Merge branch 'master' into PA-testing

.github/workflows/stale.yaml

@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 30
+  DAYS_BEFORE_PR_CLOSE: 3
+  DAYS_BEFORE_PR_STALE: 14
 
 jobs:
   stale:

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.3
+    rev: v0.4.4
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.2
+    rev: 0.28.3
     hooks:
     -   id: check-github-workflows

selfdrive/car/interfaces.py

@@ -282,6 +282,10 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
       events.add(EventName.accFaulted)
     if cs_out.steeringPressed:
       events.add(EventName.steerOverride)
+    if cs_out.brakePressed and cs_out.standstill:
+      events.add(EventName.preEnableStandstill)
+    if cs_out.gasPressed:
+      events.add(EventName.gasPressedOverride)
 
     # Handle button presses
     for b in cs_out.buttonEvents:

selfdrive/car/toyota/fingerprints.py

@@ -1141,6 +1141,7 @@
   CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R50000\x00\x00\x00\x00',
       b'\x01F15260R51000\x00\x00\x00\x00',
       b'\x01F15264283200\x00\x00\x00\x00',
       b'\x01F15264283300\x00\x00\x00\x00',
@@ -1162,6 +1163,7 @@
       b'\x01896634AJ2000\x00\x00\x00\x00',
       b'\x01896634AL5000\x00\x00\x00\x00',
       b'\x01896634AL6000\x00\x00\x00\x00',
+      b'\x01896634AL8000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',

selfdrive/controls/controlsd.py

@@ -211,12 +211,6 @@ def update_events(self, CS):
       (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
       self.events.add(EventName.pedalPressed)
 
-    if CS.brakePressed and CS.standstill:
-      self.events.add(EventName.preEnableStandstill)
-
-    if CS.gasPressed:
-      self.events.add(EventName.gasPressedOverride)
-
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 

selfdrive/controls/lib/events.py

@@ -3,6 +3,7 @@
 import os
 from enum import IntEnum
 from collections.abc import Callable
+from sortedcontainers import SortedList
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -48,21 +49,21 @@ class ET:
 
 class Events:
   def __init__(self):
-    self.events: list[int] = []
-    self.static_events: list[int] = []
+    self.events: SortedList[int] = SortedList()
+    self.static_events: SortedList[int] = SortedList()
     self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
 
   @property
-  def names(self) -> list[int]:
+  def names(self) -> SortedList[int]:
     return self.events
 
   def __len__(self) -> int:
     return len(self.events)
 
   def add(self, event_name: int, static: bool=False) -> None:
     if static:
-      self.static_events.append(event_name)
-    self.events.append(event_name)
+      self.static_events.add(event_name)
+    self.events.add(event_name)
 
   def clear(self) -> None:
     self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
@@ -92,7 +93,7 @@ def create_alerts(self, event_types: list[str], callback_args=None):
 
   def add_from_msg(self, events):
     for e in events:
-      self.events.append(e.name.raw)
+      self.events.add(e.name.raw)
 
   def to_msg(self):
     ret = []

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-685a2bb9aacdd790e26d14aa49d3792c3ed65125
+ef0c8cb36b9cda6381412493555c21a87360e539

selfdrive/ui/ui.cc

@@ -205,6 +205,8 @@ static void update_state(UIState *s) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
     scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
+  } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
+    scene.light_sensor = -1;
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 
@@ -320,7 +322,7 @@ void Device::resetInteractiveTimeout(int timeout) {
 
 void Device::updateBrightness(const UIState &s) {
   float clipped_brightness = offroad_brightness;
-  if (s.scene.started) {
+  if (s.scene.started && s.scene.light_sensor > 0) {
     clipped_brightness = s.scene.light_sensor;
 
     // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm

selfdrive/ui/ui.h

@@ -97,7 +97,7 @@ typedef struct UIScene {
 
   cereal::LongitudinalPersonality personality;
 
-  float light_sensor;
+  float light_sensor = -1;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;

tools/rerun/run.py

@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+import subprocess
+import sys
+import argparse
+import multiprocessing
+from functools import partial
+
+from openpilot.tools.lib.logreader import LogReader
+from cereal.services import SERVICE_LIST
+
+
+NUM_CPUS = multiprocessing.cpu_count()
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels"
+
+
+def install():
+  # currently requires a preview release build
+  subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True)
+  print("Rerun installed")
+
+
+def log_msg(msg, parent_key=''):
+  stack = [(msg, parent_key)]
+  while stack:
+    current_msg, current_parent_key = stack.pop()
+    if isinstance(current_msg, list):
+      for index, item in enumerate(current_msg):
+        new_key = f"{current_parent_key}/{index}"
+        if isinstance(item, (int, float)):
+          rr.log(str(new_key), rr.Scalar(item))
+        elif isinstance(item, dict):
+          stack.append((item, new_key))
+    elif isinstance(current_msg, dict):
+      for key, value in current_msg.items():
+        new_key = f"{current_parent_key}/{key}"
+        if isinstance(value, (int, float)):
+          rr.log(str(new_key), rr.Scalar(value))
+        elif isinstance(value, dict):
+          stack.append((value, new_key))
+        elif isinstance(value, list):
+          for index, item in enumerate(value):
+            if isinstance(item, (int, float)):
+              rr.log(f"{new_key}/{index}", rr.Scalar(item))
+    else:
+      pass  # Not a plottable value
+
+
+def createBlueprint():
+  timeSeriesViews = []
+  for topic in sorted(SERVICE_LIST.keys()):
+    timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False))
+    rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+    blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)),
+                                        rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
+  return blueprint
+
+
+def log_thumbnail(thumbnailMsg):
+  bytesImgData = thumbnailMsg.get('thumbnail')
+  rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
+
+
+def process(blueprint, lr):
+  ret = []
+  rr.init("rerun_test", spawn=True, default_blueprint=blueprint)
+  for msg in lr:
+    ret.append(msg)
+    rr.set_time_nanos("TIMELINE", msg.logMonoTime)
+    if msg.which() != "thumbnail":
+      log_msg(msg.to_dict()[msg.which()], msg.which())
+    else:
+      log_thumbnail(msg.to_dict()[msg.which()])
+  return ret
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
+                                  formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
+  parser.add_argument("--install", action="store_true", help="Install or update rerun")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+
+  args = parser.parse_args()
+  if args.install:
+    install()
+    sys.exit()
+
+  try:
+    import rerun as rr
+    import rerun.blueprint as rrb
+  except ImportError:
+    print("Rerun is not installed, run with --install first")
+    sys.exit()
+
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
+  blueprint = createBlueprint()
+  print("Getting route log paths")
+  lr = LogReader(route_or_segment_name)
+  lr.run_across_segments(NUM_CPUS, partial(process, blueprint))