Merge branch 'commaai:master' into PA-testing

selfdrive/car/ford/fingerprints.py

@@ -19,6 +19,12 @@
     (Ecu.fwdCamera, 0x706, None): [
       b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
@@ -41,6 +47,17 @@
       b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
@@ -66,9 +83,21 @@
       b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.F_150_MK14: {
     (Ecu.eps, 0x730, None): [
@@ -83,6 +112,9 @@
     (Ecu.fwdCamera, 0x706, None): [
       b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.F_150_LIGHTNING_MK1: {
     (Ecu.abs, 0x760, None): [
@@ -94,6 +126,9 @@
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.MUSTANG_MACH_E_MK1: {
     (Ecu.eps, 0x730, None): [
@@ -109,6 +144,11 @@
     (Ecu.fwdCamera, 0x706, None): [
       b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
@@ -123,6 +163,9 @@
     (Ecu.fwdCamera, 0x706, None): [
       b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
   CAR.MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [
@@ -139,5 +182,14 @@
     (Ecu.fwdCamera, 0x706, None): [
       b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
   },
 }

selfdrive/car/ford/tests/test_ford.py

@@ -52,7 +52,7 @@ def test_fw_query_config(self):
   @parameterized.expand(FW_VERSIONS.items())
   def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
-      self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
+      self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
       self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
       self.assertIsNone(subaddr, "Unexpected ECU subaddress")
 

selfdrive/car/ford/values.py

@@ -111,15 +111,21 @@ def init_make(self, CP: car.CarParams):
   requests=[
     # CAN and CAN FD queries are combined.
     # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
+    # TODO: properly handle auxiliary requests to separate queries and add back whitelists
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      # whitelist_ecus=[Ecu.engine],
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
       bus=0,
       auxiliary=True,
     ),
   ],
   extra_ecus=[
-    (Ecu.engine, 0x7e0, None),
     (Ecu.shiftByWire, 0x732, None),
   ],
 )

selfdrive/car/tests/test_fw_fingerprint.py

@@ -254,13 +254,13 @@ def fake_get_ecu_addrs(*_, timeout):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.8
+    total_ref_time = 7.0
     brand_ref_times = {
       1: {
         'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.1,
+        'ford': 0.2,
         'honda': 0.55,
         'hyundai': 0.65,
         'mazda': 0.1,
@@ -271,7 +271,7 @@ def test_fw_query_timing(self):
         'volkswagen': 0.2,
       },
       2: {
-        'ford': 0.2,
+        'ford': 0.3,
         'hyundai': 1.05,
       }
     }

system/hardware/tici/hardware.py

@@ -457,24 +457,37 @@ def initialize_hardware(self):
   def configure_modem(self):
     sim_id = self.get_sim_info().get('sim_id', '')
 
-    # configure modem as data-centric
-    cmds = [
-      'AT+QNVW=5280,0,"0102000000000000"',
-      'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-      'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-    ]
     modem = self.get_modem()
+    try:
+      manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+    except Exception:
+      manufacturer = None
+
+    cmds = []
+    if manufacturer == 'Cavli Inc.':
+      cmds += [
+        # use sim slot
+        'AT^SIMSWAP=1',
+
+        # configure ECM mode
+        'AT$QCPCFG=usbNet,1'
+      ]
+    else:
+      cmds += [
+        # configure modem as data-centric
+        'AT+QNVW=5280,0,"0102000000000000"',
+        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+      ]
+
+      # clear out old blue prime initial APN
+      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
     for cmd in cmds:
       try:
         modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
       except Exception:
         pass
 
-    # blue prime
-    blue_prime = sim_id.startswith('8901410')
-    initial_apn = "Broadband" if blue_prime else ""
-    os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"')
-
     # eSIM prime
     if sim_id.startswith('8985235'):
       dest = "/etc/NetworkManager/system-connections/esim.nmconnection"

tools/camerastream/compressed_vipc.py

@@ -10,7 +10,6 @@
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 
-W, H = 1928, 1208
 V4L2_BUF_FLAG_KEYFRAME = 8
 
 ENCODE_SOCKETS = {
@@ -19,10 +18,11 @@
   VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
 }
 
-def decoder(addr, vipc_server, vst, nvidia, debug=False):
+def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print("start decoder for %s" % sock_name)
+
   if nvidia:
     os.environ["NV_LOW_LATENCY"] = "3"    # both bLowLatency and CUVID_PKT_ENDOFPICTURE
     sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
@@ -99,16 +99,28 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):
               % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
                  process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
 
+
 class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+    print("getting frame sizes")
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+    sm = messaging.SubMaster([ENCODE_SOCKETS[s] for s in vision_streams], addr=addr)
+    while min(sm.rcv_frame.values()) == 0:
+      sm.update(100)
+    os.environ.pop("ZMQ")
+    messaging.context = messaging.Context()
+
     self.vipc_server = VisionIpcServer("camerad")
     for vst in vision_streams:
-      self.vipc_server.create_buffers(vst, 4, False, W, H)
+      ed = sm[ENCODE_SOCKETS[vst]]
+      self.vipc_server.create_buffers(vst, 4, False, ed.width, ed.height)
     self.vipc_server.start_listener()
 
     self.procs = []
     for vst in vision_streams:
-      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
+      ed = sm[ENCODE_SOCKETS[vst]]
+      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug, ed.width, ed.height))
       p.start()
       self.procs.append(p)
 

tools/replay/can_replay.py

@@ -2,6 +2,7 @@
 import argparse
 import os
 import time
+import usb1
 import threading
 
 os.environ['FILEREADER_CACHE'] = '1'
@@ -42,7 +43,11 @@ def send_thread(s, flock):
 
     snd = CAN_MSGS[idx]
     snd = list(filter(lambda x: x[-1] <= 2, snd))
-    s.can_send_many(snd)
+    try:
+      s.can_send_many(snd)
+    except usb1.USBErrorTimeout:
+      # timeout is fine, just means the CAN TX buffer is full
+      pass
     idx = (idx + 1) % len(CAN_MSGS)
 
     # Drain panda message buffer
@@ -57,20 +62,11 @@ def connect():
   flashing_lock = threading.Lock()
   while True:
     # look for new devices
-    for p in [Panda, PandaJungle]:
-      if p is None:
-        continue
-
-      for s in p.list():
-        if s not in serials:
-          with p(s) as pp:
-            if pp.get_type() == Panda.HW_TYPE_TRES:
-              serials[s] = None
-              continue
-
-          print("starting send thread for", s)
-          serials[s] = threading.Thread(target=send_thread, args=(p(s), flashing_lock))
-          serials[s].start()
+    for s in PandaJungle.list():
+      if s not in serials:
+        print("starting send thread for", s)
+        serials[s] = threading.Thread(target=send_thread, args=(PandaJungle(s), flashing_lock))
+        serials[s].start()
 
     # try to join all send threads
     cur_serials = serials.copy()
@@ -94,7 +90,7 @@ def process(lr):
 
   print("Loading log...")
   if args.route_or_segment_name is None:
-    args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16"
+    args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3"
 
   sr = LogReader(args.route_or_segment_name)