Check out page 40 onwards: https://users.ece.cmu.edu/~koopman/pubs/koopman14_toyota_ua_slides.pdf https://users.ece.cmu.edu/~koopman/pubs/koopman14_toyota_ua_..

Check out page 40 onwards: https://users.ece.cmu.edu/~koopman/pubs/koopman14_toyota_ua_slides.pdf https://users.ece.cmu.edu/~koopman/pubs/koopman14_toyota_ua_... The code quality can be best described as criminally negligent, unsafe, spaghetti garbage with incorrect concurrency sprinkled on top for laughs.