array_ox03c10), std::end(start_reg_array_ox03c10));
+  init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10));
+  probe_reg_addr = 0x300a;
+  probe_expected_data = 0x5803;
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
+  mclk_frequency = 24000000; //Hz
+
+  dc_gain_factor = 7.32;
+  dc_gain_min_weight = 1;  // always on is fine
+  dc_gain_max_weight = 1;
+  dc_gain_on_grey = 0.9;
+  dc_gain_off_grey = 1.0;
+  exposure_time_min = 2;  // 1x
+  exposure_time_max = 2016;
+  analog_gain_min_idx = 0x0;
+  analog_gain_rec_idx = 0x0;  // 1x
+  analog_gain_max_idx = 0x36;
+  analog_gain_cost_delta = -1;
+  analog_gain_cost_low = 0.4;
+  analog_gain_cost_high = 6.4;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
+  }
+  min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = 0.01;
+}
+
+std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
+ // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
+  uint32_t hcg_time = exposure_time;
+  uint32_t lcg_time = hcg_time;
+  uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10);
+  uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
+
+  uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
+
+  return {
+    {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
+    {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
+    {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
+    {0x35c2, vs_time&0xFF},
+
+    {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
+  };
+}
+
+int OX03C10::getSlaveAddress(int port) const {
+  assert(port >= 0 && port <= 2);
+  return (int[]){0x6C, 0x20, 0x6C}[port];
+}
+
+float OX03C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
+  float score = std::abs(desired_ev - (exp_t * exp_gain));
+  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+  score += ((1 - analog_gain_cost_delta) +
+            analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
+           std::abs(exp_g_idx - gain_idx) * 5.0;
+  return score;
+}

system/camerad/sensors/ox03c10_registers.h

@@ -0,0 +1,761 @@
+#pragma once
+
+const struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}};
+const struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}};
+
+const struct i2c_random_wr_payload init_array_ox03c10[] = {
+  {0x103, 1},
+  {0x107, 1},
+
+  // X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200
+
+  // TPM
+  {0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf},
+
+  /*)
+  // group 4
+  {0x3208, 0x04},
+  {0x4620, 0x04},
+  {0x3208, 0x14},
+
+  // group 5
+  {0x3208, 0x05},
+  {0x4620, 0x04},
+  {0x3208, 0x15},
+
+  // group 2
+  {0x3208, 0x02},
+  {0x3507, 0x00},
+  {0x3208, 0x12},
+
+  // delay launch group 2
+  {0x3208, 0xa2},*/
+
+  // PLL setup
+  {0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix
+  {0x0303, 0x01}, // pll1_prediv
+  {0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300
+  {0x0306, 0x04}, // pll1_divmipi = 4
+  {0x0307, 0x01}, // pll1_divm = 1
+  {0x0316, 0x00},
+  {0x0317, 0x00},
+  {0x0318, 0x00},
+  {0x0323, 0x05}, // pll2_prediv
+  {0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300
+
+  // SCLK/PCLK
+  {0x0400, 0xe0}, {0x0401, 0x80},
+  {0x0403, 0xde}, {0x0404, 0x34},
+  {0x0405, 0x3b}, {0x0406, 0xde},
+  {0x0407, 0x08},
+  {0x0408, 0xe0}, {0x0409, 0x7f},
+  {0x040a, 0xde}, {0x040b, 0x34},
+  {0x040c, 0x47}, {0x040d, 0xd8},
+  {0x040e, 0x08},
+
+  // xchk
+  {0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79},
+
+  // SC ctrl
+  {0x3001, 0x03}, // io_pad_oen
+  {0x3002, 0xfc}, // io_pad_oen
+  {0x3005, 0x80}, // io_pad_out
+  {0x3007, 0x01}, // io_pad_sel
+  {0x3008, 0x80}, // io_pad_sel
+
+  // FSIN first frame
+  /*
+  {0x3009, 0x2},
+  {0x3015, 0x2},
+  {0x3822, 0x20},
+  {0x3823, 0x58},
+
+  {0x3826, 0x0}, {0x3827, 0x8},
+  {0x3881, 0x4},
+
+  {0x3882, 0x8}, {0x3883, 0x0D},
+  {0x3836, 0x1F}, {0x3837, 0x40},
+  */
+
+  // FSIN with external pulses
+  {0x3009, 0x2},
+  {0x3015, 0x2},
+  {0x383E, 0x80},
+  {0x3881, 0x4},
+  {0x3882, 0x8}, {0x3883, 0x0D},
+  {0x3836, 0x1F}, {0x3837, 0x40},
+
+  {0x3892, 0x44},
+  {0x3823, 0x48},
+
+  {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
+  {0x3020, 0x05}, // SC_CTRL_20
+
+  // this is not in the datasheet, listed as RSVD
+  // but the camera doesn't work without it
+  {0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23},
+  {0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d},
+  {0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96},
+  {0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73},
+  {0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36},
+  {0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21},
+  {0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28},
+  {0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c},
+  {0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13},
+  {0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02},
+  {0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00},
+  {0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e},
+  {0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02},
+  {0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00},
+  {0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00},
+  {0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00},
+  {0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19},
+
+  // also RSVD
+  {0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01},
+  {0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21},
+  {0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3},
+  {0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03},
+  {0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80},
+  {0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c},
+  {0x3c73, 0x2c}, {0x3c76, 0x12},
+
+  // PEC checks
+  {0x3182, 0x12},
+
+  {0x320e, 0x00}, {0x320f, 0x00}, // RSVD
+  {0x3211, 0x61},
+  {0x3215, 0xcd},
+  {0x3219, 0x08},
+
+  {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
+  {0x350a, 0x01}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
+
+  {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
+  {0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
+
+  {0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure
+  {0x354a, 0x01}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain
+
+  {0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure
+  {0x35ca, 0x01}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain
+
+  // also RSVD
+  {0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01},
+  {0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a},
+  {0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b},
+  {0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f},
+  {0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00},
+  {0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a},
+  {0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10},
+  {0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a},
+  {0x3679, 0x19},
+
+  // Y_ADDR_START = 4
+  {0x3802, 0x00}, {0x3803, 0x04},
+  // Y_ADDR_END = 0x50b
+  {0x3806, 0x05}, {0x3807, 0x0b},
+
+  // X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928)
+  {0x3808, 0x07}, {0x3809, 0x88},
+
+  // Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208)
+  {0x380a, 0x04}, {0x380b, 0xb8},
+
+  // horizontal timing 0x447
+  {0x380c, 0x04}, {0x380d, 0x47},
+
+  // rows per frame (was 0x2ae)
+  // 0x8ae = 53.65 ms
+  {0x380e, 0x08}, {0x380f, 0x15},
+  // this should be triggered by FSIN, not free running
+
+  {0x3810, 0x00}, {0x3811, 0x08}, // x cutoff
+  {0x3812, 0x00}, {0x3813, 0x04}, // y cutoff
+  {0x3816, 0x01},
+  {0x3817, 0x01},
+  {0x381c, 0x18},
+  {0x381e, 0x01},
+  {0x381f, 0x01},
+
+  // don't mirror, just flip
+  {0x3820, 0x04},
+
+  {0x3821, 0x19},
+  {0x3832, 0xF0},
+  {0x3834, 0xF0},
+  {0x384c, 0x02},
+  {0x384d, 0x0d},
+  {0x3850, 0x00},
+  {0x3851, 0x42},
+  {0x3852, 0x00},
+  {0x3853, 0x40},
+  {0x3858, 0x04},
+  {0x388c, 0x02},
+  {0x388d, 0x2b},
+
+  // APC
+  {0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90},
+  {0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20},
+  {0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e},
+  {0x3b4c, 0x00}, {0x3b4d, 0x00},
+  {0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08},
+  {0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80},
+  {0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00},
+  {0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09},
+
+  // OTP
+  {0x3d82, 0x73},
+  {0x3d85, 0x05},
+  {0x3d8a, 0x03},
+  {0x3d8b, 0xff},
+  {0x3d99, 0x00},
+  {0x3d9a, 0x9f},
+  {0x3d9b, 0x00},
+  {0x3d9c, 0xa0},
+  {0x3da4, 0x00},
+  {0x3da7, 0x50},
+
+  // DTR
+  {0x420e, 0x6b},
+  {0x420f, 0x6e},
+  {0x4210, 0x06},
+  {0x4211, 0xc1},
+  {0x421e, 0x02},
+  {0x421f, 0x45},
+  {0x4220, 0xe1},
+  {0x4221, 0x01},
+  {0x4301, 0xff},
+  {0x4307, 0x03},
+  {0x4308, 0x13},
+  {0x430a, 0x13},
+  {0x430d, 0x93},
+  {0x430f, 0x57},
+  {0x4310, 0x95},
+  {0x4311, 0x16},
+  {0x4316, 0x00},
+
+  {0x4317, 0x38}, // both embedded rows are enabled
+
+  {0x4319, 0x03}, // spd dcg
+  {0x431a, 0x00}, // 8 bit mipi
+  {0x431b, 0x00},
+  {0x431d, 0x2a},
+  {0x431e, 0x11},
+
+  {0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits
+  //{0x431f, 0x00}, // disable PWL
+
+  {0x4320, 0x19},
+  {0x4323, 0x80},
+  {0x4324, 0x00},
+  {0x4503, 0x4e},
+  {0x4505, 0x00},
+  {0x4509, 0x00},
+  {0x450a, 0x00},
+  {0x4580, 0xf8},
+  {0x4583, 0x07},
+  {0x4584, 0x6a},
+  {0x4585, 0x08},
+  {0x4586, 0x05},
+  {0x4587, 0x04},
+  {0x4588, 0x73},
+  {0x4589, 0x05},
+  {0x458a, 0x1f},
+  {0x458b, 0x02},
+  {0x458c, 0xdc},
+  {0x458d, 0x03},
+  {0x458e, 0x02},
+  {0x4597, 0x07},
+  {0x4598, 0x40},
+  {0x4599, 0x0e},
+  {0x459a, 0x0e},
+  {0x459b, 0xfb},
+  {0x459c, 0xf3},
+  {0x4602, 0x00},
+  {0x4603, 0x13},
+  {0x4604, 0x00},
+  {0x4609, 0x0a},
+  {0x460a, 0x30},
+  {0x4610, 0x00},
+  {0x4611, 0x70},
+  {0x4612, 0x01},
+  {0x4613, 0x00},
+  {0x4614, 0x00},
+  {0x4615, 0x70},
+  {0x4616, 0x01},
+  {0x4617, 0x00},
+
+  {0x4800, 0x04}, // invert output PCLK
+  {0x480a, 0x22},
+  {0x4813, 0xe4},
+
+  // mipi
+  {0x4814, 0x2a},
+  {0x4837, 0x0d},
+  {0x484b, 0x47},
+  {0x484f, 0x00},
+  {0x4887, 0x51},
+  {0x4d00, 0x4a},
+  {0x4d01, 0x18},
+  {0x4d05, 0xff},
+  {0x4d06, 0x88},
+  {0x4d08, 0x63},
+  {0x4d09, 0xdf},
+  {0x4d15, 0x7d},
+  {0x4d1a, 0x20},
+  {0x4d30, 0x0a},
+  {0x4d31, 0x00},
+  {0x4d34, 0x7d},
+  {0x4d3c, 0x7d},
+  {0x4f00, 0x00},
+  {0x4f01, 0x00},
+  {0x4f02, 0x00},
+  {0x4f03, 0x20},
+  {0x4f04, 0xe0},
+  {0x6a00, 0x00},
+  {0x6a01, 0x20},
+  {0x6a02, 0x00},
+  {0x6a03, 0x20},
+  {0x6a04, 0x02},
+  {0x6a05, 0x80},
+  {0x6a06, 0x01},
+  {0x6a07, 0xe0},
+  {0x6a08, 0xcf},
+  {0x6a09, 0x01},
+  {0x6a0a, 0x40},
+  {0x6a20, 0x00},
+  {0x6a21, 0x02},
+  {0x6a22, 0x00},
+  {0x6a23, 0x00},
+  {0x6a24, 0x00},
+  {0x6a25, 0x00},
+  {0x6a26, 0x00},
+  {0x6a27, 0x00},
+  {0x6a28, 0x00},
+
+  // isp
+  {0x5000, 0x8f},
+  {0x5001, 0x75},
+  {0x5002, 0x7f}, // PWL0
+  //{0x5002, 0x3f}, // PWL disable
+  {0x5003, 0x7a},
+
+  {0x5004, 0x3e},
+  {0x5005, 0x1e},
+  {0x5006, 0x1e},
+  {0x5007, 0x1e},
+
+  {0x5008, 0x00},
+  {0x500c, 0x00},
+  {0x502c, 0x00},
+  {0x502e, 0x00},
+  {0x502f, 0x00},
+  {0x504b, 0x00},
+  {0x5053, 0x00},
+  {0x505b, 0x00},
+  {0x5063, 0x00},
+  {0x5070, 0x00},
+  {0x5074, 0x04},
+  {0x507a, 0x04},
+  {0x507b, 0x09},
+  {0x5500, 0x02},
+  {0x5700, 0x02},
+  {0x5900, 0x02},
+  {0x6007, 0x04},
+  {0x6008, 0x05},
+  {0x6009, 0x02},
+  {0x600b, 0x08},
+  {0x600c, 0x07},
+  {0x600d, 0x88},
+  {0x6016, 0x00},
+  {0x6027, 0x04},
+  {0x6028, 0x05},
+  {0x6029, 0x02},
+  {0x602b, 0x08},
+  {0x602c, 0x07},
+  {0x602d, 0x88},
+  {0x6047, 0x04},
+  {0x6048, 0x05},
+  {0x6049, 0x02},
+  {0x604b, 0x08},
+  {0x604c, 0x07},
+  {0x604d, 0x88},
+  {0x6067, 0x04},
+  {0x6068, 0x05},
+  {0x6069, 0x02},
+  {0x606b, 0x08},
+  {0x606c, 0x07},
+  {0x606d, 0x88},
+  {0x6087, 0x04},
+  {0x6088, 0x05},
+  {0x6089, 0x02},
+  {0x608b, 0x08},
+  {0x608c, 0x07},
+  {0x608d, 0x88},
+
+  // 12-bit PWL0
+  {0x5e00, 0x00},
+
+  // m_ndX_exp[0:32]
+  // 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518
+  {0x5e01, 0x09},
+  {0x5e02, 0x09},
+  {0x5e03, 0x0a},
+  {0x5e04, 0x0a},
+  {0x5e05, 0x0a},
+  {0x5e06, 0x0b},
+  {0x5e07, 0x0b},
+  {0x5e08, 0x0c},
+  {0x5e09, 0x0c},
+  {0x5e0a, 0x0d},
+  {0x5e0b, 0x0d},
+  {0x5e0c, 0x0e},
+  {0x5e0d, 0x0e},
+  {0x5e0e, 0x0f},
+  {0x5e0f, 0x0f},
+  {0x5e10, 0x10},
+  {0x5e11, 0x10},
+  {0x5e12, 0x11},
+  {0x5e13, 0x11},
+  {0x5e14, 0x12},
+  {0x5e15, 0x12},
+  {0x5e16, 0x12},
+  {0x5e17, 0x12},
+  {0x5e18, 0x13},
+  {0x5e19, 0x13},
+  {0x5e1a, 0x13},
+  {0x5e1b, 0x14},
+  {0x5e1c, 0x14},
+  {0x5e1d, 0x14},
+  {0x5e1e, 0x15},
+  {0x5e1f, 0x15},
+  {0x5e20, 0x15},
+  {0x5e21, 0x16},
+
+  // m_ndY_val[0:32]
+  // 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095
+  {0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00},
+  {0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff},
+  {0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00},
+  {0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00},
+  {0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00},
+  {0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80},
+  {0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80},
+  {0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80},
+  {0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80},
+  {0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80},
+  {0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80},
+  {0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80},
+  {0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80},
+  {0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80},
+  {0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80},
+  {0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80},
+  {0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80},
+  {0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40},
+  {0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40},
+  {0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40},
+  {0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40},
+  {0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40},
+  {0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40},
+  {0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40},
+  {0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40},
+  {0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40},
+  {0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40},
+  {0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40},
+  {0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40},
+  {0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40},
+  {0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40},
+  {0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40},
+  {0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40},
+
+  // disable PWL
+  /*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00},
+  {0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00},
+  {0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00},
+  {0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00},
+  {0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00},
+  {0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00},
+  {0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00},
+  {0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00},
+  {0x5e21, 0x00},
+
+  {0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/
+
+  {0x4001, 0x2b},  // BLC_CTRL_1
+  {0x4008, 0x02}, {0x4009, 0x03},
+  {0x4018, 0x12},
+  {0x4022, 0x40},
+  {0x4023, 0x20},
+
+  // all black level targets are 0x40
+  {0x4026, 0x00}, {0x4027, 0x40},
+  {0x4028, 0x00}, {0x4029, 0x40},
+  {0x402a, 0x00}, {0x402b, 0x40},
+  {0x402c, 0x00}, {0x402d, 0x40},
+
+  {0x407e, 0xcc},
+  {0x407f, 0x18},
+  {0x4080, 0xff},
+  {0x4081, 0xff},
+  {0x4082, 0x01},
+  {0x4083, 0x53},
+  {0x4084, 0x01},
+  {0x4085, 0x2b},
+  {0x4086, 0x00},
+  {0x4087, 0xb3},
+
+  {0x4640, 0x40},
+  {0x4641, 0x11},
+  {0x4642, 0x0e},
+  {0x4643, 0xee},
+  {0x4646, 0x0f},
+  {0x4648, 0x00},
+  {0x4649, 0x03},
+
+  {0x4f00, 0x00},
+  {0x4f01, 0x00},
+  {0x4f02, 0x80},
+  {0x4f03, 0x2c},
+  {0x4f04, 0xf8},
+
+  {0x4d09, 0xff},
+  {0x4d09, 0xdf},
+
+  {0x5003, 0x7a},
+  {0x5b80, 0x08},
+  {0x5c00, 0x08},
+  {0x5c80, 0x00},
+  {0x5bbe, 0x12},
+  {0x5c3e, 0x12},
+  {0x5cbe, 0x12},
+  {0x5b8a, 0x80},
+  {0x5b8b, 0x80},
+  {0x5b8c, 0x80},
+  {0x5b8d, 0x80},
+  {0x5b8e, 0x60},
+  {0x5b8f, 0x80},
+  {0x5b90, 0x80},
+  {0x5b91, 0x80},
+  {0x5b92, 0x80},
+  {0x5b93, 0x20},
+  {0x5b94, 0x80},
+  {0x5b95, 0x80},
+  {0x5b96, 0x80},
+  {0x5b97, 0x20},
+  {0x5b98, 0x00},
+  {0x5b99, 0x80},
+  {0x5b9a, 0x40},
+  {0x5b9b, 0x20},
+  {0x5b9c, 0x00},
+  {0x5b9d, 0x00},
+  {0x5b9e, 0x80},
+  {0x5b9f, 0x00},
+  {0x5ba0, 0x00},
+  {0x5ba1, 0x00},
+  {0x5ba2, 0x00},
+  {0x5ba3, 0x00},
+  {0x5ba4, 0x00},
+  {0x5ba5, 0x00},
+  {0x5ba6, 0x00},
+  {0x5ba7, 0x00},
+  {0x5ba8, 0x02},
+  {0x5ba9, 0x00},
+  {0x5baa, 0x02},
+  {0x5bab, 0x76},
+  {0x5bac, 0x03},
+  {0x5bad, 0x08},
+  {0x5bae, 0x00},
+  {0x5baf, 0x80},
+  {0x5bb0, 0x00},
+  {0x5bb1, 0xc0},
+  {0x5bb2, 0x01},
+  {0x5bb3, 0x00},
+
+  // m_nNormCombineWeight
+  {0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60},
+  {0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20},
+  {0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00},
+  {0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00},
+  {0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00},
+  {0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00},
+
+  // m_nCombinThreL
+  {0x5c28, 0x02}, {0x5c29, 0x00},
+  {0x5c2a, 0x02}, {0x5c2b, 0x76},
+  {0x5c2c, 0x03}, {0x5c2d, 0x08},
+
+  // m_nCombinThreS
+  {0x5c2e, 0x00}, {0x5c2f, 0x80},
+  {0x5c30, 0x00}, {0x5c31, 0xc0},
+  {0x5c32, 0x01}, {0x5c33, 0x00},
+
+  // m_nNormCombineWeight
+  {0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80},
+  {0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60},
+  {0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40},
+  {0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00},
+  {0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00},
+  {0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00},
+
+  {0x5ca8, 0x01}, {0x5ca9, 0x00},
+  {0x5caa, 0x02}, {0x5cab, 0x00},
+  {0x5cac, 0x03}, {0x5cad, 0x08},
+
+  {0x5cae, 0x01}, {0x5caf, 0x00},
+  {0x5cb0, 0x02}, {0x5cb1, 0x00},
+  {0x5cb2, 0x03}, {0x5cb3, 0x08},
+
+  // combine ISP
+  {0x5be7, 0x80},
+  {0x5bc9, 0x80},
+  {0x5bca, 0x80},
+  {0x5bcb, 0x80},
+  {0x5bcc, 0x80},
+  {0x5bcd, 0x80},
+  {0x5bce, 0x80},
+  {0x5bcf, 0x80},
+  {0x5bd0, 0x80},
+  {0x5bd1, 0x80},
+  {0x5bd2, 0x20},
+  {0x5bd3, 0x80},
+  {0x5bd4, 0x40},
+  {0x5bd5, 0x20},
+  {0x5bd6, 0x00},
+  {0x5bd7, 0x00},
+  {0x5bd8, 0x00},
+  {0x5bd9, 0x00},
+  {0x5bda, 0x00},
+  {0x5bdb, 0x00},
+  {0x5bdc, 0x00},
+  {0x5bdd, 0x00},
+  {0x5bde, 0x00},
+  {0x5bdf, 0x00},
+  {0x5be0, 0x00},
+  {0x5be1, 0x00},
+  {0x5be2, 0x00},
+  {0x5be3, 0x00},
+  {0x5be4, 0x00},
+  {0x5be5, 0x00},
+  {0x5be6, 0x00},
+
+  // m_nSPDCombineWeight
+  {0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40},
+  {0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20},
+  {0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00},
+  {0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00},
+  {0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00},
+  {0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00},
+
+  // m_nSPDCombineWeight
+  {0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80},
+  {0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60},
+  {0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40},
+  {0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20},
+  {0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00},
+  {0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00},
+
+  {0x5d74, 0x01},
+  {0x5d75, 0x00},
+
+  {0x5d1f, 0x81},
+  {0x5d11, 0x00},
+  {0x5d12, 0x10},
+  {0x5d13, 0x10},
+  {0x5d15, 0x05},
+  {0x5d16, 0x05},
+  {0x5d17, 0x05},
+  {0x5d08, 0x03},
+  {0x5d09, 0xb6},
+  {0x5d0a, 0x03},
+  {0x5d0b, 0xb6},
+  {0x5d18, 0x03},
+  {0x5d19, 0xb6},
+  {0x5d62, 0x01},
+  {0x5d40, 0x02},
+  {0x5d41, 0x01},
+  {0x5d63, 0x1f},
+  {0x5d64, 0x00},
+  {0x5d65, 0x80},
+  {0x5d56, 0x00},
+  {0x5d57, 0x20},
+  {0x5d58, 0x00},
+  {0x5d59, 0x20},
+  {0x5d5a, 0x00},
+  {0x5d5b, 0x0c},
+  {0x5d5c, 0x02},
+  {0x5d5d, 0x40},
+  {0x5d5e, 0x02},
+  {0x5d5f, 0x40},
+  {0x5d60, 0x03},
+  {0x5d61, 0x40},
+  {0x5d4a, 0x02},
+  {0x5d4b, 0x40},
+  {0x5d4c, 0x02},
+  {0x5d4d, 0x40},
+  {0x5d4e, 0x02},
+  {0x5d4f, 0x40},
+  {0x5d50, 0x18},
+  {0x5d51, 0x80},
+  {0x5d52, 0x18},
+  {0x5d53, 0x80},
+  {0x5d54, 0x18},
+  {0x5d55, 0x80},
+  {0x5d46, 0x20},
+  {0x5d47, 0x00},
+  {0x5d48, 0x22},
+  {0x5d49, 0x00},
+  {0x5d42, 0x20},
+  {0x5d43, 0x00},
+  {0x5d44, 0x22},
+  {0x5d45, 0x00},
+
+  {0x5004, 0x1e},
+  {0x4221, 0x03},  // this is changed from 1 -> 3
+
+  // DCG exposure coarse
+  // {0x3501, 0x01}, {0x3502, 0xc8},
+  // SPD exposure coarse
+  // {0x3541, 0x01}, {0x3542, 0xc8},
+  // VS exposure coarse
+  // {0x35c1, 0x00}, {0x35c2, 0x01},
+
+  // crc reference
+  {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},
+  // crc stat check
+  {0x507a, 0x5f}, {0x507b, 0x46},
+
+  // watchdog control
+  {0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c},
+
+  // color balance gains
+  // blue
+  {0x5280, 0x06}, {0x5281, 0xCB}, // hcg
+  {0x5480, 0x06}, {0x5481, 0xCB}, // lcg
+  {0x5680, 0x06}, {0x5681, 0xCB}, // spd
+  {0x5880, 0x06}, {0x5881, 0xCB}, // vs
+
+  // green(blue)
+  {0x5282, 0x04}, {0x5283, 0x00},
+  {0x5482, 0x04}, {0x5483, 0x00},
+  {0x5682, 0x04}, {0x5683, 0x00},
+  {0x5882, 0x04}, {0x5883, 0x00},
+
+  // green(red)
+  {0x5284, 0x04}, {0x5285, 0x00},
+  {0x5484, 0x04}, {0x5485, 0x00},
+  {0x5684, 0x04}, {0x5685, 0x00},
+  {0x5884, 0x04}, {0x5885, 0x00},
+
+  // red
+  {0x5286, 0x08}, {0x5287, 0xDE},
+  {0x5486, 0x08}, {0x5487, 0xDE},
+  {0x5686, 0x08}, {0x5687, 0xDE},
+  {0x5886, 0x08}, {0x5887, 0xDE},
+
+  // fixed gains
+  {0x3588, 0x01}, {0x3589, 0x00},
+  {0x35c8, 0x01}, {0x35c9, 0x00},
+  {0x3548, 0x0F}, {0x3549, 0x00},
+  {0x35c1, 0x00},
+};

system/camerad/sensors/sensor.h

@@ -0,0 +1,89 @@
+#pragma once
+
+#include <cassert>
+#include <cstdint>
+#include <map>
+#include <utility>
+#include <vector>
+#include "media/cam_sensor.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/sensors/ar0231_registers.h"
+#include "system/camerad/sensors/ox03c10_registers.h"
+#include "system/camerad/sensors/os04c10_registers.h"
+
+#define ANALOG_GAIN_MAX_CNT 55
+
+class SensorInfo {
+public:
+  SensorInfo() = default;
+  virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
+  virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
+  virtual int getSlaveAddress(int port) const { assert(0); }
+  virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
+
+  cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
+  uint32_t frame_width, frame_height;
+  uint32_t frame_stride;
+  uint32_t frame_offset = 0;
+  uint32_t extra_height = 0;
+  int registers_offset = -1;
+  int stats_offset = -1;
+
+  int exposure_time_min;
+  int exposure_time_max;
+
+  float dc_gain_factor;
+  int dc_gain_min_weight;
+  int dc_gain_max_weight;
+  float dc_gain_on_grey;
+  float dc_gain_off_grey;
+
+  float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
+  int analog_gain_min_idx;
+  int analog_gain_max_idx;
+  int analog_gain_rec_idx;
+  int analog_gain_cost_delta;
+  float analog_gain_cost_low;
+  float analog_gain_cost_high;
+  float target_grey_factor;
+  float min_ev;
+  float max_ev;
+
+  bool data_word;
+  uint32_t probe_reg_addr;
+  uint32_t probe_expected_data;
+  std::vector<i2c_random_wr_payload> start_reg_array;
+  std::vector<i2c_random_wr_payload> init_reg_array;
+
+  uint32_t mipi_format;
+  uint32_t mclk_frequency;
+  uint32_t frame_data_type;
+};
+
+class AR0231 : public SensorInfo {
+public:
+  AR0231();
+  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
+  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
+  int getSlaveAddress(int port) const override;
+  void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override;
+
+private:
+  mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
+};
+
+class OX03C10 : public SensorInfo {
+public:
+  OX03C10();
+  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
+  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
+  int getSlaveAddress(int port) const override;
+};
+
+class OS04C10 : public SensorInfo {
+public:
+  OS04C10();
+  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
+  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
+  int getSlaveAddress(int port) const override;
+};

system/camerad/snapshot/snapshot.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+import subprocess
+import time
+
+import numpy as np
+from PIL import Image
+
+import cereal.messaging as messaging
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.system.hardware import PC
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.manager.process_config import managed_processes
+
+
+VISION_STREAMS = {
+  "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
+  "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
+  "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD,
+}
+
+
+def jpeg_write(fn, dat):
+  img = Image.fromarray(dat)
+  img.save(fn, "JPEG")
+
+
+def yuv_to_rgb(y, u, v):
+  ul = np.repeat(np.repeat(u, 2).reshape(u.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+  vl = np.repeat(np.repeat(v, 2).reshape(v.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+
+  yuv = np.dstack((y, ul, vl)).astype(np.int16)
+  yuv[:, :, 1:] -= 128
+
+  m = np.array([
+    [1.00000,  1.00000, 1.00000],
+    [0.00000, -0.39465, 2.03211],
+    [1.13983, -0.58060, 0.00000],
+  ])
+  rgb = np.dot(yuv, m).clip(0, 255)
+  return rgb.astype(np.uint8)
+
+
+def extract_image(buf):
+  y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
+  u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+
+  return yuv_to_rgb(y, u, v)
+
+
+def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
+  sockets = [s for s in (frame, front_frame) if s is not None]
+  sm = messaging.SubMaster(sockets)
+  vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets}
+
+  # wait 4 sec from camerad startup for focus and exposure
+  while sm[sockets[0]].frameId < int(4. / DT_MDL):
+    sm.update()
+
+  for client in vipc_clients.values():
+    client.connect(True)
+
+  # grab images
+  rear, front = None, None
+  if frame is not None:
+    c = vipc_clients[frame]
+    rear = extract_image(c.recv())
+  if front_frame is not None:
+    c = vipc_clients[front_frame]
+    front = extract_image(c.recv())
+  return rear, front
+
+
+def snapshot():
+  params = Params()
+
+  if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
+    print("Already taking snapshot")
+    return None, None
+
+  front_camera_allowed = params.get_bool("RecordFront")
+  params.put_bool("IsTakingSnapshot", True)
+  set_offroad_alert("Offroad_IsTakingSnapshot", True)
+  time.sleep(2.0)  # Give thermald time to read the param, or if just started give camerad time to start
+
+  # Check if camerad is already started
+  try:
+    subprocess.check_call(["pgrep", "camerad"])
+    print("Camerad already running")
+    params.put_bool("IsTakingSnapshot", False)
+    params.remove("Offroad_IsTakingSnapshot")
+    return None, None
+  except subprocess.CalledProcessError:
+    pass
+
+  try:
+    # Allow testing on replay on PC
+    if not PC:
+      managed_processes['camerad'].start()
+
+    frame = "wideRoadCameraState"
+    front_frame = "driverCameraState" if front_camera_allowed else None
+    rear, front = get_snapshots(frame, front_frame)
+  finally:
+    managed_processes['camerad'].stop()
+    params.put_bool("IsTakingSnapshot", False)
+    set_offroad_alert("Offroad_IsTakingSnapshot", False)
+
+  if not front_camera_allowed:
+    front = None
+
+  return rear, front
+
+
+if __name__ == "__main__":
+  pic, fpic = snapshot()
+  if pic is not None:
+    print(pic.shape)
+    jpeg_write("/tmp/back.jpg", pic)
+    if fpic is not None:
+      jpeg_write("/tmp/front.jpg", fpic)
+  else:
+    print("Error taking snapshot")

system/camerad/test/.gitignore

@@ -0,0 +1,2 @@
+jpegs/
+test_ae_gray

system/camerad/test/check_skips.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+# type: ignore
+import cereal.messaging as messaging
+
+all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState']
+prev_id = [None,None,None]
+this_id = [None,None,None]
+dt = [None,None,None]
+num_skipped = [0,0,0]
+
+if __name__ == "__main__":
+  sm = messaging.SubMaster(all_sockets)
+  while True:
+    sm.update()
+
+    for i in range(len(all_sockets)):
+      if not sm.updated[all_sockets[i]]:
+        continue
+      this_id[i] = sm[all_sockets[i]].frameId
+      if prev_id[i] is None:
+        prev_id[i] = this_id[i]
+        continue
+      dt[i] = this_id[i] - prev_id[i]
+      if dt[i] != 1:
+        num_skipped[i] += dt[i] - 1
+        print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
+      prev_id[i] = this_id[i]

system/camerad/test/get_thumbnails_for_segment.py

@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from tqdm import tqdm
+
+from openpilot.tools.lib.logreader import LogReader
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("route", help="The route name")
+  args = parser.parse_args()
+
+  out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}")
+  os.makedirs(out_path, exist_ok=True)
+
+  lr = LogReader(args.route)
+
+  for msg in tqdm(lr):
+    if msg.which() == 'thumbnail':
+      with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f:
+        f.write(msg.thumbnail.thumbnail)
+    elif msg.which() == 'navThumbnail':
+      with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f:
+        f.write(msg.navThumbnail.thumbnail)

system/camerad/test/stress_restart.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+cd ..
+while :; do
+  ./camerad &
+  pid="$!"
+  sleep 2
+  kill -2 $pid
+  wait $pid
+done

system/camerad/test/test_ae_gray.cc

@@ -0,0 +1,83 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
+
+#include <cassert>
+
+#include <cmath>
+#include <cstring>
+
+#include "common/util.h"
+#include "system/camerad/cameras/camera_common.h"
+
+#define W 240
+#define H 160
+
+
+#define TONE_SPLITS 3
+
+float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = {
+  0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969,
+  0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000,
+  0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000};
+
+
+TEST_CASE("camera.test_set_exposure_target") {
+  // set up fake camerabuf
+  CameraBuf cb = {};
+  VisionBuf vb = {};
+  uint8_t * fb_y = new uint8_t[W*H];
+  vb.y = fb_y;
+  cb.cur_yuv_buf = &vb;
+  cb.rgb_width = W;
+  cb.rgb_height = H;
+
+  printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height);
+
+  // mix of 5 tones
+  uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max
+
+  bool passed = true;
+  float rtol = 0.05;
+  // generate pattern and calculate EV
+  int cnt = 0;
+  for (int i_0=0; i_0<TONE_SPLITS; i_0++) {
+    for (int i_1=0; i_1<TONE_SPLITS; i_1++) {
+      for (int i_2=0; i_2<TONE_SPLITS; i_2++) {
+        for (int i_3=0; i_3<TONE_SPLITS; i_3++) {
+          int h_0 = i_0 * H / TONE_SPLITS;
+          int h_1 = i_1 * (H - h_0) / TONE_SPLITS;
+          int h_2 = i_2 * (H - h_0 - h_1) / TONE_SPLITS;
+          int h_3 = i_3 * (H - h_0 - h_1 - h_2) / TONE_SPLITS;
+          int h_4 = H - h_0 - h_1 - h_2 - h_3;
+          memset(&fb_y[0], l[0], h_0*W);
+          memset(&fb_y[h_0*W], l[1], h_1*W);
+          memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W);
+          memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W);
+          memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W);
+          float ev = set_exposure_target((const CameraBuf*) &cb, 0, W-1, 1, 0, H-1, 1);
+          // printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev);
+          // printf("%f\n", ev);
+
+          // compare to gt
+          float evgt = gts[cnt];
+          if (fabs(ev - evgt) > rtol*evgt) {
+            passed = false;
+          }
+
+          // report
+          printf("%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f));
+          cnt++;
+        }
+      }
+    }
+  }
+  assert(passed);
+
+  delete[] fb_y;
+}

system/camerad/test/test_camerad.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+import pytest
+import time
+import numpy as np
+from flaky import flaky
+from collections import defaultdict
+
+import cereal.messaging as messaging
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.selfdrive.manager.process_config import managed_processes
+
+TEST_TIMESPAN = 30
+LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
+                       log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
+FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
+                       log.FrameData.ImageSensor.ox03c10: 1.0}
+
+CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+
+# TODO: this shouldn't be needed
+@flaky(max_runs=3)
+@pytest.mark.tici
+class TestCamerad:
+  def setup_method(self):
+    # run camerad and record logs
+    managed_processes['camerad'].start()
+    time.sleep(3)
+    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
+
+    self.logs = defaultdict(list)
+    start_time = time.monotonic()
+    while time.monotonic()- start_time < TEST_TIMESPAN:
+      for cam, s in socks.items():
+        self.logs[cam] += messaging.drain_sock(s)
+      time.sleep(0.2)
+    managed_processes['camerad'].stop()
+
+    self.log_by_frame_id = defaultdict(list)
+    self.sensor_type = None
+    for cam, msgs in self.logs.items():
+      if self.sensor_type is None:
+        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
+
+      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
+      assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+
+      for m in msgs:
+        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+
+    # strip beginning and end
+    for _ in range(3):
+      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
+      del self.log_by_frame_id[mn]
+      del self.log_by_frame_id[mx]
+
+  def test_frame_skips(self):
+    skips = {}
+    frame_ids = self.log_by_frame_id.keys()
+    for frame_id in range(min(frame_ids), max(frame_ids)):
+      seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]]
+      skip_cams = set(CAMERAS) - set(seen_cams)
+      if len(skip_cams):
+        skips[frame_id] = skip_cams
+    assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}"
+
+  def test_frame_sync(self):
+    frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()}
+    diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()}
+
+    def get_desc(fid, diff):
+      cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]]
+      return (diff, cam_times)
+    laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]}
+
+    def in_tol(diff):
+      return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type]
+    if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames):
+      print("TODO: handle camera out of sync")
+    else:
+      assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"

system/camerad/test/test_exposure.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+import time
+import unittest
+import numpy as np
+
+from openpilot.selfdrive.test.helpers import with_processes, phone_only
+from openpilot.system.camerad.snapshot.snapshot import get_snapshots
+
+TEST_TIME = 45
+REPEAT = 5
+
+class TestCamerad(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    pass
+
+  def _numpy_rgb2gray(self, im):
+    ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
+    return ret
+
+  def _is_exposure_okay(self, i, med_mean=None):
+    if med_mean is None:
+      med_mean = np.array([[0.2,0.4],[0.2,0.6]])
+    h, w = i.shape[:2]
+    i = i[h//10:9*h//10,w//10:9*w//10]
+    med_ex, mean_ex = med_mean
+    i = self._numpy_rgb2gray(i)
+    i_median = np.median(i) / 255.
+    i_mean = np.mean(i) / 255.
+    print([i_median, i_mean])
+    return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
+
+  @phone_only
+  @with_processes(['camerad'])
+  def test_camera_operation(self):
+    passed = 0
+    start = time.time()
+    while time.time() - start < TEST_TIME and passed < REPEAT:
+      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
+      wpic, _ = get_snapshots(frame="wideRoadCameraState")
+
+      res = self._is_exposure_okay(rpic)
+      res = res and self._is_exposure_okay(dpic)
+      res = res and self._is_exposure_okay(wpic)
+
+      if passed > 0 and not res:
+        passed = -passed # fails test if any failure after first sus
+        break
+
+      passed += int(res)
+      time.sleep(2)
+    self.assertGreaterEqual(passed, REPEAT)
+
+if __name__ == "__main__":
+  unittest.main()

system/clearpilot/dev/GithubSshKeys

@@ -0,0 +1,3 @@
+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQDQtHTzkeRlOXDWyK/IvO2RgjSdoq6V81u3YtcyIxBZVX2zCj1xzE9zWcUcVxloe63rB/DBasChODIRBtp1vGnWb/EkLWAuOqS2V5rzhlcSfM103++TI81e04A7HDspWSNUXRh5OD/mUvwtYIH7S4QAkBiCro5lAgSToXNAOR4b4cXgNQecf+RhPc0Nm3K8Is1wEeQajmlC1E22YWBDDV+uoB3Uagl90e58Psbp8PunCdbeY9EfqQsymyloiTeqzKwHnmHnMXSlZluh7A+ifoKgohDsarT1FixAgxT0LSIxxINORhE4P6em/7y3xpgubPhNpbuQSzDlb3op3fwMoFcAEEYKWg+d9OGOrdiWa13aV0g7UNdW/XmmF/BAaBdSOZeomVNnxmftmmJWfu3jtFdwTDRQpZn7nDYC+aZ1R3Q0Xd4lLuqkA/9smUXLZuiBDJXwM5nDyWQR9tESIwlTLcdKAUpj0gQqpcozVehksNksTekZBAg/mYb6DKyYCTY0ti0=
+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCm/Vq50kqf94allqGq9luBGjDh2Do/rOCA719CRlDOErCvdY+ZaYNumQZ5AbFfU5KcPZwirJLBvhEoH/G0lEAg9TUaUgH/VvqBBztlpcmA1eplZHzEFLnTDn0oO4Tk46bXwjL0anOZfNaUGhbaO4Th7m+9+o16WUduEabPiyVbnqD6P44CANsvBJNKlyUDBzsdkE9z5gULp06i1+JqqXiGV81HoFWZe5YCFv4j4QUPvfmFhcBHViVrOFs87hS4Eu0gWNxQmQBhh6R1ZbjaBlGdE5GyDZQZwlofjfuO06e0HvCDuIAELSYqlGFCmUhlM/LZ6YkF79/HFrg5sS3gsuY5
+ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIHbrOZrByUb2Ci21DdJkhWv/4Bz4oghL9joraQYFq4Om

system/clearpilot/dev/encrypt.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+dongle_id=$(cat /data/params/d/DongleId)
+if [[ ! $dongle_id == 90bb71* ]]; then
+    exit 1
+fi
+
+# Encrypt SSH keys if source files exist using the custom encrypt tool
+if [ -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
+   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt
+fi
+
+if [ -f /data/openpilot/system/clearpilot/dev/id_rsa ]; then
+   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.cpt
+fi
+
+if [ -f /data/openpilot/system/clearpilot/dev/reverse_ssh ]; then
+   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/reverse_ssh /data/openpilot/system/clearpilot/dev/reverse_ssh.cpt
+fi

system/clearpilot/dev/on_start.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# tmp for debugging
+date >> /tmp/dongles
+echo check dongle >> /tmp/dongles
+cat /data/params/d/DongleId >> /tmp/dongles
+echo done >> /tmp/dongles
+
+dongle_id=$(cat /data/params/d/DongleId)
+if [[ ! $dongle_id == 90bb71* ]]; then
+    exit 1
+fi
+
+echo Bringing up brian dev environment
+
+bash /data/openpilot/system/clearpilot/dev/provision.sh
+bash /data/openpilot/system/clearpilot/dev/on_start_brian.sh

system/clearpilot/dev/on_start_brian.sh.cpt

@@ -0,0 +1,2 @@
+•Í’T4üoŠd¿á¹³€å–³!qús^§‘1E<31>Œ½—ðÓÉQ¯Åe|0b.7ša|Þ¶$Âï)x‰ ÷9‘Sü8BÌQÛ÷øÃ;TÝ`~?Q!hj2ÔŒwqô/[´ Xðt¬Ç5‡ü,«Ë<C2AB>ñm¾^v<>¯$vf‚ÇH°)J½A
+²W°n`<@’‹.¬ç&>­<>&}m8˜‰àÃ;½\$^`Aª›Œ

system/clearpilot/dev/provision.sh

@@ -0,0 +1,48 @@
+#!/bin/bash
+
+# Provision script for BrianBot
+# These actions only occur on BrianBot's comma device.
+
+# 1. Check the string in /data/params/d/DongleId
+dongle_id=$(cat /data/params/d/DongleId)
+if [[ ! $dongle_id == 90bb71* ]]; then
+    exit 1
+fi
+
+echo "BrianBot dongle ID detected."
+
+# 2. Check if ccrypt is installed, install if not
+if ! command -v ccrypt >/dev/null 2>&1; then
+    echo "Installing ccrypt..."
+    sudo apt-get update
+    sudo apt-get install -y ccrypt
+fi
+
+# 3. Decrypt SSH keys if they have not been decrypted yet
+if [ ! -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
+   echo "Decrypting SSH keys..."
+   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt /data/openpilot/system/clearpilot/dev/id_rsa.pub
+   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.cpt /data/openpilot/system/clearpilot/dev/id_rsa
+   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/on_start_brian.sh.cpt /data/openpilot/system/clearpilot/dev/on_start_brian.sh
+fi
+
+# 4. Ensure .ssh directory and keys exist
+ssh_dir="/data/ssh/.ssh"
+if [[ ! -f "$ssh_dir/id_rsa" || ! -f "$ssh_dir/id_rsa.pub" ]]; then
+    echo "Setting up SSH directory and keys..."
+    mkdir -p "$ssh_dir"
+    cp /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.pub "$ssh_dir"
+    chmod 700 "$ssh_dir"
+    chmod 600 "$ssh_dir/id_rsa" "$ssh_dir/id_rsa.pub"
+    echo hansonxyz > /data/params/d/GithubUsername
+    cat /data/openpilot/system/clearpilot/dev/GithubSshKeys > /data/params/d/GithubSshKeys
+    echo 1 > /data/params/d/SshEnabled
+    sudo systemctl restart ssh
+    cd /data/openpilot
+    git remote remove origin
+    git remote add origin git@privategit.hanson.xyz:brianhansonxyz/clearpilot.git
+fi
+
+echo "Script execution complete."
+
+

system/clearpilot/install/defaults.sh

@@ -0,0 +1 @@
+echo 120 > /data/params/d/ScreenTimeout

system/clearpilot/install/plan.txt

@@ -0,0 +1,14 @@
+- test - does wiping the device also wipe installed apt packages?
+  if yes, then no uninstaller needed.
+
+- installer will download models and support packages as part of its install process.
+
+- if that isn't possible on first init, it will prompt for wifi and then get the support packages.
+
+- startup wizard:
+  - verify this is a tested car
+  - describe system is extremely experimental and use at your own risk
+  - describe that the use of certain options may be illegal in your jursdiction and you accept all risk
+    and liability for use of options which are against local regulations and any consequences of their use
+  - walk through the features and prompt if each one should be enabled / disabled
+  

system/clearpilot/install/provision.sh

@@ -0,0 +1,35 @@
+#!/bin/bash
+
+# Check if nodejs is installed
+# if ! which nodejs > /dev/null; then
+#   #sudo mount -o remount,rw /
+
+#   # Node.js is not installed, setting up the NodeSource Node.js 21.x repo
+#   echo "Node.js not found. Setting up NodeSource Node.js 21.x repository..."
+#   curl -fsSL https://deb.nodesource.com/setup_21.x | sudo -E bash -
+  
+#   # Install Node.js from the NodeSource repository
+#   echo "Installing Node.js..."
+#   sudo apt-get install -y nodejs
+# fi
+
+# Todo: update the crash screen to have an option to restore previous version if one exists. (/data/openpilot_failsafe)
+# If no previous version, present an option to check out updated release.
+
+# Todo: Detect if provisioned for current version.  If not, start qt_shell subshell for provision.
+
+apt-get update
+
+apt-get install -y nodejs npm imagemagick ccrypt qtwebengine5-dev libqt5serialbus5 \
+    libqt5serialbus5-bin libqt5serialbus5-plugins libqt5serialbus5-dev libqt5charts5-dev
+
+# python3-pyqt5 pywayland imagemagick qtwebengine5-dev
+# python3-dev python3-pyqt5.qtwebengine pybind11-dev 
+# apt-get install -y python3-pyqt5.qtwebengine
+
+# Detect if libyuv is installed.  If it is, nothing to do.
+cd /data/openpilot/third_party/libyuv
+bash build.sh
+cd libyuv && make && make install
+
+# pip install PyQt5-sip

system/clearpilot/loading_messages.txt

@@ -0,0 +1,24 @@
+Ignoring back seat drivers
+Exagerating ETAs
+Excessivising spoken directions
+Coping with rush hour
+Aplifying engine noise
+Embellishing odometer milestones
+Battle hardening high beams
+Supercharging racing stripes
+Entwining software threading
+Exagerating window tint levels
+Thinning traffic densities
+Chiseling GPS precision
+Garnishing dashboard displays
+Unfolding map details
+Sprinkling road salt forecasts
+Skimming speed limit tolerances
+Fudging commute predictions
+Contemplating the meaning of life
+Compiling cospiracy theories
+Scanning road trip snacks
+Cataloguing snacks
+Elevating tire rotation into ballet
+Preparing for best behavior
+Pep talking driving models

system/clearpilot/notes/chrystler_ram_jeep.dbc

@@ -0,0 +1,168 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _stellantis_common_ram_hd_generated.dbc starts here";
+CM_ "Generated from _stellantis_common.dbc"
+
+BO_ 258 STEERING: 8 XXX
+ SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX
+ SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX
+ SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 264 ECM_1: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 280 ECM_TRQ: 8 XXX
+ SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+ SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+
+BO_ 284 ESP_8: 8 XXX
+ SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 344 ESP_6: 8 XXX
+ SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
+
+BO_ 368 Transmission_Status: 8 XXX
+ SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 464 ORC_1: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 500 DAS_3: 8 XXX
+ SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
+ SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
+ SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
+ SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 501 DAS_4: 8 XXX
+ SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
+ SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
+ SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 EPS_2: 8 XXX
+ SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
+ SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
+ SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 559 ECM_5: 8 XXX
+ SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 570 CRUISE_BUTTONS: 3 XXX
+ SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 629 DAS_6: 8 XXX
+ SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
+
+BO_ 720 BSM_1: 6 XXX
+ SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 820 BCM_1: 8 XXX
+ SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+
+CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
+CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
+CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
+CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
+CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
+CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
+
+CM_ "chrysler_ram_hd.dbc starts here";
+
+BO_ 545 EPS_3: 8 XXX
+ SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
+ SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 630 LKAS_COMMAND: 8 XXX
+ SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX
+ SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX
+ SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+

system/clearpilot/notes/dbc_explained.txt

@@ -0,0 +1,16 @@
+A message starts with BO_ and the ID must be unique and in decimal (not hexadecimal)
+The DBC ID adds 3 extra bits for 29 bit CAN IDs to serve as an 'extended ID' flag
+The name must be unique, 1-32 characters and may contain [A-z], digits and underscores
+The length (DLC) must be an integer between 0 and 1785
+The sender is the name of the transmitting node, or Vector__XXX if no name is available
+DBC signal syntax explained
+
+Each message contains 1+ signals that start with SG_
+The name must be unique, 1-32 characters and may contain [A-z], digits and underscores
+The bit start counts from 0 and marks the start of the signal in the data payload
+The bit length is the signal length
+The @1 specifies that the byte order is little-endian/Intel (vs @0 for big-endian/Motorola)
+The + informs that the value type is unsigned (vs - for signed signals)
+The (scale,offset) values are used in the physical value linear equation (more below)
+The [min|max] and unit are optional meta information (they can e.g. be set to [0|0] and "")
+The receiver is the name of the receiving node (again, Vector__XXX is used as default)

system/clearpilot/notes/hyundai_canfd.dbc

@@ -0,0 +1,719 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX CAMERA FRONT_RADAR ADRV APRK
+
+
+BO_ 53 ACCELERATOR: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 64 GEAR_ALT: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 69 GEAR: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 44|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 80 LKAS: 16 XXX
+ SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
+ SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
+ SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
+ SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 81 ADRV_0x51: 32 ADRV
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 96 ESP_STATUS: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ TRACTION_AND_STABILITY_CONTROL : 42|3@1+ (1,0) [0|63] "" XXX
+ SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 101 BRAKE: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_POSITION : 40|16@1- (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 112 GEAR_ALT_2: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 60|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 160 WHEEL_SPEEDS: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ MOVING_FORWARD : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVING_BACKWARD : 57|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVING_FORWARD2 : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVING_BACKWARD2 : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "kph" XXX
+ SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "kph" XXX
+ SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "kph" XXX
+ SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "kph" XXX
+
+BO_ 234 MDPS: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 48|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ LKA_FAULT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_OUT_TORQUE : 64|12@1+ (0.1,-204.8) [0|65535] "" XXX
+ SG_ STEERING_COL_TORQUE : 80|13@1+ (1,-4095) [0|4095] "" XXX
+ SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX
+ SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX
+
+BO_ 256 ACCELERATOR_BRAKE_ALT: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACCELERATOR_PEDAL_PRESSED : 176|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 261 ACCELERATOR_ALT: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACCELERATOR_PEDAL : 103|10@1+ (0.25,0) [0|1022] "" XXX
+
+BO_ 272 LKAS_ALT: 32 XXX
+ SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
+ SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
+ SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
+ SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 293 STEERING_SENSORS: 16 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEERING_RATE : 40|8@1+ (4,0) [0|1016] "deg/s" XXX
+ SG_ STEERING_ANGLE : 24|16@1- (-0.1,0) [0|255] "deg" XXX
+
+BO_ 298 LFA: 16 ADRV
+ SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
+ SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
+ SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 304 GEAR_SHIFTER: 16 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
+ SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
+
+BO_ 357 SPAS1: 24 APRK
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
+ SG_ NEW_SIGNAL_1 : 96|16@1- (0.1,0) [0|0] "" XXX
+ SG_ NEW_SIGNAL_2 : 90|3@1+ (1,0) [0|0] "" XXX
+
+BO_ 362 SPAS2: 32 APRK
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
+ SG_ BLINKER_CONTROL : 133|3@1+ (1,0) [0|0] "" XXX
+
+BO_ 373 TCS: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 74|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 76|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|7@1+ (1,0) [0|127] "" XXX
+ SG_ aBasis : 32|11@1+ (0.01,-10.23) [0|7] "m/s^2" XXX
+ SG_ NEW_SIGNAL_5 : 72|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 128|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 135|2@0+ (1,0) [0|3] "" XXX
+ SG_ PROBABLY_EQUIP : 136|2@1+ (1,0) [0|3] "" XXX
+ SG_ AEB_EQUIP_MAYBE : 96|1@0+ (1,0) [0|1] "" XXX
+ SG_ EQUIP_MAYBE : 64|1@0+ (1,0) [0|1] "" XXX
+ SG_ DriverBraking : 81|1@0+ (1,0) [0|1] "" XXX
+ SG_ DriverBrakingLowSens : 84|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_REQ : 68|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_REF_ACC : 48|11@1- (1,0) [0|1023] "" XXX
+ SG_ ACCEnable : 67|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 352 ADRV_0x160: 16 ADRV
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_FF : 64|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_FC : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_2 : 56|8@1+ (1,0) [0|1] "" XXX
+ SG_ AEB_SETTING : 24|2@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_9 : 80|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 384 CAM_0x180: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 385 CAM_0x181: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 386 CAM_0x182: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 387 CAM_0x183: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 388 CAM_0x184: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 389 CAM_0x185: 8 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 416 SCC_CONTROL: 32 ADRV
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 170|4@1+ (1,0) [0|15] "" XXX
+ SG_ ZEROS : 215|48@0+ (1,0) [0|281474976710655] "" XXX
+ SG_ ZEROS_3 : 191|7@0+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_4 : 183|4@0+ (1,0) [0|63] "" XXX
+ SG_ ZEROS_6 : 119|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ZEROS_8 : 95|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 109|2@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_TMP_64 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_2 : 105|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6 : 104|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_9 : 71|5@1+ (1,0) [0|15] "" XXX
+ SG_ ZEROS_10 : 111|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_3 : 45|2@0+ (1,0) [0|3] "" XXX
+ SG_ ObjValid : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 168|2@1+ (1,0) [0|3] "" XXX
+ SG_ OBJ_STATUS : 176|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACC_ObjDist : 24|11@1+ (0.1,0) [0|204.7] "m" XXX
+ SG_ ZEROS_5 : 77|11@1+ (1,0) [0|2047] "" XXX
+ SG_ DISTANCE_SETTING : 88|3@1+ (1,0) [0|3] "" XXX
+ SG_ ZEROS_2 : 207|5@0+ (1,0) [0|63] "" XXX
+ SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX
+ SG_ aReqRaw : 140|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
+ SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
+ SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_12 : 35|9@1+ (0.1,0) [0|255] "" XXX
+ SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
+ SG_ StopReq : 184|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX
+ SG_ VSetDis : 103|8@0+ (1,0) [0|255] "km/h or mph" XXX
+ SG_ MainMode_ACC : 66|1@1+ (1,0) [0|1] "" XXX
+ SG_ JerkUpperLimit : 158|7@0+ (0.1,0) [0|0] "" XXX
+
+BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
+ SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 438 CAM_0x1b6: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 439 CAM_0x1b7: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 440 CAM_0x1b8: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 441 CAM_0x1b9: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 463 CRUISE_BUTTONS: 8 XXX
+ SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
+ SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_PADDLE : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_PADDLE : 27|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 474 ADRV_0x1da: 32 ADRV
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_22 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_41 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 480 LFAHDA_CLUSTER: 16 ADRV
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ HDA_ICON : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 49|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 490 ADRV_0x1ea: 32 ADRV
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_1C : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 64|6@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_5 : 72|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6 : 75|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_7 : 80|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_8 : 88|7@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_9 : 96|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 143|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 144|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_12 : 152|6@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_13 : 160|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_14 : 163|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_15 : 175|4@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_16 : 168|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_17 : 176|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_18 : 184|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_19 : 208|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_20 : 212|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_FF : 120|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_TMP_F : 232|5@1+ (1,0) [0|31] "" XXX
+ SG_ SET_ME_TMP_F_2 : 240|5@1+ (1,0) [0|31] "" XXX
+
+BO_ 507 CAM_0x1fb: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 512 ADRV_0x200: 8 ADRV
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_E1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_3A : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 513 RADAR_0x201: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 528 RADAR_0x210: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 529 RADAR_0x211: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 530 RADAR_0x212: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 531 RADAR_0x213: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 532 RADAR_0x214: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 533 RADAR_0x215: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 534 RADAR_0x216: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 535 RADAR_0x217: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 536 RADAR_0x218: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 537 RADAR_0x219: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 538 RADAR_0x21a: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 539 RADAR_0x21b: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 540 RADAR_0x21c: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 541 RADAR_0x21d: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 542 RADAR_0x21e: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 543 RADAR_0x21f: 32 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 576 RADAR_0x240: 16 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 593 RADAR_0x251: 16 FRONT_RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 674 CAM_0x2a2: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 675 CAM_0x2a3: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 676 CAM_0x2a4: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX
+ SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 699 CAM_0x2bb: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 700 CAM_0x2bc: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 701 CAM_0x2bd: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 702 CAM_0x2be: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ MSLA_STATUS : 26|2@1+ (1,0) [0|3] "" XXX
+ SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ MAX_SPEED_COPY : 144|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 837 ADRV_0x345: 8 ADRV
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_15 : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 CAM_0x362: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX
+ SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 961 BLINKER_STALKS: 8 XXX
+ SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ HIGHBEAM_FORWARD : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAM_BACKWARD : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ LIGHT_KNOB_POSITION : 21|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1041 DOORS_SEATBELTS: 8 XXX
+ SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ DRIVER_DOOR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ PASSENGER_DOOR : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_REAR_DOOR : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PASSENGER_REAR_DOOR : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_SEATBELT : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ PASSENGER_SEATBELT : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1043 BLINKERS: 8 XXX
+ SG_ LEFT_STALK : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_STALK : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LAMP_ALT : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LAMP_ALT : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ USE_ALT_LAMP : 62|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1240 CLUSTER_INFO: 8 XXX
+ SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
+ SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
+ SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
+ SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 874 BLINDSPOTS_FRONT_CORNER_2: 16 XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 108|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 88|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ REVERSING : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX
+ SG_ SPEED_LIMIT_3 : 119|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED_LIMIT_2 : 47|7@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED_LIMIT_1 : 39|7@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED_CHANGE_BLINKING : 129|1@1+ (1,0) [0|3] "" XXX
+ SG_ CHIME_2 : 122|2@1+ (1,0) [0|7] "" XXX
+ SG_ CHIME_1 : 133|1@0+ (1,0) [0|1] "" XXX
+ SG_ ARROW_DOWN : 120|1@0+ (1,0) [0|1] "" XXX
+ SG_ ARROW_UP : 121|1@0+ (1,0) [0|1] "" XXX
+ SG_ SECONDARY_LIMIT_1 : 79|8@0+ (1,0) [0|127] "" XXX
+ SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX
+ SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1144 DRIVE_MODE: 8 XXX
+ SG_ DRIVE_MODE : 0|16@1+ (1,-61611) [0|61611] "" XXX
+ SG_ DRIVE_MODE2 : 28|3@1+ (1,0) [1|3] "" XXX
+
+BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
+ SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1259 LOCAL_TIME2: 8 XXX
+ SG_ HOURS : 15|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 24|6@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1264 LOCAL_TIME: 8 XXX
+ SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
+
+CM_ 272 "Alternative LKAS message, used on cars such as 2023 Ioniq 6, 2nd gen Kona. Matches LKAS except size is 32 bytes";
+CM_ 676 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA.";
+CM_ 866 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA. Used on cars that use message 272.";
+CM_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
+
+CM_ SG_ 80 HAS_LANE_SAFETY "If 0, hides LKAS 'Lane Safety' menu from vehicle settings";
+CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
+CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
+CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
+CM_ SG_ 373 ACCEnable "Likely a copy of CAN's TCS13->ACCEnable";
+CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
+CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking";
+CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
+CM_ SG_ 416 VSetDis "set speed in display units";
+CM_ SG_ 676 LEFT_LANE_LINE "Left lane line confidence";
+CM_ SG_ 676 RIGHT_LANE_LINE "Right lane line confidence";
+CM_ SG_ 736 MAX_SPEED "Display units. Restricts car from driving above this speed unless accelerator pedal is depressed beyond pressure point";
+CM_ SG_ 866 LEFT_LANE_LINE "Left lane line confidence";
+CM_ SG_ 866 RIGHT_LANE_LINE "Right lane line confidence";
+CM_ SG_ 961 COUNTER_ALT "only increments on change";
+CM_ SG_ 1041 COUNTER_ALT "only increments on change";
+CM_ SG_ 1043 COUNTER_ALT "only increments on change";
+CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
+VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
+VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
+VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
+VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
+VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
+VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
+VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
+VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
+VAL_ 272 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
+VAL_ 272 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
+VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
+VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
+VAL_ 304 PARK_BUTTON 1 "Pressed" 2 "Not Pressed";
+VAL_ 304 KNOB_POSITION 1 "R" 2 "N (on R side)" 3 "Centered" 4 "N (on D side)" 5 "D";
+VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
+VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ;
+VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers";
+VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
+VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled" ;
+VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
+VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
+VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled";
+VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled";
+VAL_ 676 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
+VAL_ 676 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
+VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused";
+VAL_ 866 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
+VAL_ 866 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
+VAL_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 PASSENGER_REAR_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 DRIVER_SEATBELT 0 "Unlatched" 1 "Latched";
+VAL_ 1041 PASSENGER_SEATBELT 0 "Unlatched" 1 "Latched";
+VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
+VAL_ 1240 DISTANCE_UNIT 1 "Miles" 0 "Kilometers";

system/clearpilot/notes_wayland.txt

@@ -0,0 +1,47 @@
+From the information you've provided, particularly the configuration in the systemd service file for Weston and related directories, we can deduce several important environmental setup aspects for running applications using the Wayland display server (Weston) on your device.
+
+Key Takeaways
+Weston Configuration and Runtime Directory:
+Weston is run with specific configurations specified in /usr/comma/weston.ini.
+The XDG_RUNTIME_DIR environment variable is set to /var/tmp/weston. This is crucial because Wayland clients locate the Wayland server (Weston in this case) through the WAYLAND_DISPLAY environment variable, which typically points to a socket file within XDG_RUNTIME_DIR.
+Service Setup:
+Pre-execution steps in the Weston service ensure that the runtime directory exists and has the correct permissions. This directory is used by Weston to store its runtime data, including the socket file (wayland-0), which clients use to communicate with Weston.
+Execution Parameters:
+Weston is started with the --config flag pointing to a custom configuration file and on a specific TTY. This setup is essential for correctly initializing the display server on your device.
+Making Your PyQt Application Work
+Given the above setup, you should ensure your PyQt application is configured to correctly interact with this environment. Here's what you need to do:
+
+Set the XDG_RUNTIME_DIR Environment Variable: This should match the configuration of the Weston service to ensure that your application can find the Wayland display server.
+Direct PyQt to use the Wayland Platform:
+Explicitly set the platform to Wayland in your PyQt application.
+Ensure the WAYLAND_DISPLAY environment variable points to the correct socket file, usually wayland-0 inside your runtime directory.
+Here’s how you can modify your Python script to accommodate these settings:
+
+python
+Copy code
+import os
+import sys
+from PyQt5.QtWidgets import QApplication, QWidget, QHBoxLayout, QScrollBar
+from PyQt5.QtCore import Qt
+
+# Set environment variables to match the Weston configuration
+os.environ["XDG_RUNTIME_DIR"] = "/var/tmp/weston"
+os.environ["WAYLAND_DISPLAY"] = "wayland-0"  # Typically the socket is named wayland-0
+os.environ["QT_QPA_PLATFORM"] = "wayland"
+
+app = QApplication(sys.argv)
+window = QWidget()
+window.setWindowTitle("PyQt on Wayland")
+layout = QHBoxLayout(window)
+scroll = QScrollBar(Qt.Vertical)
+layout.addWidget(scroll)
+window.setLayout(layout)
+window.show()
+
+sys.exit(app.exec_())
+Summary
+By aligning your PyQt environment with the established Weston configuration:
+
+You replicate the environmental setup that native applications use, ensuring compatibility.
+You directly address the issue of the PyQt application failing to find or connect to the Weston display server, which is indicated by errors related to the xcb platform plugin.
+This setup should resolve the issues you've been facing with launching your PyQt application on the device. Ensure that Weston is actively running when you attempt to start your application, as it must be running to accept connections from Wayland clients.

system/clearpilot/on_start.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+# Install logo
+bash /data/openpilot/system/clearpilot/startup_logo/set_logo.sh
+
+# Reverse ssh if brianbot dongle id
+bash /data/openpilot/system/clearpilot/dev/on_start.sh

system/clearpilot/provision_shell.sh

@@ -0,0 +1,4 @@
+apt-get update
+apt-get install -y nodejs npm
+
+pip install pyqt5

system/clearpilot/shell_archived/authorized_keys

@@ -0,0 +1,3 @@
+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQDQtHTzkeRlOXDWyK/IvO2RgjSdoq6V81u3YtcyIxBZVX2zCj1xzE9zWcUcVxloe63rB/DBasChODIRBtp1vGnWb/EkLWAuOqS2V5rzhlcSfM103++TI81e04A7HDspWSNUXRh5OD/mUvwtYIH7S4QAkBiCro5lAgSToXNAOR4b4cXgNQecf+RhPc0Nm3K8Is1wEeQajmlC1E22YWBDDV+uoB3Uagl90e58Psbp8PunCdbeY9EfqQsymyloiTeqzKwHnmHnMXSlZluh7A+ifoKgohDsarT1FixAgxT0LSIxxINORhE4P6em/7y3xpgubPhNpbuQSzDlb3op3fwMoFcAEEYKWg+d9OGOrdiWa13aV0g7UNdW/XmmF/BAaBdSOZeomVNnxmftmmJWfu3jtFdwTDRQpZn7nDYC+aZ1R3Q0Xd4lLuqkA/9smUXLZuiBDJXwM5nDyWQR9tESIwlTLcdKAUpj0gQqpcozVehksNksTekZBAg/mYb6DKyYCTY0ti0=
+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCm/Vq50kqf94allqGq9luBGjDh2Do/rOCA719CRlDOErCvdY+ZaYNumQZ5AbFfU5KcPZwirJLBvhEoH/G0lEAg9TUaUgH/VvqBBztlpcmA1eplZHzEFLnTDn0oO4Tk46bXwjL0anOZfNaUGhbaO4Th7m+9+o16WUduEabPiyVbnqD6P44CANsvBJNKlyUDBzsdkE9z5gULp06i1+JqqXiGV81HoFWZe5YCFv4j4QUPvfmFhcBHViVrOFs87hS4Eu0gWNxQmQBhh6R1ZbjaBlGdE5GyDZQZwlofjfuO06e0HvCDuIAELSYqlGFCmUhlM/LZ6YkF79/HFrg5sS3gsuY5
+ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIHbrOZrByUb2Ci21DdJkhWv/4Bz4oghL9joraQYFq4Om

system/clearpilot/shell_archived/configure_ssh.sh

@@ -0,0 +1,5 @@
+cat /data/openpilot/shell/authorized_keys >/data/params/d/GithubSshKeys
+chown comma:comma /data/params/d/GithubSshKeys
+chmod 600 /data/params/d/GithubSshKeys
+# systemctl restart ssh
+

system/clearpilot/shell_archived/dependencies.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+# Check if nodejs is installed
+if ! which nodejs > /dev/null; then
+  #sudo mount -o remount,rw /
+
+  # Node.js is not installed, setting up the NodeSource Node.js 21.x repo
+  echo "Node.js not found. Setting up NodeSource Node.js 21.x repository..."
+  curl -fsSL https://deb.nodesource.com/setup_21.x | sudo -E bash -
+  
+  # Install Node.js from the NodeSource repository
+  echo "Installing Node.js..."
+  sudo apt-get install -y nodejs
+fi

system/clearpilot/shell_archived/init_shell.sh

@@ -0,0 +1,16 @@
+sudo chown -R comma:comma /data/openpilot &
+
+cd /data/openpilot/shell/
+
+sudo bash ./configure_ssh.sh
+sudo bash ./set_logo.sh
+
+cd /data/openpilot/logs
+
+rm -f watcher.log.gz
+ls watcher.log && gzip watcher.log
+
+chmod +x /data/openpilot/shell/watcher_run_loop.sh
+sudo pkill -f "/bin/sh /data/openpilot/shell/watcher_run_loop.sh"
+sudo rm -rf /run/screen/S-comma
+screen -dmS "watcher" /data/openpilot/shell/watcher_run_loop.sh

system/clearpilot/shell_archived/node_modules/.package-lock.json

@@ -0,0 +1,32 @@
+{
+  "name": "shell",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "node_modules/http": {
+      "version": "0.0.1-security",
+      "resolved": "https://registry.npmjs.org/http/-/http-0.0.1-security.tgz",
+      "integrity": "sha512-RnDvP10Ty9FxqOtPZuxtebw1j4L/WiqNMDtuc1YMH1XQm5TgDRaR1G9u8upL6KD1bXHSp9eSXo/ED+8Q7FAr+g=="
+    },
+    "node_modules/ws": {
+      "version": "8.16.0",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-8.16.0.tgz",
+      "integrity": "sha512-HS0c//TP7Ina87TfiPUz1rQzMhHrl/SG2guqRcTOIUYD2q8uhUdNHZYJUaQ8aTGPzCh+c6oawMKW35nFl1dxyQ==",
+      "engines": {
+        "node": ">=10.0.0"
+      },
+      "peerDependencies": {
+        "bufferutil": "^4.0.1",
+        "utf-8-validate": ">=5.0.2"
+      },
+      "peerDependenciesMeta": {
+        "bufferutil": {
+          "optional": true
+        },
+        "utf-8-validate": {
+          "optional": true
+        }
+      }
+    }
+  }
+}

system/clearpilot/shell_archived/node_modules/http/README.md

@@ -0,0 +1,9 @@
+# Security holding package
+
+This package name is not currently in use, but was formerly occupied
+by another package. To avoid malicious use, npm is hanging on to the
+package name, but loosely, and we'll probably give it to you if you
+want it.
+
+You may adopt this package by contacting support@npmjs.com and
+requesting the name.

system/clearpilot/shell_archived/node_modules/http/package.json

@@ -0,0 +1,6 @@
+{
+  "name": "http",
+  "version": "0.0.1-security",
+  "description": "security holding package",
+  "repository": "npm/security-holder"
+}

system/clearpilot/shell_archived/node_modules/ws/LICENSE

@@ -0,0 +1,20 @@
+Copyright (c) 2011 Einar Otto Stangvik <einaros@gmail.com>
+Copyright (c) 2013 Arnout Kazemier and contributors
+Copyright (c) 2016 Luigi Pinca and contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

system/clearpilot/shell_archived/node_modules/ws/README.md

@@ -0,0 +1,549 @@
+# ws: a Node.js WebSocket library
+
+[![Version npm](https://img.shields.io/npm/v/ws.svg?logo=npm)](https://www.npmjs.com/package/ws)
+[![CI](https://img.shields.io/github/actions/workflow/status/websockets/ws/ci.yml?branch=master&label=CI&logo=github)](https://github.com/websockets/ws/actions?query=workflow%3ACI+branch%3Amaster)
+[![Coverage Status](https://img.shields.io/coveralls/websockets/ws/master.svg?logo=coveralls)](https://coveralls.io/github/websockets/ws)
+
+ws is a simple to use, blazing fast, and thoroughly tested WebSocket client and
+server implementation.
+
+Passes the quite extensive Autobahn test suite: [server][server-report],
+[client][client-report].
+
+**Note**: This module does not work in the browser. The client in the docs is a
+reference to a back end with the role of a client in the WebSocket
+communication. Browser clients must use the native
+[`WebSocket`](https://developer.mozilla.org/en-US/docs/Web/API/WebSocket)
+object. To make the same code work seamlessly on Node.js and the browser, you
+can use one of the many wrappers available on npm, like
+[isomorphic-ws](https://github.com/heineiuo/isomorphic-ws).
+
+## Table of Contents
+
+- [Protocol support](#protocol-support)
+- [Installing](#installing)
+  - [Opt-in for performance](#opt-in-for-performance)
+    - [Legacy opt-in for performance](#legacy-opt-in-for-performance)
+- [API docs](#api-docs)
+- [WebSocket compression](#websocket-compression)
+- [Usage examples](#usage-examples)
+  - [Sending and receiving text data](#sending-and-receiving-text-data)
+  - [Sending binary data](#sending-binary-data)
+  - [Simple server](#simple-server)
+  - [External HTTP/S server](#external-https-server)
+  - [Multiple servers sharing a single HTTP/S server](#multiple-servers-sharing-a-single-https-server)
+  - [Client authentication](#client-authentication)
+  - [Server broadcast](#server-broadcast)
+  - [Round-trip time](#round-trip-time)
+  - [Use the Node.js streams API](#use-the-nodejs-streams-api)
+  - [Other examples](#other-examples)
+- [FAQ](#faq)
+  - [How to get the IP address of the client?](#how-to-get-the-ip-address-of-the-client)
+  - [How to detect and close broken connections?](#how-to-detect-and-close-broken-connections)
+  - [How to connect via a proxy?](#how-to-connect-via-a-proxy)
+- [Changelog](#changelog)
+- [License](#license)
+
+## Protocol support
+
+- **HyBi drafts 07-12** (Use the option `protocolVersion: 8`)
+- **HyBi drafts 13-17** (Current default, alternatively option
+  `protocolVersion: 13`)
+
+## Installing
+
+```
+npm install ws
+```
+
+### Opt-in for performance
+
+[bufferutil][] is an optional module that can be installed alongside the ws
+module:
+
+```
+npm install --save-optional bufferutil
+```
+
+This is a binary addon that improves the performance of certain operations such
+as masking and unmasking the data payload of the WebSocket frames. Prebuilt
+binaries are available for the most popular platforms, so you don't necessarily
+need to have a C++ compiler installed on your machine.
+
+To force ws to not use bufferutil, use the
+[`WS_NO_BUFFER_UTIL`](./doc/ws.md#ws_no_buffer_util) environment variable. This
+can be useful to enhance security in systems where a user can put a package in
+the package search path of an application of another user, due to how the
+Node.js resolver algorithm works.
+
+#### Legacy opt-in for performance
+
+If you are running on an old version of Node.js (prior to v18.14.0), ws also
+supports the [utf-8-validate][] module:
+
+```
+npm install --save-optional utf-8-validate
+```
+
+This contains a binary polyfill for [`buffer.isUtf8()`][].
+
+To force ws to not use utf-8-validate, use the
+[`WS_NO_UTF_8_VALIDATE`](./doc/ws.md#ws_no_utf_8_validate) environment variable.
+
+## API docs
+
+See [`/doc/ws.md`](./doc/ws.md) for Node.js-like documentation of ws classes and
+utility functions.
+
+## WebSocket compression
+
+ws supports the [permessage-deflate extension][permessage-deflate] which enables
+the client and server to negotiate a compression algorithm and its parameters,
+and then selectively apply it to the data payloads of each WebSocket message.
+
+The extension is disabled by default on the server and enabled by default on the
+client. It adds a significant overhead in terms of performance and memory
+consumption so we suggest to enable it only if it is really needed.
+
+Note that Node.js has a variety of issues with high-performance compression,
+where increased concurrency, especially on Linux, can lead to [catastrophic
+memory fragmentation][node-zlib-bug] and slow performance. If you intend to use
+permessage-deflate in production, it is worthwhile to set up a test
+representative of your workload and ensure Node.js/zlib will handle it with
+acceptable performance and memory usage.
+
+Tuning of permessage-deflate can be done via the options defined below. You can
+also use `zlibDeflateOptions` and `zlibInflateOptions`, which is passed directly
+into the creation of [raw deflate/inflate streams][node-zlib-deflaterawdocs].
+
+See [the docs][ws-server-options] for more options.
+
+```js
+import WebSocket, { WebSocketServer } from 'ws';
+
+const wss = new WebSocketServer({
+  port: 8080,
+  perMessageDeflate: {
+    zlibDeflateOptions: {
+      // See zlib defaults.
+      chunkSize: 1024,
+      memLevel: 7,
+      level: 3
+    },
+    zlibInflateOptions: {
+      chunkSize: 10 * 1024
+    },
+    // Other options settable:
+    clientNoContextTakeover: true, // Defaults to negotiated value.
+    serverNoContextTakeover: true, // Defaults to negotiated value.
+    serverMaxWindowBits: 10, // Defaults to negotiated value.
+    // Below options specified as default values.
+    concurrencyLimit: 10, // Limits zlib concurrency for perf.
+    threshold: 1024 // Size (in bytes) below which messages
+    // should not be compressed if context takeover is disabled.
+  }
+});
+```
+
+The client will only use the extension if it is supported and enabled on the
+server. To always disable the extension on the client set the
+`perMessageDeflate` option to `false`.
+
+```js
+import WebSocket from 'ws';
+
+const ws = new WebSocket('ws://www.host.com/path', {
+  perMessageDeflate: false
+});
+```
+
+## Usage examples
+
+### Sending and receiving text data
+
+```js
+import WebSocket from 'ws';
+
+const ws = new WebSocket('ws://www.host.com/path');
+
+ws.on('error', console.error);
+
+ws.on('open', function open() {
+  ws.send('something');
+});
+
+ws.on('message', function message(data) {
+  console.log('received: %s', data);
+});
+```
+
+### Sending binary data
+
+```js
+import WebSocket from 'ws';
+
+const ws = new WebSocket('ws://www.host.com/path');
+
+ws.on('error', console.error);
+
+ws.on('open', function open() {
+  const array = new Float32Array(5);
+
+  for (var i = 0; i < array.length; ++i) {
+    array[i] = i / 2;
+  }
+
+  ws.send(array);
+});
+```
+
+### Simple server
+
+```js
+import { WebSocketServer } from 'ws';
+
+const wss = new WebSocketServer({ port: 8080 });
+
+wss.on('connection', function connection(ws) {
+  ws.on('error', console.error);
+
+  ws.on('message', function message(data) {
+    console.log('received: %s', data);
+  });
+
+  ws.send('something');
+});
+```
+
+### External HTTP/S server
+
+```js
+import { createServer } from 'https';
+import { readFileSync } from 'fs';
+import { WebSocketServer } from 'ws';
+
+const server = createServer({
+  cert: readFileSync('/path/to/cert.pem'),
+  key: readFileSync('/path/to/key.pem')
+});
+const wss = new WebSocketServer({ server });
+
+wss.on('connection', function connection(ws) {
+  ws.on('error', console.error);
+
+  ws.on('message', function message(data) {
+    console.log('received: %s', data);
+  });
+
+  ws.send('something');
+});
+
+server.listen(8080);
+```
+
+### Multiple servers sharing a single HTTP/S server
+
+```js
+import { createServer } from 'http';
+import { parse } from 'url';
+import { WebSocketServer } from 'ws';
+
+const server = createServer();
+const wss1 = new WebSocketServer({ noServer: true });
+const wss2 = new WebSocketServer({ noServer: true });
+
+wss1.on('connection', function connection(ws) {
+  ws.on('error', console.error);
+
+  // ...
+});
+
+wss2.on('connection', function connection(ws) {
+  ws.on('error', console.error);
+
+  // ...
+});
+
+server.on('upgrade', function upgrade(request, socket, head) {
+  const { pathname } = parse(request.url);
+
+  if (pathname === '/foo') {
+    wss1.handleUpgrade(request, socket, head, function done(ws) {
+      wss1.emit('connection', ws, request);
+    });
+  } else if (pathname === '/bar') {
+    wss2.handleUpgrade(request, socket, head, function done(ws) {
+      wss2.emit('connection', ws, request);
+    });
+  } else {
+    socket.destroy();
+  }
+});
+
+server.listen(8080);
+```
+
+### Client authentication
+
+```js
+import { createServer } from 'http';
+import { WebSocketServer } from 'ws';
+
+function onSocketError(err) {
+  console.error(err);
+}
+
+const server = createServer();
+const wss = new WebSocketServer({ noServer: true });
+
+wss.on('connection', function connection(ws, request, client) {
+  ws.on('error', console.error);
+
+  ws.on('message', function message(data) {
+    console.log(`Received message ${data} from user ${client}`);
+  });
+});
+
+server.on('upgrade', function upgrade(request, socket, head) {
+  socket.on('error', onSocketError);
+
+  // This function is not defined on purpose. Implement it with your own logic.
+  authenticate(request, function next(err, client) {
+    if (err || !client) {
+      socket.write('HTTP/1.1 401 Unauthorized\r\n\r\n');
+      socket.destroy();
+      return;
+    }
+
+    socket.removeListener('error', onSocketError);
+
+    wss.handleUpgrade(request, socket, head, function done(ws) {
+      wss.emit('connection', ws, request, client);
+    });
+  });
+});
+
+server.listen(8080);
+```
+
+Also see the provided [example][session-parse-example] using `express-session`.
+
+### Server broadcast
+
+A client WebSocket broadcasting to all connected WebSocket clients, including
+itself.
+
+```js
+import WebSocket, { WebSocketServer } from 'ws';
+
+const wss = new WebSocketServer({ port: 8080 });
+
+wss.on('connection', function connection(ws) {
+  ws.on('error', console.error);
+
+  ws.on('message', function message(data, isBinary) {
+    wss.clients.forEach(function each(client) {
+      if (client.readyState === WebSocket.OPEN) {
+        client.send(data, { binary: isBinary });
+      }
+    });
+  });
+});
+```
+
+A client WebSocket broadcasting to every other connected WebSocket clients,
+excluding itself.
+
+```js
+import WebSocket, { WebSocketServer } from 'ws';
+
+const wss = new WebSocketServer({ port: 8080 });
+
+wss.on('connection', function connection(ws) {
+  ws.on('error', console.error);
+
+  ws.on('message', function message(data, isBinary) {
+    wss.clients.forEach(function each(client) {
+      if (client !== ws && client.readyState === WebSocket.OPEN) {
+        client.send(data, { binary: isBinary });
+      }
+    });
+  });
+});
+```
+
+### Round-trip time
+
+```js
+import WebSocket from 'ws';
+
+const ws = new WebSocket('wss://websocket-echo.com/');
+
+ws.on('error', console.error);
+
+ws.on('open', function open() {
+  console.log('connected');
+  ws.send(Date.now());
+});
+
+ws.on('close', function close() {
+  console.log('disconnected');
+});
+
+ws.on('message', function message(data) {
+  console.log(`Round-trip time: ${Date.now() - data} ms`);
+
+  setTimeout(function timeout() {
+    ws.send(Date.now());
+  }, 500);
+});
+```
+
+### Use the Node.js streams API
+
+```js
+import WebSocket, { createWebSocketStream } from 'ws';
+
+const ws = new WebSocket('wss://websocket-echo.com/');
+
+const duplex = createWebSocketStream(ws, { encoding: 'utf8' });
+
+duplex.on('error', console.error);
+
+duplex.pipe(process.stdout);
+process.stdin.pipe(duplex);
+```
+
+### Other examples
+
+For a full example with a browser client communicating with a ws server, see the
+examples folder.
+
+Otherwise, see the test cases.
+
+## FAQ
+
+### How to get the IP address of the client?
+
+The remote IP address can be obtained from the raw socket.
+
+```js
+import { WebSocketServer } from 'ws';
+
+const wss = new WebSocketServer({ port: 8080 });
+
+wss.on('connection', function connection(ws, req) {
+  const ip = req.socket.remoteAddress;
+
+  ws.on('error', console.error);
+});
+```
+
+When the server runs behind a proxy like NGINX, the de-facto standard is to use
+the `X-Forwarded-For` header.
+
+```js
+wss.on('connection', function connection(ws, req) {
+  const ip = req.headers['x-forwarded-for'].split(',')[0].trim();
+
+  ws.on('error', console.error);
+});
+```
+
+### How to detect and close broken connections?
+
+Sometimes the link between the server and the client can be interrupted in a way
+that keeps both the server and the client unaware of the broken state of the
+connection (e.g. when pulling the cord).
+
+In these cases ping messages can be used as a means to verify that the remote
+endpoint is still responsive.
+
+```js
+import { WebSocketServer } from 'ws';
+
+function heartbeat() {
+  this.isAlive = true;
+}
+
+const wss = new WebSocketServer({ port: 8080 });
+
+wss.on('connection', function connection(ws) {
+  ws.isAlive = true;
+  ws.on('error', console.error);
+  ws.on('pong', heartbeat);
+});
+
+const interval = setInterval(function ping() {
+  wss.clients.forEach(function each(ws) {
+    if (ws.isAlive === false) return ws.terminate();
+
+    ws.isAlive = false;
+    ws.ping();
+  });
+}, 30000);
+
+wss.on('close', function close() {
+  clearInterval(interval);
+});
+```
+
+Pong messages are automatically sent in response to ping messages as required by
+the spec.
+
+Just like the server example above your clients might as well lose connection
+without knowing it. You might want to add a ping listener on your clients to
+prevent that. A simple implementation would be:
+
+```js
+import WebSocket from 'ws';
+
+function heartbeat() {
+  clearTimeout(this.pingTimeout);
+
+  // Use `WebSocket#terminate()`, which immediately destroys the connection,
+  // instead of `WebSocket#close()`, which waits for the close timer.
+  // Delay should be equal to the interval at which your server
+  // sends out pings plus a conservative assumption of the latency.
+  this.pingTimeout = setTimeout(() => {
+    this.terminate();
+  }, 30000 + 1000);
+}
+
+const client = new WebSocket('wss://websocket-echo.com/');
+
+client.on('error', console.error);
+client.on('open', heartbeat);
+client.on('ping', heartbeat);
+client.on('close', function clear() {
+  clearTimeout(this.pingTimeout);
+});
+```
+
+### How to connect via a proxy?
+
+Use a custom `http.Agent` implementation like [https-proxy-agent][] or
+[socks-proxy-agent][].
+
+## Changelog
+
+We're using the GitHub [releases][changelog] for changelog entries.
+
+## License
+
+[MIT](LICENSE)
+
+[`buffer.isutf8()`]: https://nodejs.org/api/buffer.html#bufferisutf8input
+[bufferutil]: https://github.com/websockets/bufferutil
+[changelog]: https://github.com/websockets/ws/releases
+[client-report]: http://websockets.github.io/ws/autobahn/clients/
+[https-proxy-agent]: https://github.com/TooTallNate/node-https-proxy-agent
+[node-zlib-bug]: https://github.com/nodejs/node/issues/8871
+[node-zlib-deflaterawdocs]:
+  https://nodejs.org/api/zlib.html#zlib_zlib_createdeflateraw_options
+[permessage-deflate]: https://tools.ietf.org/html/rfc7692
+[server-report]: http://websockets.github.io/ws/autobahn/servers/
+[session-parse-example]: ./examples/express-session-parse
+[socks-proxy-agent]: https://github.com/TooTallNate/node-socks-proxy-agent
+[utf-8-validate]: https://github.com/websockets/utf-8-validate
+[ws-server-options]: ./doc/ws.md#new-websocketserveroptions-callback

system/clearpilot/shell_archived/node_modules/ws/browser.js

@@ -0,0 +1,8 @@
+'use strict';
+
+module.exports = function () {
+  throw new Error(
+    'ws does not work in the browser. Browser clients must use the native ' +
+      'WebSocket object'
+  );
+};

system/clearpilot/shell_archived/node_modules/ws/index.js

@@ -0,0 +1,13 @@
+'use strict';
+
+const WebSocket = require('./lib/websocket');
+
+WebSocket.createWebSocketStream = require('./lib/stream');
+WebSocket.Server = require('./lib/websocket-server');
+WebSocket.Receiver = require('./lib/receiver');
+WebSocket.Sender = require('./lib/sender');
+
+WebSocket.WebSocket = WebSocket;
+WebSocket.WebSocketServer = WebSocket.Server;
+
+module.exports = WebSocket;

system/clearpilot/shell_archived/node_modules/ws/lib/buffer-util.js

@@ -0,0 +1,131 @@
+'use strict';
+
+const { EMPTY_BUFFER } = require('./constants');
+
+const FastBuffer = Buffer[Symbol.species];
+
+/**
+ * Merges an array of buffers into a new buffer.
+ *
+ * @param {Buffer[]} list The array of buffers to concat
+ * @param {Number} totalLength The total length of buffers in the list
+ * @return {Buffer} The resulting buffer
+ * @public
+ */
+function concat(list, totalLength) {
+  if (list.length === 0) return EMPTY_BUFFER;
+  if (list.length === 1) return list[0];
+
+  const target = Buffer.allocUnsafe(totalLength);
+  let offset = 0;
+
+  for (let i = 0; i < list.length; i++) {
+    const buf = list[i];
+    target.set(buf, offset);
+    offset += buf.length;
+  }
+
+  if (offset < totalLength) {
+    return new FastBuffer(target.buffer, target.byteOffset, offset);
+  }
+
+  return target;
+}
+
+/**
+ * Masks a buffer using the given mask.
+ *
+ * @param {Buffer} source The buffer to mask
+ * @param {Buffer} mask The mask to use
+ * @param {Buffer} output The buffer where to store the result
+ * @param {Number} offset The offset at which to start writing
+ * @param {Number} length The number of bytes to mask.
+ * @public
+ */
+function _mask(source, mask, output, offset, length) {
+  for (let i = 0; i < length; i++) {
+    output[offset + i] = source[i] ^ mask[i & 3];
+  }
+}
+
+/**
+ * Unmasks a buffer using the given mask.
+ *
+ * @param {Buffer} buffer The buffer to unmask
+ * @param {Buffer} mask The mask to use
+ * @public
+ */
+function _unmask(buffer, mask) {
+  for (let i = 0; i < buffer.length; i++) {
+    buffer[i] ^= mask[i & 3];
+  }
+}
+
+/**
+ * Converts a buffer to an `ArrayBuffer`.
+ *
+ * @param {Buffer} buf The buffer to convert
+ * @return {ArrayBuffer} Converted buffer
+ * @public
+ */
+function toArrayBuffer(buf) {
+  if (buf.length === buf.buffer.byteLength) {
+    return buf.buffer;
+  }
+
+  return buf.buffer.slice(buf.byteOffset, buf.byteOffset + buf.length);
+}
+
+/**
+ * Converts `data` to a `Buffer`.
+ *
+ * @param {*} data The data to convert
+ * @return {Buffer} The buffer
+ * @throws {TypeError}
+ * @public
+ */
+function toBuffer(data) {
+  toBuffer.readOnly = true;
+
+  if (Buffer.isBuffer(data)) return data;
+
+  let buf;
+
+  if (data instanceof ArrayBuffer) {
+    buf = new FastBuffer(data);
+  } else if (ArrayBuffer.isView(data)) {
+    buf = new FastBuffer(data.buffer, data.byteOffset, data.byteLength);
+  } else {
+    buf = Buffer.from(data);
+    toBuffer.readOnly = false;
+  }
+
+  return buf;
+}
+
+module.exports = {
+  concat,
+  mask: _mask,
+  toArrayBuffer,
+  toBuffer,
+  unmask: _unmask
+};
+
+/* istanbul ignore else  */
+if (!process.env.WS_NO_BUFFER_UTIL) {
+  try {
+    const bufferUtil = require('bufferutil');
+
+    module.exports.mask = function (source, mask, output, offset, length) {
+      if (length < 48) _mask(source, mask, output, offset, length);
+      else bufferUtil.mask(source, mask, output, offset, length);
+    };
+
+    module.exports.unmask = function (buffer, mask) {
+      if (buffer.length < 32) _unmask(buffer, mask);
+      else bufferUtil.unmask(buffer, mask);
+    };
+  } catch (e) {
+    // Continue regardless of the error.
+  }
+}

system/clearpilot/shell_archived/node_modules/ws/lib/constants.js

@@ -0,0 +1,12 @@
+'use strict';
+
+module.exports = {
+  BINARY_TYPES: ['nodebuffer', 'arraybuffer', 'fragments'],
+  EMPTY_BUFFER: Buffer.alloc(0),
+  GUID: '258EAFA5-E914-47DA-95CA-C5AB0DC85B11',
+  kForOnEventAttribute: Symbol('kIsForOnEventAttribute'),
+  kListener: Symbol('kListener'),
+  kStatusCode: Symbol('status-code'),
+  kWebSocket: Symbol('websocket'),
+  NOOP: () => {}
+};

system/clearpilot/shell_archived/node_modules/ws/lib/event-target.js

@@ -0,0 +1,292 @@
+'use strict';
+
+const { kForOnEventAttribute, kListener } = require('./constants');
+
+const kCode = Symbol('kCode');
+const kData = Symbol('kData');
+const kError = Symbol('kError');
+const kMessage = Symbol('kMessage');
+const kReason = Symbol('kReason');
+const kTarget = Symbol('kTarget');
+const kType = Symbol('kType');
+const kWasClean = Symbol('kWasClean');
+
+/**
+ * Class representing an event.
+ */
+class Event {
+  /**
+   * Create a new `Event`.
+   *
+   * @param {String} type The name of the event
+   * @throws {TypeError} If the `type` argument is not specified
+   */
+  constructor(type) {
+    this[kTarget] = null;
+    this[kType] = type;
+  }
+
+  /**
+   * @type {*}
+   */
+  get target() {
+    return this[kTarget];
+  }
+
+  /**
+   * @type {String}
+   */
+  get type() {
+    return this[kType];
+  }
+}
+
+Object.defineProperty(Event.prototype, 'target', { enumerable: true });
+Object.defineProperty(Event.prototype, 'type', { enumerable: true });
+
+/**
+ * Class representing a close event.
+ *
+ * @extends Event
+ */
+class CloseEvent extends Event {
+  /**
+   * Create a new `CloseEvent`.
+   *
+   * @param {String} type The name of the event
+   * @param {Object} [options] A dictionary object that allows for setting
+   *     attributes via object members of the same name
+   * @param {Number} [options.code=0] The status code explaining why the
+   *     connection was closed
+   * @param {String} [options.reason=''] A human-readable string explaining why
+   *     the connection was closed
+   * @param {Boolean} [options.wasClean=false] Indicates whether or not the
+   *     connection was cleanly closed
+   */
+  constructor(type, options = {}) {
+    super(type);
+
+    this[kCode] = options.code === undefined ? 0 : options.code;
+    this[kReason] = options.reason === undefined ? '' : options.reason;
+    this[kWasClean] = options.wasClean === undefined ? false : options.wasClean;
+  }
+
+  /**
+   * @type {Number}
+   */
+  get code() {
+    return this[kCode];
+  }
+
+  /**
+   * @type {String}
+   */
+  get reason() {
+    return this[kReason];
+  }
+
+  /**
+   * @type {Boolean}
+   */
+  get wasClean() {
+    return this[kWasClean];
+  }
+}
+
+Object.defineProperty(CloseEvent.prototype, 'code', { enumerable: true });
+Object.defineProperty(CloseEvent.prototype, 'reason', { enumerable: true });
+Object.defineProperty(CloseEvent.prototype, 'wasClean', { enumerable: true });
+
+/**
+ * Class representing an error event.
+ *
+ * @extends Event
+ */
+class ErrorEvent extends Event {
+  /**
+   * Create a new `ErrorEvent`.
+   *
+   * @param {String} type The name of the event
+   * @param {Object} [options] A dictionary object that allows for setting
+   *     attributes via object members of the same name
+   * @param {*} [options.error=null] The error that generated this event
+   * @param {String} [options.message=''] The error message
+   */
+  constructor(type, options = {}) {
+    super(type);
+
+    this[kError] = options.error === undefined ? null : options.error;
+    this[kMessage] = options.message === undefined ? '' : options.message;
+  }
+
+  /**
+   * @type {*}
+   */
+  get error() {
+    return this[kError];
+  }
+
+  /**
+   * @type {String}
+   */
+  get message() {
+    return this[kMessage];
+  }
+}
+
+Object.defineProperty(ErrorEvent.prototype, 'error', { enumerable: true });
+Object.defineProperty(ErrorEvent.prototype, 'message', { enumerable: true });
+
+/**
+ * Class representing a message event.
+ *
+ * @extends Event
+ */
+class MessageEvent extends Event {
+  /**
+   * Create a new `MessageEvent`.
+   *
+   * @param {String} type The name of the event
+   * @param {Object} [options] A dictionary object that allows for setting
+   *     attributes via object members of the same name
+   * @param {*} [options.data=null] The message content
+   */
+  constructor(type, options = {}) {
+    super(type);
+
+    this[kData] = options.data === undefined ? null : options.data;
+  }
+
+  /**
+   * @type {*}
+   */
+  get data() {
+    return this[kData];
+  }
+}
+
+Object.defineProperty(MessageEvent.prototype, 'data', { enumerable: true });
+
+/**
+ * This provides methods for emulating the `EventTarget` interface. It's not
+ * meant to be used directly.
+ *
+ * @mixin
+ */
+const EventTarget = {
+  /**
+   * Register an event listener.
+   *
+   * @param {String} type A string representing the event type to listen for
+   * @param {(Function|Object)} handler The listener to add
+   * @param {Object} [options] An options object specifies characteristics about
+   *     the event listener
+   * @param {Boolean} [options.once=false] A `Boolean` indicating that the
+   *     listener should be invoked at most once after being added. If `true`,
+   *     the listener would be automatically removed when invoked.
+   * @public
+   */
+  addEventListener(type, handler, options = {}) {
+    for (const listener of this.listeners(type)) {
+      if (
+        !options[kForOnEventAttribute] &&
+        listener[kListener] === handler &&
+        !listener[kForOnEventAttribute]
+      ) {
+        return;
+      }
+    }
+
+    let wrapper;
+
+    if (type === 'message') {
+      wrapper = function onMessage(data, isBinary) {
+        const event = new MessageEvent('message', {
+          data: isBinary ? data : data.toString()
+        });
+
+        event[kTarget] = this;
+        callListener(handler, this, event);
+      };
+    } else if (type === 'close') {
+      wrapper = function onClose(code, message) {
+        const event = new CloseEvent('close', {
+          code,
+          reason: message.toString(),
+          wasClean: this._closeFrameReceived && this._closeFrameSent
+        });
+
+        event[kTarget] = this;
+        callListener(handler, this, event);
+      };
+    } else if (type === 'error') {
+      wrapper = function onError(error) {
+        const event = new ErrorEvent('error', {
+          error,
+          message: error.message
+        });
+
+        event[kTarget] = this;
+        callListener(handler, this, event);
+      };
+    } else if (type === 'open') {
+      wrapper = function onOpen() {
+        const event = new Event('open');
+
+        event[kTarget] = this;
+        callListener(handler, this, event);
+      };
+    } else {
+      return;
+    }
+
+    wrapper[kForOnEventAttribute] = !!options[kForOnEventAttribute];
+    wrapper[kListener] = handler;
+
+    if (options.once) {
+      this.once(type, wrapper);
+    } else {
+      this.on(type, wrapper);
+    }
+  },
+
+  /**
+   * Remove an event listener.
+   *
+   * @param {String} type A string representing the event type to remove
+   * @param {(Function|Object)} handler The listener to remove
+   * @public
+   */
+  removeEventListener(type, handler) {
+    for (const listener of this.listeners(type)) {
+      if (listener[kListener] === handler && !listener[kForOnEventAttribute]) {
+        this.removeListener(type, listener);
+        break;
+      }
+    }
+  }
+};
+
+module.exports = {
+  CloseEvent,
+  ErrorEvent,
+  Event,
+  EventTarget,
+  MessageEvent
+};
+
+/**
+ * Call an event listener
+ *
+ * @param {(Function|Object)} listener The listener to call
+ * @param {*} thisArg The value to use as `this`` when calling the listener
+ * @param {Event} event The event to pass to the listener
+ * @private
+ */
+function callListener(listener, thisArg, event) {
+  if (typeof listener === 'object' && listener.handleEvent) {
+    listener.handleEvent.call(listener, event);
+  } else {
+    listener.call(thisArg, event);
+  }
+}

system/clearpilot/shell_archived/node_modules/ws/lib/extension.js

@@ -0,0 +1,203 @@
+'use strict';
+
+const { tokenChars } = require('./validation');
+
+/**
+ * Adds an offer to the map of extension offers or a parameter to the map of
+ * parameters.
+ *
+ * @param {Object} dest The map of extension offers or parameters
+ * @param {String} name The extension or parameter name
+ * @param {(Object|Boolean|String)} elem The extension parameters or the
+ *     parameter value
+ * @private
+ */
+function push(dest, name, elem) {
+  if (dest[name] === undefined) dest[name] = [elem];
+  else dest[name].push(elem);
+}
+
+/**
+ * Parses the `Sec-WebSocket-Extensions` header into an object.
+ *
+ * @param {String} header The field value of the header
+ * @return {Object} The parsed object
+ * @public
+ */
+function parse(header) {
+  const offers = Object.create(null);
+  let params = Object.create(null);
+  let mustUnescape = false;
+  let isEscaping = false;
+  let inQuotes = false;
+  let extensionName;
+  let paramName;
+  let start = -1;
+  let code = -1;
+  let end = -1;
+  let i = 0;
+
+  for (; i < header.length; i++) {
+    code = header.charCodeAt(i);
+
+    if (extensionName === undefined) {
+      if (end === -1 && tokenChars[code] === 1) {
+        if (start === -1) start = i;
+      } else if (
+        i !== 0 &&
+        (code === 0x20 /* ' ' */ || code === 0x09) /* '\t' */
+      ) {
+        if (end === -1 && start !== -1) end = i;
+      } else if (code === 0x3b /* ';' */ || code === 0x2c /* ',' */) {
+        if (start === -1) {
+          throw new SyntaxError(`Unexpected character at index ${i}`);
+        }
+
+        if (end === -1) end = i;
+        const name = header.slice(start, end);
+        if (code === 0x2c) {
+          push(offers, name, params);
+          params = Object.create(null);
+        } else {
+          extensionName = name;
+        }
+
+        start = end = -1;
+      } else {
+        throw new SyntaxError(`Unexpected character at index ${i}`);
+      }
+    } else if (paramName === undefined) {
+      if (end === -1 && tokenChars[code] === 1) {
+        if (start === -1) start = i;
+      } else if (code === 0x20 || code === 0x09) {
+        if (end === -1 && start !== -1) end = i;
+      } else if (code === 0x3b || code === 0x2c) {
+        if (start === -1) {
+          throw new SyntaxError(`Unexpected character at index ${i}`);
+        }
+
+        if (end === -1) end = i;
+        push(params, header.slice(start, end), true);
+        if (code === 0x2c) {
+          push(offers, extensionName, params);
+          params = Object.create(null);
+          extensionName = undefined;
+        }
+
+        start = end = -1;
+      } else if (code === 0x3d /* '=' */ && start !== -1 && end === -1) {
+        paramName = header.slice(start, i);
+        start = end = -1;
+      } else {
+        throw new SyntaxError(`Unexpected character at index ${i}`);
+      }
+    } else {
+      //
+      // The value of a quoted-string after unescaping must conform to the
+      // token ABNF, so only token characters are valid.
+      // Ref: https://tools.ietf.org/html/rfc6455#section-9.1
+      //
+      if (isEscaping) {
+        if (tokenChars[code] !== 1) {
+          throw new SyntaxError(`Unexpected character at index ${i}`);
+        }
+        if (start === -1) start = i;
+        else if (!mustUnescape) mustUnescape = true;
+        isEscaping = false;
+      } else if (inQuotes) {
+        if (tokenChars[code] === 1) {
+          if (start === -1) start = i;
+        } else if (code === 0x22 /* '"' */ && start !== -1) {
+          inQuotes = false;
+          end = i;
+        } else if (code === 0x5c /* '\' */) {
+          isEscaping = true;
+        } else {
+          throw new SyntaxError(`Unexpected character at index ${i}`);
+        }
+      } else if (code === 0x22 && header.charCodeAt(i - 1) === 0x3d) {
+        inQuotes = true;
+      } else if (end === -1 && tokenChars[code] === 1) {
+        if (start === -1) start = i;
+      } else if (start !== -1 && (code === 0x20 || code === 0x09)) {
+        if (end === -1) end = i;
+      } else if (code === 0x3b || code === 0x2c) {
+        if (start === -1) {
+          throw new SyntaxError(`Unexpected character at index ${i}`);
+        }
+
+        if (end === -1) end = i;
+        let value = header.slice(start, end);
+        if (mustUnescape) {
+          value = value.replace(/\\/g, '');
+          mustUnescape = false;
+        }
+        push(params, paramName, value);
+        if (code === 0x2c) {
+          push(offers, extensionName, params);
+          params = Object.create(null);
+          extensionName = undefined;
+        }
+
+        paramName = undefined;
+        start = end = -1;
+      } else {
+        throw new SyntaxError(`Unexpected character at index ${i}`);
+      }
+    }
+  }
+
+  if (start === -1 || inQuotes || code === 0x20 || code === 0x09) {
+    throw new SyntaxError('Unexpected end of input');
+  }
+
+  if (end === -1) end = i;
+  const token = header.slice(start, end);
+  if (extensionName === undefined) {
+    push(offers, token, params);
+  } else {
+    if (paramName === undefined) {
+      push(params, token, true);
+    } else if (mustUnescape) {
+      push(params, paramName, token.replace(/\\/g, ''));
+    } else {
+      push(params, paramName, token);
+    }
+    push(offers, extensionName, params);
+  }
+
+  return offers;
+}
+
+/**
+ * Builds the `Sec-WebSocket-Extensions` header field value.
+ *
+ * @param {Object} extensions The map of extensions and parameters to format
+ * @return {String} A string representing the given object
+ * @public
+ */
+function format(extensions) {
+  return Object.keys(extensions)
+    .map((extension) => {
+      let configurations = extensions[extension];
+      if (!Array.isArray(configurations)) configurations = [configurations];
+      return configurations
+        .map((params) => {
+          return [extension]
+            .concat(
+              Object.keys(params).map((k) => {
+                let values = params[k];
+                if (!Array.isArray(values)) values = [values];
+                return values
+                  .map((v) => (v === true ? k : `${k}=${v}`))
+                  .join('; ');
+              })
+            )
+            .join('; ');
+        })
+        .join(', ');
+    })
+    .join(', ');
+}
+
+module.exports = { format, parse };

system/clearpilot/shell_archived/node_modules/ws/lib/limiter.js

@@ -0,0 +1,55 @@
+'use strict';
+
+const kDone = Symbol('kDone');
+const kRun = Symbol('kRun');
+
+/**
+ * A very simple job queue with adjustable concurrency. Adapted from
+ * https://github.com/STRML/async-limiter
+ */
+class Limiter {
+  /**
+   * Creates a new `Limiter`.
+   *
+   * @param {Number} [concurrency=Infinity] The maximum number of jobs allowed
+   *     to run concurrently
+   */
+  constructor(concurrency) {
+    this[kDone] = () => {
+      this.pending--;
+      this[kRun]();
+    };
+    this.concurrency = concurrency || Infinity;
+    this.jobs = [];
+    this.pending = 0;
+  }
+
+  /**
+   * Adds a job to the queue.
+   *
+   * @param {Function} job The job to run
+   * @public
+   */
+  add(job) {
+    this.jobs.push(job);
+    this[kRun]();
+  }
+
+  /**
+   * Removes a job from the queue and runs it if possible.
+   *
+   * @private
+   */
+  [kRun]() {
+    if (this.pending === this.concurrency) return;
+
+    if (this.jobs.length) {
+      const job = this.jobs.shift();
+
+      this.pending++;
+      job(this[kDone]);
+    }
+  }
+}
+
+module.exports = Limiter;

system/clearpilot/shell_archived/node_modules/ws/lib/permessage-deflate.js

@@ -0,0 +1,514 @@
+'use strict';
+
+const zlib = require('zlib');
+
+const bufferUtil = require('./buffer-util');
+const Limiter = require('./limiter');
+const { kStatusCode } = require('./constants');
+
+const FastBuffer = Buffer[Symbol.species];
+const TRAILER = Buffer.from([0x00, 0x00, 0xff, 0xff]);
+const kPerMessageDeflate = Symbol('permessage-deflate');
+const kTotalLength = Symbol('total-length');
+const kCallback = Symbol('callback');
+const kBuffers = Symbol('buffers');
+const kError = Symbol('error');
+
+//
+// We limit zlib concurrency, which prevents severe memory fragmentation
+// as documented in https://github.com/nodejs/node/issues/8871#issuecomment-250915913
+// and https://github.com/websockets/ws/issues/1202
+//
+// Intentionally global; it's the global thread pool that's an issue.
+//
+let zlibLimiter;
+
+/**
+ * permessage-deflate implementation.
+ */
+class PerMessageDeflate {
+  /**
+   * Creates a PerMessageDeflate instance.
+   *
+   * @param {Object} [options] Configuration options
+   * @param {(Boolean|Number)} [options.clientMaxWindowBits] Advertise support
+   *     for, or request, a custom client window size
+   * @param {Boolean} [options.clientNoContextTakeover=false] Advertise/
+   *     acknowledge disabling of client context takeover
+   * @param {Number} [options.concurrencyLimit=10] The number of concurrent
+   *     calls to zlib
+   * @param {(Boolean|Number)} [options.serverMaxWindowBits] Request/confirm the
+   *     use of a custom server window size
+   * @param {Boolean} [options.serverNoContextTakeover=false] Request/accept
+   *     disabling of server context takeover
+   * @param {Number} [options.threshold=1024] Size (in bytes) below which
+   *     messages should not be compressed if context takeover is disabled
+   * @param {Object} [options.zlibDeflateOptions] Options to pass to zlib on
+   *     deflate
+   * @param {Object} [options.zlibInflateOptions] Options to pass to zlib on
+   *     inflate
+   * @param {Boolean} [isServer=false] Create the instance in either server or
+   *     client mode
+   * @param {Number} [maxPayload=0] The maximum allowed message length
+   */
+  constructor(options, isServer, maxPayload) {
+    this._maxPayload = maxPayload | 0;
+    this._options = options || {};
+    this._threshold =
+      this._options.threshold !== undefined ? this._options.threshold : 1024;
+    this._isServer = !!isServer;
+    this._deflate = null;
+    this._inflate = null;
+
+    this.params = null;
+
+    if (!zlibLimiter) {
+      const concurrency =
+        this._options.concurrencyLimit !== undefined
+          ? this._options.concurrencyLimit
+          : 10;
+      zlibLimiter = new Limiter(concurrency);
+    }
+  }
+
+  /**
+   * @type {String}
+   */
+  static get extensionName() {
+    return 'permessage-deflate';
+  }
+
+  /**
+   * Create an extension negotiation offer.
+   *
+   * @return {Object} Extension parameters
+   * @public
+   */
+  offer() {
+    const params = {};
+
+    if (this._options.serverNoContextTakeover) {
+      params.server_no_context_takeover = true;
+    }
+    if (this._options.clientNoContextTakeover) {
+      params.client_no_context_takeover = true;
+    }
+    if (this._options.serverMaxWindowBits) {
+      params.server_max_window_bits = this._options.serverMaxWindowBits;
+    }
+    if (this._options.clientMaxWindowBits) {
+      params.client_max_window_bits = this._options.clientMaxWindowBits;
+    } else if (this._options.clientMaxWindowBits == null) {
+      params.client_max_window_bits = true;
+    }
+
+    return params;
+  }
+
+  /**
+   * Accept an extension negotiation offer/response.
+   *
+   * @param {Array} configurations The extension negotiation offers/reponse
+   * @return {Object} Accepted configuration
+   * @public
+   */
+  accept(configurations) {
+    configurations = this.normalizeParams(configurations);
+
+    this.params = this._isServer
+      ? this.acceptAsServer(configurations)
+      : this.acceptAsClient(configurations);
+
+    return this.params;
+  }
+
+  /**
+   * Releases all resources used by the extension.
+   *
+   * @public
+   */
+  cleanup() {
+    if (this._inflate) {
+      this._inflate.close();
+      this._inflate = null;
+    }
+
+    if (this._deflate) {
+      const callback = this._deflate[kCallback];
+
+      this._deflate.close();
+      this._deflate = null;
+
+      if (callback) {
+        callback(
+          new Error(
+            'The deflate stream was closed while data was being processed'
+          )
+        );
+      }
+    }
+  }
+
+  /**
+   *  Accept an extension negotiation offer.
+   *
+   * @param {Array} offers The extension negotiation offers
+   * @return {Object} Accepted configuration
+   * @private
+   */
+  acceptAsServer(offers) {
+    const opts = this._options;
+    const accepted = offers.find((params) => {
+      if (
+        (opts.serverNoContextTakeover === false &&
+          params.server_no_context_takeover) ||
+        (params.server_max_window_bits &&
+          (opts.serverMaxWindowBits === false ||
+            (typeof opts.serverMaxWindowBits === 'number' &&
+              opts.serverMaxWindowBits > params.server_max_window_bits))) ||
+        (typeof opts.clientMaxWindowBits === 'number' &&
+          !params.client_max_window_bits)
+      ) {
+        return false;
+      }
+
+      return true;
+    });
+
+    if (!accepted) {
+      throw new Error('None of the extension offers can be accepted');
+    }
+
+    if (opts.serverNoContextTakeover) {
+      accepted.server_no_context_takeover = true;
+    }
+    if (opts.clientNoContextTakeover) {
+      accepted.client_no_context_takeover = true;
+    }
+    if (typeof opts.serverMaxWindowBits === 'number') {
+      accepted.server_max_window_bits = opts.serverMaxWindowBits;
+    }
+    if (typeof opts.clientMaxWindowBits === 'number') {
+      accepted.client_max_window_bits = opts.clientMaxWindowBits;
+    } else if (
+      accepted.client_max_window_bits === true ||
+      opts.clientMaxWindowBits === false
+    ) {
+      delete accepted.client_max_window_bits;
+    }
+
+    return accepted;
+  }
+
+  /**
+   * Accept the extension negotiation response.
+   *
+   * @param {Array} response The extension negotiation response
+   * @return {Object} Accepted configuration
+   * @private
+   */
+  acceptAsClient(response) {
+    const params = response[0];
+
+    if (
+      this._options.clientNoContextTakeover === false &&
+      params.client_no_context_takeover
+    ) {
+      throw new Error('Unexpected parameter "client_no_context_takeover"');
+    }
+
+    if (!params.client_max_window_bits) {
+      if (typeof this._options.clientMaxWindowBits === 'number') {
+        params.client_max_window_bits = this._options.clientMaxWindowBits;
+      }
+    } else if (
+      this._options.clientMaxWindowBits === false ||
+      (typeof this._options.clientMaxWindowBits === 'number' &&
+        params.client_max_window_bits > this._options.clientMaxWindowBits)
+    ) {
+      throw new Error(
+        'Unexpected or invalid parameter "client_max_window_bits"'
+      );
+    }
+
+    return params;
+  }
+
+  /**
+   * Normalize parameters.
+   *
+   * @param {Array} configurations The extension negotiation offers/reponse
+   * @return {Array} The offers/response with normalized parameters
+   * @private
+   */
+  normalizeParams(configurations) {
+    configurations.forEach((params) => {
+      Object.keys(params).forEach((key) => {
+        let value = params[key];
+
+        if (value.length > 1) {
+          throw new Error(`Parameter "${key}" must have only a single value`);
+        }
+
+        value = value[0];
+
+        if (key === 'client_max_window_bits') {
+          if (value !== true) {
+            const num = +value;
+            if (!Number.isInteger(num) || num < 8 || num > 15) {
+              throw new TypeError(
+                `Invalid value for parameter "${key}": ${value}`
+              );
+            }
+            value = num;
+          } else if (!this._isServer) {
+            throw new TypeError(
+              `Invalid value for parameter "${key}": ${value}`
+            );
+          }
+        } else if (key === 'server_max_window_bits') {
+          const num = +value;
+          if (!Number.isInteger(num) || num < 8 || num > 15) {
+            throw new TypeError(
+              `Invalid value for parameter "${key}": ${value}`
+            );
+          }
+          value = num;
+        } else if (
+          key === 'client_no_context_takeover' ||
+          key === 'server_no_context_takeover'
+        ) {
+          if (value !== true) {
+            throw new TypeError(
+              `Invalid value for parameter "${key}": ${value}`
+            );
+          }
+        } else {
+          throw new Error(`Unknown parameter "${key}"`);
+        }
+
+        params[key] = value;
+      });
+    });
+
+    return configurations;
+  }
+
+  /**
+   * Decompress data. Concurrency limited.
+   *
+   * @param {Buffer} data Compressed data
+   * @param {Boolean} fin Specifies whether or not this is the last fragment
+   * @param {Function} callback Callback
+   * @public
+   */
+  decompress(data, fin, callback) {
+    zlibLimiter.add((done) => {
+      this._decompress(data, fin, (err, result) => {
+        done();
+        callback(err, result);
+      });
+    });
+  }
+
+  /**
+   * Compress data. Concurrency limited.
+   *
+   * @param {(Buffer|String)} data Data to compress
+   * @param {Boolean} fin Specifies whether or not this is the last fragment
+   * @param {Function} callback Callback
+   * @public
+   */
+  compress(data, fin, callback) {
+    zlibLimiter.add((done) => {
+      this._compress(data, fin, (err, result) => {
+        done();
+        callback(err, result);
+      });
+    });
+  }
+
+  /**
+   * Decompress data.
+   *
+   * @param {Buffer} data Compressed data
+   * @param {Boolean} fin Specifies whether or not this is the last fragment
+   * @param {Function} callback Callback
+   * @private
+   */
+  _decompress(data, fin, callback) {
+    const endpoint = this._isServer ? 'client' : 'server';
+
+    if (!this._inflate) {
+      const key = `${endpoint}_max_window_bits`;
+      const windowBits =
+        typeof this.params[key] !== 'number'
+          ? zlib.Z_DEFAULT_WINDOWBITS
+          : this.params[key];
+
+      this._inflate = zlib.createInflateRaw({
+        ...this._options.zlibInflateOptions,
+        windowBits
+      });
+      this._inflate[kPerMessageDeflate] = this;
+      this._inflate[kTotalLength] = 0;
+      this._inflate[kBuffers] = [];
+      this._inflate.on('error', inflateOnError);
+      this._inflate.on('data', inflateOnData);
+    }
+
+    this._inflate[kCallback] = callback;
+
+    this._inflate.write(data);
+    if (fin) this._inflate.write(TRAILER);
+
+    this._inflate.flush(() => {
+      const err = this._inflate[kError];
+
+      if (err) {
+        this._inflate.close();
+        this._inflate = null;
+        callback(err);
+        return;
+      }
+
+      const data = bufferUtil.concat(
+        this._inflate[kBuffers],
+        this._inflate[kTotalLength]
+      );
+
+      if (this._inflate._readableState.endEmitted) {
+        this._inflate.close();
+        this._inflate = null;
+      } else {
+        this._inflate[kTotalLength] = 0;
+        this._inflate[kBuffers] = [];
+
+        if (fin && this.params[`${endpoint}_no_context_takeover`]) {
+          this._inflate.reset();
+        }
+      }
+
+      callback(null, data);
+    });
+  }
+
+  /**
+   * Compress data.
+   *
+   * @param {(Buffer|String)} data Data to compress
+   * @param {Boolean} fin Specifies whether or not this is the last fragment
+   * @param {Function} callback Callback
+   * @private
+   */
+  _compress(data, fin, callback) {
+    const endpoint = this._isServer ? 'server' : 'client';
+
+    if (!this._deflate) {
+      const key = `${endpoint}_max_window_bits`;
+      const windowBits =
+        typeof this.params[key] !== 'number'
+          ? zlib.Z_DEFAULT_WINDOWBITS
+          : this.params[key];
+
+      this._deflate = zlib.createDeflateRaw({
+        ...this._options.zlibDeflateOptions,
+        windowBits
+      });
+
+      this._deflate[kTotalLength] = 0;
+      this._deflate[kBuffers] = [];
+
+      this._deflate.on('data', deflateOnData);
+    }
+
+    this._deflate[kCallback] = callback;
+
+    this._deflate.write(data);
+    this._deflate.flush(zlib.Z_SYNC_FLUSH, () => {
+      if (!this._deflate) {
+        //
+        // The deflate stream was closed while data was being processed.
+        //
+        return;
+      }
+
+      let data = bufferUtil.concat(
+        this._deflate[kBuffers],
+        this._deflate[kTotalLength]
+      );
+
+      if (fin) {
+        data = new FastBuffer(data.buffer, data.byteOffset, data.length - 4);
+      }
+
+      //
+      // Ensure that the callback will not be called again in
+      // `PerMessageDeflate#cleanup()`.
+      //
+      this._deflate[kCallback] = null;
+
+      this._deflate[kTotalLength] = 0;
+      this._deflate[kBuffers] = [];
+
+      if (fin && this.params[`${endpoint}_no_context_takeover`]) {
+        this._deflate.reset();
+      }
+
+      callback(null, data);
+    });
+  }
+}
+
+module.exports = PerMessageDeflate;
+
+/**
+ * The listener of the `zlib.DeflateRaw` stream `'data'` event.
+ *
+ * @param {Buffer} chunk A chunk of data
+ * @private
+ */
+function deflateOnData(chunk) {
+  this[kBuffers].push(chunk);
+  this[kTotalLength] += chunk.length;
+}
+
+/**
+ * The listener of the `zlib.InflateRaw` stream `'data'` event.
+ *
+ * @param {Buffer} chunk A chunk of data
+ * @private
+ */
+function inflateOnData(chunk) {
+  this[kTotalLength] += chunk.length;
+
+  if (
+    this[kPerMessageDeflate]._maxPayload < 1 ||
+    this[kTotalLength] <= this[kPerMessageDeflate]._maxPayload
+  ) {
+    this[kBuffers].push(chunk);
+    return;
+  }
+
+  this[kError] = new RangeError('Max payload size exceeded');
+  this[kError].code = 'WS_ERR_UNSUPPORTED_MESSAGE_LENGTH';
+  this[kError][kStatusCode] = 1009;
+  this.removeListener('data', inflateOnData);
+  this.reset();
+}
+
+/**
+ * The listener of the `zlib.InflateRaw` stream `'error'` event.
+ *
+ * @param {Error} err The emitted error
+ * @private
+ */
+function inflateOnError(err) {
+  //
+  // There is no need to call `Zlib#close()` as the handle is automatically
+  // closed when an error is emitted.
+  //
+  this[kPerMessageDeflate]._inflate = null;
+  err[kStatusCode] = 1007;
+  this[kCallback](err);
+}

system/clearpilot/shell_archived/node_modules/ws/lib/receiver.js

@@ -0,0 +1,742 @@
+'use strict';
+
+const { Writable } = require('stream');
+
+const PerMessageDeflate = require('./permessage-deflate');
+const {
+  BINARY_TYPES,
+  EMPTY_BUFFER,
+  kStatusCode,
+  kWebSocket
+} = require('./constants');
+const { concat, toArrayBuffer, unmask } = require('./buffer-util');
+const { isValidStatusCode, isValidUTF8 } = require('./validation');
+
+const FastBuffer = Buffer[Symbol.species];
+const promise = Promise.resolve();
+
+//
+// `queueMicrotask()` is not available in Node.js < 11.
+//
+const queueTask =
+  typeof queueMicrotask === 'function' ? queueMicrotask : queueMicrotaskShim;
+
+const GET_INFO = 0;
+const GET_PAYLOAD_LENGTH_16 = 1;
+const GET_PAYLOAD_LENGTH_64 = 2;
+const GET_MASK = 3;
+const GET_DATA = 4;
+const INFLATING = 5;
+const DEFER_EVENT = 6;
+
+/**
+ * HyBi Receiver implementation.
+ *
+ * @extends Writable
+ */
+class Receiver extends Writable {
+  /**
+   * Creates a Receiver instance.
+   *
+   * @param {Object} [options] Options object
+   * @param {Boolean} [options.allowSynchronousEvents=false] Specifies whether
+   *     any of the `'message'`, `'ping'`, and `'pong'` events can be emitted
+   *     multiple times in the same tick
+   * @param {String} [options.binaryType=nodebuffer] The type for binary data
+   * @param {Object} [options.extensions] An object containing the negotiated
+   *     extensions
+   * @param {Boolean} [options.isServer=false] Specifies whether to operate in
+   *     client or server mode
+   * @param {Number} [options.maxPayload=0] The maximum allowed message length
+   * @param {Boolean} [options.skipUTF8Validation=false] Specifies whether or
+   *     not to skip UTF-8 validation for text and close messages
+   */
+  constructor(options = {}) {
+    super();
+
+    this._allowSynchronousEvents = !!options.allowSynchronousEvents;
+    this._binaryType = options.binaryType || BINARY_TYPES[0];
+    this._extensions = options.extensions || {};
+    this._isServer = !!options.isServer;
+    this._maxPayload = options.maxPayload | 0;
+    this._skipUTF8Validation = !!options.skipUTF8Validation;
+    this[kWebSocket] = undefined;
+
+    this._bufferedBytes = 0;
+    this._buffers = [];
+
+    this._compressed = false;
+    this._payloadLength = 0;
+    this._mask = undefined;
+    this._fragmented = 0;
+    this._masked = false;
+    this._fin = false;
+    this._opcode = 0;
+
+    this._totalPayloadLength = 0;
+    this._messageLength = 0;
+    this._fragments = [];
+
+    this._errored = false;
+    this._loop = false;
+    this._state = GET_INFO;
+  }
+
+  /**
+   * Implements `Writable.prototype._write()`.
+   *
+   * @param {Buffer} chunk The chunk of data to write
+   * @param {String} encoding The character encoding of `chunk`
+   * @param {Function} cb Callback
+   * @private
+   */
+  _write(chunk, encoding, cb) {
+    if (this._opcode === 0x08 && this._state == GET_INFO) return cb();
+
+    this._bufferedBytes += chunk.length;
+    this._buffers.push(chunk);
+    this.startLoop(cb);
+  }
+
+  /**
+   * Consumes `n` bytes from the buffered data.
+   *
+   * @param {Number} n The number of bytes to consume
+   * @return {Buffer} The consumed bytes
+   * @private
+   */
+  consume(n) {
+    this._bufferedBytes -= n;
+
+    if (n === this._buffers[0].length) return this._buffers.shift();
+
+    if (n < this._buffers[0].length) {
+      const buf = this._buffers[0];
+      this._buffers[0] = new FastBuffer(
+        buf.buffer,
+        buf.byteOffset + n,
+        buf.length - n
+      );
+
+      return new FastBuffer(buf.buffer, buf.byteOffset, n);
+    }
+
+    const dst = Buffer.allocUnsafe(n);
+
+    do {
+      const buf = this._buffers[0];
+      const offset = dst.length - n;
+
+      if (n >= buf.length) {
+        dst.set(this._buffers.shift(), offset);
+      } else {
+        dst.set(new Uint8Array(buf.buffer, buf.byteOffset, n), offset);
+        this._buffers[0] = new FastBuffer(
+          buf.buffer,
+          buf.byteOffset + n,
+          buf.length - n
+        );
+      }
+
+      n -= buf.length;
+    } while (n > 0);
+
+    return dst;
+  }
+
+  /**
+   * Starts the parsing loop.
+   *
+   * @param {Function} cb Callback
+   * @private
+   */
+  startLoop(cb) {
+    this._loop = true;
+
+    do {
+      switch (this._state) {
+        case GET_INFO:
+          this.getInfo(cb);
+          break;
+        case GET_PAYLOAD_LENGTH_16:
+          this.getPayloadLength16(cb);
+          break;
+        case GET_PAYLOAD_LENGTH_64:
+          this.getPayloadLength64(cb);
+          break;
+        case GET_MASK:
+          this.getMask();
+          break;
+        case GET_DATA:
+          this.getData(cb);
+          break;
+        case INFLATING:
+        case DEFER_EVENT:
+          this._loop = false;
+          return;
+      }
+    } while (this._loop);
+
+    if (!this._errored) cb();
+  }
+
+  /**
+   * Reads the first two bytes of a frame.
+   *
+   * @param {Function} cb Callback
+   * @private
+   */
+  getInfo(cb) {
+    if (this._bufferedBytes < 2) {
+      this._loop = false;
+      return;
+    }
+
+    const buf = this.consume(2);
+
+    if ((buf[0] & 0x30) !== 0x00) {
+      const error = this.createError(
+        RangeError,
+        'RSV2 and RSV3 must be clear',
+        true,
+        1002,
+        'WS_ERR_UNEXPECTED_RSV_2_3'
+      );
+
+      cb(error);
+      return;
+    }
+
+    const compressed = (buf[0] & 0x40) === 0x40;
+
+    if (compressed && !this._extensions[PerMessageDeflate.extensionName]) {
+      const error = this.createError(
+        RangeError,
+        'RSV1 must be clear',
+        true,
+        1002,
+        'WS_ERR_UNEXPECTED_RSV_1'
+      );
+
+      cb(error);
+      return;
+    }
+
+    this._fin = (buf[0] & 0x80) === 0x80;
+    this._opcode = buf[0] & 0x0f;
+    this._payloadLength = buf[1] & 0x7f;
+
+    if (this._opcode === 0x00) {
+      if (compressed) {
+        const error = this.createError(
+          RangeError,
+          'RSV1 must be clear',
+          true,
+          1002,
+          'WS_ERR_UNEXPECTED_RSV_1'
+        );
+
+        cb(error);
+        return;
+      }
+
+      if (!this._fragmented) {
+        const error = this.createError(
+          RangeError,
+          'invalid opcode 0',
+          true,
+          1002,
+          'WS_ERR_INVALID_OPCODE'
+        );
+
+        cb(error);
+        return;
+      }
+
+      this._opcode = this._fragmented;
+    } else if (this._opcode === 0x01 || this._opcode === 0x02) {
+      if (this._fragmented) {
+        const error = this.createError(
+          RangeError,
+          `invalid opcode ${this._opcode}`,
+          true,
+          1002,
+          'WS_ERR_INVALID_OPCODE'
+        );
+
+        cb(error);
+        return;
+      }
+
+      this._compressed = compressed;
+    } else if (this._opcode > 0x07 && this._opcode < 0x0b) {
+      if (!this._fin) {
+        const error = this.createError(
+          RangeError,
+          'FIN must be set',
+          true,
+          1002,
+          'WS_ERR_EXPECTED_FIN'
+        );
+
+        cb(error);
+        return;
+      }
+
+      if (compressed) {
+        const error = this.createError(
+          RangeError,
+          'RSV1 must be clear',
+          true,
+          1002,
+          'WS_ERR_UNEXPECTED_RSV_1'
+        );
+
+        cb(error);
+        return;
+      }
+
+      if (
+        this._payloadLength > 0x7d ||
+        (this._opcode === 0x08 && this._payloadLength === 1)
+      ) {
+        const error = this.createError(
+          RangeError,
+          `invalid payload length ${this._payloadLength}`,
+          true,
+          1002,
+          'WS_ERR_INVALID_CONTROL_PAYLOAD_LENGTH'
+        );
+
+        cb(error);
+        return;
+      }
+    } else {
+      const error = this.createError(
+        RangeError,
+        `invalid opcode ${this._opcode}`,
+        true,
+        1002,
+        'WS_ERR_INVALID_OPCODE'
+      );
+
+      cb(error);
+      return;
+    }
+
+    if (!this._fin && !this._fragmented) this._fragmented = this._opcode;
+    this._masked = (buf[1] & 0x80) === 0x80;
+
+    if (this._isServer) {
+      if (!this._masked) {
+        const error = this.createError(
+          RangeError,
+          'MASK must be set',
+          true,
+          1002,
+          'WS_ERR_EXPECTED_MASK'
+        );
+
+        cb(error);
+        return;
+      }
+    } else if (this._masked) {
+      const error = this.createError(
+        RangeError,
+        'MASK must be clear',
+        true,
+        1002,
+        'WS_ERR_UNEXPECTED_MASK'
+      );
+
+      cb(error);
+      return;
+    }
+
+    if (this._payloadLength === 126) this._state = GET_PAYLOAD_LENGTH_16;
+    else if (this._payloadLength === 127) this._state = GET_PAYLOAD_LENGTH_64;
+    else this.haveLength(cb);
+  }
+
+  /**
+   * Gets extended payload length (7+16).
+   *
+   * @param {Function} cb Callback
+   * @private
+   */
+  getPayloadLength16(cb) {
+    if (this._bufferedBytes < 2) {
+      this._loop = false;
+      return;
+    }
+
+    this._payloadLength = this.consume(2).readUInt16BE(0);
+    this.haveLength(cb);
+  }
+
+  /**
+   * Gets extended payload length (7+64).
+   *
+   * @param {Function} cb Callback
+   * @private
+   */
+  getPayloadLength64(cb) {
+    if (this._bufferedBytes < 8) {
+      this._loop = false;
+      return;
+    }
+
+    const buf = this.consume(8);
+    const num = buf.readUInt32BE(0);
+
+    //
+    // The maximum safe integer in JavaScript is 2^53 - 1. An error is returned
+    // if payload length is greater than this number.
+    //
+    if (num > Math.pow(2, 53 - 32) - 1) {
+      const error = this.createError(
+        RangeError,
+        'Unsupported WebSocket frame: payload length > 2^53 - 1',
+        false,
+        1009,
+        'WS_ERR_UNSUPPORTED_DATA_PAYLOAD_LENGTH'
+      );
+
+      cb(error);
+      return;
+    }
+
+    this._payloadLength = num * Math.pow(2, 32) + buf.readUInt32BE(4);
+    this.haveLength(cb);
+  }
+
+  /**
+   * Payload length has been read.
+   *
+   * @param {Function} cb Callback
+   * @private
+   */
+  haveLength(cb) {
+    if (this._payloadLength && this._opcode < 0x08) {
+      this._totalPayloadLength += this._payloadLength;
+      if (this._totalPayloadLength > this._maxPayload && this._maxPayload > 0) {
+        const error = this.createError(
+          RangeError,
+          'Max payload size exceeded',
+          false,
+          1009,
+          'WS_ERR_UNSUPPORTED_MESSAGE_LENGTH'
+        );
+
+        cb(error);
+        return;
+      }
+    }
+
+    if (this._masked) this._state = GET_MASK;
+    else this._state = GET_DATA;
+  }
+
+  /**
+   * Reads mask bytes.
+   *
+   * @private
+   */
+  getMask() {
+    if (this._bufferedBytes < 4) {
+      this._loop = false;
+      return;
+    }
+
+    this._mask = this.consume(4);
+    this._state = GET_DATA;
+  }
+
+  /**
+   * Reads data bytes.
+   *
+   * @param {Function} cb Callback
+   * @private
+   */
+  getData(cb) {
+    let data = EMPTY_BUFFER;
+
+    if (this._payloadLength) {
+      if (this._bufferedBytes < this._payloadLength) {
+        this._loop = false;
+        return;
+      }
+
+      data = this.consume(this._payloadLength);
+
+      if (
+        this._masked &&
+        (this._mask[0] | this._mask[1] | this._mask[2] | this._mask[3]) !== 0
+      ) {
+        unmask(data, this._mask);
+      }
+    }
+
+    if (this._opcode > 0x07) {
+      this.controlMessage(data, cb);
+      return;
+    }
+
+    if (this._compressed) {
+      this._state = INFLATING;
+      this.decompress(data, cb);
+      return;
+    }
+
+    if (data.length) {
+      //
+      // This message is not compressed so its length is the sum of the payload
+      // length of all fragments.
+      //
+      this._messageLength = this._totalPayloadLength;
+      this._fragments.push(data);
+    }
+
+    this.dataMessage(cb);
+  }
+
+  /**
+   * Decompresses data.
+   *
+   * @param {Buffer} data Compressed data
+   * @param {Function} cb Callback
+   * @private
+   */
+  decompress(data, cb) {
+    const perMessageDeflate = this._extensions[PerMessageDeflate.extensionName];
+
+    perMessageDeflate.decompress(data, this._fin, (err, buf) => {
+      if (err) return cb(err);
+
+      if (buf.length) {
+        this._messageLength += buf.length;
+        if (this._messageLength > this._maxPayload && this._maxPayload > 0) {
+          const error = this.createError(
+            RangeError,
+            'Max payload size exceeded',
+            false,
+            1009,
+            'WS_ERR_UNSUPPORTED_MESSAGE_LENGTH'
+          );
+
+          cb(error);
+          return;
+        }
+
+        this._fragments.push(buf);
+      }
+
+      this.dataMessage(cb);
+      if (this._state === GET_INFO) this.startLoop(cb);
+    });
+  }
+
+  /**
+   * Handles a data message.
+   *
+   * @param {Function} cb Callback
+   * @private
+   */
+  dataMessage(cb) {
+    if (!this._fin) {
+      this._state = GET_INFO;
+      return;
+    }
+
+    const messageLength = this._messageLength;
+    const fragments = this._fragments;
+
+    this._totalPayloadLength = 0;
+    this._messageLength = 0;
+    this._fragmented = 0;
+    this._fragments = [];
+
+    if (this._opcode === 2) {
+      let data;
+
+      if (this._binaryType === 'nodebuffer') {
+        data = concat(fragments, messageLength);
+      } else if (this._binaryType === 'arraybuffer') {
+        data = toArrayBuffer(concat(fragments, messageLength));
+      } else {
+        data = fragments;
+      }
+
+      //
+      // If the state is `INFLATING`, it means that the frame data was
+      // decompressed asynchronously, so there is no need to defer the event
+      // as it will be emitted asynchronously anyway.
+      //
+      if (this._state === INFLATING || this._allowSynchronousEvents) {
+        this.emit('message', data, true);
+        this._state = GET_INFO;
+      } else {
+        this._state = DEFER_EVENT;
+        queueTask(() => {
+          this.emit('message', data, true);
+          this._state = GET_INFO;
+          this.startLoop(cb);
+        });
+      }
+    } else {
+      const buf = concat(fragments, messageLength);
+
+      if (!this._skipUTF8Validation && !isValidUTF8(buf)) {
+        const error = this.createError(
+          Error,
+          'invalid UTF-8 sequence',
+          true,
+          1007,
+          'WS_ERR_INVALID_UTF8'
+        );
+
+        cb(error);
+        return;
+      }
+
+      if (this._state === INFLATING || this._allowSynchronousEvents) {
+        this.emit('message', buf, false);
+        this._state = GET_INFO;
+      } else {
+        this._state = DEFER_EVENT;
+        queueTask(() => {
+          this.emit('message', buf, false);
+          this._state = GET_INFO;
+          this.startLoop(cb);
+        });
+      }
+    }
+  }
+
+  /**
+   * Handles a control message.
+   *
+   * @param {Buffer} data Data to handle
+   * @return {(Error|RangeError|undefined)} A possible error
+   * @private
+   */
+  controlMessage(data, cb) {
+    if (this._opcode === 0x08) {
+      if (data.length === 0) {
+        this._loop = false;
+        this.emit('conclude', 1005, EMPTY_BUFFER);
+        this.end();
+      } else {
+        const code = data.readUInt16BE(0);
+
+        if (!isValidStatusCode(code)) {
+          const error = this.createError(
+            RangeError,
+            `invalid status code ${code}`,
+            true,
+            1002,
+            'WS_ERR_INVALID_CLOSE_CODE'
+          );
+
+          cb(error);
+          return;
+        }
+
+        const buf = new FastBuffer(
+          data.buffer,
+          data.byteOffset + 2,
+          data.length - 2
+        );
+
+        if (!this._skipUTF8Validation && !isValidUTF8(buf)) {
+          const error = this.createError(
+            Error,
+            'invalid UTF-8 sequence',
+            true,
+            1007,
+            'WS_ERR_INVALID_UTF8'
+          );
+
+          cb(error);
+          return;
+        }
+
+        this._loop = false;
+        this.emit('conclude', code, buf);
+        this.end();
+      }
+
+      this._state = GET_INFO;
+      return;
+    }
+
+    if (this._allowSynchronousEvents) {
+      this.emit(this._opcode === 0x09 ? 'ping' : 'pong', data);
+      this._state = GET_INFO;
+    } else {
+      this._state = DEFER_EVENT;
+      queueTask(() => {
+        this.emit(this._opcode === 0x09 ? 'ping' : 'pong', data);
+        this._state = GET_INFO;
+        this.startLoop(cb);
+      });
+    }
+  }
+
+  /**
+   * Builds an error object.
+   *
+   * @param {function(new:Error|RangeError)} ErrorCtor The error constructor
+   * @param {String} message The error message
+   * @param {Boolean} prefix Specifies whether or not to add a default prefix to
+   *     `message`
+   * @param {Number} statusCode The status code
+   * @param {String} errorCode The exposed error code
+   * @return {(Error|RangeError)} The error
+   * @private
+   */
+  createError(ErrorCtor, message, prefix, statusCode, errorCode) {
+    this._loop = false;
+    this._errored = true;
+
+    const err = new ErrorCtor(
+      prefix ? `Invalid WebSocket frame: ${message}` : message
+    );
+
+    Error.captureStackTrace(err, this.createError);
+    err.code = errorCode;
+    err[kStatusCode] = statusCode;
+    return err;
+  }
+}
+
+module.exports = Receiver;
+
+/**
+ * A shim for `queueMicrotask()`.
+ *
+ * @param {Function} cb Callback
+ */
+function queueMicrotaskShim(cb) {
+  promise.then(cb).catch(throwErrorNextTick);
+}
+
+/**
+ * Throws an error.
+ *
+ * @param {Error} err The error to throw
+ * @private
+ */
+function throwError(err) {
+  throw err;
+}
+
+/**
+ * Throws an error in the next tick.
+ *
+ * @param {Error} err The error to throw
+ * @private
+ */
+function throwErrorNextTick(err) {
+  process.nextTick(throwError, err);
+}

system/clearpilot/shell_archived/node_modules/ws/lib/sender.js

@@ -0,0 +1,477 @@
+/* eslint no-unused-vars: ["error", { "varsIgnorePattern": "^Duplex" }] */
+
+'use strict';
+
+const { Duplex } = require('stream');
+const { randomFillSync } = require('crypto');
+
+const PerMessageDeflate = require('./permessage-deflate');
+const { EMPTY_BUFFER } = require('./constants');
+const { isValidStatusCode } = require('./validation');
+const { mask: applyMask, toBuffer } = require('./buffer-util');
+
+const kByteLength = Symbol('kByteLength');
+const maskBuffer = Buffer.alloc(4);
+
+/**
+ * HyBi Sender implementation.
+ */
+class Sender {
+  /**
+   * Creates a Sender instance.
+   *
+   * @param {Duplex} socket The connection socket
+   * @param {Object} [extensions] An object containing the negotiated extensions
+   * @param {Function} [generateMask] The function used to generate the masking
+   *     key
+   */
+  constructor(socket, extensions, generateMask) {
+    this._extensions = extensions || {};
+
+    if (generateMask) {
+      this._generateMask = generateMask;
+      this._maskBuffer = Buffer.alloc(4);
+    }
+
+    this._socket = socket;
+
+    this._firstFragment = true;
+    this._compress = false;
+
+    this._bufferedBytes = 0;
+    this._deflating = false;
+    this._queue = [];
+  }
+
+  /**
+   * Frames a piece of data according to the HyBi WebSocket protocol.
+   *
+   * @param {(Buffer|String)} data The data to frame
+   * @param {Object} options Options object
+   * @param {Boolean} [options.fin=false] Specifies whether or not to set the
+   *     FIN bit
+   * @param {Function} [options.generateMask] The function used to generate the
+   *     masking key
+   * @param {Boolean} [options.mask=false] Specifies whether or not to mask
+   *     `data`
+   * @param {Buffer} [options.maskBuffer] The buffer used to store the masking
+   *     key
+   * @param {Number} options.opcode The opcode
+   * @param {Boolean} [options.readOnly=false] Specifies whether `data` can be
+   *     modified
+   * @param {Boolean} [options.rsv1=false] Specifies whether or not to set the
+   *     RSV1 bit
+   * @return {(Buffer|String)[]} The framed data
+   * @public
+   */
+  static frame(data, options) {
+    let mask;
+    let merge = false;
+    let offset = 2;
+    let skipMasking = false;
+
+    if (options.mask) {
+      mask = options.maskBuffer || maskBuffer;
+
+      if (options.generateMask) {
+        options.generateMask(mask);
+      } else {
+        randomFillSync(mask, 0, 4);
+      }
+
+      skipMasking = (mask[0] | mask[1] | mask[2] | mask[3]) === 0;
+      offset = 6;
+    }
+
+    let dataLength;
+
+    if (typeof data === 'string') {
+      if (
+        (!options.mask || skipMasking) &&
+        options[kByteLength] !== undefined
+      ) {
+        dataLength = options[kByteLength];
+      } else {
+        data = Buffer.from(data);
+        dataLength = data.length;
+      }
+    } else {
+      dataLength = data.length;
+      merge = options.mask && options.readOnly && !skipMasking;
+    }
+
+    let payloadLength = dataLength;
+
+    if (dataLength >= 65536) {
+      offset += 8;
+      payloadLength = 127;
+    } else if (dataLength > 125) {
+      offset += 2;
+      payloadLength = 126;
+    }
+
+    const target = Buffer.allocUnsafe(merge ? dataLength + offset : offset);
+
+    target[0] = options.fin ? options.opcode | 0x80 : options.opcode;
+    if (options.rsv1) target[0] |= 0x40;
+
+    target[1] = payloadLength;
+
+    if (payloadLength === 126) {
+      target.writeUInt16BE(dataLength, 2);
+    } else if (payloadLength === 127) {
+      target[2] = target[3] = 0;
+      target.writeUIntBE(dataLength, 4, 6);
+    }
+
+    if (!options.mask) return [target, data];
+
+    target[1] |= 0x80;
+    target[offset - 4] = mask[0];
+    target[offset - 3] = mask[1];
+    target[offset - 2] = mask[2];
+    target[offset - 1] = mask[3];
+
+    if (skipMasking) return [target, data];
+
+    if (merge) {
+      applyMask(data, mask, target, offset, dataLength);
+      return [target];
+    }
+
+    applyMask(data, mask, data, 0, dataLength);
+    return [target, data];
+  }
+
+  /**
+   * Sends a close message to the other peer.
+   *
+   * @param {Number} [code] The status code component of the body
+   * @param {(String|Buffer)} [data] The message component of the body
+   * @param {Boolean} [mask=false] Specifies whether or not to mask the message
+   * @param {Function} [cb] Callback
+   * @public
+   */
+  close(code, data, mask, cb) {
+    let buf;
+
+    if (code === undefined) {
+      buf = EMPTY_BUFFER;
+    } else if (typeof code !== 'number' || !isValidStatusCode(code)) {
+      throw new TypeError('First argument must be a valid error code number');
+    } else if (data === undefined || !data.length) {
+      buf = Buffer.allocUnsafe(2);
+      buf.writeUInt16BE(code, 0);
+    } else {
+      const length = Buffer.byteLength(data);
+
+      if (length > 123) {
+        throw new RangeError('The message must not be greater than 123 bytes');
+      }
+
+      buf = Buffer.allocUnsafe(2 + length);
+      buf.writeUInt16BE(code, 0);
+
+      if (typeof data === 'string') {
+        buf.write(data, 2);
+      } else {
+        buf.set(data, 2);
+      }
+    }
+
+    const options = {
+      [kByteLength]: buf.length,
+      fin: true,
+      generateMask: this._generateMask,
+      mask,
+      maskBuffer: this._maskBuffer,
+      opcode: 0x08,
+      readOnly: false,
+      rsv1: false
+    };
+
+    if (this._deflating) {
+      this.enqueue([this.dispatch, buf, false, options, cb]);
+    } else {
+      this.sendFrame(Sender.frame(buf, options), cb);
+    }
+  }
+
+  /**
+   * Sends a ping message to the other peer.
+   *
+   * @param {*} data The message to send
+   * @param {Boolean} [mask=false] Specifies whether or not to mask `data`
+   * @param {Function} [cb] Callback
+   * @public
+   */
+  ping(data, mask, cb) {
+    let byteLength;
+    let readOnly;
+
+    if (typeof data === 'string') {
+      byteLength = Buffer.byteLength(data);
+      readOnly = false;
+    } else {
+      data = toBuffer(data);
+      byteLength = data.length;
+      readOnly = toBuffer.readOnly;
+    }
+
+    if (byteLength > 125) {
+      throw new RangeError('The data size must not be greater than 125 bytes');
+    }
+
+    const options = {
+      [kByteLength]: byteLength,
+      fin: true,
+      generateMask: this._generateMask,
+      mask,
+      maskBuffer: this._maskBuffer,
+      opcode: 0x09,
+      readOnly,
+      rsv1: false
+    };
+
+    if (this._deflating) {
+      this.enqueue([this.dispatch, data, false, options, cb]);
+    } else {
+      this.sendFrame(Sender.frame(data, options), cb);
+    }
+  }
+
+  /**
+   * Sends a pong message to the other peer.
+   *
+   * @param {*} data The message to send
+   * @param {Boolean} [mask=false] Specifies whether or not to mask `data`
+   * @param {Function} [cb] Callback
+   * @public
+   */
+  pong(data, mask, cb) {
+    let byteLength;
+    let readOnly;
+
+    if (typeof data === 'string') {
+      byteLength = Buffer.byteLength(data);
+      readOnly = false;
+    } else {
+      data = toBuffer(data);
+      byteLength = data.length;
+      readOnly = toBuffer.readOnly;
+    }
+
+    if (byteLength > 125) {
+      throw new RangeError('The data size must not be greater than 125 bytes');
+    }
+
+    const options = {
+      [kByteLength]: byteLength,
+      fin: true,
+      generateMask: this._generateMask,
+      mask,
+      maskBuffer: this._maskBuffer,
+      opcode: 0x0a,
+      readOnly,
+      rsv1: false
+    };
+
+    if (this._deflating) {
+      this.enqueue([this.dispatch, data, false, options, cb]);
+    } else {
+      this.sendFrame(Sender.frame(data, options), cb);
+    }
+  }
+
+  /**
+   * Sends a data message to the other peer.
+   *
+   * @param {*} data The message to send
+   * @param {Object} options Options object
+   * @param {Boolean} [options.binary=false] Specifies whether `data` is binary
+   *     or text
+   * @param {Boolean} [options.compress=false] Specifies whether or not to
+   *     compress `data`
+   * @param {Boolean} [options.fin=false] Specifies whether the fragment is the
+   *     last one
+   * @param {Boolean} [options.mask=false] Specifies whether or not to mask
+   *     `data`
+   * @param {Function} [cb] Callback
+   * @public
+   */
+  send(data, options, cb) {
+    const perMessageDeflate = this._extensions[PerMessageDeflate.extensionName];
+    let opcode = options.binary ? 2 : 1;
+    let rsv1 = options.compress;
+
+    let byteLength;
+    let readOnly;
+
+    if (typeof data === 'string') {
+      byteLength = Buffer.byteLength(data);
+      readOnly = false;
+    } else {
+      data = toBuffer(data);
+      byteLength = data.length;
+      readOnly = toBuffer.readOnly;
+    }
+
+    if (this._firstFragment) {
+      this._firstFragment = false;
+      if (
+        rsv1 &&
+        perMessageDeflate &&
+        perMessageDeflate.params[
+          perMessageDeflate._isServer
+            ? 'server_no_context_takeover'
+            : 'client_no_context_takeover'
+        ]
+      ) {
+        rsv1 = byteLength >= perMessageDeflate._threshold;
+      }
+      this._compress = rsv1;
+    } else {
+      rsv1 = false;
+      opcode = 0;
+    }
+
+    if (options.fin) this._firstFragment = true;
+
+    if (perMessageDeflate) {
+      const opts = {
+        [kByteLength]: byteLength,
+        fin: options.fin,
+        generateMask: this._generateMask,
+        mask: options.mask,
+        maskBuffer: this._maskBuffer,
+        opcode,
+        readOnly,
+        rsv1
+      };
+
+      if (this._deflating) {
+        this.enqueue([this.dispatch, data, this._compress, opts, cb]);
+      } else {
+        this.dispatch(data, this._compress, opts, cb);
+      }
+    } else {
+      this.sendFrame(
+        Sender.frame(data, {
+          [kByteLength]: byteLength,
+          fin: options.fin,
+          generateMask: this._generateMask,
+          mask: options.mask,
+          maskBuffer: this._maskBuffer,
+          opcode,
+          readOnly,
+          rsv1: false
+        }),
+        cb
+      );
+    }
+  }
+
+  /**
+   * Dispatches a message.
+   *
+   * @param {(Buffer|String)} data The message to send
+   * @param {Boolean} [compress=false] Specifies whether or not to compress
+   *     `data`
+   * @param {Object} options Options object
+   * @param {Boolean} [options.fin=false] Specifies whether or not to set the
+   *     FIN bit
+   * @param {Function} [options.generateMask] The function used to generate the
+   *     masking key
+   * @param {Boolean} [options.mask=false] Specifies whether or not to mask
+   *     `data`
+   * @param {Buffer} [options.maskBuffer] The buffer used to store the masking
+   *     key
+   * @param {Number} options.opcode The opcode
+   * @param {Boolean} [options.readOnly=false] Specifies whether `data` can be
+   *     modified
+   * @param {Boolean} [options.rsv1=false] Specifies whether or not to set the
+   *     RSV1 bit
+   * @param {Function} [cb] Callback
+   * @private
+   */
+  dispatch(data, compress, options, cb) {
+    if (!compress) {
+      this.sendFrame(Sender.frame(data, options), cb);
+      return;
+    }
+
+    const perMessageDeflate = this._extensions[PerMessageDeflate.extensionName];
+
+    this._bufferedBytes += options[kByteLength];
+    this._deflating = true;
+    perMessageDeflate.compress(data, options.fin, (_, buf) => {
+      if (this._socket.destroyed) {
+        const err = new Error(
+          'The socket was closed while data was being compressed'
+        );
+
+        if (typeof cb === 'function') cb(err);
+
+        for (let i = 0; i < this._queue.length; i++) {
+          const params = this._queue[i];
+          const callback = params[params.length - 1];
+
+          if (typeof callback === 'function') callback(err);
+        }
+
+        return;
+      }
+
+      this._bufferedBytes -= options[kByteLength];
+      this._deflating = false;
+      options.readOnly = false;
+      this.sendFrame(Sender.frame(buf, options), cb);
+      this.dequeue();
+    });
+  }
+
+  /**
+   * Executes queued send operations.
+   *
+   * @private
+   */
+  dequeue() {
+    while (!this._deflating && this._queue.length) {
+      const params = this._queue.shift();
+
+      this._bufferedBytes -= params[3][kByteLength];
+      Reflect.apply(params[0], this, params.slice(1));
+    }
+  }
+
+  /**
+   * Enqueues a send operation.
+   *
+   * @param {Array} params Send operation parameters.
+   * @private
+   */
+  enqueue(params) {
+    this._bufferedBytes += params[3][kByteLength];
+    this._queue.push(params);
+  }
+
+  /**
+   * Sends a frame.
+   *
+   * @param {Buffer[]} list The frame to send
+   * @param {Function} [cb] Callback
+   * @private
+   */
+  sendFrame(list, cb) {
+    if (list.length === 2) {
+      this._socket.cork();
+      this._socket.write(list[0]);
+      this._socket.write(list[1], cb);
+      this._socket.uncork();
+    } else {
+      this._socket.write(list[0], cb);
+    }
+  }
+}
+
+module.exports = Sender;

system/clearpilot/shell_archived/node_modules/ws/lib/stream.js

@@ -0,0 +1,159 @@
+'use strict';
+
+const { Duplex } = require('stream');
+
+/**
+ * Emits the `'close'` event on a stream.
+ *
+ * @param {Duplex} stream The stream.
+ * @private
+ */
+function emitClose(stream) {
+  stream.emit('close');
+}
+
+/**
+ * The listener of the `'end'` event.
+ *
+ * @private
+ */
+function duplexOnEnd() {
+  if (!this.destroyed && this._writableState.finished) {
+    this.destroy();
+  }
+}
+
+/**
+ * The listener of the `'error'` event.
+ *
+ * @param {Error} err The error
+ * @private
+ */
+function duplexOnError(err) {
+  this.removeListener('error', duplexOnError);
+  this.destroy();
+  if (this.listenerCount('error') === 0) {
+    // Do not suppress the throwing behavior.
+    this.emit('error', err);
+  }
+}
+
+/**
+ * Wraps a `WebSocket` in a duplex stream.
+ *
+ * @param {WebSocket} ws The `WebSocket` to wrap
+ * @param {Object} [options] The options for the `Duplex` constructor
+ * @return {Duplex} The duplex stream
+ * @public
+ */
+function createWebSocketStream(ws, options) {
+  let terminateOnDestroy = true;
+
+  const duplex = new Duplex({
+    ...options,
+    autoDestroy: false,
+    emitClose: false,
+    objectMode: false,
+    writableObjectMode: false
+  });
+
+  ws.on('message', function message(msg, isBinary) {
+    const data =
+      !isBinary && duplex._readableState.objectMode ? msg.toString() : msg;
+
+    if (!duplex.push(data)) ws.pause();
+  });
+
+  ws.once('error', function error(err) {
+    if (duplex.destroyed) return;
+
+    // Prevent `ws.terminate()` from being called by `duplex._destroy()`.
+    //
+    // - If the `'error'` event is emitted before the `'open'` event, then
+    //   `ws.terminate()` is a noop as no socket is assigned.
+    // - Otherwise, the error is re-emitted by the listener of the `'error'`
+    //   event of the `Receiver` object. The listener already closes the
+    //   connection by calling `ws.close()`. This allows a close frame to be
+    //   sent to the other peer. If `ws.terminate()` is called right after this,
+    //   then the close frame might not be sent.
+    terminateOnDestroy = false;
+    duplex.destroy(err);
+  });
+
+  ws.once('close', function close() {
+    if (duplex.destroyed) return;
+
+    duplex.push(null);
+  });
+
+  duplex._destroy = function (err, callback) {
+    if (ws.readyState === ws.CLOSED) {
+      callback(err);
+      process.nextTick(emitClose, duplex);
+      return;
+    }
+
+    let called = false;
+
+    ws.once('error', function error(err) {
+      called = true;
+      callback(err);
+    });
+
+    ws.once('close', function close() {
+      if (!called) callback(err);
+      process.nextTick(emitClose, duplex);
+    });
+
+    if (terminateOnDestroy) ws.terminate();
+  };
+
+  duplex._final = function (callback) {
+    if (ws.readyState === ws.CONNECTING) {
+      ws.once('open', function open() {
+        duplex._final(callback);
+      });
+      return;
+    }
+
+    // If the value of the `_socket` property is `null` it means that `ws` is a
+    // client websocket and the handshake failed. In fact, when this happens, a
+    // socket is never assigned to the websocket. Wait for the `'error'` event
+    // that will be emitted by the websocket.
+    if (ws._socket === null) return;
+
+    if (ws._socket._writableState.finished) {
+      callback();
+      if (duplex._readableState.endEmitted) duplex.destroy();
+    } else {
+      ws._socket.once('finish', function finish() {
+        // `duplex` is not destroyed here because the `'end'` event will be
+        // emitted on `duplex` after this `'finish'` event. The EOF signaling
+        // `null` chunk is, in fact, pushed when the websocket emits `'close'`.
+        callback();
+      });
+      ws.close();
+    }
+  };
+
+  duplex._read = function () {
+    if (ws.isPaused) ws.resume();
+  };
+
+  duplex._write = function (chunk, encoding, callback) {
+    if (ws.readyState === ws.CONNECTING) {
+      ws.once('open', function open() {
+        duplex._write(chunk, encoding, callback);
+      });
+      return;
+    }
+
+    ws.send(chunk, callback);
+  };
+
+  duplex.on('end', duplexOnEnd);
+  duplex.on('error', duplexOnError);
+  return duplex;
+}
+
+module.exports = createWebSocketStream;

system/clearpilot/shell_archived/node_modules/ws/lib/subprotocol.js

@@ -0,0 +1,62 @@
+'use strict';
+
+const { tokenChars } = require('./validation');
+
+/**
+ * Parses the `Sec-WebSocket-Protocol` header into a set of subprotocol names.
+ *
+ * @param {String} header The field value of the header
+ * @return {Set} The subprotocol names
+ * @public
+ */
+function parse(header) {
+  const protocols = new Set();
+  let start = -1;
+  let end = -1;
+  let i = 0;
+
+  for (i; i < header.length; i++) {
+    const code = header.charCodeAt(i);
+
+    if (end === -1 && tokenChars[code] === 1) {
+      if (start === -1) start = i;
+    } else if (
+      i !== 0 &&
+      (code === 0x20 /* ' ' */ || code === 0x09) /* '\t' */
+    ) {
+      if (end === -1 && start !== -1) end = i;
+    } else if (code === 0x2c /* ',' */) {
+      if (start === -1) {
+        throw new SyntaxError(`Unexpected character at index ${i}`);
+      }
+
+      if (end === -1) end = i;
+
+      const protocol = header.slice(start, end);
+
+      if (protocols.has(protocol)) {
+        throw new SyntaxError(`The "${protocol}" subprotocol is duplicated`);
+      }
+
+      protocols.add(protocol);
+      start = end = -1;
+    } else {
+      throw new SyntaxError(`Unexpected character at index ${i}`);
+    }
+  }
+
+  if (start === -1 || end !== -1) {
+    throw new SyntaxError('Unexpected end of input');
+  }
+
+  const protocol = header.slice(start, i);
+
+  if (protocols.has(protocol)) {
+    throw new SyntaxError(`The "${protocol}" subprotocol is duplicated`);
+  }
+
+  protocols.add(protocol);
+  return protocols;
+}
+
+module.exports = { parse };

system/clearpilot/shell_archived/node_modules/ws/lib/validation.js

@@ -0,0 +1,130 @@
+'use strict';
+
+const { isUtf8 } = require('buffer');
+
+//
+// Allowed token characters:
+//
+// '!', '#', '$', '%', '&', ''', '*', '+', '-',
+// '.', 0-9, A-Z, '^', '_', '`', a-z, '|', '~'
+//
+// tokenChars[32] === 0 // ' '
+// tokenChars[33] === 1 // '!'
+// tokenChars[34] === 0 // '"'
+// ...
+//
+// prettier-ignore
+const tokenChars = [
+  0, 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, // 16 - 31
+  0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, // 32 - 47
+  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, // 48 - 63
+  0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 64 - 79
+  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, // 80 - 95
+  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 96 - 111
+  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0 // 112 - 127
+];
+
+/**
+ * Checks if a status code is allowed in a close frame.
+ *
+ * @param {Number} code The status code
+ * @return {Boolean} `true` if the status code is valid, else `false`
+ * @public
+ */
+function isValidStatusCode(code) {
+  return (
+    (code >= 1000 &&
+      code <= 1014 &&
+      code !== 1004 &&
+      code !== 1005 &&
+      code !== 1006) ||
+    (code >= 3000 && code <= 4999)
+  );
+}
+
+/**
+ * Checks if a given buffer contains only correct UTF-8.
+ * Ported from https://www.cl.cam.ac.uk/%7Emgk25/ucs/utf8_check.c by
+ * Markus Kuhn.
+ *
+ * @param {Buffer} buf The buffer to check
+ * @return {Boolean} `true` if `buf` contains only correct UTF-8, else `false`
+ * @public
+ */
+function _isValidUTF8(buf) {
+  const len = buf.length;
+  let i = 0;
+
+  while (i < len) {
+    if ((buf[i] & 0x80) === 0) {
+      // 0xxxxxxx
+      i++;
+    } else if ((buf[i] & 0xe0) === 0xc0) {
+      // 110xxxxx 10xxxxxx
+      if (
+        i + 1 === len ||
+        (buf[i + 1] & 0xc0) !== 0x80 ||
+        (buf[i] & 0xfe) === 0xc0 // Overlong
+      ) {
+        return false;
+      }
+
+      i += 2;
+    } else if ((buf[i] & 0xf0) === 0xe0) {
+      // 1110xxxx 10xxxxxx 10xxxxxx
+      if (
+        i + 2 >= len ||
+        (buf[i + 1] & 0xc0) !== 0x80 ||
+        (buf[i + 2] & 0xc0) !== 0x80 ||
+        (buf[i] === 0xe0 && (buf[i + 1] & 0xe0) === 0x80) || // Overlong
+        (buf[i] === 0xed && (buf[i + 1] & 0xe0) === 0xa0) // Surrogate (U+D800 - U+DFFF)
+      ) {
+        return false;
+      }
+
+      i += 3;
+    } else if ((buf[i] & 0xf8) === 0xf0) {
+      // 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+      if (
+        i + 3 >= len ||
+        (buf[i + 1] & 0xc0) !== 0x80 ||
+        (buf[i + 2] & 0xc0) !== 0x80 ||
+        (buf[i + 3] & 0xc0) !== 0x80 ||
+        (buf[i] === 0xf0 && (buf[i + 1] & 0xf0) === 0x80) || // Overlong
+        (buf[i] === 0xf4 && buf[i + 1] > 0x8f) ||
+        buf[i] > 0xf4 // > U+10FFFF
+      ) {
+        return false;
+      }
+
+      i += 4;
+    } else {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+module.exports = {
+  isValidStatusCode,
+  isValidUTF8: _isValidUTF8,
+  tokenChars
+};
+
+if (isUtf8) {
+  module.exports.isValidUTF8 = function (buf) {
+    return buf.length < 24 ? _isValidUTF8(buf) : isUtf8(buf);
+  };
+} /* istanbul ignore else  */ else if (!process.env.WS_NO_UTF_8_VALIDATE) {
+  try {
+    const isValidUTF8 = require('utf-8-validate');
+
+    module.exports.isValidUTF8 = function (buf) {
+      return buf.length < 32 ? _isValidUTF8(buf) : isValidUTF8(buf);
+    };
+  } catch (e) {
+    // Continue regardless of the error.
+  }
+}

system/clearpilot/shell_archived/node_modules/ws/lib/websocket-server.js

@@ -0,0 +1,539 @@
+/* eslint no-unused-vars: ["error", { "varsIgnorePattern": "^Duplex$" }] */
+
+'use strict';
+
+const EventEmitter = require('events');
+const http = require('http');
+const { Duplex } = require('stream');
+const { createHash } = require('crypto');
+
+const extension = require('./extension');
+const PerMessageDeflate = require('./permessage-deflate');
+const subprotocol = require('./subprotocol');
+const WebSocket = require('./websocket');
+const { GUID, kWebSocket } = require('./constants');
+
+const keyRegex = /^[+/0-9A-Za-z]{22}==$/;
+
+const RUNNING = 0;
+const CLOSING = 1;
+const CLOSED = 2;
+
+/**
+ * Class representing a WebSocket server.
+ *
+ * @extends EventEmitter
+ */
+class WebSocketServer extends EventEmitter {
+  /**
+   * Create a `WebSocketServer` instance.
+   *
+   * @param {Object} options Configuration options
+   * @param {Boolean} [options.allowSynchronousEvents=false] Specifies whether
+   *     any of the `'message'`, `'ping'`, and `'pong'` events can be emitted
+   *     multiple times in the same tick
+   * @param {Boolean} [options.autoPong=true] Specifies whether or not to
+   *     automatically send a pong in response to a ping
+   * @param {Number} [options.backlog=511] The maximum length of the queue of
+   *     pending connections
+   * @param {Boolean} [options.clientTracking=true] Specifies whether or not to
+   *     track clients
+   * @param {Function} [options.handleProtocols] A hook to handle protocols
+   * @param {String} [options.host] The hostname where to bind the server
+   * @param {Number} [options.maxPayload=104857600] The maximum allowed message
+   *     size
+   * @param {Boolean} [options.noServer=false] Enable no server mode
+   * @param {String} [options.path] Accept only connections matching this path
+   * @param {(Boolean|Object)} [options.perMessageDeflate=false] Enable/disable
+   *     permessage-deflate
+   * @param {Number} [options.port] The port where to bind the server
+   * @param {(http.Server|https.Server)} [options.server] A pre-created HTTP/S
+   *     server to use
+   * @param {Boolean} [options.skipUTF8Validation=false] Specifies whether or
+   *     not to skip UTF-8 validation for text and close messages
+   * @param {Function} [options.verifyClient] A hook to reject connections
+   * @param {Function} [options.WebSocket=WebSocket] Specifies the `WebSocket`
+   *     class to use. It must be the `WebSocket` class or class that extends it
+   * @param {Function} [callback] A listener for the `listening` event
+   */
+  constructor(options, callback) {
+    super();
+
+    options = {
+      allowSynchronousEvents: false,
+      autoPong: true,
+      maxPayload: 100 * 1024 * 1024,
+      skipUTF8Validation: false,
+      perMessageDeflate: false,
+      handleProtocols: null,
+      clientTracking: true,
+      verifyClient: null,
+      noServer: false,
+      backlog: null, // use default (511 as implemented in net.js)
+      server: null,
+      host: null,
+      path: null,
+      port: null,
+      WebSocket,
+      ...options
+    };
+
+    if (
+      (options.port == null && !options.server && !options.noServer) ||
+      (options.port != null && (options.server || options.noServer)) ||
+      (options.server && options.noServer)
+    ) {
+      throw new TypeError(
+        'One and only one of the "port", "server", or "noServer" options ' +
+          'must be specified'
+      );
+    }
+
+    if (options.port != null) {
+      this._server = http.createServer((req, res) => {
+        const body = http.STATUS_CODES[426];
+
+        res.writeHead(426, {
+          'Content-Length': body.length,
+          'Content-Type': 'text/plain'
+        });
+        res.end(body);
+      });
+      this._server.listen(
+        options.port,
+        options.host,
+        options.backlog,
+        callback
+      );
+    } else if (options.server) {
+      this._server = options.server;
+    }
+
+    if (this._server) {
+      const emitConnection = this.emit.bind(this, 'connection');
+
+      this._removeListeners = addListeners(this._server, {
+        listening: this.emit.bind(this, 'listening'),
+        error: this.emit.bind(this, 'error'),
+        upgrade: (req, socket, head) => {
+          this.handleUpgrade(req, socket, head, emitConnection);
+        }
+      });
+    }
+
+    if (options.perMessageDeflate === true) options.perMessageDeflate = {};
+    if (options.clientTracking) {
+      this.clients = new Set();
+      this._shouldEmitClose = false;
+    }
+
+    this.options = options;
+    this._state = RUNNING;
+  }
+
+  /**
+   * Returns the bound address, the address family name, and port of the server
+   * as reported by the operating system if listening on an IP socket.
+   * If the server is listening on a pipe or UNIX domain socket, the name is
+   * returned as a string.
+   *
+   * @return {(Object|String|null)} The address of the server
+   * @public
+   */
+  address() {
+    if (this.options.noServer) {
+      throw new Error('The server is operating in "noServer" mode');
+    }
+
+    if (!this._server) return null;
+    return this._server.address();
+  }
+
+  /**
+   * Stop the server from accepting new connections and emit the `'close'` event
+   * when all existing connections are closed.
+   *
+   * @param {Function} [cb] A one-time listener for the `'close'` event
+   * @public
+   */
+  close(cb) {
+    if (this._state === CLOSED) {
+      if (cb) {
+        this.once('close', () => {
+          cb(new Error('The server is not running'));
+        });
+      }
+
+      process.nextTick(emitClose, this);
+      return;
+    }
+
+    if (cb) this.once('close', cb);
+
+    if (this._state === CLOSING) return;
+    this._state = CLOSING;
+
+    if (this.options.noServer || this.options.server) {
+      if (this._server) {
+        this._removeListeners();
+        this._removeListeners = this._server = null;
+      }
+
+      if (this.clients) {
+        if (!this.clients.size) {
+          process.nextTick(emitClose, this);
+        } else {
+          this._shouldEmitClose = true;
+        }
+      } else {
+        process.nextTick(emitClose, this);
+      }
+    } else {
+      const server = this._server;
+
+      this._removeListeners();
+      this._removeListeners = this._server = null;
+
+      //
+      // The HTTP/S server was created internally. Close it, and rely on its
+      // `'close'` event.
+      //
+      server.close(() => {
+        emitClose(this);
+      });
+    }
+  }
+
+  /**
+   * See if a given request should be handled by this server instance.
+   *
+   * @param {http.IncomingMessage} req Request object to inspect
+   * @return {Boolean} `true` if the request is valid, else `false`
+   * @public
+   */
+  shouldHandle(req) {
+    if (this.options.path) {
+      const index = req.url.indexOf('?');
+      const pathname = index !== -1 ? req.url.slice(0, index) : req.url;
+
+      if (pathname !== this.options.path) return false;
+    }
+
+    return true;
+  }
+
+  /**
+   * Handle a HTTP Upgrade request.
+   *
+   * @param {http.IncomingMessage} req The request object
+   * @param {Duplex} socket The network socket between the server and client
+   * @param {Buffer} head The first packet of the upgraded stream
+   * @param {Function} cb Callback
+   * @public
+   */
+  handleUpgrade(req, socket, head, cb) {
+    socket.on('error', socketOnError);
+
+    const key = req.headers['sec-websocket-key'];
+    const version = +req.headers['sec-websocket-version'];
+
+    if (req.method !== 'GET') {
+      const message = 'Invalid HTTP method';
+      abortHandshakeOrEmitwsClientError(this, req, socket, 405, message);
+      return;
+    }
+
+    if (req.headers.upgrade.toLowerCase() !== 'websocket') {
+      const message = 'Invalid Upgrade header';
+      abortHandshakeOrEmitwsClientError(this, req, socket, 400, message);
+      return;
+    }
+
+    if (!key || !keyRegex.test(key)) {
+      const message = 'Missing or invalid Sec-WebSocket-Key header';
+      abortHandshakeOrEmitwsClientError(this, req, socket, 400, message);
+      return;
+    }
+
+    if (version !== 8 && version !== 13) {
+      const message = 'Missing or invalid Sec-WebSocket-Version header';
+      abortHandshakeOrEmitwsClientError(this, req, socket, 400, message);
+      return;
+    }
+
+    if (!this.shouldHandle(req)) {
+      abortHandshake(socket, 400);
+      return;
+    }
+
+    const secWebSocketProtocol = req.headers['sec-websocket-protocol'];
+    let protocols = new Set();
+
+    if (secWebSocketProtocol !== undefined) {
+      try {
+        protocols = subprotocol.parse(secWebSocketProtocol);
+      } catch (err) {
+        const message = 'Invalid Sec-WebSocket-Protocol header';
+        abortHandshakeOrEmitwsClientError(this, req, socket, 400, message);
+        return;
+      }
+    }
+
+    const secWebSocketExtensions = req.headers['sec-websocket-extensions'];
+    const extensions = {};
+
+    if (
+      this.options.perMessageDeflate &&
+      secWebSocketExtensions !== undefined
+    ) {
+      const perMessageDeflate = new PerMessageDeflate(
+        this.options.perMessageDeflate,
+        true,
+        this.options.maxPayload
+      );
+
+      try {
+        const offers = extension.parse(secWebSocketExtensions);
+
+        if (offers[PerMessageDeflate.extensionName]) {
+          perMessageDeflate.accept(offers[PerMessageDeflate.extensionName]);
+          extensions[PerMessageDeflate.extensionName] = perMessageDeflate;
+        }
+      } catch (err) {
+        const message =
+          'Invalid or unacceptable Sec-WebSocket-Extensions header';
+        abortHandshakeOrEmitwsClientError(this, req, socket, 400, message);
+        return;
+      }
+    }
+
+    //
+    // Optionally call external client verification handler.
+    //
+    if (this.options.verifyClient) {
+      const info = {
+        origin:
+          req.headers[`${version === 8 ? 'sec-websocket-origin' : 'origin'}`],
+        secure: !!(req.socket.authorized || req.socket.encrypted),
+        req
+      };
+
+      if (this.options.verifyClient.length === 2) {
+        this.options.verifyClient(info, (verified, code, message, headers) => {
+          if (!verified) {
+            return abortHandshake(socket, code || 401, message, headers);
+          }
+
+          this.completeUpgrade(
+            extensions,
+            key,
+            protocols,
+            req,
+            socket,
+            head,
+            cb
+          );
+        });
+        return;
+      }
+
+      if (!this.options.verifyClient(info)) return abortHandshake(socket, 401);
+    }
+
+    this.completeUpgrade(extensions, key, protocols, req, socket, head, cb);
+  }
+
+  /**
+   * Upgrade the connection to WebSocket.
+   *
+   * @param {Object} extensions The accepted extensions
+   * @param {String} key The value of the `Sec-WebSocket-Key` header
+   * @param {Set} protocols The subprotocols
+   * @param {http.IncomingMessage} req The request object
+   * @param {Duplex} socket The network socket between the server and client
+   * @param {Buffer} head The first packet of the upgraded stream
+   * @param {Function} cb Callback
+   * @throws {Error} If called more than once with the same socket
+   * @private
+   */
+  completeUpgrade(extensions, key, protocols, req, socket, head, cb) {
+    //
+    // Destroy the socket if the client has already sent a FIN packet.
+    //
+    if (!socket.readable || !socket.writable) return socket.destroy();
+
+    if (socket[kWebSocket]) {
+      throw new Error(
+        'server.handleUpgrade() was called more than once with the same ' +
+          'socket, possibly due to a misconfiguration'
+      );
+    }
+
+    if (this._state > RUNNING) return abortHandshake(socket, 503);
+
+    const digest = createHash('sha1')
+      .update(key + GUID)
+      .digest('base64');
+
+    const headers = [
+      'HTTP/1.1 101 Switching Protocols',
+      'Upgrade: websocket',
+      'Connection: Upgrade',
+      `Sec-WebSocket-Accept: ${digest}`
+    ];
+
+    const ws = new this.options.WebSocket(null, undefined, this.options);
+
+    if (protocols.size) {
+      //
+      // Optionally call external protocol selection handler.
+      //
+      const protocol = this.options.handleProtocols
+        ? this.options.handleProtocols(protocols, req)
+        : protocols.values().next().value;
+
+      if (protocol) {
+        headers.push(`Sec-WebSocket-Protocol: ${protocol}`);
+        ws._protocol = protocol;
+      }
+    }
+
+    if (extensions[PerMessageDeflate.extensionName]) {
+      const params = extensions[PerMessageDeflate.extensionName].params;
+      const value = extension.format({
+        [PerMessageDeflate.extensionName]: [params]
+      });
+      headers.push(`Sec-WebSocket-Extensions: ${value}`);
+      ws._extensions = extensions;
+    }
+
+    //
+    // Allow external modification/inspection of handshake headers.
+    //
+    this.emit('headers', headers, req);
+
+    socket.write(headers.concat('\r\n').join('\r\n'));
+    socket.removeListener('error', socketOnError);
+
+    ws.setSocket(socket, head, {
+      allowSynchronousEvents: this.options.allowSynchronousEvents,
+      maxPayload: this.options.maxPayload,
+      skipUTF8Validation: this.options.skipUTF8Validation
+    });
+
+    if (this.clients) {
+      this.clients.add(ws);
+      ws.on('close', () => {
+        this.clients.delete(ws);
+
+        if (this._shouldEmitClose && !this.clients.size) {
+          process.nextTick(emitClose, this);
+        }
+      });
+    }
+
+    cb(ws, req);
+  }
+}
+
+module.exports = WebSocketServer;
+
+/**
+ * Add event listeners on an `EventEmitter` using a map of <event, listener>
+ * pairs.
+ *
+ * @param {EventEmitter} server The event emitter
+ * @param {Object.<String, Function>} map The listeners to add
+ * @return {Function} A function that will remove the added listeners when
+ *     called
+ * @private
+ */
+function addListeners(server, map) {
+  for (const event of Object.keys(map)) server.on(event, map[event]);
+
+  return function removeListeners() {
+    for (const event of Object.keys(map)) {
+      server.removeListener(event, map[event]);
+    }
+  };
+}
+
+/**
+ * Emit a `'close'` event on an `EventEmitter`.
+ *
+ * @param {EventEmitter} server The event emitter
+ * @private
+ */
+function emitClose(server) {
+  server._state = CLOSED;
+  server.emit('close');
+}
+
+/**
+ * Handle socket errors.
+ *
+ * @private
+ */
+function socketOnError() {
+  this.destroy();
+}
+
+/**
+ * Close the connection when preconditions are not fulfilled.
+ *
+ * @param {Duplex} socket The socket of the upgrade request
+ * @param {Number} code The HTTP response status code
+ * @param {String} [message] The HTTP response body
+ * @param {Object} [headers] Additional HTTP response headers
+ * @private
+ */
+function abortHandshake(socket, code, message, headers) {
+  //
+  // The socket is writable unless the user destroyed or ended it before calling
+  // `server.handleUpgrade()` or in the `verifyClient` function, which is a user
+  // error. Handling this does not make much sense as the worst that can happen
+  // is that some of the data written by the user might be discarded due to the
+  // call to `socket.end()` below, which triggers an `'error'` event that in
+  // turn causes the socket to be destroyed.
+  //
+  message = message || http.STATUS_CODES[code];
+  headers = {
+    Connection: 'close',
+    'Content-Type': 'text/html',
+    'Content-Length': Buffer.byteLength(message),
+    ...headers
+  };
+
+  socket.once('finish', socket.destroy);
+
+  socket.end(
+    `HTTP/1.1 ${code} ${http.STATUS_CODES[code]}\r\n` +
+      Object.keys(headers)
+        .map((h) => `${h}: ${headers[h]}`)
+        .join('\r\n') +
+      '\r\n\r\n' +
+      message
+  );
+}
+
+/**
+ * Emit a `'wsClientError'` event on a `WebSocketServer` if there is at least
+ * one listener for it, otherwise call `abortHandshake()`.
+ *
+ * @param {WebSocketServer} server The WebSocket server
+ * @param {http.IncomingMessage} req The request object
+ * @param {Duplex} socket The socket of the upgrade request
+ * @param {Number} code The HTTP response status code
+ * @param {String} message The HTTP response body
+ * @private
+ */
+function abortHandshakeOrEmitwsClientError(server, req, socket, code, message) {
+  if (server.listenerCount('wsClientError')) {
+    const err = new Error(message);
+    Error.captureStackTrace(err, abortHandshakeOrEmitwsClientError);
+
+    server.emit('wsClientError', err, socket, req);
+  } else {
+    abortHandshake(socket, code, message);
+  }
+}

system/clearpilot/shell_archived/node_modules/ws/package.json

@@ -0,0 +1,68 @@
+{
+  "name": "ws",
+  "version": "8.16.0",
+  "description": "Simple to use, blazing fast and thoroughly tested websocket client and server for Node.js",
+  "keywords": [
+    "HyBi",
+    "Push",
+    "RFC-6455",
+    "WebSocket",
+    "WebSockets",
+    "real-time"
+  ],
+  "homepage": "https://github.com/websockets/ws",
+  "bugs": "https://github.com/websockets/ws/issues",
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/websockets/ws.git"
+  },
+  "author": "Einar Otto Stangvik <einaros@gmail.com> (http://2x.io)",
+  "license": "MIT",
+  "main": "index.js",
+  "exports": {
+    ".": {
+      "browser": "./browser.js",
+      "import": "./wrapper.mjs",
+      "require": "./index.js"
+    },
+    "./package.json": "./package.json"
+  },
+  "browser": "browser.js",
+  "engines": {
+    "node": ">=10.0.0"
+  },
+  "files": [
+    "browser.js",
+    "index.js",
+    "lib/*.js",
+    "wrapper.mjs"
+  ],
+  "scripts": {
+    "test": "nyc --reporter=lcov --reporter=text mocha --throw-deprecation test/*.test.js",
+    "integration": "mocha --throw-deprecation test/*.integration.js",
+    "lint": "eslint --ignore-path .gitignore . && prettier --check --ignore-path .gitignore \"**/*.{json,md,yaml,yml}\""
+  },
+  "peerDependencies": {
+    "bufferutil": "^4.0.1",
+    "utf-8-validate": ">=5.0.2"
+  },
+  "peerDependenciesMeta": {
+    "bufferutil": {
+      "optional": true
+    },
+    "utf-8-validate": {
+      "optional": true
+    }
+  },
+  "devDependencies": {
+    "benchmark": "^2.1.4",
+    "bufferutil": "^4.0.1",
+    "eslint": "^8.0.0",
+    "eslint-config-prettier": "^9.0.0",
+    "eslint-plugin-prettier": "^5.0.0",
+    "mocha": "^8.4.0",
+    "nyc": "^15.0.0",
+    "prettier": "^3.0.0",
+    "utf-8-validate": "^6.0.0"
+  }
+}

system/clearpilot/shell_archived/node_modules/ws/wrapper.mjs

@@ -0,0 +1,8 @@
+import createWebSocketStream from './lib/stream.js';
+import Receiver from './lib/receiver.js';
+import Sender from './lib/sender.js';
+import WebSocket from './lib/websocket.js';
+import WebSocketServer from './lib/websocket-server.js';
+
+export { createWebSocketStream, Receiver, Sender, WebSocket, WebSocketServer };
+export default WebSocket;

system/clearpilot/shell_archived/package-lock.json

@@ -0,0 +1,38 @@
+{
+  "name": "shell",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "dependencies": {
+        "http": "^0.0.1-security",
+        "ws": "^8.16.0"
+      }
+    },
+    "node_modules/http": {
+      "version": "0.0.1-security",
+      "resolved": "https://registry.npmjs.org/http/-/http-0.0.1-security.tgz",
+      "integrity": "sha512-RnDvP10Ty9FxqOtPZuxtebw1j4L/WiqNMDtuc1YMH1XQm5TgDRaR1G9u8upL6KD1bXHSp9eSXo/ED+8Q7FAr+g=="
+    },
+    "node_modules/ws": {
+      "version": "8.16.0",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-8.16.0.tgz",
+      "integrity": "sha512-HS0c//TP7Ina87TfiPUz1rQzMhHrl/SG2guqRcTOIUYD2q8uhUdNHZYJUaQ8aTGPzCh+c6oawMKW35nFl1dxyQ==",
+      "engines": {
+        "node": ">=10.0.0"
+      },
+      "peerDependencies": {
+        "bufferutil": "^4.0.1",
+        "utf-8-validate": ">=5.0.2"
+      },
+      "peerDependenciesMeta": {
+        "bufferutil": {
+          "optional": true
+        },
+        "utf-8-validate": {
+          "optional": true
+        }
+      }
+    }
+  }
+}

system/clearpilot/shell_archived/package.json

@@ -0,0 +1,6 @@
+{
+  "dependencies": {
+    "http": "^0.0.1-security",
+    "ws": "^8.16.0"
+  }
+}

system/clearpilot/shell_archived/revert_logo.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+# Check if /data/openpilot/shell/bg.jpg does not exist
+if [ ! -f /data/openpilot/shell/bg.jpg ]; then
+    # Check if /usr/comma/bg.org does exist
+    if [ -f /usr/comma/bg.org ]; then
+        sudo mount -o remount,rw /
+        # Copy /usr/comma/bg.org to /usr/comma/bg.jpg
+        sudo mv -f /usr/comma/bg.org /usr/comma/bg.jpg
+        # Remove /usr/comma/bg.org
+        # sudo rm /usr/comma/bg.org
+        if [ -f /usr/comma/comma.org ]; then
+            sudo mv -f /usr/comma/comma.org /usr/comma/comma.sh
+        fi
+        echo Reverted custom logo for comma boot sequence
+        sudo sync
+        sleep 2
+        sudo reboot
+        while true; do
+            sleep 1
+        done
+    fi
+fi

system/clearpilot/shell_archived/set_logo.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+
+set -x   
+
+# Test:   sudo mount -o remount,rw /; cp /usr/comma/bg.org /usr/comma/bg.jpg; bash shell/set_logo.sh
+
+# Check if md5sum of /usr/comma/bg.jpg is not equal to md5sum of /data/openpilot/shell/bg.jpg
+if [ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" != "$(md5sum /data/openpilot/shell/bg.jpg | awk '{print $1}')" ]; then
+
+    # If /usr/comma/bg.org does not exist
+    if [ ! -f /usr/comma/bg.org ]; then
+        if [[ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" == "642380ba4c0f00b16e9cf6e613f43eec" ]]; then
+            sudo mount -o remount,rw /
+            sudo cp /usr/comma/bg.jpg /usr/comma/bg.org
+        fi
+    fi
+
+    if [[ "$(md5sum /usr/comma/bg.org | awk '{print $1}')" != "642380ba4c0f00b16e9cf6e613f43eec" ]]; then
+        sudo mount -o remount,ro /
+        echo failed to backup the correct picture
+        exit
+    fi
+
+    sudo mount -o remount,rw /
+
+    # If /usr/comma/bg.org does exist
+    if [ -f /usr/comma/bg.org ]; then
+        sudo cp -f /data/openpilot/shell/bg.jpg /usr/comma/bg.jpg
+    fi
+
+    # If file /usr/comma/revert_logo.sh does not exist
+    if [ "$(md5sum /data/openpilot/shell/revert_logo.sh | awk '{print $1}')" != "$(md5sum /usr/comma/revert_logo.sh | awk '{print $1}')" ]; then
+        sudo cp /data/openpilot/shell/revert_logo.sh /usr/comma/revert_logo.sh
+    fi
+    
+    if [ "$(md5sum md5sum /usr/comma/comma.sh | awk '{print $1}')" != "$(md5sum /data/openpilot/shell/usr_comma_comma.sh  | awk '{print $1}')" ]; then
+        if [[ "$(md5sum /usr/comma/comma.sh | awk '{print $1}')" == "ddbac0b46dd02efd672a0ef31ca426cf" ]]; then
+            if [ ! -f /usr/comma/comma.org ]; then
+                    sudo cp /usr/comma/comma.sh /usr/comma/comma.org
+            fi
+        fi
+        if [-f /usr/comma/comma.org ]; then
+            sudo cp /data/openpilot/shell/usr_comma_comma.sh /usr/comma/comma.sh
+            echo updated comma.sh
+        fi
+    fi
+    
+    echo Applied custom logo for comma boot sequence
+    sudo sync
+    sleep 2
+    sudo mount -o remount,ro /
+    sudo sync
+    sleep 2
+fi

system/clearpilot/shell_archived/tools_wip_4_28/QConsole.cc

@@ -0,0 +1,785 @@
+/**
+    Change log:
+    (C) 2005 by Houssem BDIOUI <houssem.bdioui@gmail.com>
+    (C) 2010 by YoungTaek Oh. (migrated to Qt4)
+    (C) 2014-2015 Igor Malinovskiy
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+*/
+
+// #include "qconsole.h"
+#include <QFile>
+#include <QTextStream>
+#include <QDebug>
+#include <QVBoxLayout>
+#include <QApplication>
+#include <QScrollBar>
+#include <QDesktopWidget>
+
+//#define USE_POPUP_COMPLETER
+#define WRITE_ONLY QIODevice::WriteOnly
+
+QSize PopupListWidget::sizeHint() const
+{
+    QAbstractItemModel *model = this->model();
+    QAbstractItemDelegate *delegate = this->itemDelegate();
+    const QStyleOptionViewItem sovi;
+    int left, top, right, bottom = 0;
+
+    QMargins margin = this->contentsMargins();
+
+    top = margin.top();
+    bottom = margin.bottom();
+    left = margin.left();
+    right = margin.right();
+
+    const int vOffset = top + bottom;
+    const int hOffset = left + right;
+
+    bool vScrollOn = false;
+    int height = 0;
+    int width = 0;
+    for (int i=0; i<this->count(); ++i) {
+        QModelIndex index = model->index(i, 0);
+        QSize itemSizeHint = delegate->sizeHint(sovi, index);
+        if (itemSizeHint.width() > width)
+            width = itemSizeHint.width();
+
+        // height
+        const int nextHeight = height + itemSizeHint.height();
+        if (nextHeight + vOffset < this->maximumHeight())
+            height = nextHeight;
+        else {
+            // early termination
+            vScrollOn = true;
+            break;
+        }
+    }
+
+    QSize sizeHint(width + hOffset, 0);
+    sizeHint.setHeight(height + vOffset);
+    if (vScrollOn) {
+        int scrollWidth = this->verticalScrollBar()->sizeHint().width();
+        sizeHint.setWidth(sizeHint.width() + scrollWidth);
+    }
+    return sizeHint;
+}
+
+void PopupListWidget::keyPressEvent(QKeyEvent *e) {
+    if (e->key() == Qt::Key_Tab ||
+            e->key() == Qt::Key_Return)
+        Q_EMIT itemActivated(currentItem());
+    else
+        QListWidget::keyPressEvent(e);
+}
+
+PopupCompleter::PopupCompleter(const QStringList& sl, QWidget *parent)
+    : QDialog(parent, Qt::Popup)
+{
+    setModal(true);
+
+    listWidget_ = new PopupListWidget();
+    listWidget_->setMaximumHeight(200);
+    qDebug() << "sizeHint(): " << listWidget_->sizeHint();
+    Q_FOREACH(QString str, sl) {
+        QListWidgetItem *item = new QListWidgetItem;
+        item->setText(str);
+        listWidget_->addItem(item);
+    }
+    qDebug() << "sizeHint(): " << listWidget_->sizeHint();
+    listWidget_->setFixedSize(listWidget_->sizeHint());
+
+
+    QLayout *layout = new QVBoxLayout();
+    layout->setSizeConstraint(QLayout::SetFixedSize);
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addWidget(listWidget_);
+
+    setLayout(layout);
+
+    // connect signal
+    connect(listWidget_, SIGNAL(itemActivated(QListWidgetItem *)),
+            SLOT(onItemActivated(QListWidgetItem*)));
+}
+
+PopupCompleter::~PopupCompleter()
+{
+}
+
+void PopupCompleter::showEvent(QShowEvent *event)
+{
+    listWidget_->setFocus();
+}
+
+void PopupCompleter::onItemActivated(QListWidgetItem *event)
+{
+    selected_ = event->text();
+    done(QDialog::Accepted);
+}
+
+/**
+ * @brief execute PopupCompleter at appropriate position.
+ *
+ * @param parent Parent of this popup completer. usually QConsole.
+ * @return see QDialog::exec
+ * @see QDialog::exec
+ */
+int PopupCompleter::exec(QTextEdit *parent)
+{
+    QSize popupSizeHint = this->sizeHint();
+    QRect cursorRect = parent->cursorRect();
+    QPoint globalPt = parent->mapToGlobal(cursorRect.bottomRight());
+    QDesktopWidget *dsk = QApplication::desktop();
+    QRect screenGeom = dsk->screenGeometry(dsk->screenNumber(this));
+    if (globalPt.y() + popupSizeHint.height() > screenGeom.height()) {
+        globalPt = parent->mapToGlobal(cursorRect.topRight());
+        globalPt.setY(globalPt.y() - popupSizeHint.height());
+    }
+    this->move(globalPt);
+    this->setFocus();
+    return QDialog::exec();
+}
+
+/**
+ * returns a common word of the given list
+ *
+ * @param list String list
+ *
+ * @return common word in the given string.
+ */
+static
+QString getCommonWord(QStringList& list)
+{
+    QChar ch;
+    QVector<QString> strarray = list.toVector();
+    QString common;
+    int col = 0,  min_len;
+    bool cont = true;
+
+    // get minimum length
+    min_len = strarray.at(0).size();
+    for (int i=1; i<strarray.size(); ++i) {
+        const int len = strarray.at(i).size();
+        if (len < min_len)
+            min_len = len;
+    }
+
+    while(col < min_len) {
+        ch = strarray.at(0)[col];
+        for (int i=1; i<strarray.size(); ++i) {
+            const QString& current_string = strarray.at(i);
+            if (ch != current_string[col])
+            {
+                cont = false;
+                break;
+            }
+        }
+        if (!cont)
+            break;
+
+        common.push_back(ch);
+        ++col;
+    }
+    return common;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+//Clear the console
+void QConsole::clear()
+{
+    QTextEdit::clear();
+}
+
+//Reset the console
+void QConsole::reset(const QString &welcomeText)
+{
+    clear();
+
+    append(welcomeText);
+    append("");
+
+    //init attributes
+    historyIndex = 0;
+    history.clear();
+    recordedScript.clear();
+}
+
+//QConsole constructor (init the QTextEdit & the attributes)
+QConsole::QConsole(QWidget *parent, const QString &welcomeText)
+    : QTextEdit(parent), errColor_(Qt::red),
+      outColor_(Qt::white), completionColor(Qt::darkGreen),
+      promptLength(0), promptParagraph(0), isLocked(false)
+{
+    // Disable accepting rich text from user
+    setAcceptRichText(false);
+
+    //Disable undo/redo
+    setUndoRedoEnabled(false);
+
+
+    //Disable context menu
+    //This menu is useful for undo/redo, cut/copy/paste, del, select all,
+    // see function QConsole::contextMenuEvent(...)
+    //setContextMenuPolicy(Qt::NoContextMenu);
+
+
+    //resets the console
+    reset(welcomeText);
+    const int tabwidth = QFontMetrics(currentFont()).width('a') * 4;
+    setTabStopWidth(tabwidth);
+}
+
+//Sets the prompt and cache the prompt length to optimize the processing speed
+void QConsole::setPrompt(const QString &newPrompt, bool display)
+{
+    prompt = newPrompt;
+    promptLength = prompt.length();
+    //display the new prompt
+    if (display)
+        displayPrompt();
+}
+
+
+//Displays the prompt and move the cursor to the end of the line.
+void QConsole::displayPrompt()
+{
+    //Prevent previous text displayed to be undone
+    setUndoRedoEnabled(false);
+    //displays the prompt
+    setTextColor(cmdColor_);
+    QTextCursor cur = textCursor();
+    cur.insertText(prompt);
+    cur.movePosition(QTextCursor::EndOfLine);
+    setTextCursor(cur);
+    //Saves the paragraph number of the prompt
+    promptParagraph = cur.blockNumber();
+
+    //Enable undo/redo for the actual command
+    setUndoRedoEnabled(true);
+}
+
+void QConsole::setFont(const QFont& f) {
+    QTextCharFormat format;
+    QTextCursor oldCursor = textCursor();
+    format.setFont(f);
+    selectAll();
+    textCursor().setBlockCharFormat(format);
+    setCurrentFont(f);
+    setTextCursor(oldCursor);
+}
+
+//Give suggestions to autocomplete a command (should be reimplemented)
+//the return value of the function is the string list of all suggestions
+QStringList QConsole::suggestCommand(const QString&, QString& prefix)
+{
+    prefix = "";
+    return QStringList();
+}
+
+//Treat the tab key & autocomplete the current command
+void QConsole::handleTabKeyPress()
+{
+    QString command = getCurrentCommand();
+    QString commandPrefix;
+    QStringList sl = suggestCommand(command, commandPrefix);
+    if (sl.count() == 0)
+        textCursor().insertText("\t");
+    else {
+        if (sl.count() == 1)
+            replaceCurrentCommand(commandPrefix + sl[0]);
+        else
+        {
+            // common word completion
+            QString commonWord = getCommonWord(sl);
+            command = commonWord;
+
+            PopupCompleter *popup = new PopupCompleter(sl);
+            if (popup->exec(this) == QDialog::Accepted)
+                replaceCurrentCommand(commandPrefix + popup->selected());
+            delete popup;
+
+        }
+    }
+}
+
+// If return pressed, do the evaluation and append the result
+void QConsole::handleReturnKeyPress()
+{
+    //Get the command to validate
+    QString command = getCurrentCommand();
+    //execute the command and get back its text result and its return value
+    if (isCommandComplete(command))
+        pExecCommand(command);
+    else
+    {
+        append("");
+        moveCursor(QTextCursor::EndOfLine);
+    }
+}
+
+bool QConsole::handleBackspaceKeyPress()
+{
+    QTextCursor cur = textCursor();
+    const int col = cur.columnNumber();
+    const int blk = cur.blockNumber();
+    if (blk == promptParagraph && col == promptLength)
+        return true;
+    return false;
+}
+
+void QConsole::handleUpKeyPress()
+{
+    if (history.count())
+    {
+        QString command = getCurrentCommand();
+        do
+        {
+            if (historyIndex)
+                historyIndex--;
+            else
+            {
+                break;
+            }
+        } while(history[historyIndex] == command);
+        replaceCurrentCommand(history[historyIndex]);
+    }
+}
+
+void QConsole::handleDownKeyPress()
+{
+    if (history.count())
+    {
+        QString command = getCurrentCommand();
+        do
+        {
+            if (++historyIndex >= history.size())
+            {
+                historyIndex = history.size() - 1;
+                break;
+            }
+        } while(history[historyIndex] == command);
+        replaceCurrentCommand(history[historyIndex]);
+    }
+}
+
+
+void QConsole::setHome(bool select)
+{
+    QTextCursor cursor = textCursor();
+    cursor.movePosition(QTextCursor::StartOfBlock, select ? QTextCursor::KeepAnchor :
+                                                            QTextCursor::MoveAnchor);
+    if(textCursor().blockNumber() == promptParagraph)
+    {
+        cursor.movePosition(QTextCursor::Right, select ? QTextCursor::KeepAnchor :
+                                                         QTextCursor::MoveAnchor,
+                            promptLength);
+    }
+    setTextCursor(cursor);
+}
+
+//Reimplemented key press event
+void QConsole::keyPressEvent( QKeyEvent *e )
+{
+    if (isLocked)
+        return;
+
+    //If the user wants to copy or cut outside
+    //the editing area we perform a copy
+    if(textCursor().hasSelection())
+    {
+        if(e->modifiers() == Qt::CTRL)
+        {
+            if( e->matches(QKeySequence::Cut) )
+            {
+                e->accept();
+                if(!isInEditionZone())
+                {
+                    copy();
+                }
+                else
+                {
+                    cut();
+                }
+                return;
+            }
+            else if(e->matches(QKeySequence::Copy) )
+            {
+                e->accept();
+                copy();
+            }
+            else
+            {
+                QTextEdit::keyPressEvent( e );
+                return;
+            }
+        }
+    }
+    /*
+    // if the cursor out of editing zone put it back first
+    if(!isInEditionZone())
+    {
+         QTextCursor editCursor = textCursor();
+         editCursor.setPosition(oldEditPosition);
+         setTextCursor(editCursor);
+    }
+*/
+    // control is pressed
+    if ( (e->modifiers() & Qt::ControlModifier) && (e->key() == Qt::Key_C) )
+    {
+        if ( isSelectionInEditionZone())
+        {
+            //If Ctrl + C pressed, then undo the current commant
+            //append("");
+            //displayPrompt();
+
+            //(Thierry Belair:)I humbly suggest that ctrl+C copies the text, as is expected,
+            //and indicated in the contextual menu
+            copy();
+            return;
+        }
+
+    }
+    else {
+        switch (e->key()) {
+        case Qt::Key_Tab:
+            if(isSelectionInEditionZone())
+            {
+                handleTabKeyPress();
+            }
+            return;
+
+        case Qt::Key_Enter:
+        case Qt::Key_Return:
+            if (isSelectionInEditionZone())
+            {
+                handleReturnKeyPress();
+            }
+            // ignore return key
+            return;
+
+        case Qt::Key_Backspace:
+            if (handleBackspaceKeyPress() || !isSelectionInEditionZone())
+                return;
+            break;
+
+        case Qt::Key_Home:
+            setHome(e->modifiers() & Qt::ShiftModifier);
+        case Qt::Key_Down:
+            if (isInEditionZone())
+            {
+                handleDownKeyPress();
+            }
+            return;
+        case Qt::Key_Up:
+            if (isInEditionZone())
+            {
+                handleUpKeyPress();
+            }
+            return;
+
+            //Default behaviour
+        case Qt::Key_End:
+        case Qt::Key_Left:
+        case Qt::Key_Right:
+            break;
+
+        default:
+            if (textCursor().hasSelection() ) {
+                if (!isSelectionInEditionZone())
+                {
+                    moveCursor(QTextCursor::End, QTextCursor::MoveAnchor);
+                }
+                break;
+            }
+            else
+            { //no selection
+                //when typing normal characters,
+                //make sure the cursor is positionned in the
+                //edition zone
+                if ( !isInEditionZone() )
+                {
+                    moveCursor(QTextCursor::End, QTextCursor::MoveAnchor);
+                }
+            }
+        } //end of switch
+    } //end of else : no control pressed
+
+    QTextEdit::keyPressEvent( e );
+}
+
+//Get the current command
+QString QConsole::getCurrentCommand()
+{
+    QTextCursor cursor = textCursor();    //Get the current command: we just remove the prompt
+    cursor.movePosition(QTextCursor::StartOfBlock);
+    cursor.movePosition(QTextCursor::Right, QTextCursor::MoveAnchor, promptLength);
+    cursor.movePosition(QTextCursor::EndOfBlock, QTextCursor::KeepAnchor);
+    QString command = cursor.selectedText();
+    cursor.clearSelection();
+    return command;
+}
+
+//Replace current command with a new one
+void QConsole::replaceCurrentCommand(const QString &newCommand)
+{
+    QTextCursor cursor = textCursor();
+    cursor.movePosition(QTextCursor::StartOfLine);
+    cursor.movePosition(QTextCursor::Right, QTextCursor::MoveAnchor, promptLength);
+    cursor.movePosition(QTextCursor::EndOfLine, QTextCursor::KeepAnchor);
+    cursor.insertText(newCommand);
+}
+
+//default implementation: command always complete
+bool QConsole::isCommandComplete(const QString &)
+{
+    return true;
+}
+
+//Tests whether the cursor is in th edition zone or not (after the prompt
+//or in the next lines (in case of multi-line mode)
+bool QConsole::isInEditionZone()
+{
+    const int para = textCursor().blockNumber();
+    const int index = textCursor().columnNumber();
+    return (para > promptParagraph) || ( (para == promptParagraph) && (index >= promptLength) );
+}
+
+
+//Tests whether position (in parameter) is in the edition zone or not (after the prompt
+//or in the next lines (in case of multi-line mode)
+bool QConsole::isInEditionZone(const int& pos)
+{
+    QTextCursor cur = textCursor();
+    cur.setPosition(pos);
+    const int para = cur.blockNumber();
+    const int index = cur.columnNumber();
+    return (para > promptParagraph) || ( (para == promptParagraph) && (index >= promptLength) );
+}
+
+
+//Tests whether the current selection is in th edition zone or not
+bool QConsole::isSelectionInEditionZone()
+{
+    QTextCursor cursor(document());
+    int range[2];
+
+    range[0] = textCursor().selectionStart();
+    range[1] = textCursor().selectionEnd();
+    for (int i = 0; i < 2; i++)
+    {
+        cursor.setPosition(range[i]);
+        int para = cursor.blockNumber();
+        int index = cursor.columnNumber();
+        if ((para <= promptParagraph) && ( (para != promptParagraph) || (index < promptLength) ))
+        {
+            return false;
+        }
+    }
+    return true;
+}
+
+
+//Basically, puts the command into the history list
+//And emits a signal (should be called by reimplementations)
+QString QConsole::addCommandToHistory(const QString &command)
+{
+    //Add the command to the recordedScript list
+    recordedScript.append(command);
+    //update the history and its index
+    QString modifiedCommand = command;
+    modifiedCommand.replace("\n", "\\n");
+    history.append(modifiedCommand);
+    historyIndex = history.size();
+    //emit the commandExecuted signal
+    Q_EMIT commandAddedToHistory(modifiedCommand);
+    return "";
+}
+
+//pExecCommand(QString) executes the command and displays back its result
+void QConsole::pExecCommand(const QString &command)
+{
+    isLocked = true;
+
+    addCommandToHistory(command);
+
+    emit execCommand(command);
+}
+
+void QConsole::printCommandExecutionResults(const QString &result, ResultType type)
+{
+    //According to the return value, display the result either in red or in blue
+    if (type == ResultType::Error)
+        setTextColor(errColor_);
+    else
+        setTextColor(outColor_);
+
+    append(result);
+
+    //Display the prompt again
+    if (type == ResultType::Complete || type == ResultType::Error) {
+        if (!result.endsWith("\n"))
+            append("\n");
+
+        isLocked = false;
+        displayPrompt();
+    }
+
+    moveCursor(QTextCursor::End);
+}	
+
+
+
+//Change paste behaviour
+void QConsole::insertFromMimeData(const QMimeData *source)
+{
+    if (isSelectionInEditionZone())
+    {
+        QTextEdit::insertFromMimeData(source);
+    }
+}
+
+//Implement paste with middle mouse button
+void QConsole::mousePressEvent(QMouseEvent* event)
+{
+    oldPosition = textCursor().position();
+    if (event->button() == Qt::MidButton)
+    {
+        copy();
+        QTextCursor cursor = cursorForPosition(event->pos());
+        setTextCursor(cursor);
+        paste();
+        return;
+    }
+
+    QTextEdit::mousePressEvent(event);
+}
+
+
+//Redefinition of the dropEvent to have a copy paste
+//instead of a cut paste when copying out of the
+//editable zone
+void QConsole::dropEvent ( QDropEvent * event)
+{
+    if(!isInEditionZone())
+    {
+        //Execute un drop a drop at the old position
+        //if the drag started out of the editable zone
+        QTextCursor cur = textCursor();
+        cur.setPosition(oldPosition);
+        setTextCursor(cur);
+    }
+    //Execute a normal drop
+    QTextEdit::dropEvent(event);
+}
+
+
+
+void QConsole::dragMoveEvent( QDragMoveEvent * event)
+{
+    //Get a cursor for the actual mouse position
+    QTextCursor cur = textCursor();
+    cur.setPosition(cursorForPosition(event->pos()).position());
+
+    if(!isInEditionZone(cursorForPosition(event->pos()).position()))
+    {
+        //Ignore the event if out of the editable zone
+        event->ignore(cursorRect(cur));
+    }
+    else
+    {
+        //Accept the event if out of the editable zone
+        event->accept(cursorRect(cur));
+    }
+}
+
+
+void QConsole::contextMenuEvent ( QContextMenuEvent * event)
+{
+    if (isLocked)
+        return;
+
+    QMenu *menu = new QMenu(this);
+
+    QAction *undo = new QAction(tr("Undo"), this);
+    undo->setShortcut(tr("Ctrl+Z"));
+    QAction *redo = new QAction(tr("Redo"), this);
+    redo->setShortcut(tr("Ctrl+Y"));
+    QAction *cut = new QAction(tr("Cut"), this);
+    cut->setShortcut(tr("Ctrl+X"));
+    QAction *copy = new QAction(tr("Copy"), this);
+    copy->setShortcut(tr("Ctrl+Ins"));
+    QAction *paste = new QAction(tr("Paste"), this);
+    paste->setShortcut(tr("Ctrl+V"));
+    QAction *del = new QAction(tr("Delete"), this);
+    del->setShortcut(tr("Del"));
+    QAction *selectAll = new QAction(tr("Select All"), this);
+    selectAll->setShortcut(tr("Ctrl+A"));
+
+    menu->addAction(undo);
+    menu->addAction(redo);
+    menu->addSeparator();
+    menu->addAction(cut);
+    menu->addAction(copy);
+    menu->addAction(paste);
+    menu->addAction(del);
+    menu->addSeparator();
+    menu->addAction(selectAll);
+
+    connect(undo, SIGNAL(triggered()), this, SLOT(undo()));
+    connect(redo, SIGNAL(triggered()), this, SLOT(redo()));
+    connect(cut, SIGNAL(triggered()), this, SLOT(cut()));
+    connect(copy, SIGNAL(triggered()), this, SLOT(copy()));
+    connect(paste, SIGNAL(triggered()), this, SLOT(paste()));
+    connect(del, SIGNAL(triggered()), this, SLOT(del()));
+    connect(selectAll, SIGNAL(triggered()), this, SLOT(selectAll()));
+
+
+    menu->exec(event->globalPos());
+
+    delete menu;
+}
+
+void QConsole::cut()
+{
+    //Cut only in the editing zone,
+    //perfom a copy otherwise
+    if(isSelectionInEditionZone())
+    {
+        QTextEdit::cut();
+        return;
+    }
+
+    QTextEdit::copy();
+}
+
+/*
+//Allows pasting with middle mouse button (x window)
+//when clicking outside of the edition zone
+void QConsole::paste()
+{
+        restoreOldPosition();
+        QTextEdit::paste();
+}
+*/
+
+void QConsole::del()
+{
+    //Delete only in the editing zone
+    if(isInEditionZone())
+    {
+        textCursor().movePosition(QTextCursor::EndOfWord, QTextCursor::KeepAnchor);
+        textCursor().deleteChar();
+    }
+}
+
+void QConsole::correctPathName(QString& pathName)
+{
+    if(pathName.contains(tr(":\\")))
+    {
+        pathName.replace('\\', tr("/"));
+    }
+}

system/clearpilot/shell_archived/tools_wip_4_28/QConsole.h

@@ -0,0 +1,211 @@
+/**
+    Change log:
+    (C) 2005 by Houssem BDIOUI <houssem.bdioui@gmail.com>
+    (C) 2010 by YoungTaek Oh. (migrated to Qt4)
+    (C) 2014-2015 Igor Malinovskiy
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+*/
+
+#pragma once
+
+#include <QStringList>
+#include <QTextEdit>
+#include <QMouseEvent>
+#include <QKeyEvent>
+#include <QMenu>
+
+#include <QDialog>
+#include <QListWidget>
+#include <QDebug>
+
+
+/**
+ * Subclasssing QListWidget
+ *
+ * @author YoungTaek Oh
+ */
+class PopupListWidget : public QListWidget
+{
+    Q_OBJECT
+
+public:
+    PopupListWidget(QWidget *parent = 0): QListWidget(parent) {
+        setUniformItemSizes(true);
+        setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+    }
+    virtual ~PopupListWidget() { }
+
+protected:
+    virtual QSize sizeHint() const;
+    virtual void keyPressEvent(QKeyEvent *e);
+};
+
+/**
+ *  Popup Completer class
+ *
+ *  @author YoungTaek Oh
+ *  @todo 1. beautifying
+ *        2. icons for classifying words (eg. functions, properties...)
+ *        3. bugs?
+ *  @note still experimental
+ */
+class PopupCompleter : public QDialog
+{
+    Q_OBJECT
+
+public:
+    PopupCompleter(const QStringList&, QWidget *parent = 0);
+    virtual ~PopupCompleter();
+
+public:
+    QString selected(void) { return selected_; }
+    int exec(QTextEdit*);
+
+protected:
+    virtual void showEvent(QShowEvent*);
+
+private Q_SLOTS:
+    void onItemActivated(QListWidgetItem*);
+
+public:
+    QListWidget *listWidget_;
+    QString selected_;
+};
+
+/**
+ * An abstract Qt console
+ * @author Houssem BDIOUI
+ */
+class QConsole : public QTextEdit
+{
+    Q_OBJECT
+public:
+    //constructor
+    QConsole(QWidget *parent = NULL, const QString &welcomeText = "");
+    //set the prompt of the console
+    void setPrompt(const QString &prompt, bool display = true);
+
+    //clear & reset the console (useful sometimes)
+    void clear();
+    void reset(const QString &welcomeText = "");
+
+    //cosmetic methods !
+
+    // @{
+    /// get/set command color
+    QColor cmdColor() const { return cmdColor_; }
+    void setCmdColor(QColor c) {cmdColor_ = c;}
+    // @}
+
+    // @{
+    /// get/set error color
+    QColor errColor() const { return errColor_; }
+    void setErrColor(QColor c) {errColor_ = c;}
+    // @}
+
+    // @{
+    /// get/set output color
+    QColor outColor() const { return outColor_; }
+    void setOutColor(QColor c) {outColor_ = c;}
+    // @}
+    void setCompletionColor(QColor c) {completionColor = c;}
+
+    // @{
+    /// get set font
+    void setFont(const QFont& f);
+    QFont font() const { return currentFont(); }
+    // @}
+
+    void correctPathName(QString& pathName);
+
+    enum ResultType {Error, Partial, Complete};
+
+private:
+    void dropEvent( QDropEvent * event);
+    void dragMoveEvent( QDragMoveEvent * event);
+
+    void keyPressEvent(QKeyEvent * e);
+    void contextMenuEvent( QContextMenuEvent * event);
+
+    //Return false if the command is incomplete (e.g. unmatched braces)
+    virtual bool isCommandComplete(const QString &command);
+    //Get the command to validate
+    QString getCurrentCommand();
+
+    //Replace current command with a new one
+    void replaceCurrentCommand(const QString &newCommand);
+
+    //Test whether the cursor is in the edition zone
+    bool isInEditionZone();
+    bool isInEditionZone(const int& pos);
+
+    //Test whether the selection is in the edition zone
+    bool isSelectionInEditionZone();
+    //Change paste behaviour
+    void insertFromMimeData(const QMimeData *);
+
+protected:
+    //colors
+    QColor cmdColor_, errColor_, outColor_, completionColor;
+
+    int oldPosition;
+    // cached prompt length
+    int promptLength;
+    // The prompt string
+    QString prompt;
+    // The commands history
+    QStringList history;
+    //Contains the commands that has succeeded
+    QStringList recordedScript;
+    // Current history index (needed because afaik QStringList does not have such an index)
+    int historyIndex;
+    //Holds the paragraph number of the prompt (useful for multi-line command handling)
+    int promptParagraph;
+
+protected:
+    //Implement paste with middle mouse button
+    void mousePressEvent(QMouseEvent*);
+
+    //execute a validated command (should be reimplemented and called at the end)
+    //the return value of the function is the string result
+    //res must hold back the return value of the command (0: passed; else: error)
+    virtual QString addCommandToHistory(const QString &command);
+
+    //give suggestions to autocomplete a command (should be reimplemented)
+    //the return value of the function is the string list of all suggestions
+    //the returned prefix is useful to complete "sub-commands"
+    virtual QStringList suggestCommand(const QString &cmd, QString &prefix);
+
+
+public slots:
+    //Contextual menu slots
+    void cut();
+    //void paste();
+    void del();
+    //displays the prompt
+    void displayPrompt();
+
+    void printCommandExecutionResults(const QString &, ResultType t = ResultType::Complete);
+
+signals:
+    //Signal emitted after that a command is executed
+    void commandAddedToHistory(const QString &command);
+    void execCommand(const QString &command);
+
+private:
+    bool isLocked;
+
+    void handleTabKeyPress();
+    void handleReturnKeyPress();
+    bool handleBackspaceKeyPress();
+    void handleUpKeyPress();
+    void handleDownKeyPress();
+    void setHome(bool);
+    void pExecCommand(const QString &command);
+};
+
+#include "QConsole.cc"

system/clearpilot/shell_archived/tools_wip_4_28/RotationModule.egg-info/PKG-INFO

@@ -0,0 +1,10 @@
+Metadata-Version: 1.0
+Name: RotationModule
+Version: 1.0
+Summary: Module for rotating display via native interface
+Home-page: UNKNOWN
+Author: UNKNOWN
+Author-email: UNKNOWN
+License: UNKNOWN
+Description: UNKNOWN
+Platform: UNKNOWN

system/clearpilot/shell_archived/tools_wip_4_28/RotationModule.egg-info/SOURCES.txt

@@ -0,0 +1,6 @@
+rotation_module.cc
+rotation_module_build.py
+RotationModule.egg-info/PKG-INFO
+RotationModule.egg-info/SOURCES.txt
+RotationModule.egg-info/dependency_links.txt
+RotationModule.egg-info/top_level.txt

system/clearpilot/shell_archived/tools_wip_4_28/RotationModule.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

system/clearpilot/shell_archived/tools_wip_4_28/RotationModule.egg-info/top_level.txt

@@ -0,0 +1 @@
+rotation

system/clearpilot/shell_archived/tools_wip_4_28/decrypt

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# Check for the correct number of arguments
+if [ "$#" -ne 2 ]; then
+    echo "Usage: $0 source destination"
+    exit 1
+fi
+
+# Set variables for source and destination
+src="$1"
+dest="$2"
+
+# Read DongleId for decryption key
+dongle_id=/data/params/d/DongleId
+
+# Decrypt the file
+cat "$src" | ccrypt -d -k "$dongle_id" > "$dest"

system/clearpilot/shell_archived/tools_wip_4_28/encrypt

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# Check for the correct number of arguments
+if [ "$#" -ne 2 ]; then
+    echo "Usage: $0 source destination"
+    exit 1
+fi
+
+# Set variables for source and destination
+src="$1"
+dest="$2"
+
+# Read DongleId for encryption key
+dongle_id=/data/params/d/DongleId
+
+# Encrypt the file
+cat "$src" | ccrypt -e -k "$dongle_id" > "$dest"

system/clearpilot/shell_archived/tools_wip_4_28/faketty.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+
+from sys import argv
+import os
+import signal
+
+# I've had problems with python's File objects at this low a level, so
+# we're going to use integers to specify all files in this script.
+stdin = 0
+stdout = 1
+stderr = 2
+# Include this if passing the command and arguments to fish to
+# prevent fish from applying any expansions.
+#import re
+#def fish_escape(args):
+#    def escape_one(arg):
+#        return "'" + re.sub(r"('|\\)", r'\\\1', arg) + "'"
+#    escaped_args = map(escape_one, args)
+#    return ' '.join(escaped_args)
+
+if len(argv) < 2:
+    os.write(stderr,
+b"""A tragically beautiful piece of hackery, made to fool programs like ls,
+grep, rg, and fd into thinking they're actually connected to a terminal.
+Its usage:
+
+pty command [arg1 arg2 ...]
+
+Examples:
+pty ls --color -R | less -r
+git log -p | pty rg <search terms> | less -r
+""")
+    exit(255)
+
+# We do not use forkpty here because it would block ^Cs from reaching the
+# child process. And we don't need that.
+ptm, pts = os.openpty()
+pid = os.fork()
+if pid == 0:
+    # The child runs this.
+    # To get the behaviour we want, we only need to replace the process's
+    # stdout with pts. Everything else should remain in place, so that things
+    # like `ps -eF | pty rg python | less -r` will still work as intended.
+    os.dup2(pts, stdout)
+    # This is not like a subprocess.call(). It replaces the entire child
+    # process with argv[1:], meaning execvp will not return! Web search
+    # "fork exec" for more.
+    os.execvp(argv[1], argv[1:])
+    # Use this if calling fish.
+    #os.execvp('fish', ['fish', '-c', fish_escape(argv[1:])])
+
+
+# The parent runs this.
+
+# If the parent doesn't close the slave end, the script won't be able to
+# exit. The next read on ptm after the child process terminates would hang
+# forever because pts would technically still be open.
+os.close(pts)
+
+# The whole process group gets SIGINT, including the child, so we don't need
+# to react to it. We'll know when to leave, judging by what the child does.
+signal.signal(signal.SIGINT, signal.SIG_IGN)
+
+while True:
+    try:
+        chunk = os.read(ptm, 4096)
+    except OSError:
+        break
+    try:
+        os.write(stdout, chunk)
+    except BrokenPipeError:
+        # This happens when the parent is piping output to another process in a
+        # pipeline, like in `pty ls --color -R | less -r`, and the receiving
+        # process is terminated before the child has exited. If the receiving
+        # process is less, this can happen very easily. It happens every time
+        # the user decides to quit less before it has displayed all output. So,
+        # we need to stop the child process now.
+        os.kill(pid, signal.SIGTERM)
+        break
+wait_pid, status = os.waitpid(pid, 0)
+exit(status >> 8)

system/clearpilot/shell_archived/tools_wip_4_28/moc_test2.cc

@@ -0,0 +1,188 @@
+/****************************************************************************
+** Meta object code from reading C++ file 'test2.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.12.8)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "test2.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'test2.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.12.8. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+QT_WARNING_PUSH
+QT_WARNING_DISABLE_DEPRECATED
+struct qt_meta_stringdata_TrackWidget_t {
+    QByteArrayData data[1];
+    char stringdata0[12];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_TrackWidget_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_TrackWidget_t qt_meta_stringdata_TrackWidget = {
+    {
+QT_MOC_LITERAL(0, 0, 11) // "TrackWidget"
+
+    },
+    "TrackWidget"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_TrackWidget[] = {
+
+ // content:
+       8,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       0,    0, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+       0        // eod
+};
+
+void TrackWidget::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    Q_UNUSED(_o);
+    Q_UNUSED(_id);
+    Q_UNUSED(_c);
+    Q_UNUSED(_a);
+}
+
+QT_INIT_METAOBJECT const QMetaObject TrackWidget::staticMetaObject = { {
+    &QWidget::staticMetaObject,
+    qt_meta_stringdata_TrackWidget.data,
+    qt_meta_data_TrackWidget,
+    qt_static_metacall,
+    nullptr,
+    nullptr
+} };
+
+
+const QMetaObject *TrackWidget::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *TrackWidget::qt_metacast(const char *_clname)
+{
+    if (!_clname) return nullptr;
+    if (!strcmp(_clname, qt_meta_stringdata_TrackWidget.stringdata0))
+        return static_cast<void*>(this);
+    return QWidget::qt_metacast(_clname);
+}
+
+int TrackWidget::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = QWidget::qt_metacall(_c, _id, _a);
+    return _id;
+}
+struct qt_meta_stringdata_Spinner_t {
+    QByteArrayData data[4];
+    char stringdata0[18];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_Spinner_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_Spinner_t qt_meta_stringdata_Spinner = {
+    {
+QT_MOC_LITERAL(0, 0, 7), // "Spinner"
+QT_MOC_LITERAL(1, 8, 6), // "update"
+QT_MOC_LITERAL(2, 15, 0), // ""
+QT_MOC_LITERAL(3, 16, 1) // "n"
+
+    },
+    "Spinner\0update\0\0n"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_Spinner[] = {
+
+ // content:
+       8,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       1,   14, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+ // slots: name, argc, parameters, tag, flags
+       1,    1,   19,    2, 0x0a /* Public */,
+
+ // slots: parameters
+    QMetaType::Void, QMetaType::Int,    3,
+
+       0        // eod
+};
+
+void Spinner::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        auto *_t = static_cast<Spinner *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->update((*reinterpret_cast< int(*)>(_a[1]))); break;
+        default: ;
+        }
+    }
+}
+
+QT_INIT_METAOBJECT const QMetaObject Spinner::staticMetaObject = { {
+    &QWidget::staticMetaObject,
+    qt_meta_stringdata_Spinner.data,
+    qt_meta_data_Spinner,
+    qt_static_metacall,
+    nullptr,
+    nullptr
+} };
+
+
+const QMetaObject *Spinner::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *Spinner::qt_metacast(const char *_clname)
+{
+    if (!_clname) return nullptr;
+    if (!strcmp(_clname, qt_meta_stringdata_Spinner.stringdata0))
+        return static_cast<void*>(this);
+    return QWidget::qt_metacast(_clname);
+}
+
+int Spinner::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = QWidget::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 1)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 1;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 1)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 1;
+    }
+    return _id;
+}
+QT_WARNING_POP
+QT_END_MOC_NAMESPACE

system/clearpilot/shell_archived/tools_wip_4_28/provision.sh

@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# Provision script for BrianBot
+# These actions only occur on BrianBot's comma device.
+
+# 1. Check the string in /data/params/d/DongleId
+dongle_id=$(cat /data/params/d/DongleId)
+if [[ ! $dongle_id == 90bb71a* ]]; then
+    echo "Invalid dongle ID."
+    exit 1
+fi
+
+echo "BrianBot dongle ID detected."
+
+# 2. Check if ccrypt is installed, install if not
+if ! command -v ccrypt >/dev/null 2>&1; then
+    echo "Installing ccrypt..."
+    sudo apt-get update
+    sudo apt-get install -y ccrypt
+fi
+
+# 3. Decrypt SSH keys if they have not been decrypted yet
+if [ ! -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
+   echo "Decrypting SSH keys..."
+   ccrypt -d -k "$dongle_id" /data/openpilot/system/clearpilot/dev/id_rsa.pub.ccrypt
+   ccrypt -d -k "$dongle_id" /data/openpilot/system/clearpilot/dev/id_rsa.ccrypt
+   ccrypt -d -k "$dongle_id" /data/openpilot/system/clearpilot/dev/reverse_ssh.ccrypt
+fi
+
+# 4. Ensure .ssh directory and keys exist
+ssh_dir="/home/comma/.ssh"
+if [[ ! -f "$ssh_dir/id_rsa" || ! -f "$ssh_dir/id_rsa.pub" ]]; then
+    echo "Setting up SSH directory and keys..."
+    mkdir -p "$ssh_dir"
+    cp /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.pub "$ssh_dir"
+    chmod 700 "$ssh_dir"
+    chmod 600 "$ssh_dir/id_rsa" "$ssh_dir/id_rsa.pub"
+fi
+
+echo "Script execution complete."
+exit 0

system/clearpilot/shell_archived/tools_wip_4_28/remount_ro.sh

@@ -0,0 +1 @@
+sudo mount -o remount,ro /

system/clearpilot/shell_archived/tools_wip_4_28/remount_rw.sh

@@ -0,0 +1 @@
+sudo mount -o remount,rw /

system/clearpilot/shell_archived/tools_wip_4_28/rotation_module.cpp

@@ -0,0 +1,33 @@
+#include <Python.h>
+#include <QGuiApplication>
+#include <QWidget>
+#include "/usr/include/aarch64-linux-gnu/qt5/QtGui/5.12.8/QtGui/qpa/qplatformnativeinterface.h"
+#include <wayland-client-protocol.h>
+
+#include <QWindow>
+#include <sipAPIrotation.h>
+
+static PyObject* rotate_display(PyObject* self, PyObject* args) {
+    PyObject* pyObj;
+    if (!PyArg_ParseTuple(args, "O", &pyObj))
+        return NULL;
+
+    QWindow* window = sipUnwrapInstance<QWindow>(pyObj, sipAPI_rotation);
+    if (!window) {
+        PyErr_SetString(PyExc_RuntimeError, "Invalid window object.");
+        return NULL;
+    }
+
+    QPlatformNativeInterface *native = QGuiApplication::platformNativeInterface();
+    wl_surface *s = static_cast<wl_surface*>(native->nativeResourceForWindow("surface", window));
+    if (!s) {
+        PyErr_SetString(PyExc_RuntimeError, "Failed to obtain native Wayland surface.");
+        return NULL;
+    }
+
+    wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
+    wl_surface_commit(s);
+
+    Py_RETURN_NONE;
+}
+

system/clearpilot/shell_archived/tools_wip_4_28/rotation_module.sip

@@ -0,0 +1,19 @@
+// Define the module
+%Module rotation 0
+
+// Import PyQt types
+%Import QtCore/QtCoremod.sip
+%Import QtGui/QtGuimod.sip
+
+
+// Define your class with the necessary methods
+class QWindow;
+
+%MethodCode
+    QWindow* window = reinterpret_cast<QWindow*>(a0);
+    if (!window) {
+        sipError = sipBadCallableArg;
+    }
+%End
+
+void rotate_display(QWindow *window);

system/clearpilot/shell_archived/tools_wip_4_28/rotation_module_build.py

@@ -0,0 +1,32 @@
+from setuptools import setup, Extension
+from distutils.command.build_ext import build_ext
+import os
+
+# Specify the C++ compiler
+os.environ["CC"] = "clang++"
+os.environ["CXX"] = "clang++"
+
+class BuildExt(build_ext):
+    def build_extensions(self):
+        c_opts = ['-std=c++1z', '-DQCOM2', '-mcpu=cortex-a57', '-Wno-deprecated-declarations', '-O2', '-Wunused', '-Werror', '-Wshadow']
+        for e in self.extensions:
+            e.extra_compile_args = c_opts
+        build_ext.build_extensions(self)
+
+module = Extension('rotation',
+                   sources=['rotation_module.cpp'],
+                   libraries=['Qt5Core', 'Qt5Gui', 'Qt5Widgets', 'wayland-client'],
+                   include_dirs=[
+                       '/usr/include/aarch64-linux-gnu/qt5',
+                       '/usr/include/aarch64-linux-gnu/qt5/QtCore',
+                       '/usr/include/aarch64-linux-gnu/qt5/QtGui',
+                       '/usr/include/aarch64-linux-gnu/qt5/QtWidgets'
+                   ],
+                   library_dirs=['/usr/lib/aarch64-linux-gnu', '/lib/aarch64-linux-gnu'],
+                   language='c++')
+
+setup(name='RotationModule',
+      version='1.0',
+      description='Module for rotating display via native interface',
+      ext_modules=[module],
+      cmdclass={'build_ext': BuildExt})

system/clearpilot/shell_archived/tools_wip_4_28/rotation_module_build.sh

@@ -0,0 +1,2 @@
+python3 rotation_module_build.py build
+cp build/lib.linux-aarch64-cpython-311/rotation.cpython-311-aarch64-linux-gnu.so ./rotation.so

system/clearpilot/shell_archived/tools_wip_4_28/scrun

@@ -0,0 +1,37 @@
+#!/bin/bash
+
+# Usage:
+# scrun instancename command
+
+# - If instancename doesnt exist, starts a screen with instancename and executes the given command.
+# - Does not run if the instance is already running.
+# - Runs in the same context as a shell (loads environment variables).
+# - Logs output into /var/log/scrun/instance/DATE.log, with rotation
+
+# bash -l -c "$@"
+
+# Based on https://gist.github.com/camperdave/980040
+echo "defshell -bash" > ~/.screenrc
+echo "startup_message off" >> ~/.screenrc
+echo "vbell off" >> ~/.screenrc
+echo "deflogin on" >> ~/.screenrc
+echo "defscrollback 10000" >> ~/.screenrc
+echo "defutf8 on" >> ~/.screenrc
+echo "defflow off" >> ~/.screenrc
+echo "msgwait 20" >> ~/.screenrc
+echo "term screen-256color-bce" >> ~/.screenrc
+
+#SCREENNAME=scrun_$1_
+SCREENNAME=$1
+
+screen -wipe 2>/dev/null >/dev/null
+
+if ! screen -list | grep -q $SCREENNAME; then
+        cesc="${@:2}" # Everything but first one
+#       cesc="${cesc@Q}" # Escape it
+        screen -dmS $SCREENNAME python3 /data/openpilot/system/clearpilot/tools/faketty.py bash -l -c "$cesc"
+        echo screen -dmS $SCREENNAME python3 /data/openpilot/system/clearpilot/tools/faketty.py bash -l -c "$cesc"
+#       screen -dmS $1 "$@"
+else
+       echo $SCREENNAME is already running
+fi

system/clearpilot/shell_archived/tools_wip_4_28/shell.py

@@ -0,0 +1,90 @@
+import os
+import sys
+import signal
+import logging
+import platform
+from PyQt5.QtWidgets import QApplication, QWidget, QHBoxLayout, QScrollBar, QGraphicsView, QGraphicsScene, QGraphicsProxyWidget
+from PyQt5.QtCore import Qt, QCoreApplication
+from PyQt5.QtGui import QFont, QScreen
+
+import termqt
+from termqt import Terminal, TerminalPOSIXExecIO
+
+class ExitOnMessageHandler(logging.Handler):
+    def emit(self, record):
+        if "Spawned process has been killed" in record.getMessage():
+            QApplication.quit()  # Exit the application gracefully
+
+def setup_logger():
+    logger = logging.getLogger()
+    logger.setLevel(logging.DEBUG)
+    handler = logging.StreamHandler()
+    formatter = logging.Formatter("[%(asctime)s] > [%(filename)s:%(lineno)d] %(message)s")
+    handler.setFormatter(formatter)
+    logger.addHandler(handler)
+    handler2 = ExitOnMessageHandler()
+    logger.addHandler(handler2)
+    return logger
+
+def create_terminal_app():
+    os.environ["XDG_RUNTIME_DIR"] = "/var/tmp/weston"
+    os.environ["WAYLAND_DISPLAY"] = "wayland-0"
+    os.environ["QT_QPA_PLATFORM"] = "wayland"
+    os.environ["QT_WAYLAND_SHELL_INTEGRATION"] = "wl-shell"
+
+
+    QCoreApplication.setAttribute(Qt.AA_EnableHighDpiScaling)
+    app = QApplication(sys.argv)
+    desktop = QApplication.desktop()
+    ag = desktop.availableGeometry(desktop.primaryScreen())
+    print (ag.width())
+    print (ag.height())
+
+    window = QWidget()
+    window.setWindowTitle("termqt on {}".format(platform.system()))
+    window.setWindowFlags(Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint)
+    window.setGeometry(0,0, ag.width(), ag.height())
+    window.setStyleSheet("background-color: black;")
+    window.showFullScreen()
+
+    scene = QGraphicsScene()
+    view = QGraphicsView(scene, window)
+    print (window.width())
+    print (window.height())
+    view.setGeometry(0, 0, window.width(), window.height())
+    view.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
+    view.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
+
+    layout = QHBoxLayout()
+    terminal = Terminal(window.width(), window.height(), logger=setup_logger(), font_size=32)
+
+    proxy_terminal = scene.addWidget(terminal)
+    view.setScene(scene)
+    view.rotate(90)  # Rotate the view by 90 degrees clockwise
+
+    window_layout = QHBoxLayout(window)
+    window_layout.addWidget(view)
+    window_layout.setContentsMargins(0,0,0,0)
+    window.setLayout(window_layout)
+
+    return app, window, terminal
+
+def main():
+    signal.signal(signal.SIGINT, signal.SIG_DFL)  # Enable Ctrl+C
+    if len(sys.argv) < 2:
+        print("Usage: python start.py '<command>'")
+        return
+
+    command = "bash -c '{}'".format(sys.argv[1])
+    app, window, terminal = create_terminal_app()
+    platform_name = platform.system()
+    terminal_io = TerminalPOSIXExecIO(terminal.col_len, terminal.row_len, command, os.environ, setup_logger())
+    terminal_io.stdout_callback = terminal.stdout
+    terminal.stdin_callback = terminal_io.write
+    terminal.resize_callback = terminal_io.resize
+    terminal_io.spawn()
+    exit_code = app.exec_()
+    sys.exit(exit_code)
+
+if __name__ == "__main__":
+    main()

system/clearpilot/shell_archived/tools_wip_4_28/shell.sh

@@ -0,0 +1 @@
+sudo su comma -c "python3 shell.py \"echo hello; sleep 5\"