Merge branch 'master-ci' of https://github.com/xps-genesis/openpilot …

…into xps-master-ci-debugged

.gitignore

@@ -1,4 +1,5 @@
 venv/
+.env
 .clang-format
 .DS_Store
 .tags

RELEASES.md

@@ -1,8 +1,12 @@
 Version 0.8.13 (2022-XX-XX)
 ========================
  * Improved driver monitoring
+ * Roll compensation
  * Improved camera focus on the comma two
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
  * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
 
 Version 0.8.12 (2021-12-15)
 ========================

SConstruct

@@ -66,7 +66,7 @@ lenv = {
   "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
   "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
 
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
 }
@@ -125,15 +125,18 @@ else:
       f"#third_party/libyuv/{yuv_dir}/lib",
       "/usr/local/lib",
       "/opt/homebrew/lib",
+      "/usr/local/Homebrew/Library",
       "/usr/local/opt/openssl/lib",
       "/opt/homebrew/opt/openssl/lib",
+      "/usr/local/Cellar",
       f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
       "/opt/homebrew/include",
+      "/usr/local/include",
       "/usr/local/opt/openssl/include",
       "/opt/homebrew/opt/openssl/include"
     ]
@@ -235,6 +238,9 @@ env = Environment(
   tools=["default", "cython", "compilation_db"],
 )
 
+if arch == "Darwin":
+  env['RPATHPREFIX'] = "-rpath "
+
 if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
@@ -299,6 +305,7 @@ if arch == "Darwin":
   qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
   qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
   qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 elif arch == "aarch64":
   qt_env['QTDIR'] = "/system/comma/usr"
   qt_dirs = [

cereal/car.capnp

@@ -105,7 +105,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     localizerMalfunction @103;
     highCpuUsage @105;
     cruiseMismatch @106;
-    hightorqsteerUnavailable @ 107;
+    lkasDisabled @107;
+    hightorqsteerUnavailable @ 108;
 
     driverMonitorLowAccDEPRECATED @68;
     radarCanErrorDEPRECATED @15;
@@ -169,7 +170,6 @@ struct CarState {
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;
-
   hightorqUnavailable @39 :Bool;
   accgasOverride @40 :Bool;
 
@@ -325,7 +325,8 @@ struct CarControl {
       off @0;
       pid @1;
       stopping @2;
-      starting @3;
+
+      startingDEPRECATED @3;
     }
 
   }
@@ -439,13 +440,11 @@ struct CarParams {
   vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
   stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
   stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
   steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
   stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startingAccelRate @53 :Float32; # m/s^2/s while trying to start
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
@@ -611,10 +610,12 @@ struct CarParams {
   }
 
   enableCameraDEPRECATED @4 :Bool;
-  isPandaBlackDEPRECATED @39: Bool;
+  isPandaBlackDEPRECATED @39 :Bool;
   hasStockCameraDEPRECATED @57 :Bool;
   safetyParamDEPRECATED @10 :Int16;
   safetyModelDEPRECATED @9 :SafetyModel;
   safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
   minSpeedCanDEPRECATED @51 :Float32;
+  startAccelDEPRECATED @32 :Float32;
+  startingAccelRateDEPRECATED @53 :Float32;
 }

cereal/log.capnp

@@ -21,7 +21,6 @@ struct InitData {
   kernelVersion @15 :Text;
   osVersion @18 :Text;
 
-  gctx @1 :Text;
   dongleId @2 :Text;
 
   deviceType @3 :DeviceType;
@@ -55,6 +54,7 @@ struct InitData {
   }
 
   # ***** deprecated stuff *****
+  gctxDEPRECATED @1 :Text;
   androidBuildInfo @5 :AndroidBuildInfo;
   androidSensorsDEPRECATED @6 :List(AndroidSensor);
   chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
@@ -825,6 +825,8 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   speeds @33 :List(Float32);
   jerks @34 :List(Float32);
 
+  solverExecutionTime @35 :Float32;
+
   enum LongitudinalPlanSource {
     cruise @0;
     lead0 @1;
@@ -886,6 +888,8 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   curvatures @27 :List(Float32);
   curvatureRates @28 :List(Float32);
 
+  solverExecutionTime @30 :Float32;
+
   enum Desire {
     none @0;
     turnLeft @1;
@@ -1482,6 +1486,7 @@ struct Event {
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
     logMessage @18 :Text;
+    errorLogMessage @85 :Text;
 
     # navigation
     navInstruction @82 :NavInstruction;

cereal/services.py

@@ -35,18 +35,19 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5),
-  "gpsLocationExternal": (True, 10., 1),
+  "gpsLocationExternal": (True, 10., 10),
   "ubloxGnss": (True, 10.),
   "clocks": (True, 1., 1),
   "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 2),
-  "liveParameters": (True, 20., 2),
+  "liveLocationKalman": (True, 20., 5),
+  "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
   "lateralPlan": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),

common/file_helpers.py

@@ -81,13 +81,25 @@ def _get_fileobject():
     return writer.get_fileobject(dir=temp_dir)
   return _get_fileobject
 
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
 
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
      on the same filesystem as path.
   """
   # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
   #                 directory.
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
 
@@ -96,5 +108,6 @@ def atomic_write_in_dir(path, **kwargs):
   """Creates an atomic writer using a temporary file in the same directory
      as the destination file.
   """
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

common/params_pyx.pyx

@@ -8,7 +8,6 @@ cdef extern from "selfdrive/common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_PANDA_DISCONNECT
     CLEAR_ON_IGNITION_ON
     CLEAR_ON_IGNITION_OFF
     ALL

common/realtime.py

@@ -39,7 +39,7 @@ def set_realtime_priority(level: int) -> None:
 
 def set_core_affinity(core: int) -> None:
   if not PC:
-    os.sched_setaffinity(0, [core,])
+    os.sched_setaffinity(0, [core,])   # type: ignore[attr-defined]
 
 
 def config_realtime_process(core: int, priority: int) -> None:

common/spinner.py

@@ -24,7 +24,7 @@ def update(self, spinner_text: str):
       except BrokenPipeError:
         pass
 
-  def update_progress(self, cur: int, total: int):
+  def update_progress(self, cur: float, total: float):
     self.update(str(round(100 * cur / total)))
 
   def close(self):

common/transformations/camera.py

@@ -125,18 +125,20 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
   return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
   img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  if np.isfinite(width):
+    img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  if np.isfinite(height):
+    img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
   return img_pts_denormalized[:, :2].reshape(input_shape)