Merge remote-tracking branch 'origin/master' into master3

.github/workflows/selfdrive_tests.yaml

@@ -86,6 +86,23 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        SKIP_PROMPT: 1
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - name: Test openpilot environment
+      run: poetry run scons -h
 
   static_analysis:
     name: static analysis

.gitignore

@@ -43,6 +43,7 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
+cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd

cereal/messaging/messaging.h

@@ -5,20 +5,13 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <time.h>
 
 #include <capnp/serialize.h>
 
 #include "cereal/gen/cpp/log.capnp.h"
+#include "common/timing.h"
 #include "msgq/ipc.h"
 
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-
 class SubMaster {
 public:
   SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
@@ -53,10 +46,7 @@ class MessageBuilder : public capnp::MallocMessageBuilder {
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
+    event.setLogMonoTime(nanos_since_boot());
     event.setValid(valid);
     return event;
   }

cereal/messaging/socketmaster.cc

@@ -1,4 +1,3 @@
-#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
@@ -7,15 +6,8 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"
 
-
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
-static inline uint64_t nanos_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000000000ULL + t.tv_nsec;
-}
-
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;

selfdrive/car/gm/interface.py

@@ -53,7 +53,12 @@ def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs,
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
-      return 1 / (1 + exp(-val)) - 0.5
+      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
+      if val >= 0:
+        return 1 / (1 + exp(-val)) - 0.5
+      else:
+        z = exp(val)
+        return z / (1 + z) - 0.5
 
     # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)

selfdrive/car/hyundai/fingerprints.py

@@ -1001,6 +1001,7 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
     ],
   },
   CAR.HYUNDAI_IONIQ_6: {

selfdrive/controls/lib/longitudinal_planner.py

@@ -195,15 +195,11 @@ def publish(self, sm, pm):
 
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
-
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
     longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
 
-    longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = True
-
     longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
     longitudinalPlan.jerks = self.j_desired_trajectory.tolist()

selfdrive/ui/SConscript

@@ -120,10 +120,6 @@ if GetOption('extras') and arch != "Darwin":
     if "internal" in name:
       d['INTERNAL'] = "1"
 
-      import requests
-      r = requests.get("https://github.com/commaci2.keys")
-      r.raise_for_status()
-      d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
     f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small

selfdrive/ui/installer/installer.cc

@@ -180,10 +180,12 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
 
+  // https://github.com/commaci2.keys
+  const std::string ssh_keys = "ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIMX2kU8eBZyEWmbq0tjMPxksWWVuIV/5l64GabcYbdpI";
   std::map<std::string, std::string> params = {
     {"SshEnabled", "1"},
     {"RecordFrontLock", "1"},
-    {"GithubSshKeys", SSH_KEYS},
+    {"GithubSshKeys", ssh_keys},
   };
   for (const auto& [key, value] : params) {
     std::ofstream param;

tools/lib/logreader.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import bz2
-from functools import partial
+from functools import cache, partial
 import multiprocessing
 import capnp
 import enum
@@ -87,18 +87,21 @@ class ReadMode(enum.StrEnum):
 
 InternalUnavailableException = Exception("Internal source not available")
 
+
+@cache
 def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
 
 def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool, valid_file: ValidFileCallable) -> LogPaths:
   # auto select logs based on availability
-  if any(rlog is None or not valid_file(rlog) for rlog in rlog_paths) and all(qlog is not None and valid_file(qlog) for qlog in qlog_paths):
+  missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
+  if missing_rlogs != 0:
     if interactive:
-      if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
+      if input(f"{missing_rlogs} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
         return rlog_paths
     else:
-      cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...")
+      cloudlog.warning(f"{missing_rlogs} rlogs were not found, falling back to qlogs for those segments...")
 
     return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
             for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]