Merge branch 'commaai:master' into PA-testing

.devcontainer/devcontainer.json

@@ -21,7 +21,8 @@
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
     "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway" // required to use host.docker.internal on linux
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
   ],
   "features": {
     "ghcr.io/devcontainers/features/common-utils:2": {

.github/workflows/prebuilt.yaml

@@ -27,6 +27,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build and Push docker image
       run: |
         $DOCKER_LOGIN

Dockerfile.openpilot_base

@@ -38,8 +38,7 @@ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    pip uninstall -y poetry
+    rm -rf /home/$USER/.cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot

docs/CARS.md

@@ -168,7 +168,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|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 Ford Q3 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=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
+|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -210,7 +210,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|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=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|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=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|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=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|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=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2021-24|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=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|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=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
 |Toyota|Corolla 2020-22|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=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 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=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||

selfdrive/car/mazda/values.py

@@ -46,7 +46,7 @@ class MazdaCarInfo(CarInfo):
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
   CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
 }
 
 
@@ -97,6 +97,7 @@ class Buttons:
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
@@ -110,6 +111,7 @@ class Buttons:
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {

selfdrive/car/toyota/values.py

@@ -131,7 +131,7 @@ class ToyotaCarInfo(CarInfo):
   CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
   CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
   CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
+  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
   CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
   CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
   CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),

selfdrive/debug/vw_mqb_config.py

@@ -144,6 +144,7 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
       uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
       quit()
 
     try:

tools/cabana/signalview.cc

@@ -395,7 +395,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames());
+      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);

tools/sim/README.md

@@ -1,58 +1,76 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
 
-## System Requirements
+## Launching openpilot
+First, start openpilot.
+``` bash
+# Run locally
+./tools/sim/launch_openpilot.sh
+```
 
-openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
-For this case, we have the simulator in low quality by default.
+## Bridge usage
+```
+$ ./run_bridge.py -h
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
 
-You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
+Bridge between the simulator and openpilot.
 
-## Running the simulator
-Start Carla simulator, openpilot and bridge processes located in tools/sim:
-``` bash
-# Terminal 1
-./start_carla.sh
+options:
+  -h, --help            show this help message and exit
+  --joystick
+  --high_quality
+  --dual_camera
+  --simulator SIMULATOR
+  --town TOWN
+  --spawn_point NUM_SELECTED_SPAWN_POINT
+  --host HOST
+  --port PORT
+```
 
-# Terminal 2 - Run openpilot and bridge in one Docker:
-./start_openpilot_docker.sh
+#### Bridge Controls:
+- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
+- To disengage, press "S" (simulates a user brake)
 
-# Running the latest local code execute
-    # Terminal 2:
-    ./launch_openpilot.sh
-    # Terminal 3
-    ./bridge.py
-```
+#### All inputs:
 
-### Bridge usage
-_Same commands hold for start_openpilot_docker_
 ```
-$ ./bridge.py -h
-Usage: bridge.py [options]
-Bridge between CARLA and openpilot.
+| key  |   functionality       |
+|------|-----------------------|
+|  1   | Cruise Resume / Accel |
+|  2   | Cruise Set    / Decel |
+|  3   | Cruise Cancel         |
+|  r   | Reset Simulation      |
+|  i   | Toggle Ignition       |
+|  q   | Exit all              |
+| wasd | Control manually      |
+```
 
-Options:
-  -h, --help            show this help message and exit
-  --joystick            Use joystick input to control the car
-  --high_quality        Set simulator to higher quality (requires good GPU)
-  --town TOWN           Select map to drive in
-  --spawn_point NUM     Number of the spawn point to start in
-  --host HOST           Host address of Carla client (127.0.0.1 as default)
-  --port PORT           Port of Carla client (2000 as default)
+## MetaDrive
+
+### Launching Metadrive
+Start bridge processes located in tools/sim:
+``` bash
+./run_bridge.py --simulator metadrive
 ```
 
-To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
-All inputs:
+## Carla
 
-| key  |   functionality   |
-|:----:|:-----------------:|
-|  1   |  Cruise up 1 mph  |
-|  2   | Cruise down 1 mph |
-|  3   |   Cruise cancel   |
-|  q   |     Exit all      |
-| wasd | Control manually  |
+openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
+For this case, we have the simulator in low quality by default.
+
+You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
+
+### Launching Carla
+Start Carla simulator and bridge processes located in tools/sim:
+``` bash
+# Terminal 1
+./start_carla.sh
+
+# Terminal 2
+./run_bridge.py --simulator carla
+```
 
 ## Further Reading
 

tools/sim/bridge/common.py

@@ -68,7 +68,7 @@ def close(self):
       self.world.close()
 
   def run(self, queue, retries=-1):
-    bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
+    bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
     bridge_p.start()
     return bridge_p
 
@@ -96,6 +96,10 @@ def _run(self, q: Queue):
                                                                         100, self._exit_event))
     self.simulated_car_thread.start()
 
+    self.simulated_camera_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_sensors.send_camera_images, self.world),
+                                                                        20, self._exit_event))
+    self.simulated_camera_thread.start()
+
     # Simulation tends to be slow in the initial steps. This prevents lagging later
     for _ in range(20):
       self.world.tick()
@@ -105,6 +109,8 @@ def _run(self, q: Queue):
       throttle_op = steer_op = brake_op = 0.0
 
       self.simulator_state.cruise_button = 0
+      self.simulator_state.left_blinker = False
+      self.simulator_state.right_blinker = False
 
       throttle_manual = steer_manual = brake_manual = 0.
 
@@ -127,6 +133,11 @@ def _run(self, q: Queue):
             self.simulator_state.cruise_button = CruiseButtons.CANCEL
           elif m[1] == "main":
             self.simulator_state.cruise_button = CruiseButtons.MAIN
+        elif m[0] == "blinker":
+          if m[1] == "left":
+            self.simulator_state.left_blinker = True
+          elif m[1] == "right":
+            self.simulator_state.right_blinker = True
         elif m[0] == "ignition":
           self.simulator_state.ignition = not self.simulator_state.ignition
         elif m[0] == "reset":
@@ -136,22 +147,24 @@ def _run(self, q: Queue):
 
       self.simulator_state.user_brake = brake_manual
       self.simulator_state.user_gas = throttle_manual
+      self.simulator_state.user_torque = steer_manual * 10000
 
       steer_manual = steer_manual * -40
 
       # Update openpilot on current sensor state
       self.simulated_sensors.update(self.simulator_state, self.world)
 
       self.simulated_car.sm.update(0)
-      self.simulator_state.is_engaged = self.simulated_car.sm['controlsState'].active
+      controlsState = self.simulated_car.sm['controlsState']
+      self.simulator_state.is_engaged = controlsState.active
 
       if self.simulator_state.is_engaged:
         throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
         brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
         steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
 
         self.past_startup_engaged = True
-      elif not self.past_startup_engaged:
+      elif not self.past_startup_engaged and controlsState.engageable:
         self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
 
       throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual