Merge branch 'commaai:master' into PA-testing

.github/workflows/tools_tests.yaml

@@ -74,7 +74,7 @@ jobs:
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
-      run: devcontainer build --workspace-folder .
+      run: ./scripts/retry.sh devcontainer build --workspace-folder .
     - name: Run dev container
       run: |
         mkdir -p /tmp/devcontainer_scons_cache/

common/prefix.h

@@ -5,6 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
+#include "system/hardware/hw.h"
 
 class OpenpilotPrefix {
 public:
@@ -25,6 +26,10 @@ class OpenpilotPrefix {
       system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
       unlink(param_path.c_str());
     }
+    if (getenv("COMMA_CACHE") == nullptr) {
+      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+    }
+    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
     system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
     unsetenv("OPENPILOT_PREFIX");
   }

pyproject.toml

@@ -140,7 +140,8 @@ inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
+metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"

selfdrive/car/chrysler/fingerprints.py

@@ -145,6 +145,7 @@
       b'68413871AE ',
       b'68413871AH ',
       b'68413871AI ',
+      b'68413873AH ',
       b'68413873AI ',
       b'68443120AE ',
       b'68443123AC ',
@@ -165,6 +166,7 @@
       b'68414271AC',
       b'68414271AD',
       b'68414275AC',
+      b'68414275AD',
       b'68443154AB',
       b'68443155AC',
       b'68443158AB',

selfdrive/car/hyundai/fingerprints.py

@@ -1042,6 +1042,7 @@
       b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
     ],

selfdrive/monitoring/dmonitoringd.py

@@ -20,14 +20,16 @@ def dmonitoringd_thread():
   # 20Hz <- dmonitoringmodeld
   while True:
     sm.update()
-    if (not sm.updated['driverStateV2']) or (not sm.all_checks()):
+    if not sm.updated['driverStateV2']:
       # iterate when model has new output
       continue
 
-    DM.run_step(sm)
+    valid = sm.all_checks()
+    if valid:
+      DM.run_step(sm)
 
     # publish
-    dat = DM.get_state_packet()
+    dat = DM.get_state_packet(valid=valid)
     pm.send('driverMonitoringState', dat)
 
     # load live always-on toggle

selfdrive/monitoring/helpers.py

@@ -368,9 +368,9 @@ def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car
       self.current_events.add(alert)
 
 
-  def get_state_packet(self):
+  def get_state_packet(self, valid=True):
     # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState', valid=True)
+    dat = messaging.new_message('driverMonitoringState', valid=valid)
     dat.driverMonitoringState = {
       "events": self.current_events.to_msg(),
       "faceDetected": self.face_detected,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-dbf5b05ff480145a79b5941e360d0698b70979cd
+87aa5052e36d5cf83698b1eb6e50aef5c86df8ca

selfdrive/ui/qt/maps/map.cc

@@ -5,6 +5,7 @@
 
 #include <QDebug>
 
+#include "common/swaglog.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/ui.h"
@@ -118,6 +119,14 @@ void MapWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
   update();
 
+  // on rising edge of a valid system time, reinitialize the map to set a new token
+  if (sm.valid("clocks") && !prev_time_valid) {
+    LOGW("Time is now valid, reinitializing map");
+    m_settings.setApiKey(get_mapbox_token());
+    initializeGL();
+  }
+  prev_time_valid = sm.valid("clocks");
+
   if (sm.updated("liveLocationKalman")) {
     auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
     auto locationd_pos = locationd_location.getPositionGeodetic();
@@ -262,6 +271,10 @@ void MapWindow::initializeGL() {
       loaded_once = true;
     }
   });
+
+  QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) {
+    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
+  });
 }
 
 void MapWindow::paintGL() {

selfdrive/ui/qt/maps/map.h

@@ -51,6 +51,7 @@ class MapWindow : public QOpenGLWidget {
   void setError(const QString &err_str);
 
   bool loaded_once = false;
+  bool prev_time_valid = true;
 
   // Panning
   QPointF m_lastPos;

selfdrive/ui/ui.cc

@@ -249,7 +249,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "clocks",
   });
 
   Params params;

tools/cabana/streams/abstractstream.h

@@ -64,6 +64,7 @@ class AbstractStream : public QObject {
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {}
   virtual void start() = 0;
+  virtual void stop() {}
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
@@ -128,11 +129,15 @@ class AbstractStream : public QObject {
 };
 
 class AbstractOpenStreamWidget : public QWidget {
+  Q_OBJECT
 public:
   AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
   virtual bool open() = 0;
   virtual QString title() = 0;
 
+signals:
+  void enableOpenButton(bool);
+
 protected:
   AbstractStream **stream = nullptr;
 };

tools/cabana/streams/livestream.cc

@@ -42,6 +42,10 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
   QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
 }
 
+LiveStream::~LiveStream() {
+  stop();
+}
+
 void LiveStream::startUpdateTimer() {
   update_timer.stop();
   update_timer.start(1000.0 / settings.fps, this);
@@ -55,11 +59,14 @@ void LiveStream::start() {
   begin_date_time = QDateTime::currentDateTime();
 }
 
-LiveStream::~LiveStream() {
+void LiveStream::stop() {
+  if (!stream_thread) return;
+
   update_timer.stop();
   stream_thread->requestInterruption();
   stream_thread->quit();
   stream_thread->wait();
+  stream_thread = nullptr;
 }
 
 // called in streamThread

tools/cabana/streams/livestream.h

@@ -14,6 +14,7 @@ class LiveStream : public AbstractStream {
   LiveStream(QObject *parent);
   virtual ~LiveStream();
   void start() override;
+  void stop() override;
   inline QDateTime beginDateTime() const { return begin_date_time; }
   inline double routeStartTime() const override { return begin_event_ts / 1e9; }
   void setSpeed(float speed) override { speed_ = speed; }

tools/cabana/streams/pandastream.cc

@@ -6,12 +6,17 @@
 #include <QMessageBox>
 #include <QPushButton>
 #include <QThread>
+#include <QTimer>
 
-PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {}
+PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to panda");
+  }
+}
 
 bool PandaStream::connect() {
   try {
-    qDebug() << "Connecting to panda with serial" << config.serial;
+    qDebug() << "Connecting to panda " << config.serial;
     panda.reset(new Panda(config.serial.toStdString()));
     config.bus_config.resize(3);
     qDebug() << "Connected";
@@ -80,6 +85,13 @@ AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
 
 OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
   form_layout = new QFormLayout(this);
+  if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
+    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
+    form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda."));
+    QTimer::singleShot(0, [this]() { emit enableOpenButton(false); });
+    return;
+  }
+
   QHBoxLayout *serial_layout = new QHBoxLayout();
   serial_layout->addWidget(serial_edit = new QComboBox());
 
@@ -116,6 +128,7 @@ void OpenPandaWidget::buildConfigForm() {
       Panda panda(serial.toStdString());
       has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
     } catch (const std::exception& e) {
+      qDebug() << "failed to open panda" << serial;
       has_panda = false;
     }
   }
@@ -170,13 +183,11 @@ void OpenPandaWidget::buildConfigForm() {
 }
 
 bool OpenPandaWidget::open() {
-  if (!config.serial.isEmpty()) {
-    auto panda_stream = std::make_unique<PandaStream>(qApp, config);
-    if (panda_stream->connect()) {
-      *stream = panda_stream.release();
-      return true;
-    }
+  try {
+    *stream = new PandaStream(qApp, config);
+    return true;
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
+    return false;
   }
-  QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda"));
-  return false;
 }

tools/cabana/streams/pandastream.h

@@ -21,13 +21,14 @@ class PandaStream : public LiveStream {
   Q_OBJECT
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
-  bool connect();
+  ~PandaStream() { stop(); }
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
-    return QString("Live Streaming From Panda %1").arg(config.serial);
+    return QString("Panda: %1").arg(config.serial);
   }
 
 protected:
+  bool connect();
   void streamThread() override;
 
   std::unique_ptr<Panda> panda;

tools/cabana/streams/socketcanstream.h

@@ -17,6 +17,7 @@ class SocketCanStream : public LiveStream {
   Q_OBJECT
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
+  ~SocketCanStream() { stop(); }
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   static bool available();
 

tools/cabana/streamselector.cc

@@ -1,6 +1,5 @@
 #include "tools/cabana/streamselector.h"
 
-#include <QDialogButtonBox>
 #include <QFileDialog>
 #include <QLabel>
 #include <QPushButton>
@@ -31,7 +30,7 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
   layout->addWidget(line);
 
-  auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
+  btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   layout->addWidget(btn_box);
 
   addStreamWidget(ReplayStream::widget(stream));
@@ -60,4 +59,6 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
 
 void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
   tab->addTab(w, w->title());
+  auto open_btn = btn_box->button(QDialogButtonBox::Open);
+  QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
 }

tools/cabana/streamselector.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QDialogButtonBox>
 #include <QDialog>
 #include <QLineEdit>
 #include <QTabWidget>
@@ -17,4 +18,5 @@ class StreamSelector : public QDialog {
 private:
   QLineEdit *dbc_file;
   QTabWidget *tab;
+  QDialogButtonBox *btn_box;
 };

tools/sim/bridge/metadrive/metadrive_process.py

@@ -88,7 +88,7 @@ def get_cam_as_rgb(cam):
     cam.get_cam().reparentTo(env.vehicle.origin)
     cam.get_cam().setPos(C3_POSITION)
     cam.get_cam().setHpr(C3_HPR)
-    img = cam.perceive(clip=False)
+    img = cam.perceive(to_float=False)
     if type(img) != np.ndarray:
       img = img.get() # convert cupy array to numpy
     return img