merge changes

SConstruct

@@ -75,7 +75,7 @@ lenv = {
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
@@ -112,6 +112,9 @@ else:
 
   # MacOS
   if arch == "Darwin":
+    if real_arch == "x86_64":
+      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
+
     brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
@@ -120,9 +123,13 @@ else:
       f"{brew_prefix}/Library",
       f"{brew_prefix}/opt/openssl/lib",
       f"{brew_prefix}/Cellar",
-      f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
+    if real_arch == "x86_64":
+      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
+    else:
+      libpath.append(f"#third_party/acados/{arch}/lib")
+
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [

cereal/car.capnp

@@ -370,8 +370,7 @@ struct CarControl {
       off @0;
       pid @1;
       stopping @2;
-
-      startingDEPRECATED @3;
+      starting @3;
     }
 
   }
@@ -449,6 +448,7 @@ struct CarParams {
   enableApgs @6 :Bool;       # advanced parking guidance system
   enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
@@ -458,14 +458,7 @@ struct CarParams {
 
   # Car docs fields
   maxLateralAccel @68 :Float32;
-  autoResumeSng @69 :Bool;  # describes whether car can resume from a stop automatically
-
-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
 
   # things about the car in the manual
   mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
@@ -494,11 +487,13 @@ struct CarParams {
   vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
   vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
   directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
   stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
@@ -522,18 +517,17 @@ struct CarParams {
     safetyParam2DEPRECATED @2 :UInt32;
   }
 
-  mdpsBus @70: Int8;
-  sasBus @71: Int8;
-  sccBus @72: Int8;
-  enableAutoHold @73 :Bool;
-  hasScc13 @74 :Bool;
-  hasScc14 @75 :Bool;
-  hasEms @76 :Bool;
-  hasLfaHda @77 :Bool;
-  steerFaultMaxAngle @78 :Int16;
-  steerFaultMaxFrames @79 :Int16;
-
-  disableLateralLiveTuning @80 :Bool;
+  mdpsBus @72: Int8;
+  sasBus @73: Int8;
+  sccBus @74: Int8;
+  enableAutoHold @75 :Bool;
+  hasScc13 @76 :Bool;
+  hasScc14 @77 :Bool;
+  hasEms @78 :Bool;
+  hasLfaHda @79 :Bool;
+  steerFaultMaxAngle @80 :Int16;
+  steerFaultMaxFrames @81 :Int16;
+  disableLateralLiveTuning @82 :Bool;
 
   struct LateralParams {
     torqueBP @0 :List(Int32);
@@ -658,7 +652,7 @@ struct CarParams {
 
   enum Ecu {
     eps @0;
-    esp @1;
+    abs @1;
     fwdRadar @2;
     fwdCamera @3;
     engine @4;
@@ -704,7 +698,12 @@ struct CarParams {
   safetyModelDEPRECATED @9 :SafetyModel;
   safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
   minSpeedCanDEPRECATED @51 :Float32;
-  startAccelDEPRECATED @32 :Float32;
   communityFeatureDEPRECATED @46: Bool;
   startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
 }

cereal/log.capnp

@@ -1901,15 +1901,10 @@ struct RoadLimitSpeed {
     camLimitSpeed @5 :Int16;
     sectionLimitSpeed @6 :Int16;
     sectionLeftDist @7 :Int16;
-    camSpeedFactor @8 :Float32;
-    restArea @9 :List(RestArea);
-
-    struct RestArea {
-      image @0 :Text;
-      title @1 :Text;
-      oilPrice @2 :Text;
-      distance @3 :Text;
-    }
+    sectionAvgSpeed @8 :Int16;
+    sectionLeftTime @9 :Int16;
+    sectionAdjustSpeed @10 :Bool;
+    camSpeedFactor @11 :Float32;
 }
 
 struct Event {

common/params.cc

@@ -93,6 +93,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarBatteryCapacity", PERSISTENT},
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsPersistent", PERSISTENT},
     {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
@@ -101,8 +102,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"EndToEndLong", PERSISTENT},
-    {"DisableRadar_Allow", PERSISTENT},
-    {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
+    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
     {"DongleId", PERSISTENT},