Merge branch 'master' of https://github.com/commaai/opendbc into cher…

…okee_kl

.github/workflows/repo.yml

@@ -8,11 +8,11 @@ on:
 jobs:
  pre-commit-autoupdate:
  name: pre-commit autoupdate
- runs-on: ubuntu-20.04
+ runs-on: ubuntu-latest
  container:
  image: ghcr.io/commaai/opendbc:latest
  steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
  - name: pre-commit autoupdate
  run: |
  git config --global --add safe.directory '*'

.github/workflows/tests.yml

@@ -4,22 +4,19 @@ on: [push, pull_request]
 
 env:
  RUN: docker run -v $GITHUB_WORKSPACE:/project/opendbc -w /project/opendbc -e PYTHONWARNINGS="error,default::DeprecationWarning" --shm-size 1G --rm opendbc /bin/bash -c
- BUILD: |
- docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
- docker pull ghcr.io/commaai/opendbc:latest || true
- docker build --cache-from ghcr.io/commaai/opendbc:latest -t opendbc -f Dockerfile .
+ BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from type=registry,ref=ghcr.io/commaai/opendbc:latest -t opendbc -f Dockerfile .
  PYTHONWARNINGS: error
 
 jobs:
  unit-tests:
  name: unit tests
- runs-on: ubuntu-20.04
+ runs-on: ubuntu-latest
  #strategy:
  # fail-fast: false
  # matrix:
  # run: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
  steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
  - name: Build Docker image
  run: eval "$BUILD"
  - name: Build opendbc
@@ -29,9 +26,9 @@ jobs:
 
  static-analysis:
  name: static analysis
- runs-on: ubuntu-20.04
+ runs-on: ubuntu-latest
  steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
  - name: Build Docker image
  run: eval "$BUILD"
  - name: Build opendbc
@@ -44,10 +41,10 @@ jobs:
 
  docker-push:
  name: docker push
- runs-on: ubuntu-20.04
+ runs-on: ubuntu-latest
  if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/opendbc'
  steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
  - name: Build Docker image
  run: eval "$BUILD"
  - name: Push to dockerhub

.pre-commit-config.yaml

@@ -17,11 +17,11 @@ repos:
  - --check-hidden
  - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 - repo: https://github.com/pre-commit/mirrors-mypy
- rev: v1.8.0
+ rev: v1.9.0
  hooks:
  - id: mypy
 - repo: https://github.com/astral-sh/ruff-pre-commit
- rev: v0.1.9
+ rev: v0.3.2
  hooks:
  - id: ruff
 - repo: https://github.com/MarcoGorelli/cython-lint

Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -26,21 +26,18 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
  ocl-icd-opencl-dev \
  opencl-headers \
  tk-dev \
- python-openssl \
+ python3-pip \
+ python3-dev \
+ python3-openssl \
+ python-is-python3 \
  xz-utils \
  zlib1g-dev \
  cmake \
  && rm -rf /var/lib/apt/lists/*
 
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.11.4
-RUN pyenv global 3.11.4
-RUN pyenv rehash
-
 COPY requirements.txt /tmp/
-RUN pip install --no-cache-dir -r /tmp/requirements.txt
-RUN pip install --no-cache-dir pre-commit==2.15.0 pylint==2.17.4
+RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt
+RUN pip3 install --break-system-packages --no-cache-dir pre-commit==2.15.0 pylint==2.17.4
 
 ENV PYTHONPATH=/project
 
@@ -49,7 +46,7 @@ RUN git config --global --add safe.directory '*'
 WORKDIR /project
 RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
  cd /project/cereal && \
- git checkout 82bca3a9714b73c05414fdf848b6016a0ffac17d && \
+ git checkout 861144c136c91f70dcbc652c2ffe99f57440ad47 && \
  rm -rf .git && \
  scons -j$(nproc) --minimal
 

SConstruct

@@ -39,6 +39,7 @@ env = Environment(
  "-Wunused",
  "-Werror",
  "-Wshadow",
+ "-Wno-vla-cxx-extension",
  ] + ccflags_asan,
  LDFLAGS=ldflags_asan,
  LINKFLAGS=ldflags_asan,

acura_ilx_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

acura_rdx_2018_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

can/SConscript

@@ -22,3 +22,7 @@ packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
 
 lenv.Depends(parser, libdbc)
 lenv.Depends(packer, libdbc)
+
+opendbc_python = Alias("opendbc_python", [parser, packer])
+
+Export('opendbc_python')

can/tests/test_packer_parser.py

@@ -12,8 +12,7 @@
 
 # Python implementation so we don't have to depend on boardd
 def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
- dat = messaging.new_message()
- dat.init(msgtype, len(can_msgs))
+ dat = messaging.new_message(msgtype, len(can_msgs))
 
  if logMonoTime is not None:
  dat.logMonoTime = logMonoTime
@@ -365,6 +364,7 @@ def test_track_all_signals(self):
  "ACC_TYPE": 0,
  "CANCEL_REQ": 0,
  "ACC_CUT_IN": 0,
+ "LEAD_VEHICLE_STOPPED": 0,
  "PERMIT_BRAKING": 0,
  "RELEASE_STANDSTILL": 0,
  "ITS_CONNECT_LEAD": 0,

ford_lincoln_base_pt.dbc

@@ -3608,6 +3608,9 @@ BO_ 922 DCACA_Data1_FD1: 8 GWM
  SG_ DcacClntFlw_D_Rq : 5|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1
  SG_ CoolFanDcac_D_Rq : 7|2@0+ (1,0) [0|3] "SED" SOBDMC_HPCM_FD1
 
+BO_ 1082 INSTRUMENT_PANEL: 8 GWM
+ SG_ METRIC_UNITS : 54|1@0+ (1,0) [0|1] "SED" IPMA,PCM,PCM_HEV
+
 BO_TX_BU_ 2612224016 : ECM_Diesel,PCM,PCM_HEV;
 BO_TX_BU_ 878 : PCM,PCM_HEV;
 BO_TX_BU_ 1085 : ECM_Diesel,PCM;

generator/gm/gm_global_a_powertrain.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 
 VERSION ""
 
@@ -168,6 +168,9 @@ BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
  SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
  SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 500 SportMode: 6 XXX
+ SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 501 ECMPRDNL2: 8 K20_ECM
  SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO

generator/honda/acura_ilx_2016_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 CM_ "IMPORT _steering_sensors_b.dbc";

generator/honda/acura_rdx_2018_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 CM_ "IMPORT _steering_sensors_b.dbc";

generator/honda/honda_civic_ex_2022_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _bosch_2018.dbc";
 CM_ "IMPORT _steering_sensors_a.dbc";

generator/honda/honda_civic_touring_2016_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 CM_ "IMPORT _steering_sensors_a.dbc";

generator/honda/honda_clarity_hybrid_2018_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 CM_ "IMPORT _steering_sensors_a.dbc";

generator/honda/honda_crv_executive_2016_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 

generator/honda/honda_crv_touring_2016_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 CM_ "IMPORT _steering_sensors_b.dbc";

generator/honda/honda_fit_ex_2018_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 CM_ "IMPORT _steering_sensors_b.dbc";

generator/honda/honda_fit_hybrid_2018_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 

generator/honda/honda_odyssey_exl_2018.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 CM_ "IMPORT _steering_sensors_b.dbc";

generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc

@@ -1,4 +1,4 @@
-CM_ "IMPORT _comma.dbc";
+CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _honda_common.dbc";
 CM_ "IMPORT _nidec_common.dbc";
 

generator/honda/honda_pilot_2023_can.dbc

@@ -0,0 +1,86 @@
+CM_ "IMPORT _honda_common.dbc";
+CM_ "IMPORT _bosch_2018.dbc";
+CM_ "IMPORT _steering_sensors_a.dbc";
+
+BO_ 419 GEARBOX: 8 XXX
+ SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 829 LKAS_HUD: 8 XXX
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" XXX
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" XXX
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";
+CM_ SG_ 829 LANE_LINES "related to lane lines on cluster, left/right white/green";
+
+VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P";
+VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P";
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+VAL_ 829 LANE_LINES 7 "both_lines_green" 6 "both_lines_white" 2 "left_line_white" 0 "no_lines";

generator/tesla/.gitignore

@@ -0,0 +1 @@
+*.dbc

generator/tesla/radar_common.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+
+def get_radar_point_definition(base_id, base_name):
+ return f"""
+BO_ {base_id} {base_name}_A: 8 Radar
+ SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot
+ SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot
+ SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot
+ SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot
+ SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot
+ SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot
+ SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot
+ SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot
+ SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot
+ SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot
+ SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot
+
+BO_ {base_id+1} {base_name}_B: 8 Radar
+ SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot
+ SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot
+ SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot
+ SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot
+ SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot
+ SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot
+ SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot
+ SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot
+ SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot
+ SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot
+ SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot
+ SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot
+ SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot
+"""
+
+def get_val_definition(base_id):
+ return f"""
+VAL_ {base_id+1} MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ;
+VAL_ {base_id+1} Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 \
+"RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ;"""