version: dragonpilot development version for EON/C2

date: 2024-02-28T16:32:56
commit: af29cad3e29308622bbbcec7445c15e5433961ec

CHANGELOGS-D2.md

@@ -1,3 +1,11 @@
+2024-02-27
+========================
+* Fixed door lock/unlock for Toyotas.
+* otisserv and fileserv only for offroad.
+* Enabling otisserv for offroad status and snapshot.
+* Toyota: improve longitudinal control (https://github.com/commaai/openpilot/pull/30697)
+* Updated manager/ modules
+
 2024-02-26
 ========================
 * applied transform patch. (https://github.com/commaai/openpilot/pull/31495)

common/swaglog.py

@@ -0,0 +1,138 @@
+'''
+rick:
+this file is identical to system/swaglog.py, put a copy here to reduce code changes when updating from op master branch.
+'''
+import logging
+import os
+import time
+import warnings
+from pathlib import Path
+from logging.handlers import BaseRotatingHandler
+
+import zmq
+
+from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
+from openpilot.system.hardware import PC
+
+if PC:
+  SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
+else:
+  SWAGLOG_DIR = "/data/log/"
+
+def get_file_handler():
+  Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True)
+  base_filename = os.path.join(SWAGLOG_DIR, "swaglog")
+  handler = SwaglogRotatingFileHandler(base_filename)
+  return handler
+
+class SwaglogRotatingFileHandler(BaseRotatingHandler):
+  def __init__(self, base_filename, interval=60, max_bytes=1024*256, backup_count=2500, encoding=None):
+    super().__init__(base_filename, mode="a", encoding=encoding, delay=True)
+    self.base_filename = base_filename
+    self.interval = interval # seconds
+    self.max_bytes = max_bytes
+    self.backup_count = backup_count
+    self.log_files = self.get_existing_logfiles()
+    log_indexes = [f.split(".")[-1] for f in self.log_files]
+    self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
+    self.last_rollover = None
+    self.doRollover()
+
+  def _open(self):
+    self.last_rollover = time.monotonic()
+    self.last_file_idx += 1
+    next_filename = f"{self.base_filename}.{self.last_file_idx:010}"
+    stream = open(next_filename, self.mode, encoding=self.encoding)
+    self.log_files.insert(0, next_filename)
+    return stream
+
+  def get_existing_logfiles(self):
+    log_files = list()
+    base_dir = os.path.dirname(self.base_filename)
+    for fn in os.listdir(base_dir):
+      fp = os.path.join(base_dir, fn)
+      if fp.startswith(self.base_filename) and os.path.isfile(fp):
+        log_files.append(fp)
+    return sorted(log_files)
+
+  def shouldRollover(self, record):
+    size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes
+    time_exceeded = self.interval > 0 and self.last_rollover + self.interval <= time.monotonic()
+    return size_exceeded or time_exceeded
+
+  def doRollover(self):
+    if self.stream:
+      self.stream.close()
+    self.stream = self._open()
+
+    if self.backup_count > 0:
+      while len(self.log_files) > self.backup_count:
+        to_delete = self.log_files.pop()
+        if os.path.exists(to_delete): # just being safe, should always exist
+          os.remove(to_delete)
+
+class UnixDomainSocketHandler(logging.Handler):
+  def __init__(self, formatter):
+    logging.Handler.__init__(self)
+    self.setFormatter(formatter)
+    self.pid = None
+
+    self.zctx = None
+    self.sock = None
+
+  def __del__(self):
+    if self.sock is not None:
+      self.sock.close()
+    if self.zctx is not None:
+      self.zctx.term()
+
+  def connect(self):
+    self.zctx = zmq.Context()
+    self.sock = self.zctx.socket(zmq.PUSH)
+    self.sock.setsockopt(zmq.LINGER, 10)
+    self.sock.connect("ipc:///tmp/logmessage")
+    self.pid = os.getpid()
+
+  def emit(self, record):
+    if os.getpid() != self.pid:
+      # TODO suppresses warning about forking proc with zmq socket, fix root cause
+      warnings.filterwarnings("ignore", category=ResourceWarning, message="unclosed.*<zmq.*>")
+      self.connect()
+
+    msg = self.format(record).rstrip('\n')
+    # print("SEND".format(repr(msg)))
+    try:
+      s = chr(record.levelno)+msg
+      self.sock.send(s.encode('utf8'), zmq.NOBLOCK)
+    except zmq.error.Again:
+      # drop :/
+      pass
+
+
+def add_file_handler(log):
+  """
+  Function to add the file log handler to swaglog.
+  This can be used to store logs when logmessaged is not running.
+  """
+  handler = get_file_handler()
+  handler.setFormatter(SwagLogFileFormatter(log))
+  log.addHandler(handler)
+
+
+cloudlog = log = SwagLogger()
+log.setLevel(logging.DEBUG)
+
+
+outhandler = logging.StreamHandler()
+
+print_level = os.environ.get('LOGPRINT', 'warning')
+if print_level == 'debug':
+  outhandler.setLevel(logging.DEBUG)
+elif print_level == 'info':
+  outhandler.setLevel(logging.INFO)
+elif print_level == 'warning':
+  outhandler.setLevel(logging.WARNING)
+
+log.addHandler(outhandler)
+# logs are sent through IPC before writing to disk to prevent disk I/O blocking
+log.addHandler(UnixDomainSocketHandler(SwagFormatter(log)))

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "2024.02.26"
+#define COMMA_VERSION "2024.02.28"

selfdrive/car/toyota/carcontroller.py

@@ -12,6 +12,7 @@ from openpilot.common.params import Params
 
 SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+LongCtrlState = car.CarControl.Actuators.LongControlState
 
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
@@ -26,6 +27,12 @@ MAX_USER_TORQUE = 500
 MAX_LTA_ANGLE = 94.9461  # deg
 MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes
 
+# PCM compensatory force calculation threshold
+# a variation in accel command is more pronounced at higher speeds, let compensatory forces ramp to zero before
+# applying when speed is high
+COMPENSATORY_CALCULATION_THRESHOLD_V = [-0.3, -0.25, 0.]  # m/s^2
+COMPENSATORY_CALCULATION_THRESHOLD_BP = [0., 11., 23.]  # m/s
+
 # rick - toyota auto lock / unlock
 GearShifter = car.CarState.GearShifter
 UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00'
@@ -59,6 +66,7 @@ class CarController:
     self.last_standstill = False
     self.standstill_req = False
     self.steer_rate_counter = 0
+    self.prohibit_neg_calculation = True
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -89,6 +97,7 @@ class CarController:
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
+    stopping = actuators.longControlState == LongCtrlState.stopping
 
     # *** control msgs ***
     can_sends = []
@@ -211,7 +220,28 @@ class CarController:
       interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
     else:
       interceptor_gas_cmd = 0.
-    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+
+    # prohibit negative compensatory calculations when first activating long after accelerator depression or engagement
+    if not CC.longActive:
+      self.prohibit_neg_calculation = True
+    comp_thresh = interp(CS.out.vEgo, COMPENSATORY_CALCULATION_THRESHOLD_BP, COMPENSATORY_CALCULATION_THRESHOLD_V)
+    # don't reset until a reasonable compensatory value is reached
+    if CS.pcm_neutral_force > comp_thresh * self.CP.mass:
+      self.prohibit_neg_calculation = False
+    # NO_STOP_TIMER_CAR will creep if compensation is applied when stopping or stopped, don't compensate when stopped or stopping
+    should_compensate = True
+    if (self.CP.carFingerprint in NO_STOP_TIMER_CAR and actuators.accel < 1e-3 or stopping) or CS.out.vEgo < 1e-3:
+      should_compensate = False
+    # limit minimum to only positive until first positive is reached after engagement, don't calculate when long isn't active
+    if CC.longActive and should_compensate and not self.prohibit_neg_calculation:
+      accel_offset = CS.pcm_neutral_force / self.CP.mass
+    else:
+      accel_offset = 0.
+    # only calculate pcm_accel_cmd when long is active to prevent disengagement from accelerator depression
+    if CC.longActive:
+      pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+    else:
+      pcm_accel_cmd = 0.
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
@@ -236,15 +266,18 @@ class CarController:
     # we can spam can to cancel the system even if we are using lat only control
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
+      # when stopping, send -2.5 raw acceleration immediately to prevent vehicle from creeping, else send actuators.accel
+      accel_raw = -2.5 if stopping else actuators.accel
 
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, accel_raw, pcm_cancel_cmd,
+                                                        self.standstill_req, lead, CS.acc_type, fcw_alert))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
@@ -259,7 +292,7 @@ class CarController:
       # - there is something to stop displaying
       send_ui = False
       if ((fcw_alert or steer_alert) and not self.alert_active) or \
-         (not (fcw_alert or steer_alert) and self.alert_active):
+        (not (fcw_alert or steer_alert) and self.alert_active):
         send_ui = True
         self.alert_active = not self.alert_active
       elif pcm_cancel_cmd:

selfdrive/car/toyota/carstate.py

@@ -200,6 +200,7 @@ class CarState(CarStateBase):
       ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
     ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
+    self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0

selfdrive/car/toyota/interface.py

@@ -259,23 +259,21 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
 
+    # on stock Toyota this is -2.5
+    ret.stopAccel = -2.5
+
     tune = ret.longitudinalTuning
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
-    if candidate in TSS2_CAR or ret.enableGasInterceptor:
-      tune.kpBP = [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7]
-      tune.kiBP = [0., 5., 12., 20., 27.]
-      tune.kiV = [.35, .23, .20, .17, .1]
-      if candidate in TSS2_CAR:
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
-    else:
-      tune.kpBP = [0., 5., 35.]
-      tune.kiBP = [0., 35.]
-      tune.kpV = [3.6, 2.4, 1.5]
-      tune.kiV = [0.54, 0.36]
+    tune.deadzoneBP = [0., 16., 20., 30.]
+    tune.deadzoneV = [.04, .05, .08, .15]
+    ret.stoppingDecelRate = 0.17  # This is okay for TSS-P
+    if candidate in TSS2_CAR:
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stoppingDecelRate = 0.009  # reach stopping target smoothly
+    tune.kpBP = [0., 5.]
+    tune.kpV = [0.8, 1.]
+    tune.kiBP = [0., 5.]
+    tune.kiV = [0.3, 1.]
 
     return ret
 

selfdrive/car/toyota/toyotacan.py

@@ -33,10 +33,10 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
+def create_accel_command(packer, accel, accel_raw, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
-    "ACCEL_CMD": accel,
+    "ACCEL_CMD": accel,  # compensated accel command
     "ACC_TYPE": acc_type,
     "DISTANCE": 0,
     "MINI_CAR": lead,
@@ -45,6 +45,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
     "CANCEL_REQ": pcm_cancel,
     "ALLOW_LONG_PRESS": 1,
     "ACC_CUT_IN": fcw_alert,  # only shown when ACC enabled
+    "ACCEL_CMD_ALT":  accel_raw,  # raw accel command, pcm uses this to calculate a compensatory force
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)
 

selfdrive/controls/controlsd.py

@@ -72,7 +72,7 @@ class Controls:
     self.dp_gps_ok_once = False
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
-    self.branch = get_short_branch("")
+    self.branch = get_short_branch()
 
     # Setup sockets
     self.pm = pm

selfdrive/controls/lib/dynamic_endtoend_controller.py

@@ -21,25 +21,25 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2024-02-26
+# Version = 2024-02-28
 from common.numpy_fast import interp
 
 # d-e2e, from modeldata.h
 TRAJECTORY_SIZE = 33
 
 LEAD_WINDOW_SIZE = 3
-LEAD_PROB = 0.6
+LEAD_PROB = 0.5
 
-SLOW_DOWN_WINDOW_SIZE = 5
-SLOW_DOWN_PROB = 0.6
+SLOW_DOWN_WINDOW_SIZE = 3
+SLOW_DOWN_PROB = 0.5
 SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55.]
 SLOW_DOWN_DIST = [10, 30., 50., 70., 80., 90., 120.]
 
-SLOWNESS_WINDOW_SIZE = 20
-SLOWNESS_PROB = 0.6
+SLOWNESS_WINDOW_SIZE = 10
+SLOWNESS_PROB = 0.5
 SLOWNESS_CRUISE_OFFSET = 1.05
 
-DANGEROUS_TTC_WINDOW_SIZE = 5
+DANGEROUS_TTC_WINDOW_SIZE = 3
 DANGEROUS_TTC = 2.0
 
 HIGHWAY_CRUISE_KPH = 70
@@ -49,7 +49,7 @@ STOP_AND_GO_FRAME = 60
 SET_MODE_TIMEOUT = 10
 
 MPC_FCW_WINDOW_SIZE = 10
-MPC_FCW_PROB = 0.6
+MPC_FCW_PROB = 0.5
 
 class SNG_State:
   off = 0
@@ -129,18 +129,18 @@ class DynamicEndtoEndController:
 
     # fcw detection
     self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB
+    self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() > MPC_FCW_PROB
 
     # nav enable detection
     self._has_nav_enabled = md.navEnabled
 
     # lead detection
     self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = self._lead_gmac.get_moving_average() >= LEAD_PROB
+    self._has_lead_filtered = self._lead_gmac.get_moving_average() > LEAD_PROB
 
     # slow down detection
     self._slow_down_gmac.add_data(len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST))
-    self._has_slow_down = self._slow_down_gmac.get_moving_average() >= SLOW_DOWN_PROB
+    self._has_slow_down = self._slow_down_gmac.get_moving_average() > SLOW_DOWN_PROB
 
     # blinker detection
     self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
@@ -162,7 +162,7 @@ class DynamicEndtoEndController:
     # slowness detection
     if not self._has_standstill:
       self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET))
-      self._has_slowness = self._slowness_gmac.get_moving_average() >= SLOWNESS_PROB
+      self._has_slowness = self._slowness_gmac.get_moving_average() > SLOWNESS_PROB
 
     # dangerous TTC detection
     if not self._has_lead_filtered and self._has_lead_filtered_prev:
@@ -180,23 +180,23 @@ class DynamicEndtoEndController:
     self._has_lead_filtered_prev = self._has_lead_filtered
     self._frame += 1
 
-  def _blended_priority_mode(self):
+  def _radarless_mode(self):
     # when mpc fcw crash prob is high
     # use blended to slow down quickly
     if self._has_mpc_fcw:
       self._set_mode('blended')
       return
 
-    # when blinker is on and speed is driving below highway cruise speed: blended
-    # we dont want it to switch mode at higher speed, blended may trigger hard brake
-    if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
-      self._set_mode('blended')
-      return
+    # # when blinker is on and speed is driving below highway cruise speed: blended
+    # # we dont want it to switch mode at higher speed, blended may trigger hard brake
+    # if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
+    #   self._set_mode('blended')
+    #   return
 
     # when at highway cruise and SNG: blended
     # ensuring blended mode is used because acc is bad at catching SNG lead car
     # especially those who accel very fast and then brake very hard.
-    if self._sng_state == SNG_State.going and self._v_cruise_kph < HIGHWAY_CRUISE_KPH:
+    if self._sng_state == SNG_State.going and self._v_cruise_kph >= HIGHWAY_CRUISE_KPH:
       self._set_mode('blended')
       return
 
@@ -225,7 +225,7 @@ class DynamicEndtoEndController:
 
     self._set_mode('blended')
 
-  def _acc_priority_mode(self):
+  def _radar_mode(self):
     # when mpc fcw crash prob is high
     # use blended to slow down quickly
     if self._has_mpc_fcw:
@@ -266,9 +266,9 @@ class DynamicEndtoEndController:
     if self._is_enabled:
       self._update(car_state, lead_one, md, controls_state)
       if radar_unavailable:
-        self._blended_priority_mode()
+        self._radarless_mode()
       else:
-        self._acc_priority_mode()
+        self._radar_mode()
 
     self._mode_prev = self._mode
     return self._mode

selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json

@@ -345,7 +345,7 @@
     },
     "json_file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json",
     "model": {
-        "con_h_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegpcaaaaaaaaaaaaaafaaaaaaabgpfngjgogegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpfngbgihchcaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaacbaaaaaamgfgbgegpfegbgoghgfgchpfggbgdgehpgchegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhchbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajggaaaaaaaegbaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaa",
+        "con_h_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegpcaaaaaaaaaaaaaafaaaaaaabgpfngjgogegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpfngbgihchcaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaacbaaaaaamgfgbgegpfegbgoghgfgchpfggbgdgehpgchegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhchbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachaaaaaaaaaaaagbaeegbaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaa",
         "con_h_expr_e": null,
         "con_phi_expr": null,
         "con_phi_expr_e": null,
@@ -368,9 +368,9 @@
         "cost_r_in_psi_expr": null,
         "cost_r_in_psi_expr_0": null,
         "cost_r_in_psi_expr_e": null,
-        "cost_y_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegkaaaaaaaaaaaaaaagaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhcheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajggaaaaaaaegbaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaachcaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegcaaaaaaaaaaaaaaachbbaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaagaaaaaaaahchfgghpfbgegpcaaaaaaaaaaaaaafaaaaaaakgpffghgpg",
-        "cost_y_expr_0": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegkaaaaaaaaaaaaaaagaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhcheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajggaaaaaaaegbaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaachcaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegcaaaaaaaaaaaaaaachbbaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaagaaaaaaaahchfgghpfbgegpcaaaaaaaaaaaaaafaaaaaaakgpffghgpg",
-        "cost_y_expr_e": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegjaaaaaaaaaaaaaaafaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhcheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajggaaaaaaaegbaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaachcaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegcaaaaaaaaaaaaaaachbbaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaagaaaaaaaahchfgghpfbg",
+        "cost_y_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegkaaaaaaaaaaaaaaagaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhcheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachaaaaaaaaaaaagbaeegbaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaachcaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegcaaaaaaaaaaaaaaachbbaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaagaaaaaaaahchfgghpfbgegpcaaaaaaaaaaaaaafaaaaaaakgpffghgpg",
+        "cost_y_expr_0": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegkaaaaaaaaaaaaaaagaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaagaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhcheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachaaaaaaaaaaaagbaeegbaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaachcaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegcaaaaaaaaaaaaaaachbbaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaagaaaaaaaahchfgghpfbgegpcaaaaaaaaaaaaaafaaaaaaakgpffghgpg",
+        "cost_y_expr_e": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegjaaaaaaaaaaaaaaafaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhcheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachaaaaaaaaaaaagbaeegbaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaachcaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegcaaaaaaaaaaaaaaachbbaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaagaaaaaaaahchfgghpfbg",
         "disc_dyn_expr": null,
         "dyn_disc_fun": null,
         "dyn_disc_fun_jac": null,

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -54,7 +54,7 @@ T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 6.0
+STOP_DISTANCE = 5.5
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
@@ -109,8 +109,8 @@ def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
   if np.all(v_lead - v_ego > 0):
     v_diff_offset = ((v_lead - v_ego) * 1.)
     v_diff_offset = np.clip(v_diff_offset, 0, STOP_DISTANCE / 2)
-    v_diff_offset = np.maximum(v_diff_offset * ((10 - v_ego)/10), 0)
-  distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset
+    v_diff_offset = np.maximum(v_diff_offset * ((10 - v_ego**2)/10), 0)
+  distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset * 1.2
   return distance
 
 def gen_long_model():

selfdrive/locationd/models/generated/car.h

@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_1964954299455970933);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_6003963640381126063);
-void car_H_mod_fun(double *state, double *out_1207008555950061675);
-void car_f_fun(double *state, double dt, double *out_2803172193991338453);
-void car_F_fun(double *state, double dt, double *out_4664417582021608014);
-void car_h_25(double *state, double *unused, double *out_8570962910733009665);
-void car_H_25(double *state, double *unused, double *out_1998904563998531603);
-void car_h_24(double *state, double *unused, double *out_2751191583816658395);
-void car_H_24(double *state, double *unused, double *out_6775987843813639291);
-void car_h_30(double *state, double *unused, double *out_4933513382478987315);
-void car_H_30(double *state, double *unused, double *out_1869565616855291533);
-void car_h_26(double *state, double *unused, double *out_2501630051949713498);
-void car_H_26(double *state, double *unused, double *out_1742598754875524621);
-void car_h_27(double *state, double *unused, double *out_8932271310074879516);
-void car_H_27(double *state, double *unused, double *out_305197694945133378);
-void car_h_29(double *state, double *unused, double *out_5877023235380649750);
-void car_H_29(double *state, double *unused, double *out_2379796961169683717);
-void car_h_28(double *state, double *unused, double *out_5895485258630546831);
-void car_H_28(double *state, double *unused, double *out_4343427232735009968);
-void car_h_31(double *state, double *unused, double *out_5381229435042917038);
-void car_H_31(double *state, double *unused, double *out_2029550525875492031);
+void car_err_fun(double *nom_x, double *delta_x, double *out_8989390406176655642);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_872949834645227037);
+void car_H_mod_fun(double *state, double *out_6190064514277074980);
+void car_f_fun(double *state, double dt, double *out_5737342647877877229);
+void car_F_fun(double *state, double dt, double *out_6498734987852944578);
+void car_h_25(double *state, double *unused, double *out_358371148521877751);
+void car_H_25(double *state, double *unused, double *out_3752758241963538269);
+void car_h_24(double *state, double *unused, double *out_4557978488111553664);
+void car_H_24(double *state, double *unused, double *out_993751085002970765);
+void car_h_30(double *state, double *unused, double *out_7522901502232171434);
+void car_H_30(double *state, double *unused, double *out_6271091200470786896);
+void car_h_26(double *state, double *unused, double *out_2521228234571325789);
+void car_H_26(double *state, double *unused, double *out_7057284211724338870);
+void car_h_27(double *state, double *unused, double *out_1301881001423540186);
+void car_H_27(double *state, double *unused, double *out_8494685271654730113);
+void car_h_29(double *state, double *unused, double *out_2895729189507225245);
+void car_H_29(double *state, double *unused, double *out_6781322544785179080);
+void car_h_28(double *state, double *unused, double *out_9068663034437199427);
+void car_H_28(double *state, double *unused, double *out_1698923527715648506);
+void car_h_31(double *state, double *unused, double *out_3995820676775900101);
+void car_H_31(double *state, double *unused, double *out_6431076109490987394);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);

selfdrive/locationd/models/generated/gnss.h

@@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void gnss_err_fun(double *nom_x, double *delta_x, double *out_8519908807701444381);
-void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7494726988393394594);
-void gnss_H_mod_fun(double *state, double *out_6213794081998936506);
-void gnss_f_fun(double *state, double dt, double *out_7557732014251175831);
-void gnss_F_fun(double *state, double dt, double *out_3784107475037224440);
-void gnss_h_6(double *state, double *sat_pos, double *out_1045706946388579730);
-void gnss_H_6(double *state, double *sat_pos, double *out_6469468708647551695);
-void gnss_h_20(double *state, double *sat_pos, double *out_4390939550384841311);
-void gnss_H_20(double *state, double *sat_pos, double *out_4150453882875260635);
-void gnss_h_7(double *state, double *sat_pos_vel, double *out_882947065038288714);
-void gnss_H_7(double *state, double *sat_pos_vel, double *out_4769832076722140500);
-void gnss_h_21(double *state, double *sat_pos_vel, double *out_882947065038288714);
-void gnss_H_21(double *state, double *sat_pos_vel, double *out_4769832076722140500);
+void gnss_err_fun(double *nom_x, double *delta_x, double *out_8157223566737921768);
+void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_2044125793472420016);
+void gnss_H_mod_fun(double *state, double *out_9173041979963174697);
+void gnss_f_fun(double *state, double dt, double *out_1618057822244112223);
+void gnss_F_fun(double *state, double dt, double *out_2095238804530870251);
+void gnss_h_6(double *state, double *sat_pos, double *out_8758992661908707843);
+void gnss_H_6(double *state, double *sat_pos, double *out_3561767187659398853);
+void gnss_h_20(double *state, double *sat_pos, double *out_2943069687929850059);
+void gnss_H_20(double *state, double *sat_pos, double *out_2968919167798348741);
+void gnss_h_7(double *state, double *sat_pos_vel, double *out_4774871104966573529);
+void gnss_H_7(double *state, double *sat_pos_vel, double *out_149136905432068571);
+void gnss_h_21(double *state, double *sat_pos_vel, double *out_4774871104966573529);
+void gnss_H_21(double *state, double *sat_pos_vel, double *out_149136905432068571);
 void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

selfdrive/locationd/models/generated/live.h

@@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub
 void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void live_H(double *in_vec, double *out_2427080946257414198);
-void live_err_fun(double *nom_x, double *delta_x, double *out_4499017012837728402);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_4568239191987130813);
-void live_H_mod_fun(double *state, double *out_7466442051496209266);
-void live_f_fun(double *state, double dt, double *out_7616316395018437217);
-void live_F_fun(double *state, double dt, double *out_3738746660903124007);
-void live_h_4(double *state, double *unused, double *out_5102933337023237333);
-void live_H_4(double *state, double *unused, double *out_7235994504100796541);
-void live_h_9(double *state, double *unused, double *out_6101034663185489335);
-void live_H_9(double *state, double *unused, double *out_51224431163650929);
-void live_h_10(double *state, double *unused, double *out_1900712798164773370);
-void live_H_10(double *state, double *unused, double *out_4820155672142958661);
-void live_h_12(double *state, double *unused, double *out_8879026316650247416);
-void live_H_12(double *state, double *unused, double *out_6614895479053202874);
-void live_h_35(double *state, double *unused, double *out_1924620734251358832);
-void live_H_35(double *state, double *unused, double *out_3869332446728189165);
-void live_h_32(double *state, double *unused, double *out_1566775458117550308);
-void live_H_32(double *state, double *unused, double *out_8625923032509862606);
-void live_h_13(double *state, double *unused, double *out_5786152235345498787);
-void live_H_13(double *state, double *unused, double *out_1965575430518687731);
-void live_h_14(double *state, double *unused, double *out_6101034663185489335);
-void live_H_14(double *state, double *unused, double *out_51224431163650929);
-void live_h_33(double *state, double *unused, double *out_1672775015514148260);
-void live_H_33(double *state, double *unused, double *out_718775442089331561);
+void live_H(double *in_vec, double *out_6974567924666299102);
+void live_err_fun(double *nom_x, double *delta_x, double *out_2493100912041570996);
+void live_inv_err_fun(double *nom_x, double *true_x, double *out_7217190665066253352);
+void live_H_mod_fun(double *state, double *out_6899062083944887710);
+void live_f_fun(double *state, double dt, double *out_252278658732009113);
+void live_F_fun(double *state, double dt, double *out_4169121626430309510);
+void live_h_4(double *state, double *unused, double *out_2184045668377535913);
+void live_H_4(double *state, double *unused, double *out_5091087556127760923);
+void live_h_9(double *state, double *unused, double *out_8158653303070436890);
+void live_H_9(double *state, double *unused, double *out_2196131379136686547);
+void live_h_10(double *state, double *unused, double *out_6830468309703972597);
+void live_H_10(double *state, double *unused, double *out_8221089086801312150);
+void live_h_12(double *state, double *unused, double *out_3698550038738074472);
+void live_H_12(double *state, double *unused, double *out_6974398140539057697);
+void live_h_35(double *state, double *unused, double *out_3507821483290070437);
+void live_H_35(double *state, double *unused, double *out_1724425498755153547);
+void live_h_32(double *state, double *unused, double *out_1049805558840064954);
+void live_H_32(double *state, double *unused, double *out_1593260713814413078);
+void live_h_13(double *state, double *unused, double *out_1881416958735212550);
+void live_H_13(double *state, double *unused, double *out_5911629335895004065);
+void live_h_14(double *state, double *unused, double *out_8158653303070436890);
+void live_H_14(double *state, double *unused, double *out_2196131379136686547);
+void live_h_33(double *state, double *unused, double *out_7532622185414820130);
+void live_H_33(double *state, double *unused, double *out_8472160794518560882);
 void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

selfdrive/manager/build.py

@@ -9,7 +9,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import AGNOS
-from openpilot.system.swaglog import cloudlog, add_file_handler
+from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import is_dirty
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
@@ -19,19 +19,21 @@ TOTAL_SCONS_NODES = 2560
 MAX_BUILD_PROGRESS = 100
 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
-def build(spinner: Spinner, dirty: bool = False) -> None:
+def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
   env = os.environ.copy()
   env['SCONS_PROGRESS'] = "1"
   nproc = os.cpu_count()
   if nproc is None:
-    nproc = 2
+    nproc =3
+
+  extra_args = ["--minimal"] if minimal else []
 
   # building with all cores can result in using too
   # much memory, so retry with less parallelism
   compile_output: List[bytes] = []
   for n in (nproc, nproc/2, 1):
     compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
     assert scons.stderr is not None
 
     # Read progress from stderr and update spinner

selfdrive/manager/helpers.py

@@ -1,9 +1,16 @@
+import errno
+import fcntl
 import os
 import sys
-import fcntl
-import errno
+import pathlib
+import shutil
 import signal
+import subprocess
+import tempfile
+import threading
 
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 
 def unblock_stdout() -> None:
   # get a non-blocking stdout
@@ -41,3 +48,20 @@ def unblock_stdout() -> None:
 def write_onroad_params(started, params):
   params.put_bool("IsOnroad", started)
   params.put_bool("IsOffroad", not started)
+
+
+def save_bootlog():
+  # copy current params
+  tmp = tempfile.mkdtemp()
+  params_dirname = pathlib.Path(Params().get_param_path()).name
+  params_dir = os.path.join(tmp, params_dirname)
+  shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True)
+
+  def fn(tmpdir):
+    env = os.environ.copy()
+    env['PARAMS_COPY_PATH'] = tmpdir
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
+    shutil.rmtree(tmpdir)
+  t = threading.Thread(target=fn, args=(tmp, ))
+  t.daemon = True
+  t.start()

selfdrive/manager/manager.py

@@ -19,10 +19,11 @@ from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_par
 from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from openpilot.system.swaglog import cloudlog, add_file_handler
+from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
-                           get_normalized_origin, terms_version, training_version, \
-                           is_tested_branch, is_release_branch
+  get_normalized_origin, terms_version, training_version, \
+  is_tested_branch, is_release_branch, get_commit_date
+
 import json
 from openpilot.selfdrive.car.fingerprints import all_known_cars, all_legacy_fingerprint_cars
 
@@ -38,6 +39,8 @@ def manager_init() -> None:
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+  if is_release_branch():
+    params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
@@ -98,13 +101,6 @@ def manager_init() -> None:
     if params.get(k) is None:
       params.put(k, v)
 
-  # is this dashcam?
-  if os.getenv("PASSIVE") is not None:
-    params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0"))))
-
-  if params.get("Passive") is None:
-    raise Exception("Passive must be set to continue")
-
   # Create folders needed for msgq
   try:
     os.mkdir("/dev/shm")
@@ -117,9 +113,10 @@ def manager_init() -> None:
   params.put("Version", get_version())
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
-  params.put("GitCommit", get_commit(default=""))
-  params.put("GitBranch", get_short_branch(default=""))
-  params.put("GitRemote", get_origin(default=""))
+  params.put("GitCommit", get_commit())
+  params.put("GitCommitDate", get_commit_date())
+  params.put("GitBranch", get_short_branch())
+  params.put("GitRemote", get_origin())
   params.put_bool("IsTestedBranch", is_tested_branch())
   params.put_bool("IsReleaseBranch", is_release_branch())
 
@@ -131,6 +128,9 @@ def manager_init() -> None:
     serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
+  os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
+  os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
+  os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
 
   if not is_dirty():
     os.environ['CLEAN'] = '1'
@@ -145,8 +145,7 @@ def manager_init() -> None:
                        dirty=is_dirty(),
                        device=HARDWARE.get_device_type())
 
-
-def manager_prepare() -> None:
+  # preimport all processes
   for p in managed_processes.values():
     p.prepare()
 
@@ -192,7 +191,7 @@ def manager_thread() -> None:
   if not params.get_bool("dp_otisserv"):
     ignore += ["otisserv"]
 
-  sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
+  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
@@ -201,7 +200,7 @@ def manager_thread() -> None:
   started_prev = False
 
   while True:
-    sm.update()
+    sm.update(1000)
 
     started = sm['deviceState'].started
 
@@ -218,7 +217,7 @@ def manager_thread() -> None:
 
     ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
 
-    running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
+    running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                        for p in managed_processes.values() if p.proc)
     print(running)
     cloudlog.debug(running)
@@ -243,17 +242,8 @@ def manager_thread() -> None:
 
 
 def main() -> None:
-  prepare_only = os.getenv("PREPAREONLY") is not None
-
   manager_init()
-
-  # Start UI early so prepare can happen in the background
-  if not prepare_only:
-    managed_processes['ui'].start()
-
-  manager_prepare()
-
-  if prepare_only:
+  if os.getenv("PREPAREONLY") is not None:
     return
 
   # SystemExit on sigterm
@@ -298,6 +288,8 @@ if __name__ == "__main__":
 
   try:
     main()
+  except KeyboardInterrupt:
+    print("got CTRL-C, exiting")
   except Exception:
     add_file_handler(cloudlog)
     cloudlog.exception("Manager failed to start")

selfdrive/manager/process.py

@@ -8,14 +8,14 @@ from typing import Optional, Callable, List, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
-from setproctitle import setproctitle  # pylint: disable=no-name-in-module
+from setproctitle import setproctitle
 
 from cereal import car, log
 import cereal.messaging as messaging
 import openpilot.selfdrive.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
@@ -89,9 +89,7 @@ def join_process(process: Process, timeout: float) -> None:
 class ManagerProcess(ABC):
   daemon = False
   sigkill = False
-  onroad = True
-  offroad = False
-  callback: Optional[Callable[[bool, Params, car.CarParams], bool]] = None
+  should_run: Callable[[bool, Params, car.CarParams], bool]
   proc: Optional[Process] = None
   enabled = True
   name = ""
@@ -121,7 +119,7 @@ class ManagerProcess(ABC):
       fn = WATCHDOG_FN + str(self.proc.pid)
       with open(fn, "rb") as f:
         # TODO: why can't pylint find struct.unpack?
-        self.last_watchdog_time = struct.unpack('Q', f.read())[0] # pylint: disable=no-member
+        self.last_watchdog_time = struct.unpack('Q', f.read())[0]
     except Exception:
       pass
 
@@ -193,15 +191,12 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
+    self.should_run = should_run
     self.enabled = enabled
-    self.onroad = onroad
-    self.offroad = offroad
-    self.callback = callback
-    self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
     self.launcher = nativelauncher
@@ -226,14 +221,11 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.module = module
+    self.should_run = should_run
     self.enabled = enabled
-    self.onroad = onroad
-    self.offroad = offroad
-    self.callback = callback
-    self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
     self.launcher = launcher
@@ -268,10 +260,12 @@ class DaemonProcess(ManagerProcess):
     self.module = module
     self.param_name = param_name
     self.enabled = enabled
-    self.onroad = True
-    self.offroad = True
     self.params = None
 
+  @staticmethod
+  def should_run(started, params, CP):
+    return True
+
   def prepare(self) -> None:
     pass
 
@@ -292,11 +286,11 @@ class DaemonProcess(ManagerProcess):
         pass
 
     cloudlog.info(f"starting daemon {self.name}")
-    proc = subprocess.Popen(['python', '-m', self.module],  # pylint: disable=subprocess-popen-preexec-fn
-                               stdin=open('/dev/null'),
-                               stdout=open('/dev/null', 'w'),
-                               stderr=open('/dev/null', 'w'),
-                               preexec_fn=os.setpgrp)
+    proc = subprocess.Popen(['python', '-m', self.module],
+                            stdin=open('/dev/null'),
+                            stdout=open('/dev/null', 'w'),
+                            stderr=open('/dev/null', 'w'),
+                            preexec_fn=os.setpgrp)
 
     self.params.put(self.param_name, str(proc.pid))
 
@@ -311,26 +305,14 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
 
   running = []
   for p in procs:
-    # Conditions that make a process run
-    run = any((
-      p.offroad and not started,
-      p.onroad and started,
-    ))
-    if p.callback is not None and None not in (params, CP):
-      run = run or p.callback(started, params, CP)
-
-    # Conditions that block a process from starting
-    run = run and not any((
-      not p.enabled,
-      p.name in not_run,
-    ))
-
-    if run:
-      p.start()
+    if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
       running.append(p)
     else:
       p.stop(block=False)
 
     p.check_watchdog(started)
 
+  for p in running:
+    p.start()
+
   return running

selfdrive/manager/process_config.py

@@ -10,22 +10,20 @@ NO_IR_CTRL = os.path.isfile('/data/media/0/no_ir_ctrl')
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
 def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return params.get_bool("IsDriverViewEnabled")  # type: ignore
+  return started or params.get_bool("IsDriverViewEnabled")
 
 def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return CP.notCar  # type: ignore
+  return started and CP.notCar
 
 def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return not CP.notCar
+  return started and not CP.notCar
 
 def logging(started, params, CP: car.CarParams) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
 
 def ublox_available() -> bool:
-  if EON:
-    return True
-  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
+  return True if EON else os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
 
 def ublox(started, params, CP: car.CarParams) -> bool:
   use_ublox = ublox_available()
@@ -36,65 +34,74 @@ def ublox(started, params, CP: car.CarParams) -> bool:
 def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
+def always_run(started, params, CP: car.CarParams) -> bool:
+  return True
+
+def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
+  return started
+
+def only_offroad(started, params, CP: car.CarParams) -> bool:
+  return not started
+
 procs = [
-  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], callback=driverview),
-  NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
-  PythonProcess("logmessaged", "system.logmessaged", offroad=True),
+  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], driverview),
+  NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
+  PythonProcess("logmessaged", "system.logmessaged", always_run),
   # PythonProcess("micd", "system.micd", callback=iscar),
   # PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
 
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
-  NativeProcess("dmonitoringmodeld", "selfdrive/hybrid_modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM) and not NO_IR_CTRL, callback=driverview),
+  NativeProcess("dmonitoringmodeld", "selfdrive/hybrid_modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM) and not NO_IR_CTRL),
   # NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
   # NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], onroad=False, callback=notcar),
-  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
-  NativeProcess("modeld", "selfdrive/hybrid_modeld" if not Params().get_bool("dp_0813") else "selfdrive/legacy_modeld", ["./modeld"]),
+  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], logging),
+  NativeProcess("modeld", "selfdrive/hybrid_modeld" if not Params().get_bool("dp_0813") else "selfdrive/legacy_modeld", ["./modeld"], only_onroad),
   # NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]),
   # NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]),
-  NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC, offroad=EON),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
-  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
-  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
-  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
-  PythonProcess("torqued", "selfdrive.locationd.torqued"),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd"),
-  PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
-  PythonProcess("dmonitoringd", "selfdrive.legacy_monitoring.dmonitoringd", enabled=(not PC or WEBCAM) and not NO_IR_CTRL, callback=driverview),
+  NativeProcess("sensord", "system/sensord", ["./sensord"], always_run if EON else only_onroad, enabled=not PC),
+  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
+  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
+  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
+  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
+  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("deleter", "selfdrive.loggerd.deleter", always_run),
+  PythonProcess("dmonitoringd", "selfdrive.legacy_monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM) and not NO_IR_CTRL),
   # PythonProcess("laikad", "selfdrive.locationd.laikad"),
   # PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
   # PythonProcess("navd", "selfdrive.navd.navd"),
-  PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
-  PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
-  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=not PC, onroad=False, callback=ublox),
+  PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
+  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=not PC),
   # PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd"),
-  PythonProcess("radard", "selfdrive.controls.radard"),
-  PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
-  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
-  PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
-  # PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
+  PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
+  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
+  PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
+  PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
+  PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC),
+  PythonProcess("uploader", "selfdrive.loggerd.uploader", only_offroad),
   # PythonProcess("statsd", "selfdrive.statsd", offroad=True),
 
   # debug procs
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
+  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
   # rick - webjoystick needs aiohttp, install additional modules manually: pip install aiohttp aiortc
   # PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar),
 
   # EON only
-  PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON),
-  PythonProcess("shutdownd", "system.hardware.eon.shutdownd", enabled=EON),
-  PythonProcess("androidd", "system.hardware.eon.androidd", enabled=EON, offroad=True),
+  PythonProcess("rtshield", "selfdrive.rtshield", only_onroad, enabled=EON),
+  PythonProcess("shutdownd", "system.hardware.eon.shutdownd", only_onroad, enabled=EON),
+  PythonProcess("androidd", "system.hardware.eon.androidd", always_run, enabled=EON),
 
   # mapd
-  PythonProcess("mapd", "selfdrive.mapd.mapd"),
+  PythonProcess("mapd", "selfdrive.mapd.mapd", only_onroad),
   # gpxd
   # PythonProcess("gpxd", "selfdrive.dragonpilot.gpxd"),
   # PythonProcess("gpx_uploader", "selfdrive.dragonpilot.gpx_uploader", offroad=True),
-  NativeProcess("otisserv", "selfdrive/dragonpilot", ['./otisserv'], offroad=True),
-  NativeProcess("fileserv", "selfdrive/dragonpilot", ['./fileserv'], offroad=True),
+  NativeProcess("otisserv", "selfdrive/dragonpilot", ['./otisserv'], only_offroad),
+  NativeProcess("fileserv", "selfdrive/dragonpilot", ['./fileserv'], only_offroad),
 ]
 
 managed_processes = {p.name: p for p in procs}

system/hardware/eon/shutdownd.py

@@ -20,7 +20,7 @@ def main():
       # 0 for shutdown, 1 for reboot
       prop = getprop("sys.shutdown.requested")
       if prop is not None and len(prop) > 0:
-        # os.system("pkill -9 loggerd")
+        os.system("pkill -9 loggerd")
         params.put("LastSystemShutdown", f"'{prop}' {datetime.datetime.now()}")
         os.sync()
 

system/hardware/hw.py

@@ -0,0 +1,58 @@
+import os
+from pathlib import Path
+
+from openpilot.system.hardware import PC
+
+DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"
+
+class Paths:
+  @staticmethod
+  def comma_home() -> str:
+    return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
+
+  @staticmethod
+  def log_root() -> str:
+    if os.environ.get('LOG_ROOT', False):
+      return os.environ['LOG_ROOT']
+    elif PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
+    else:
+      return '/data/media/0/realdata/'
+
+  @staticmethod
+  def swaglog_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "log")
+    else:
+      return "/data/log/"
+
+  @staticmethod
+  def swaglog_ipc() -> str:
+    return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
+
+  @staticmethod
+  def download_cache_root() -> str:
+    if os.environ.get('COMMA_CACHE', False):
+      return os.environ['COMMA_CACHE'] + "/"
+    return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/"
+
+  @staticmethod
+  def persist_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "persist")
+    else:
+      return "/persist/"
+
+  @staticmethod
+  def stats_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats/"
+
+  @staticmethod
+  def config_root() -> str:
+    if PC:
+      return Paths.comma_home()
+    else:
+      return "/tmp/.comma"

system/version.py

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from typing import List, Optional
+from typing import List, Optional, TypeVar
 from functools import lru_cache
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.system.swaglog import cloudlog
+from openpilot.common.swaglog import cloudlog
 
 RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
@@ -13,7 +13,7 @@ TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
 training_version: bytes = b"0.2.0"
 terms_version: bytes = b"2"
 
-
+_RT = TypeVar("_RT")
 def cache(user_function, /):
   return lru_cache(maxsize=None)(user_function)
 
@@ -30,41 +30,42 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s
 
 
 @cache
-def get_commit(branch: str = "HEAD", default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", branch], default=default)
+def get_commit(branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch])
 
 
 @cache
-def get_short_branch(default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], default=default)
+def get_commit_date(commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
 
 
 @cache
-def get_branch(default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], default=default)
+def get_short_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
 
 
 @cache
-def get_origin(default: Optional[str] = None) -> Optional[str]:
+def get_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
+
+
+@cache
+def get_origin() -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
     return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
   except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], default=default)
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
 
 
 @cache
-def get_normalized_origin(default: Optional[str] = None) -> Optional[str]:
-  origin: Optional[str] = get_origin()
-
-  if origin is None:
-    return default
-
-  return origin.replace("git@", "", 1) \
-               .replace(".git", "", 1) \
-               .replace("https://", "", 1) \
-               .replace(":", "/", 1)
+def get_normalized_origin() -> str:
+  return get_origin() \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)
 
 
 @cache
@@ -75,7 +76,7 @@ def get_version() -> str:
 
 @cache
 def get_short_version() -> str:
-  return get_version().split('-')[0]  # type: ignore
+  return get_version().split('-')[0]
 
 @cache
 def is_prebuilt() -> bool:
@@ -86,12 +87,7 @@ def is_prebuilt() -> bool:
 def is_comma_remote() -> bool:
   # note to fork maintainers, this is used for release metrics. please do not
   # touch this to get rid of the orange startup alert. there's better ways to do that
-  origin: Optional[str] = get_origin()
-  if origin is None:
-    return False
-
-  return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai'))
-
+  return get_normalized_origin() == "github.com/commaai/openpilot"
 
 @cache
 def is_tested_branch() -> bool:
@@ -105,7 +101,7 @@ def is_release_branch() -> bool:
 def is_dirty() -> bool:
   origin = get_origin()
   branch = get_branch()
-  if (origin is None) or (branch is None):
+  if not origin or not branch:
     return True
 
   dirty = False
@@ -141,3 +137,4 @@ if __name__ == "__main__":
   print(f"Branch: {get_branch()}")
   print(f"Short branch: {get_short_branch()}")
   print(f"Prebuilt: {is_prebuilt()}")
+  print(f"Commit date: {get_commit_date()}")