Merge branch 'master' into PA-dev2

Jenkinsfile

@@ -81,7 +81,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename', label: 'Getting changes'
+    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
@@ -172,7 +172,7 @@ node {
     parallel (
       // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
           ["build openpilot", "cd system/manager && ./build.py"],

cereal/log.capnp

@@ -844,7 +844,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   lateralPlanMonoTime @50 :UInt64;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vTargetLead @3 :Float32;
   upAccelCmd @4 :Float32;
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
@@ -853,14 +852,14 @@ struct ControlsState @0x97ff69c53601abf1 {
   forceDecel @51 :Bool;
 
   lateralControlState :union {
-    indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
     angleState @58 :LateralAngleState;
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
 
     curvatureStateDEPRECATED @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :LateralLQRState;
+    indiStateDEPRECATED @52 :LateralINDIState;
   }
 
   struct LateralINDIState {
@@ -994,6 +993,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   startMonoTimeDEPRECATED @48 :UInt64;
   cumLagMsDEPRECATED @15 :Float32;
   aTargetDEPRECATED @35 :Float32;
+  vTargetLeadDEPRECATED @3 :Float32;
 }
 
 struct DrivingModelData {

cereal/messaging/msgq_to_zmq.cc

@@ -48,11 +48,12 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
 
-          while (sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
+          while (pub_sock->sendMessage(msg.get()) == -1) {
             if (errno != EINTR) break;
           }
         }

docs/CARS.md

@@ -68,7 +68,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||

scripts/lint/check_nomerge_comments.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '\(#\|//\)\([[:space:]]*\)NOMERGE' $@; then
+  echo -e "NOMERGE comments found! Remove them before merging\n"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/lint.sh

@@ -52,6 +52,7 @@ function run_tests() {
   run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
+  run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES

selfdrive/controls/lib/longitudinal_planner.py

@@ -56,7 +56,10 @@ def get_accel_from_plan(CP, speeds, accels):
     a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
     v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    if v_target != v_target_now:
+      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    else:
+      a_target = a_target_now
 
     v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
   else:
@@ -131,7 +134,8 @@ def update(self, sm):
 
     if self.mpc.mode == 'acc':
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits = [ACCEL_MIN, ACCEL_MAX]
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]

selfdrive/controls/plannerd.py

@@ -19,7 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -30,7 +30,7 @@ def main():
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)

selfdrive/controls/radard.py

@@ -80,10 +80,6 @@ def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measur
 
     self.cnt += 1
 
-  def get_key_for_cluster(self):
-    # Weigh y higher since radar is inaccurate in this dimension
-    return [self.dRel, self.yRel*2, self.vRel]
-
   def reset_a_lead(self, aLeadK: float, aLeadTau: float):
     self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
     self.aLeadK = aLeadK

selfdrive/selfdrived/selfdrived.py

@@ -255,11 +255,12 @@ def update_events(self, CS):
     num_events = len(self.events)
 
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
-      self.events.add(EventName.processNotRunning)
+    if self.sm.recv_frame['managerState'] and len(not_running):
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+      self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -64,6 +64,7 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
+    lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
@@ -130,6 +131,7 @@ def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
+          'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2}
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x

selfdrive/test/process_replay/migration.py

@@ -9,6 +9,7 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 from panda import Panda
@@ -39,6 +40,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_drivingModelData,
     migrate_onroadEvents,
     migrate_driverMonitoringState,
+    migrate_longitudinalPlan,
   ]
   if manager_states:
     migrations.append(migrate_managerState)
@@ -91,6 +93,24 @@ def wrapper(*args, **kwargs):
   return decorator
 
 
+@migration(inputs=["longitudinalPlan", "carParams"])
+def migrate_longitudinalPlan(msgs):
+  ops = []
+
+  needs_migration = all(msg.longitudinalPlan.aTarget == 0.0 for _, msg in msgs if msg.which() == 'longitudinalPlan')
+  CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
+  if not needs_migration or CP is None:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() != 'longitudinalPlan':
+      continue
+    new_msg = msg.as_builder()
+    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = get_accel_from_plan(CP, msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    ops.append((index, new_msg.as_reader()))
+  return ops, [], []
+
+
 @migration(inputs=["longitudinalPlan"], product="driverAssistance")
 def migrate_driverAssistance(msgs):
   add_ops = []

selfdrive/test/process_replay/model_replay.py

@@ -82,6 +82,12 @@ def comment_replay_report(proposed, master, full_logs):
     PR_BRANCH = os.getenv("GIT_BRANCH","")
     DATA_BUCKET = f"model_replay_{PR_BRANCH}"
 
+    try:
+      GITHUB.get_pr_number(PR_BRANCH)
+    except Exception:
+      print("No PR associated with this branch. Skipping report.")
+      return
+
     files = generate_report(proposed, master, tmp)
 
     GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])

selfdrive/test/process_replay/process_replay.py

@@ -508,7 +508,7 @@ def selfdrived_config_callback(params, cfg, lr):
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-4e595fcc2e8e4ef1564d915f697ddd9334067a7f
+22530fd1bd915d5b37db900e2ac42a9501cd5972

selfdrive/ui/qt/home.cc

@@ -33,11 +33,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   body = new BodyWindow(this);
   slayout->addWidget(body);
 
-  driver_view = new DriverViewWindow(this);
-  connect(driver_view, &DriverViewWindow::done, [=] {
-    showDriverView(false);
-  });
-  slayout->addWidget(driver_view);
   setAttribute(Qt::WA_NoSystemBackground);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
@@ -68,16 +63,6 @@ void HomeWindow::offroadTransition(bool offroad) {
   }
 }
 
-void HomeWindow::showDriverView(bool show) {
-  if (show) {
-    emit closeSettings();
-    slayout->setCurrentWidget(driver_view);
-  } else {
-    slayout->setCurrentWidget(home);
-  }
-  sidebar->setVisible(show == false);
-}
-
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {

selfdrive/ui/qt/home.h

@@ -8,7 +8,6 @@
 #include <QWidget>
 
 #include "common/params.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
@@ -53,7 +52,6 @@ class HomeWindow : public QWidget {
 
 public slots:
   void offroadTransition(bool offroad);
-  void showDriverView(bool show);
   void showSidebar(bool show);
 
 protected:
@@ -65,7 +63,6 @@ public slots:
   OffroadHome *home;
   OnroadWindow *onroad;
   BodyWindow *body;
-  DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
 private slots:

selfdrive/ui/qt/offroad/driverview.cc

@@ -6,24 +6,6 @@
 #include "selfdrive/ui/qt/util.h"
 
 DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
-  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
-  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
-    if (isVisible()) {
-      emit done();
-    }
-  });
-}
-
-void DriverViewWindow::showEvent(QShowEvent* event) {
-  params.putBool("IsDriverViewEnabled", true);
-  device()->resetInteractiveTimeout(60);
-  CameraWidget::showEvent(event);
-}
-
-void DriverViewWindow::hideEvent(QHideEvent* event) {
-  params.putBool("IsDriverViewEnabled", false);
-  stopVipcThread();
-  CameraWidget::hideEvent(event);
 }
 
 void DriverViewWindow::paintGL() {
@@ -80,3 +62,20 @@ mat4 DriverViewWindow::calcFrameMatrix() {
     0.0,  0.0, 0.0, 1.0,
   }};
 }
+
+DriverViewDialog::DriverViewDialog(QWidget *parent) : DialogBase(parent) {
+  Params().putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  auto camera = new DriverViewWindow(this);
+  main_layout->addWidget(camera);
+  QObject::connect(camera, &DriverViewWindow::clicked, this, &DialogBase::accept);
+  QObject::connect(device(), &Device::interactiveTimeout, this, &DialogBase::accept);
+}
+
+void DriverViewDialog::done(int r) {
+  Params().putBool("IsDriverViewEnabled", false);
+  QDialog::done(r);
+}

selfdrive/ui/qt/offroad/driverview.h

@@ -2,22 +2,20 @@
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 class DriverViewWindow : public CameraWidget {
   Q_OBJECT
-
 public:
   explicit DriverViewWindow(QWidget *parent);
-
-signals:
-  void done();
-
-protected:
-  mat4 calcFrameMatrix() override;
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
   void paintGL() override;
-
-  Params params;
+  mat4 calcFrameMatrix() override;
   DriverMonitorRenderer driver_monitor;
 };
+
+class DriverViewDialog : public DialogBase {
+  Q_OBJECT
+public:
+  DriverViewDialog(QWidget *parent);
+  void done(int r) override;
+};