Merge branch 'commaai:master' into PA-testing

Jenkinsfile

@@ -259,25 +259,6 @@ node {
         ])
       },
 
-      // *** PC tests ***
-      'PC tests': {
-        pcStage("PC tests") {
-          // tests that our build system's dependencies are configured properly,
-          // needs a machine with lots of cores
-          sh label: "test multi-threaded build",
-             script: '''#!/bin/bash
-                        scons --no-cache --random -j$(nproc)'''
-        }
-      },
-      'car tests': {
-        pcStage("car tests") {
-          sh label: "build", script: "selfdrive/manager/build.py"
-          sh label: "test_models", script: "INTERNAL_SEG_CNT=300 FILEREADER_CACHE=1 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt \
-                                            pytest selfdrive/car/tests/test_models.py"
-          sh label: "test_car_interfaces", script: "MAX_EXAMPLES=300 pytest selfdrive/car/tests/test_car_interfaces.py"
-        }
-      },
-
     )
     }
   } catch (Exception e) {

RELEASES.md

@@ -11,6 +11,7 @@ Version 0.9.6 (2024-02-XX)
 * Improved fuzzy fingerprinting for many makes and models
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
 * Toyota RAV4 2023-24 support
 * Toyota RAV4 Hybrid 2023-24 support
 

conftest.py

@@ -1,3 +1,4 @@
+import gc
 import os
 import pytest
 import random
@@ -45,6 +46,11 @@ def openpilot_function_fixture(request):
   # cleanup any started processes
   manager.manager_cleanup()
 
+  # some processes disable gc for performance, re-enable here
+  if not gc.isenabled():
+    gc.enable()
+    gc.collect()
+
 # If you use setUpClass, the environment variables won't be cleared properly,
 # so we need to hook both the function and class pytest fixtures
 @pytest.fixture(scope="class", autouse=True)

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 276 Supported Cars
+# 277 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -162,6 +162,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
+|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=LC 2024">Buy Here</a></sub></details>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.3"
+  export AGNOS_VERSION="9.5"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

selfdrive/car/tests/big_cars_test.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+MAX_EXAMPLES=300
+INTERNAL_SEG_CNT=300
+FILEREADER_CACHE=1
+INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
+
+cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py

selfdrive/car/tests/routes.py

@@ -207,6 +207,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX),  # hybrid
   CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
   CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
+  CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
   CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
   CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),

selfdrive/car/torque_data/substitute.toml

@@ -11,6 +11,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
 "LEXUS ES 2018" = "TOYOTA CAMRY 2018"
 "LEXUS RC 2020" = "LEXUS NX 2020"
+"LEXUS LC 2024" = "LEXUS NX 2020"
 
 "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
 "KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"

selfdrive/car/toyota/fingerprints.py

@@ -1383,6 +1383,23 @@
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_LC_TSS2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0131130000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152611390\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B11091\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_RC: {
     (Ecu.engine, 0x700, None): [
       b'\x01896632461100\x00\x00\x00\x00',

selfdrive/car/toyota/interface.py

@@ -190,6 +190,12 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG
 
+    elif candidate == CAR.LEXUS_LC_TSS2:
+      ret.wheelbase = 2.87
+      ret.steerRatio = 13.0
+      ret.tireStiffnessFactor = 0.444  # not optimized yet
+      ret.mass = 4500 * CV.LB_TO_KG
+
     elif candidate == CAR.PRIUS_TSS2:
       ret.wheelbase = 2.70002  # from toyota online sepc.
       ret.steerRatio = 13.4   # True steerRatio from older prius

selfdrive/car/toyota/values.py

@@ -81,6 +81,7 @@ class CAR(StrEnum):
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
+  LEXUS_LC_TSS2 = "LEXUS LC 2024"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
@@ -206,6 +207,7 @@ class ToyotaCarInfo(CarInfo):
     ToyotaCarInfo("Lexus NX 2020-21"),
     ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
   ],
+  CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"),
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
@@ -444,6 +446,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
   CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -480,7 +483,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
             CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2}
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
+            CAR.CHR_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
 

selfdrive/test/scons_build_test.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# tests that our build system's dependencies are configured properly, 
+# needs a machine with lots of cores
+scons --clean
+scons --no-cache --random -j$(nproc)

system/hardware/tici/agnos.json

@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f.img.xz",
-    "hash": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
-    "hash_raw": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe.img.xz",
+    "hash": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
+    "hash_raw": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
     "size": 15636480,
     "sparse": false,
     "full_check": true,
@@ -61,17 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
-    "hash": "5dc1718e21c49e4fa910fbb3b2321381f497b38335a0cf3ca923157d589abe89",
-    "hash_raw": "38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-de20b4b540657e5edc01e127abd20fdfd402f68b4c89b5478cdc53aa44567a85.img.xz",
+    "hash": "8b7efc3fc218a1b8ee94b756dbafc1c03d2b92d693027f8850a6268924f6f04e",
+    "hash_raw": "de20b4b540657e5edc01e127abd20fdfd402f68b4c89b5478cdc53aa44567a85",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "1809e36d8e376e0a0c8348e3f684aba4100fe0382042c051efd0e946af1ce696",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
-      "size": 4077270244
+      "hash": "a2b2d5307866536894b7cc5af9cb682b7da6f691205c772a2f6287d76da661cf",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-de20b4b540657e5edc01e127abd20fdfd402f68b4c89b5478cdc53aa44567a85.img.xz",
+      "size": 4538871788
     }
   }
 ]

system/hardware/tici/tests/test_power_draw.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+from collections import defaultdict, deque
+import sys
 import pytest
 import unittest
 import time
@@ -15,7 +17,8 @@
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.manager.manager import manager_cleanup
 
-SAMPLE_TIME = 8   # seconds to sample power
+SAMPLE_TIME = 8       # seconds to sample power
+MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
 
 @dataclass
 class Proc:
@@ -24,7 +27,6 @@ class Proc:
   msgs: List[str]
   rtol: float = 0.05
   atol: float = 0.12
-  warmup: float = 6.
 
 PROCS = [
   Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
@@ -48,41 +50,82 @@ def setUp(self):
   def tearDown(self):
     manager_cleanup()
 
+  def get_expected_messages(self, proc):
+    return int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
+
+  def valid_msg_count(self, proc, msg_counts):
+    msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+    msgs_expected = self.get_expected_messages(proc)
+    return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
+
+  def valid_power_draw(self, proc, used):
+    return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
+
+  def tabulate_msg_counts(self, msgs_and_power):
+    msg_counts = defaultdict(lambda: 0)
+    for _, counts in msgs_and_power:
+      for msg, count in counts.items():
+        msg_counts[msg] += count
+    return msg_counts
+
+  def get_power_with_warmup_for_target(self, proc, prev):
+    socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
+    for sock in socks.values():
+      messaging.drain_sock_raw(sock)
+
+    msgs_and_power = deque([], maxlen=SAMPLE_TIME)
+
+    start_time = time.monotonic()
+
+    while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
+      power = get_power(1)
+      iteration_msg_counts = {}
+      for msg,sock in socks.items():
+        iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
+      msgs_and_power.append((power, iteration_msg_counts))
+
+      if len(msgs_and_power) < SAMPLE_TIME:
+        continue
+
+      msg_counts = self.tabulate_msg_counts(msgs_and_power)
+      now = np.mean([m[0] for m in msgs_and_power])
+
+      if self.valid_msg_count(proc, msg_counts) and self.valid_power_draw(proc, now - prev):
+        break
+
+    return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
+
   @mock_messages(['liveLocationKalman'])
   def test_camera_procs(self):
     baseline = get_power()
 
     prev = baseline
     used = {}
+    warmup_time = {}
     msg_counts = {}
+
     for proc in PROCS:
-      socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
       managed_processes[proc.name].start()
-      time.sleep(proc.warmup)
-      for sock in socks.values():
-        messaging.drain_sock_raw(sock)
+      now, local_msg_counts, warmup_time[proc.name] = self.get_power_with_warmup_for_target(proc, prev)
+      msg_counts.update(local_msg_counts)
 
-      now = get_power(SAMPLE_TIME)
       used[proc.name] = now - prev
       prev = now
-      for msg,sock in socks.items():
-        msg_counts[msg] = len(messaging.drain_sock_raw(sock))
 
     manager_cleanup()
 
-    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received', "warmup time (s)"]]
     for proc in PROCS:
       cur = used[proc.name]
       expected = proc.power
       msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
-      msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
-      tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
+      tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)])
       with self.subTest(proc=proc.name):
-        np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
-        np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
+        self.assertTrue(self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs")
+        self.assertTrue(self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W")
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
 
 
 if __name__ == "__main__":
-  pytest.main()
+  pytest.main(sys.argv)