dragonpilot beta3

date: 2023-08-14T18:35:32
commit: 90b4f6596bf852f4add5a8faa7581aabb57e4ba4

body/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[8] = "56e43cbd";
+const uint8_t gitversion[8] = "d9f36a6a";

cereal/messaging/__init__.py

@@ -1,6 +1,7 @@
 # must be built with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event  # pylint: disable=no-name-in-module, import-error
-from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from .messaging_pyx import MultiplePublishersError, MessagingError
 
 import os
 import capnp

cereal/messaging/messaging.h

@@ -116,6 +116,18 @@ public:
     return heapArray_.asBytes();
   }
 
+  size_t getSerializedSize() {
+    return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
+  }
+
+  int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
+    size_t serialized_size = getSerializedSize();
+    if (serialized_size > buffer_size) { return -1; }
+    kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
+    capnp::writeMessage(out, *this);
+    return serialized_size;
+  }
+
 private:
   kj::Array<capnp::word> heapArray_;
 };

cereal/visionipc/__init__.py

@@ -1,4 +1,4 @@
-from cereal.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name  # pylint: disable=no-name-in-module, import-error
+from cereal.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name
 assert VisionBuf
 assert VisionIpcClient
 assert VisionIpcServer

laika/astro_dog.py

@@ -40,7 +40,7 @@ class AstroDog:
     for const in valid_const:
       if not isinstance(const, ConstellationId):
         raise TypeError(f"valid_const must be a list of ConstellationId, got {const}")
-  
+
     self.auto_update = auto_update
     self.cache_dir = cache_dir
     self.clear_old_ephemeris = clear_old_ephemeris

laika/downloader.py

@@ -185,7 +185,7 @@ def https_download_file(url):
   crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1')
   crl.setopt(crl.COOKIEJAR, '/tmp/cddis_cookies')
   crl.setopt(pycurl.CONNECTTIMEOUT, 10)
-  
+
   buf = BytesIO()
   crl.setopt(crl.WRITEDATA, buf)
   crl.perform()

laika/ephemeris.py

@@ -455,7 +455,7 @@ def parse_rinex_nav_msg_glonass(file_name):
     e['n4'], e['nt'], toe_seconds = epoch.as_glonass()
     tb = toe_seconds / (15 * SECS_IN_MIN)
 
-  
+
     e['tb'] = tb
 
     e['tauN'] = -float(line[23:42])
@@ -465,12 +465,12 @@ def parse_rinex_nav_msg_glonass(file_name):
     e['x'], e['xVel'], e['xAccel'], e['svHealth'] = read4(f, rinex_ver)
     e['y'], e['yVel'], e['yAccel'], e['freqNum'] = read4(f, rinex_ver)
     e['z'], e['zVel'], e['zAccel'], e['age'] = read4(f, rinex_ver)
-    
+
     # TODO unclear why glonass sometimes has nav messages 3s after correct one
     if abs(tb - int(tb)) > 1e-3:
       continue
 
-    
+
     data_struct = ephemeris_structs.GlonassEphemeris.new_message(**e)
     ephem = GLONASSEphemeris(data_struct, file_name=file_name)
 

laika/raw_gnss.py

@@ -53,8 +53,8 @@ class GNSSMeasurement:
   SAT_POS = slice(8, 11)
   SAT_VEL = slice(11, 14)
 
-  def __init__(self, constellation_id: ConstellationId, sv_id: int, recv_time_week: int, recv_time_sec: float, observables: Dict[str, float], observables_std: Dict[str, float],
-               glonass_freq: Union[int, float, None] = None):
+  def __init__(self, constellation_id: ConstellationId, sv_id: int, recv_time_week: int, recv_time_sec: float, observables: Dict[str, float],
+               observables_std: Dict[str, float], glonass_freq: Union[int, float, None] = None):
     # Metadata
     # prn: unique satellite id
     self.prn = "%s%02d" % (constellation_id.to_rinex_char(), sv_id)  # satellite ID in rinex convention
@@ -201,7 +201,8 @@ def read_raw_qcom(report):
   # logging.debug(recv_time, report.source, time_bias_ms, dr)
   measurements = []
   for i in report.sv:
-    nmea_id = i.svId  # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given
+    # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given
+    nmea_id = i.svId
     if nmea_id == 255:
       # TODO nmea_id is not valid. Fix publisher
       continue

opendbc/toyota_new_mc_pt_generated.dbc

@@ -253,6 +253,7 @@ BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM
  SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX
 
 BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -260,7 +261,7 @@ BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 BO_ 1020 SOLAR_SENSOR: 8 XXX
  SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
-BO_ 1041 ACC_HUD: 8 DSU
+BO_ 1041 PCS_HUD: 8 DSU
  SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -432,7 +433,7 @@ BO_ 1880 DEBUG: 8 XXX
  SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
 
 CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 36 ACCEL_X "x-axis accel";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
@@ -447,7 +448,7 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
@@ -535,6 +536,7 @@ VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
 VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
 VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
 VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";
+VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close";
 VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
 VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";

opendbc/toyota_nodsu_pt_generated.dbc

@@ -253,6 +253,7 @@ BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM
  SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX
 
 BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -260,7 +261,7 @@ BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 BO_ 1020 SOLAR_SENSOR: 8 XXX
  SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
-BO_ 1041 ACC_HUD: 8 DSU
+BO_ 1041 PCS_HUD: 8 DSU
  SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -432,7 +433,7 @@ BO_ 1880 DEBUG: 8 XXX
  SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
 
 CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 36 ACCEL_X "x-axis accel";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
@@ -447,7 +448,7 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
@@ -535,6 +536,7 @@ VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
 VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
 VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
 VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";
+VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close";
 VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
 VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";

opendbc/toyota_tnga_k_pt_generated.dbc

@@ -253,6 +253,7 @@ BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM
  SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX
 
 BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX
  SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
  SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
  SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
@@ -260,7 +261,7 @@ BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 BO_ 1020 SOLAR_SENSOR: 8 XXX
  SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
 
-BO_ 1041 ACC_HUD: 8 DSU
+BO_ 1041 PCS_HUD: 8 DSU
  SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -432,7 +433,7 @@ BO_ 1880 DEBUG: 8 XXX
  SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
 
 CM_ SG_ 36 YAW_RATE "verify";
-CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 36 ACCEL_X "x-axis accel";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
@@ -447,7 +448,7 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
@@ -535,6 +536,7 @@ VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
 VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
 VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
 VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";
+VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close";
 VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
 VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity"  128 "mid sensitivity" 192 "low sensitivity" 0 "off";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";

panda/python/__init__.py

@@ -7,7 +7,6 @@ import struct
 import hashlib
 import binascii
 import datetime
-import warnings
 import logging
 from functools import wraps
 from typing import Optional
@@ -425,10 +424,10 @@ class Panda:
           if device.getVendorID() == 0xbbaa and device.getProductID() in cls.USB_PIDS:
             try:
               serial = device.getSerialNumber()
-              if len(serial) == 24:
+              if len(serial) == 24 or serial == "pedal":
                 ret.append(serial)
               else:
-                warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
+                logging.warning(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
             except Exception:
               continue
     except Exception:
@@ -474,11 +473,7 @@ class Panda:
         success = True
         break
       except Exception:
-        try:
-          dfu = PandaDFU(self.get_dfu_serial())
-          dfu.recover()
-        except Exception:
-          pass
+        pass
       time.sleep(0.1)
     if not success:
       raise Exception("reconnect failed")
@@ -772,13 +767,6 @@ class Panda:
   def enable_deepsleep(self):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xfb, 0, 0, b'')
 
-  def set_esp_power(self, on):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'')
-
-  def esp_reset(self, bootmode=0):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
-    time.sleep(0.2)
-
   def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
 

panda/python/isotp.py

@@ -6,10 +6,8 @@ DEBUG = False
 def msg(x):
   if DEBUG:
     print("S:", binascii.hexlify(x))
-  if len(x) <= 7:
-    ret = bytes([len(x)]) + x
-  else:
-    assert False
+  assert len(x) <= 7
+  ret = bytes([len(x)]) + x
   return ret.ljust(8, b"\x00")
 
 kmsgs = []
@@ -56,7 +54,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
     dat = msg[2:]
   else:
     print(binascii.hexlify(msg))
-    assert False
+    raise AssertionError
 
   return dat[0:tlen]
 
@@ -133,7 +131,7 @@ def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
       tlen = msg[0] & 0xf
       dat = msg[1:]
     else:
-      assert False
+      raise AssertionError
     dat = dat[0:tlen]
 
   if DEBUG:

panda/python/spi.py

@@ -314,7 +314,7 @@ class STBootloaderSPIHandle(BaseSTBootloaderHandle):
 
       self._mcu_type = MCU_TYPE_BY_IDCODE[self.get_chip_id()]
     except PandaSpiException:
-      raise PandaSpiException("failed to connect to panda")  # pylint: disable=W0707
+      raise PandaSpiException("failed to connect to panda") from None
 
   def _get_ack(self, spi, timeout=1.0):
     data = 0x00