Merge branch 'upstream/openpilot/master' into sync-20240220

# Conflicts:
#	cereal
#	common/version.h
#	selfdrive/controls/controlsd.py
#	selfdrive/thermald/power_monitoring.py

RELEASES.md

@@ -1,4 +1,8 @@
-Version 0.9.6 (2024-02-22)
+Version 0.9.7 (2024-XX-XX)
+========================
+* New driving model
+
+Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
   * Vision model trained on more data

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.6.0"
+#define COMMA_VERSION "0.9.6.1"

launch_chffrplus.sh

@@ -15,6 +15,11 @@ function agnos_init {
   # set success flag for current boot slot
   sudo abctl --set_success
 
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"

selfdrive/athena/athenad.py

@@ -206,13 +206,17 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
         break
 
 
-def cb(sm, item, tid, sz: int, cur: int) -> None:
+def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   # Abort transfer if connection changed to metered after starting upload
+  # or if athenad is shutting down to re-connect the websocket
   sm.update(0)
   metered = sm['deviceState'].networkMetered
   if metered and (not item.allow_cellular):
     raise AbortTransferException
 
+  if end_event.is_set():
+    raise AbortTransferException
+
   cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
@@ -252,7 +256,7 @@ def upload_handler(end_event: threading.Event) -> None:
           sz = -1
 
         cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
-        response = _do_upload(item, partial(cb, sm, item, tid))
+        response = _do_upload(item, partial(cb, sm, item, tid, end_event))
 
         if response.status_code not in (200, 201, 401, 403, 412):
           cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
@@ -746,6 +750,9 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
       onroad_prev = onroad
 
       if sock is not None:
+        # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
+        #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
+        # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)

selfdrive/athena/tests/test_athenad.py

@@ -233,6 +233,7 @@ def test_upload_handler(self, host):
     time.sleep(0.1)
 
     # TODO: verify that upload actually succeeded
+    # TODO: also check that end_event and metered network raises AbortTransferException
     self.assertEqual(athenad.upload_queue.qsize(), 0)
 
   @parameterized.expand([(500, True), (412, False)])

selfdrive/athena/tests/test_athenad_ping.py

@@ -12,6 +12,8 @@
 from openpilot.selfdrive.manager.helpers import write_onroad_params
 from openpilot.system.hardware import TICI
 
+TIMEOUT_TOLERANCE = 20  # seconds
+
 
 def wifi_radio(on: bool) -> None:
   if not TICI:
@@ -55,15 +57,15 @@ def tearDown(self) -> None:
       self.exit_event.set()
       self.athenad.join()
 
-  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True)
+  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', new_callable=lambda: mock.MagicMock(wraps=athenad.create_connection))
   def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None:
     self.athenad.start()
 
     time.sleep(1)
     mock_create_connection.assert_called_once()
     mock_create_connection.reset_mock()
 
-    # check normal behaviour
+    # check normal behaviour, server pings on connection
     with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
       while not self._received_ping():
         time.sleep(0.1)
@@ -92,12 +94,12 @@ def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.Magi
   @unittest.skipIf(not TICI, "only run on desk")
   def test_offroad(self) -> None:
     write_onroad_params(False, self.params)
-    self.assertTimeout(100)  # expect approx 90s
+    self.assertTimeout(60 + TIMEOUT_TOLERANCE)  # based using TCP keepalive settings
 
   @unittest.skipIf(not TICI, "only run on desk")
   def test_onroad(self) -> None:
     write_onroad_params(True, self.params)
-    self.assertTimeout(30)  # expect 20-30s
+    self.assertTimeout(21 + TIMEOUT_TOLERANCE)
 
 
 if __name__ == "__main__":

selfdrive/boardd/pandad.py

@@ -93,6 +93,11 @@ def main() -> NoReturn:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 25.:
+        no_internal_panda_count = 0
+
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:

selfdrive/car/__init__.py

@@ -1,11 +1,14 @@
 # functions common among cars
 from collections import namedtuple
-from typing import Dict, List, Optional
+from dataclasses import dataclass
+from enum import ReprEnum
+from typing import Dict, List, Optional, Union
 
 import capnp
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -73,7 +76,9 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
   return tire_stiffness_front, tire_stiffness_rear
 
 
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, str]:
+DbcDict = Dict[str, str]
+
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
@@ -236,3 +241,33 @@ def update(self, current_value, current_counter):
     self.previous_value = current_value
 
     return self.rate
+
+
+CarInfos = Union[CarInfo, List[CarInfo]]
+
+@dataclass(order=True)
+class PlatformConfig:
+  platform_str: str
+  car_info: CarInfos
+  dbc_dict: DbcDict
+
+  def __hash__(self) -> int:
+    return hash(self.platform_str)
+
+
+class Platforms(str, ReprEnum):
+  config: PlatformConfig
+
+  def __new__(cls, platform_config: PlatformConfig):
+    member = str.__new__(cls, platform_config.platform_str)
+    member.config = platform_config
+    member._value_ = platform_config.platform_str
+    return member
+
+  @classmethod
+  def create_dbc_map(cls) -> Dict[str, DbcDict]:
+    return {p.config.platform_str: p.config.dbc_dict for p in cls}
+
+  @classmethod
+  def create_carinfo_map(cls) -> Dict[str, CarInfos]:
+    return {p.config.platform_str: p.config.car_info for p in cls}

selfdrive/car/body/values.py

@@ -1,8 +1,5 @@
-from enum import StrEnum
-from typing import Dict
-
 from cereal import car
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -22,13 +19,12 @@ def __init__(self, CP):
     pass
 
 
-class CAR(StrEnum):
-  BODY = "COMMA BODY"
-
-
-CAR_INFO: Dict[str, CarInfo] = {
-  CAR.BODY: CarInfo("comma body", package="All"),
-}
+class CAR(Platforms):
+  BODY = PlatformConfig(
+    "COMMA BODY",
+    CarInfo("comma body", package="All"),
+    dbc_dict('comma_body', None),
+  )
 
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -41,7 +37,5 @@ class CAR(StrEnum):
   ],
 )
 
-
-DBC = {
-  CAR.BODY: dbc_dict('comma_body', None),
-}
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()

selfdrive/car/chrysler/fingerprints.py

@@ -401,6 +401,7 @@
       b'68527383AD',
       b'68527387AE',
       b'68527403AC',
+      b'68546047AF',
       b'68631938AA',
       b'68631942AA',
     ],

selfdrive/car/ford/values.py

@@ -111,6 +111,11 @@ def init_make(self, CP: car.CarParams):
   requests=[
     # CAN and CAN FD queries are combined.
     # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      logging=True,
+    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],

selfdrive/car/subaru/fingerprints.py

@@ -509,17 +509,20 @@
     (Ecu.fwdCamera, 0x787, None): [
       b'\x04!\x01\x1eD\x07!\x00\x04,',
       b'\x04!\x08\x01.\x07!\x08\x022',
+      b'\r!\x08\x017\n!\x08\x003',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xd5"`0\x07',
       b'\xd5"a0\x07',
       b'\xf1"`q\x07',
       b'\xf1"aq\x07',
+      b'\xfa"ap\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1d\x86B0\x00',
       b'\x1d\xf6B0\x00',
       b'\x1e\x86B0\x00',
+      b'\x1e\x86F0\x00',
       b'\x1e\xf6D0\x00',
     ],
   },

selfdrive/car/subaru/values.py

@@ -135,7 +135,7 @@ def init_make(self, CP: car.CarParams):
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
   CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
-  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
   CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
   CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,13 +263,13 @@ def fake_get_ecu_addrs(*_, timeout):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 5.95, 2: 6.85}
+    total_ref_time = {1: 6.05, 2: 6.95}
     brand_ref_times = {
       1: {
         'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.1,
+        'ford': 0.2,
         'honda': 0.55,
         'hyundai': 1.05,
         'mazda': 0.1,
@@ -280,7 +280,7 @@ def test_fw_query_timing(self):
         'volkswagen': 0.2,
       },
       2: {
-        'ford': 0.2,
+        'ford': 0.3,
         'hyundai': 1.85,
       }
     }

selfdrive/car/volkswagen/fingerprints.py

@@ -1043,6 +1043,7 @@
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655AK\xf1\x890306\xf1\x82\r31210031210021033733310331',
       b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
       b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
@@ -1062,6 +1063,7 @@
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',
       b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',