Merge remote-tracking branch 'commaai/openpilot/master' into ui-home

.github/workflows/badges.yaml

@@ -7,7 +7,7 @@ on:
 env:
  BASE_IMAGE: openpilot-base
  DOCKER_REGISTRY: ghcr.io/commaai
- RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+ RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
  badges:

.github/workflows/selfdrive_tests.yaml

@@ -25,7 +25,7 @@ env:
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: selfdrive/test/docker_build.sh base
 
- RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+ RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 

.github/workflows/tools_tests.yaml

@@ -21,7 +21,7 @@ env:
 
  BUILD: selfdrive/test/docker_build.sh base
 
- RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+ RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 
 jobs:

.importlinter

@@ -33,9 +33,6 @@ ignore_imports =
  openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
  openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
  openpilot.selfdrive.car.car_helpers -> openpilot.system.version
- openpilot.selfdrive.car.ford.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
- openpilot.selfdrive.car.gm.interface -> openpilot.selfdrive.controls.lib.drive_helpers
- openpilot.selfdrive.car.honda.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers
  openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
  openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
  openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol

README.md

@@ -9,7 +9,9 @@
 </p>
 
 <h3>
- <a href="https://docs.comma.ai">Read the docs</a>
+ <a href="https://docs.comma.ai">Docs</a>
+ <span> · </span>
+ <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
  <span> · </span>
  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
  <span> · </span>
@@ -18,7 +20,7 @@
  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
 </h3>
 
-Quick start: `curl -fsSL openpilot.comma.ai | bash`
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
 
 ![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
 [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

SConstruct

@@ -229,7 +229,7 @@ env = Environment(
  COMPILATIONDB_USE_ABSPATH=True,
  REDNOSE_ROOT="#",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
- toolpath=["#rednose_repo/site_scons/site_tools"],
+ toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -268,7 +268,8 @@ if arch == "Darwin":
 else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()

cereal/log.capnp

@@ -336,9 +336,9 @@ enum LaneChangeDirection {
 
 struct CanData {
  address @0 :UInt32;
- busTime @1 :UInt16;
  dat @2 :Data;
  src @3 :UInt8;
+ busTimeDEPRECATED @1 :UInt16;
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {

docs/README → docs/README.md

@@ -3,18 +3,22 @@
 This is the source for [docs.comma.ai](https://docs.comma.ai).
 The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
 
-## development
-```
-# install the docs dependencies
+## Development
+NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
 pip install .[docs]
+```
 
-cd docs/
+**2. Build the new site**
+``` bash
+mkdocs build
+```
 
-# for a development server
+**3. Run the new site locally**
+``` bash
 mkdocs serve
-
-# build the site
-mkdocs build
 ```
 
 References:

mkdocs.yml

@@ -2,6 +2,8 @@ site_name: openpilot docs
 repo_url: https://github.com/commaai/openpilot/
 site_url: https://docs.comma.ai
 
+exclude_docs: README.md
+
 strict: true
 docs_dir: docs
 site_dir: docs_site/

pyproject.toml

@@ -26,7 +26,7 @@ dependencies = [
  "pycapnp",
  "Cython",
  "setuptools",
- "numpy < 2.0.0", # control does not support numpy 2
+ "numpy",
 
  # body / webrtcd
  "aiohttp",
@@ -111,7 +111,6 @@ dev = [
  "tabulate",
  "types-requests",
  "types-tabulate",
- "hexdump",
 
  # this is only pinned since 5.15.11 is broken
  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux

selfdrive/car/__init__.py

@@ -7,6 +7,7 @@
 import capnp
 
 from cereal import car
+from panda.python.uds import SERVICE_TYPE
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
@@ -166,8 +167,39 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
  return above_limit_frames, request
 
 
+def apply_center_deadzone(error, deadzone):
+ if (error > - deadzone) and (error < deadzone):
+ error = 0.
+ return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+ return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+ torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+ friction_interp = interp(
+ apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+ [-friction_threshold, friction_threshold],
+ [-torque_params.friction, torque_params.friction]
+ )
+ friction = float(friction_interp) if friction_compensation else 0.0
+ return friction
+
+
 def make_can_msg(addr, dat, bus):
- return [addr, 0, dat, bus]
+ return [addr, dat, bus]
+
+
+def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
+ dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
+ if subaddr is not None:
+ dat.insert(0, subaddr)
+ dat.append(0x80 if suppress_response else 0x0) # sub-function
+
+ dat.extend([0x0] * (8 - len(dat)))
+ return make_can_msg(addr, bytes(dat), bus)
 
 
 def get_safety_config(safety_model, safety_param = None):

selfdrive/car/body/carcontroller.py

@@ -17,7 +17,7 @@
 
 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
- self.frame = 0
+ super().__init__(dbc_name, CP, VM)
  self.packer = CANPacker(dbc_name)
 
  # PIDs

selfdrive/car/chrysler/carcontroller.py

@@ -7,9 +7,8 @@
 
 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
- self.CP = CP
+ super().__init__(dbc_name, CP, VM)
  self.apply_steer_last = 0
- self.frame = 0
 
  self.hud_count = 0
  self.last_lkas_falling_edge = 0

selfdrive/car/chrysler/radar_interface.py

@@ -39,7 +39,6 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
  super().__init__(CP)
- self.CP = CP
  self.rcp = _create_radar_can_parser(CP.carFingerprint)
  self.updated_messages = set()
  self.trigger_msg = LAST_MSG

selfdrive/car/ecu_addrs.py

@@ -4,21 +4,12 @@
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car import make_tester_present_msg
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 
-def _make_tester_present_msg(addr, bus, subaddr=None):
- dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
- if subaddr is not None:
- dat.insert(0, subaddr)
-
- dat.extend([0x0] * (8 - len(dat)))
- return make_can_msg(addr, bytes(dat), bus)
-
-
 def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
  # ISO-TP messages are always padded to 8 bytes
  # tester present response is always a single frame
@@ -44,7 +35,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
  responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
  ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
  try:
- msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+ msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
  messaging.drain_sock_raw(logcan)
  sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))

selfdrive/car/ford/carcontroller.py

@@ -5,10 +5,10 @@
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+V_CRUISE_MAX = 145
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
@@ -25,11 +25,10 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
 
 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
- self.CP = CP
+ super().__init__(dbc_name, CP, VM)
  self.VM = VM
  self.packer = CANPacker(dbc_name)
  self.CAN = fordcan.CanBus(CP)
- self.frame = 0
 
  self.apply_curvature_last = 0
  self.main_on_last = False
@@ -92,6 +91,7 @@ def update(self, CC, CS, now_nanos):
  if not CC.longActive or gas < CarControllerParams.MIN_GAS:
  gas = CarControllerParams.INACTIVE_GAS
  stopping = CC.actuators.longControlState == LongCtrlState.stopping
+ # TODO: look into using the actuators packet to send the desired speed
  can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
  ### ui ###

selfdrive/car/ford/fordcan.py

@@ -112,7 +112,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path
  }
 
  # calculate checksum
- dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
+ dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
 
  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)

selfdrive/car/gm/carcontroller.py

@@ -19,12 +19,11 @@
 
 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
- self.CP = CP
+ super().__init__(dbc_name, CP, VM)
  self.start_time = 0.
  self.apply_steer_last = 0
  self.apply_gas = 0
  self.apply_brake = 0
- self.frame = 0
  self.last_steer_frame = 0
  self.last_button_frame = 0
  self.cancel_counter = 0

selfdrive/car/gm/gmcan.py

@@ -64,7 +64,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
  "GasRegenAlwaysOne3": 1,
  }
 
- dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
+ dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
  values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
  (((0xff - dat[2]) & 0xff) << 8) | \
  ((0x100 - dat[3] - idx) & 0xff)

selfdrive/car/gm/interface.py

@@ -6,11 +6,10 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
-from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName

selfdrive/car/honda/carcontroller.py

@@ -3,11 +3,10 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -106,11 +105,10 @@ def rate_limit_steer(new_steer, last_steer):
 
 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
- self.CP = CP
+ super().__init__(dbc_name, CP, VM)
  self.packer = CANPacker(dbc_name)
  self.params = CarControllerParams(CP)
  self.CAN = hondacan.CanBus(CP)
- self.frame = 0
 
  self.braking = False
  self.brake_steady = 0.
@@ -165,7 +163,7 @@ def update(self, CC, CS, now_nanos):
  # tester present - w/ no response (keeps radar disabled)
  if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
  if self.frame % 10 == 0:
- can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
+ can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
 
  # Send steering command.
  can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,