Add Fingerprints for all ECUs on 2023 Kia Sportage Hybrid SX Prestige

.gitignore

@@ -10,7 +10,6 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode*
 model2.png
 a.out
 .hypothesis

Jenkinsfile

@@ -142,6 +142,23 @@ def setupCredentials() {
 }
 
 
+def build_release(String channel_name) {
+  return parallel (
+    "${channel_name} (git)": {
+      deviceStage("build git", "tici-needs-can", [], [
+        ["build ${channel_name}", "RELEASE_BRANCH=${channel_name} $SOURCE_DIR/release/build_release.sh"],
+      ])
+    },
+    "${channel_name} (casync)": {
+      deviceStage("build casync", "tici-needs-can", [], [
+        ["build ${channel_name}", "RELEASE=1 OPENPILOT_CHANNEL=${channel_name} BUILD_DIR=/data/openpilot_build CASYNC_DIR=/data/casync $SOURCE_DIR/release/create_casync_build.sh"],
+        //["upload ${channel_name}", "OPENPILOT_CHANNEL=${channel_name} $SOURCE_DIR/release/upload_casync_release.sh"],
+      ])
+    }
+  )
+}
+
+
 node {
   env.CI = "1"
   env.PYTHONWARNINGS = "error"
@@ -164,15 +181,11 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
-      ])
+      build_release("release3-staging")
     }
 
     if (env.BRANCH_NAME == 'master-ci') {
-      deviceStage("build nightly", "tici-needs-can", [], [
-        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-      ])
+      build_release("nightly")
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
@@ -194,7 +207,7 @@ node {
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
           ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
         ])
       },

RELEASES.md

@@ -1,3 +1,9 @@
+Version 0.9.7 (2024-XX-XX)
+========================
+* New driving model
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+
 Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
@@ -6,6 +12,9 @@ Version 0.9.6 (2024-02-27)
   * Directly outputs curvature for lateral control
 * New driver monitoring model
   * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models

SConstruct

@@ -96,8 +96,6 @@ lenv = {
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
 if arch == "larch64":
-  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
-
   cpppath = [
     "#third_party/opencl/include",
   ]
@@ -360,13 +358,6 @@ Export('common', 'gpucommon')
 # Build cereal and messaging
 SConscript(['cereal/SConscript'])
 
-cereal = [File('#cereal/libcereal.a')]
-messaging = [File('#cereal/libmessaging.a')]
-visionipc = [File('#cereal/libvisionipc.a')]
-messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
-
-Export('cereal', 'messaging', 'messaging_python', 'visionipc')
-
 # Build other submodules
 SConscript([
   'body/board/SConscript',
@@ -393,17 +384,12 @@ if arch != "Darwin":
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/navd/SConscript'])
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/SConscript'])
 
-if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-  SConscript(['tools/cabana/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

cereal/SConscript

@@ -17,7 +17,7 @@ env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 
-env.Library('cereal', cereal_objects)
+cereal = env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 
 # Build messaging
@@ -34,14 +34,13 @@ messaging_objects = env.SharedObject([
   'messaging/socketmaster.cc',
 ])
 
-messaging_lib = env.Library('messaging', messaging_objects)
+messaging = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)
 
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging, 'zmq', common])
 Depends('messaging/bridge.cc', services_h)
 
-envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
-
+messaging_python = envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging, "zmq", common])
 
 # Build Vision IPC
 vipc_sources = [
@@ -57,11 +56,11 @@ else:
   vipc_sources += ['visionipc/visionbuf_cl.cc']
 
 vipc_objects = env.SharedObject(vipc_sources)
-vipc = env.Library('visionipc', vipc_objects)
+visionipc = env.Library('visionipc', vipc_objects)
 
 
 vipc_frameworks = []
-vipc_libs = envCython["LIBS"] + [vipc, messaging_lib, common, "zmq"]
+vipc_libs = envCython["LIBS"] + [visionipc, messaging, common, "zmq"]
 if arch == "Darwin":
   vipc_frameworks.append('OpenCL')
 else:
@@ -70,7 +69,10 @@ envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx',
                   LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
 
 if GetOption('extras'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging, common])
 
   env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
               LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+
+Export('cereal', 'messaging', 'messaging_python', 'visionipc')

cereal/car.capnp

@@ -323,14 +323,12 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
+  # moved to CarOutput
+  actuatorsOutputDEPRECATED @10 :Actuators;
+
   leftBlinker @15: Bool;
   rightBlinker @16: Bool;
 
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @10 :Actuators;
-
   orientationNED @13 :List(Float32);
   angularVelocity @14 :List(Float32);
 
@@ -380,6 +378,7 @@ struct CarControl {
     leftLaneVisible @7: Bool;
     rightLaneDepart @8: Bool;
     leftLaneDepart @9: Bool;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -418,6 +417,13 @@ struct CarControl {
   pitchDEPRECATED @9 :Float32;
 }
 
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
 # ****** car param ******
 
 struct CarParams {
@@ -597,6 +603,7 @@ struct CarParams {
     hyundaiCanfd @28;
     volkswagenMqbEvo @29;
     chryslerCusw @30;
+    psa @31;
   }
 
   enum SteerControlType {

cereal/log.capnp

@@ -57,6 +57,7 @@ struct InitData {
     tici @4;
     pc @5;
     tizi @6;
+    mici @7;
   }
 
   struct PandaInfo {
@@ -250,7 +251,7 @@ struct SensorEventData {
 
 # android struct GpsLocation
 struct GpsLocationData {
-  # Contains GpsLocationFlags bits.
+  # Contains module-specific flags.
   flags @0 :UInt16;
 
   # Represents latitude in degrees.
@@ -268,8 +269,8 @@ struct GpsLocationData {
   # Represents heading in degrees.
   bearingDeg @5 :Float32;
 
-  # Represents expected accuracy in meters. (presumably 1 sigma?)
-  accuracy @6 :Float32;
+  # Represents expected horizontal accuracy in meters.
+  horizontalAccuracy @6 :Float32;
 
   unixTimestampMillis @7 :Int64;
 
@@ -287,6 +288,8 @@ struct GpsLocationData {
   # Represents velocity accuracy in m/s. (presumably 1 sigma?)
   speedAccuracy @12 :Float32;
 
+  hasFix @13 :Bool;
+
   enum SensorSource {
     android @0;
     iOS @1;
@@ -297,6 +300,7 @@ struct GpsLocationData {
     ublox @6;
     trimble @7;
     qcomdiag @8;
+    unicore @9;
   }
 }
 
@@ -331,6 +335,8 @@ struct CanData {
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
+  deviceType @45 :InitData.DeviceType;
+
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -436,7 +442,6 @@ struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
   rxBufferOverflow @7 :UInt32;
   txBufferOverflow @8 :UInt32;
-  gmlanSendErrs @9 :UInt32;
   pandaType @10 :PandaType;
   ignitionCan @13 :Bool;
   faultStatus @15 :FaultStatus;
@@ -484,7 +489,7 @@ struct PandaState @0xa7649e2575e4591e {
     interruptRateCan2 @3;
     interruptRateCan3 @4;
     interruptRateTach @5;
-    interruptRateGmlan @6;
+    interruptRateGmlanDEPRECATED @6;
     interruptRateInterrupts @7;
     interruptRateSpiDma @8;
     interruptRateSpiCs @9;
@@ -570,6 +575,7 @@ struct PandaState @0xa7649e2575e4591e {
   gasInterceptorDetectedDEPRECATED @4 :Bool;
   startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
+  gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
@@ -681,6 +687,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   active @36 :Bool;
 
   experimentalMode @64 :Bool;
+  personality @66 :LongitudinalPersonality;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vPid @2 :Float32;
@@ -1047,7 +1054,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   jerks @34 :List(Float32);
 
   solverExecutionTime @35 :Float32;
-  personality @36 :LongitudinalPersonality;
 
   enum LongitudinalPlanSource {
     cruise @0;
@@ -1085,6 +1091,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   eventsDEPRECATED @13 :List(Car.CarEvent);
   gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
   gpsPlannerActiveDEPRECATED @19 :Bool;
+  personalityDEPRECATED @36 :LongitudinalPersonality;
 
   struct GpsTrajectory {
     x @0 :List(Float32);
@@ -2250,6 +2257,7 @@ struct Event {
     liveCalibration @19 :LiveCalibrationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
+    carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;

cereal/services.py

@@ -46,6 +46,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),

common/file_helpers.py

@@ -1,7 +1,6 @@
 import os
 import tempfile
 import contextlib
-from typing import Optional
 
 
 class CallbackReader:
@@ -24,7 +23,7 @@ def read(self, *args, **kwargs):
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None,
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
                         overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)