Merge branch 'master' into PA-dev2

.github/workflows/tools_tests.yaml

@@ -27,9 +27,7 @@ env:
 jobs:
   simulator_driving:
     name: simulator driving
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-               ((github.event_name != 'pull_request') ||
-                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on: ubuntu-latest
     timeout-minutes: 20
     steps:
     - uses: actions/checkout@v4

.github/workflows/ui_preview.yaml

@@ -99,7 +99,7 @@ jobs:
               open=true
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
 
               mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
 

Jenkinsfile

@@ -12,10 +12,12 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
+export TERM=xterm-256color
+
 shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
@@ -65,8 +67,6 @@ ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
 ${cmd}
-exit 0
-
 END"""
 
     sh script: ssh_cmd, label: step_label

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11"
+requires-python = ">= 3.11, <= 3.12"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"

selfdrive/car/card.py

@@ -72,7 +72,6 @@ def __init__(self, CI=None, RI=None) -> None:
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
-    self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -250,7 +249,6 @@ def step(self):
       self.controls_update(CS, self.sm['carControl'])
 
     self.initialized_prev = initialized
-    self.CS_prev = CS.as_reader()
 
   def params_thread(self, evt):
     while not evt.is_set():

selfdrive/controls/lib/longitudinal_planner.py

@@ -146,9 +146,10 @@ def update(self, sm):
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+    # Don't clip at low speeds since throttle_prob doesn't account for creep
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= 5.0
 
-    if not self.allow_throttle and v_ego > 5.0:  # Don't clip at low speeds since throttle_prob doesn't account for creep
+    if not self.allow_throttle:
       # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
       clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
       accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-36bb37715542677db4a42464128ca10968f2c589
+4e595fcc2e8e4ef1564d915f697ddd9334067a7f

selfdrive/test/test_onroad.py

@@ -38,7 +38,7 @@
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
   "selfdrive.selfdrived.selfdrived": 16.0,
-  "selfdrive.car.card": 30.0,
+  "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,

selfdrive/ui/qt/network/wifi_manager.cc

@@ -448,6 +448,7 @@ void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
     });
   }
   call->deleteLater();
+  tethering_on = true;
 }
 
 void WifiManager::setTetheringEnabled(bool enabled) {
@@ -465,6 +466,7 @@ void WifiManager::setTetheringEnabled(bool enabled) {
 
   } else {
     deactivateConnectionBySsid(tethering_ssid);
+    tethering_on = false;
   }
 }
 

selfdrive/ui/qt/network/wifi_manager.h

@@ -42,6 +42,7 @@ class WifiManager : public QObject {
   QMap<QString, Network> seenNetworks;
   QMap<QDBusObjectPath, QString> knownConnections;
   QString ipv4_address;
+  bool tethering_on = false;
   bool ipv4_forward = false;
 
   explicit WifiManager(QObject* parent);

selfdrive/ui/qt/offroad/driverview.cc

@@ -5,10 +5,7 @@
 
 #include "selfdrive/ui/qt/util.h"
 
-const int FACE_IMG_SIZE = 130;
-
 DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
-  face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
   QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
   QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
     if (isVisible()) {
@@ -68,12 +65,8 @@ void DriverViewWindow::paintGL() {
     p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
   }
 
-  // icon
-  const int img_offset = 60;
-  const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
-  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.2);
-  p.drawPixmap(img_x, img_y, face_img);
+  driver_monitor.updateState(*uiState());
+  driver_monitor.draw(p, rect());
 }
 
 mat4 DriverViewWindow::calcFrameMatrix() {

selfdrive/ui/qt/offroad/driverview.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
+#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
 
 class DriverViewWindow : public CameraWidget {
   Q_OBJECT
@@ -18,5 +19,5 @@ class DriverViewWindow : public CameraWidget {
   void paintGL() override;
 
   Params params;
-  QPixmap face_img;
+  DriverMonitorRenderer driver_monitor;
 };

selfdrive/ui/qt/onroad/hud.cc

@@ -13,7 +13,7 @@ void HudRenderer::updateState(const UIState &s) {
   status = s.status;
 
   const SubMaster &sm = *(s.sm);
-  if (!sm.alive("carState")) {
+  if (sm.rcv_frame("carState") < s.scene.started_frame) {
     is_cruise_set = false;
     set_speed = SET_SPEED_NA;
     speed = 0.0;

selfdrive/ui/qt/onroad/model.cc

@@ -14,18 +14,17 @@ static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float
 }
 
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
-  auto &sm = *(uiState()->sm);
-  if (sm.updated("carParams")) {
-    longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  }
-
+  auto *s = uiState();
+  auto &sm = *(s->sm);
   // Check if data is up-to-date
-  if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) {
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
     return;
   }
 
   clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
   experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
 
   painter.save();
 
@@ -135,15 +134,57 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
     }
 
   } else {
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
+    updatePathGradient(bg);
   }
 
   painter.setBrush(bg);
   painter.drawPolygon(track_vertices);
 }
 
+void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
+  static const QColor throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
+
+  static const QColor no_throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
+  };
+
+  // Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
+  constexpr float transition_speed = 0.1f;
+
+  // Start transition if throttle state changes
+  bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle() || !longitudinal_control;
+  if (allow_throttle != prev_allow_throttle) {
+    prev_allow_throttle = allow_throttle;
+    // Invert blend factor for a smooth transition when the state changes mid-animation
+    blend_factor = std::max(1.0f - blend_factor, 0.0f);
+  }
+
+  const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
+  const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
+  if (blend_factor < 1.0f) {
+    blend_factor = std::min(blend_factor + transition_speed, 1.0f);
+  }
+
+  // Set gradient colors by blending the start and end colors
+  bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
+  bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
+  bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
+}
+
+QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
+  if (t == 1.0f) return end;
+  return QColor::fromRgbF(
+      (1 - t) * start.redF() + t * end.redF(),
+      (1 - t) * start.greenF() + t * end.greenF(),
+      (1 - t) * start.blueF() + t * end.blueF(),
+      (1 - t) * start.alphaF() + t * end.alphaF());
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -20,9 +20,13 @@ class ModelRenderer {
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  void updatePathGradient(QLinearGradient &bg);
+  QColor blendColors(const QColor &start, const QColor &end, float t);
 
   bool longitudinal_control = false;
   bool experimental_mode = false;
+  float blend_factor = 1.0f;
+  bool prev_allow_throttle = true;
   float lane_line_probs[4] = {};
   float road_edge_stds[2] = {};
   QPolygonF track_vertices;

selfdrive/ui/qt/sidebar.cc

@@ -74,9 +74,11 @@ void Sidebar::updateState(const UIState &s) {
 
   auto &sm = *(s.sm);
 
+  networking = networking ? networking : window()->findChild<Networking *>("");
+  bool tethering_on = networking && networking->wifi->tethering_on;
   auto deviceState = sm["deviceState"].getDeviceState();
-  setProperty("netType", network_type[deviceState.getNetworkType()]);
-  int strength = (int)deviceState.getNetworkStrength();
+  setProperty("netType", tethering_on ? "Hotspot": network_type[deviceState.getNetworkType()]);
+  int strength = tethering_on ? 4 : (int)deviceState.getNetworkStrength();
   setProperty("netStrength", strength > 0 ? strength + 1 : 0);
 
   ItemStatus connectStatus;
@@ -131,8 +133,8 @@ void Sidebar::paintEvent(QPaintEvent *event) {
 
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
-  const QRect r = QRect(50, 247, 100, 50);
-  p.drawText(r, Qt::AlignCenter, net_type);
+  const QRect r = QRect(58, 247, width() - 100, 50);
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
 
   // metrics
   drawMetric(p, temp_status.first, temp_status.second, 338);

selfdrive/ui/qt/sidebar.h

@@ -6,6 +6,7 @@
 #include <QMap>
 
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/network/networking.h"
 
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
@@ -59,4 +60,5 @@ public slots:
 
 private:
   std::unique_ptr<PubMaster> pm;
+  Networking *networking = nullptr;
 };

selfdrive/ui/ui.cc

@@ -93,7 +93,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster>(std::vector<const char*>{
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "selfdriveState",
+    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
   });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));

system/athena/athenad.py

@@ -44,7 +44,7 @@
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
-LOCAL_PORT_WHITELIST = {8022}
+LOCAL_PORT_WHITELIST = {22, }  # SSH
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -445,6 +445,10 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
   try:
+    # migration, can be removed once 0.9.8 is out for a while
+    if local_port == 8022:
+      local_port = 22
+
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 

system/camerad/SConscript

@@ -3,7 +3,7 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                         'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                         'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":