Add error handling for Params import

Handle ImportError for Params and set default value.

.github/labeler.yaml

@@ -12,7 +12,7 @@ simulation:
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
 
 tools:
   - changed-files:

.gitignore

@@ -38,6 +38,7 @@ a.out
 *.vcd
 *.mo
 *_pyx.cpp
+*.stats
 config.json
 clcache
 compile_commands.json

CHANGELOGS.md

@@ -1,3 +1,48 @@
+dragonpilot 0.10.2 r1 (2025-11-30)
+=======================
+* ✅ openpilot 0.10.2 (devel-staging) (2025-11-20)
+* ✨ 🚧 UI: C4 UI Mode (2025-11-26)
+* ✨ UI: Torque Bar from C4 UI (2025-11-26)
+* ✅ UI: Extend screen timeout (2025-11-04)
+* ✅ UI: Display Lead & Radar Stats (2025-10-30)
+* ✅ UI: Border Indicators (2025-05-27)
+* ✅ UI: Rainbow Path (2025-04-02)
+* ✅ UI: Speed Based HUD (2025-04-01)
+* ✅ UI: Display Mode (2025-03-14)
+* ✅ LAT: Auto Lane Change (2025-04-14)
+* ✅ LAT: Road Edge Detection (2025-04-01)
+* ✅ LAT: LCA Speed Changer (2025-03-21)
+* ✅ LAT: ALKA (2025-03-14)
+* ✅ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
+* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
+* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
+* ✅ LON: Ext Radar Support (2025-03-31)
+* ✅ MISC: Branch Selector (2025-11-14)
+* ✅ MISC: Tether on boot (2025-11-04)
+* ✅ MISC: Disable Comma Connect (2025-09-22)
+* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
+* ✅ MISC: Delay Starting Loggerd (2025-06-30)
+* ✅ MISC: Auto Shutdown (2025-04-28)
+* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
+* ✅ MISC: Audible Alert Mode (2025-04-17)
+* ✅ MISC: Error Logs Btn (2025-04-08)
+* ✅ MISC: Reset Conf Btn (2025-04-08)
+* ✅ MISC: Model Selector (2025-03-14)
+* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
+* ✅ Toyota: Stock Lon Mode (2025-04-01)
+* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
+* ✅ Toyota: Radar Filter (2025-03-14)
+* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
+* ✅ Toyota: SDSU Support (2025-03-14)
+* ✅ Toyota: ZSS Support (2025-03-14)
+* ✅ Honda: EPS Mod Support (2025-09-09)
+* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
+* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
+* ✅ VAG: PQ Steering Patch (2025-04-02)
+* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
+* ✅ HKG: SMDPS Support (2025-04-17)
+* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
+
 dragonpilot 0.10.1 r3 (2025-11-25)
 =======================
 * ✅ openpilot 0.10.1 (devel-staging) (2025-10-24)

README_OPENPILOT.md

@@ -22,7 +22,7 @@
 
 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
 
-[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
+[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
 [![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
 [![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
@@ -74,7 +74,7 @@ Safety and Testing
 ----
 
 * openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
 * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
 * Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.

RELEASES.md

@@ -1,3 +1,7 @@
+Version 0.10.2 (2025-11-19)
+========================
+* comma four support
+
 Version 0.10.1 (2025-09-08)
 ========================
 * New driving model #36276

SConstruct

@@ -22,7 +22,7 @@ AddOption('--ccflags', action='store', type='string', default='', help='pass arb
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform

cereal/log.capnp

@@ -918,6 +918,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
+    desiredLateralJerk @11 :Float32;
+    version @12 :Int32;
    }
 
   struct LateralLQRState {
@@ -2164,7 +2166,8 @@ struct DriverStateV2 {
     leftBlinkProb @7 :Float32;
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
-    notReadyProb @12 :List(Float32);
+    phoneProb @13 :Float32;
+    notReadyProbDEPRECATED @12 :List(Float32);
     occludedProbDEPRECATED @10 :Float32;
     readyProbDEPRECATED @11 :List(Float32);
   }
@@ -2222,6 +2225,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   hiStdCount @14 :UInt32;
   isActiveMode @16 :Bool;
   isRHD @4 :Bool;
+  uncertainCount @19 :UInt32;
 
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;

common/api.py

@@ -7,11 +7,14 @@ from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
+       # name : jwt signature algorithm
+KEYS = {"id_rsa" : "RS256",
+        "id_ecdsa" : "ES256"}
+
 class Api:
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
-    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-      self.private_key = f.read()
+    self.jwt_algorithm, self.private_key, _ = get_key_pair()
 
   def get(self, *args, **kwargs):
     return self.request('GET', *args, **kwargs)
@@ -32,7 +35,7 @@ class Api:
     }
     if payload_extra is not None:
       payload.update(payload_extra)
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')
     return token
@@ -46,3 +49,10 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   headers['User-Agent'] = "openpilot-" + get_version()
 
   return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
+
+def get_key_pair():
+  for key in KEYS:
+    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+      with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+        return KEYS[key], private.read(), public.read()
+  return None, None, None

common/dict_helpers.py

@@ -1,9 +0,0 @@
-# remove all keys that end in DEPRECATED
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d

common/filter_simple.py

@@ -15,3 +15,20 @@ class FirstOrderFilter:
       self.initialized = True
       self.x = x
     return self.x
+
+
+class BounceFilter(FirstOrderFilter):
+  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
+    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
+    self.bounce = bounce
+    super().__init__(x0, rc, dt, initialized)
+
+  def update(self, x):
+    super().update(x)
+    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
+    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
+    self.velocity.update(0.0)
+    if abs(self.velocity.x) < 1e-5:
+      self.velocity.x = 0.0
+    self.x += self.velocity.x
+    return self.x

common/git.py

@@ -1,6 +1,6 @@
 from functools import cache
 import subprocess
-from openpilot.common.run import run_cmd, run_cmd_default
+from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache

common/params_keys.h

@@ -97,6 +97,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
     {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
@@ -108,11 +109,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RecordFront", {PERSISTENT, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
+    {"ShowDebugInfo", {PERSISTENT, BOOL}},
     {"RouteCount", {PERSISTENT, INT, "0"}},
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"SshEnabled", {PERSISTENT, BOOL}},
-    {"TermsVersion", {PERSISTENT, STRING}},
-    {"TrainingVersion", {PERSISTENT, STRING}},
     {"UbloxAvailable", {PERSISTENT, BOOL}},
     {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
@@ -160,4 +160,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
     {"dp_vag_pq_steering_patch", {PERSISTENT, BOOL, "0"}},
     {"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
+    {"dp_ui_four", {PERSISTENT, BOOL, "0"}},
 };

common/pid.py

@@ -2,11 +2,10 @@ import numpy as np
 from numbers import Number
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
     self._k_i = k_i
     self._k_d = k_d
-    self.k_f = k_f   # feedforward gain
     if isinstance(self._k_p, Number):
       self._k_p = [[0], [self._k_p]]
     if isinstance(self._k_i, Number):
@@ -48,7 +47,7 @@ class PIDController:
     self.speed = speed
     self.p = self.k_p * float(error)
     self.d = self.k_d * error_rate
-    self.f = self.k_f * feedforward
+    self.f = feedforward
 
     if not freeze_integrator:
       i = self.i + self.k_i * self.i_dt * error

common/retry.py

@@ -1,30 +0,0 @@
-import time
-import functools
-
-from openpilot.common.swaglog import cloudlog
-
-
-def retry(attempts=3, delay=1.0, ignore_failure=False):
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      for _ in range(attempts):
-        try:
-          return func(*args, **kwargs)
-        except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
-          time.sleep(delay)
-
-      if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
-      else:
-        raise Exception(f"{func.__name__} failed after retry")
-    return wrapper
-  return decorator
-
-
-if __name__ == "__main__":
-  @retry(attempts=10)
-  def abc():
-    raise ValueError("abc failed :(")
-  abc()

common/run.py

@@ -1,28 +0,0 @@
-import subprocess
-from contextlib import contextmanager
-from subprocess import Popen, PIPE, TimeoutExpired
-
-
-def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
-  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
-  try:
-    return run_cmd(cmd, cwd=cwd, env=env)
-  except subprocess.CalledProcessError:
-    return default
-
-
-@contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()

common/tests/test_file_helpers.py

@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4
 
-from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.common.utils import atomic_write_in_dir
 
 
 class TestFileHelpers:

common/utils.py

@@ -2,9 +2,14 @@ import io
 import os
 import tempfile
 import contextlib
+import subprocess
+import time
+import functools
+from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
+from openpilot.common.swaglog import cloudlog
 
-LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
+LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 
 class CallbackReader:
@@ -27,7 +32,7 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
                         overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)
@@ -56,3 +61,58 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
     compressed_size = compressed_stream.tell()
     compressed_stream.seek(0)
     return compressed_stream, compressed_size
+
+
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+
+
+@contextlib.contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
+
+
+def retry(attempts=3, delay=1.0, ignore_failure=False):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      for _ in range(attempts):
+        try:
+          return func(*args, **kwargs)
+        except Exception:
+          cloudlog.exception(f"{func.__name__} failed, trying again")
+          time.sleep(delay)
+
+      if ignore_failure:
+        cloudlog.error(f"{func.__name__} failed after retry")
+      else:
+        raise Exception(f"{func.__name__} failed after retry")
+    return wrapper
+  return decorator

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.1"
+#define COMMA_VERSION "0.10.2"

docs/car-porting/car-state-signals.md

@@ -0,0 +1,65 @@
+# CarState signals
+
+## Required for basic lateral control
+
+* `brakePressed`
+* `cruiseState`
+* `doorOpen`
+* `espDisabled`
+* `gasPressed`
+* `gearShifter`
+* `leftBlinker` / `rightBlinker`
+* `seatbeltUnlatched`
+* `standstill`
+* `steeringAngleDeg`
+* `steeringPressed`
+* `steeringTorque`
+* `steerFaultPermanent`
+* `steerFaultTemporary`
+* `vCruise`
+* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
+speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
+
+## Recommended / Required for openpilot longitudinal control
+
+* `accFaulted`
+* `espActive`
+* `parkingBrake`
+
+## Application Dependent
+
+* `blockPcmEnable`
+* `buttonEnable`
+* `brakeHoldActive`
+* `carFaultedNonCritical`
+* `invalidLkasSetting`
+* `lowSpeedAlert`
+* `regenBraking`
+* `steeringAngleOffsetDeg`
+* `steeringDisengage`
+* `steeringTorqueEps`
+* `stockLkas`
+* `vCruiseCluster`
+* `vEgoCluster`
+* `vehicleSensorsInvalid`
+
+## Automatically populated
+
+* `buttonEvents`
+
+These values are populated automatically by `parse_wheel_speeds`:
+
+* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
+* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
+* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
+
+## Optional
+
+* `brake`
+* `charging`
+* `fuelGauge`
+* `leftBlindspot` / `rightBlindspot`
+* `steeringRateDeg`
+* `stockAeb`
+* `stockFcw`
+* `yawRate`

docs/car-porting/reverse-engineering.md

@@ -0,0 +1,85 @@
+# Stimulus-Response Tests
+
+These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
+test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
+
+While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
+necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
+available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
+in loss of the last minute of testing data.
+
+## Stationary ignition-only tests, part 1
+
+1. Ignition on, but don't start engine, remain in Park
+2. Open and close each door in a defined order: driver, passenger, rear left, rear right
+3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
+4. Slowly press and release the accelerator pedal 3 times
+5. Slowly press and release the brake pedal 3 times
+6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
+7. Return to Park, ignition off
+
+Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
+pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
+the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
+
+Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
+Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
+door signal is available, the same signal may follow the driver.
+
+## Stationary ignition-only tests, part 2
+
+1. Ignition on, but don't start engine, remain in Park
+2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
+3. Set the left turn signal for about five seconds
+4. Operate the left turn signal one time in its touch-to-pass mode
+5. Set the right turn signal for about five seconds
+6. Operate the right turn signal one time in its touch-to-pass mode
+7. Set the hazard / emergency indicator switch for about five seconds
+8. Ignition off
+
+Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
+isn't necessary for purposes of detecting the ACC button presses.
+
+## Steering angle and steering torque tests
+
+Power steering should be available. On ICE cars, engine RPM may be present.
+
+1. Ignition on, start engine if applicable, remain in Park
+2. Rotate the steering wheel as follows, with a few seconds pause between each step
+   * Start as close to exact center as possible
+   * Turn to 45 degrees right and hold
+   * Turn to 90 degrees right and hold
+   * Turn to 180 degrees right and hold
+   * Turn to full lock right and hold, with firm pressure against lock
+   * Release the wheel and allow it to bounce back slightly from lock
+   * Turn to 180 degrees left and hold
+   * Return to center and release
+3. Ignition off
+
+Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
+of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
+
+## Low speed / parking lot driving tests
+
+Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
+
+1. Ignition on, start engine if applicable, prepare to drive
+2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
+3. Come to a complete stop
+4. When and where safe, drive in reverse for a short distance (10-15 feet)
+5. Park the car in a safe place, ignition off
+
+## High speed / highway driving tests
+
+Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
+traffic ahead, and safely test the response of your factory lane guidance system.
+
+1. Ignition on, start engine if applicable, prepare to drive
+2. When safely able, engage adaptive cruise control below 50 mph
+3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
+4. Disengage adaptive cruise
+5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
+
+The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
+setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
+and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.

dragonpilot/selfdrive/ui/layouts/settings/dragonpilot.py

@@ -2,12 +2,13 @@ import os
 from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item, simple_item, button_item, spin_button_item, double_spin_button_item, text_spin_button_item
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
 
+LITE = os.getenv("LITE") is not None
 
 class DragonpilotLayout(Widget):
   def __init__(self):
@@ -202,7 +203,7 @@ class DragonpilotLayout(Widget):
   def _device_toggles(self):
     self._toggles["title_dev"] = simple_item(title=lambda: tr("### Device ###"))
 
-    if "LITE" in os.environ:
+    if LITE:
       self._toggles["dp_dev_is_rhd"] = toggle_item(
         title=lambda: tr("Enable Right-Hand Drive Mode"),
         description=lambda: tr("Allow openpilot to obey right-hand traffic conventions on right driver seat."),

dragonpilot/selfdrive/ui/onroad/torque_bar.py

@@ -0,0 +1,133 @@
+import numpy as np
+import pyray as rl
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.selfdrive.ui.mici.onroad import blend_colors
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.mici.onroad.torque_bar import arc_bar_pts
+
+# TODO: arc_bar_pts doesn't consider rounded end caps part of the angle span
+TORQUE_ANGLE_SPAN = 12.7
+
+DEBUG = False
+
+SCALE = 2.5
+
+
+class TorqueBar(Widget):
+  def __init__(self, demo: bool = False):
+    super().__init__()
+    self._demo = demo
+    self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+    self._torque_line_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+  def update_filter(self, value: float):
+    """Update the torque filter value (for demo mode)."""
+    self._torque_filter.update(value)
+
+  def _update_state(self):
+    if self._demo:
+      return
+
+    # torque line
+    if ui_state.sm['controlsState'].lateralControlState.which() == 'angleState':
+      controls_state = ui_state.sm['controlsState']
+      car_state = ui_state.sm['carState']
+      live_parameters = ui_state.sm['liveParameters']
+      lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY
+      # TODO: pull from carparams
+      max_lateral_acceleration = 3
+
+      # from selfdrived
+      actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
+      desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
+      accel_diff = (desired_lateral_accel - actual_lateral_accel)
+
+      self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1))
+    else:
+      self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    # adjust y pos with torque
+    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * SCALE, 26 * SCALE])
+    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * SCALE, 56 * SCALE])
+
+    # animate alpha and angle span
+    if not self._demo:
+      self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
+    else:
+      self._torque_line_alpha_filter.update(1.0)
+
+    torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
+    torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
+    if ui_state.status != UIStatus.ENGAGED and not self._demo:
+      torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
+
+    # draw curved line polygon torque bar
+    torque_line_radius = 1200 * SCALE
+    top_angle = -90
+    torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN
+    torque_start_angle = top_angle - torque_bg_angle_span / 2
+    torque_end_angle = top_angle + torque_bg_angle_span / 2
+    # centerline radius & center
+    mid_r = torque_line_radius + torque_line_height / 2
+
+    cx = rect.x + rect.width / 2 + (8 * SCALE)
+    cy = rect.y + rect.height + torque_line_radius - torque_line_offset
+
+    # SCALED: pass cap_radius explicitly so the corners round properly
+    scaled_cap_radius = 7 * SCALE
+
+    # draw bg torque indicator line
+    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle,
+                         cap_radius=scaled_cap_radius)
+    draw_polygon(rect, bg_pts, color=torque_line_bg_color)
+
+    # draw torque indicator line
+    a0s = top_angle
+    a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
+    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s,
+                         cap_radius=scaled_cap_radius)
+
+    # draw beautiful gradient from center to 65% of the bg torque bar width
+    start_grad_pt = cx / rect.width
+    if self._torque_filter.x < 0:
+      end_grad_pt = (cx * (1 - 0.65) + (min(bg_pts[:, 0]) * 0.65)) / rect.width
+    else:
+      end_grad_pt = (cx * (1 - 0.65) + (max(bg_pts[:, 0]) * 0.65)) / rect.width
+
+    # fade to orange as we approach max torque
+    start_color = blend_colors(
+      rl.Color(255, 255, 255, int(255 * 0.9 * self._torque_line_alpha_filter.x)),
+      rl.Color(255, 200, 0, int(255 * self._torque_line_alpha_filter.x)),  # yellow
+      max(0, abs(self._torque_filter.x) - 0.75) * 4,
+    )
+    end_color = blend_colors(
+      rl.Color(255, 255, 255, int(255 * 0.9 * self._torque_line_alpha_filter.x)),
+      rl.Color(255, 115, 0, int(255 * self._torque_line_alpha_filter.x)),  # orange
+      max(0, abs(self._torque_filter.x) - 0.75) * 4,
+    )
+
+    if ui_state.status != UIStatus.ENGAGED and not self._demo:
+      start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
+
+    gradient = Gradient(
+      start=(start_grad_pt, 0),
+      end=(end_grad_pt, 0),
+      colors=[
+        start_color,
+        end_color,
+      ],
+      stops=[0.0, 1.0],
+    )
+
+    draw_polygon(rect, sl_pts, gradient=gradient)
+
+    # draw center torque bar dot
+    if abs(self._torque_filter.x) < 0.5:
+      dot_y = rect.y + rect.height - torque_line_offset - torque_line_height / 2
+      rl.draw_circle(int(cx), int(dot_y), int(10 * SCALE) // 2,
+                     rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x)))

git_src_commit

@@ -1 +1 @@
-405631baf9685e171a0dd19547cb763f1b163d18
+a29fdbd02407d41ecbcc69d151bb4837bfba3cbc

git_src_commit_date

@@ -1 +1 @@
-1761284549 2025-10-23 22:42:29 -0700
+1763595829 2025-11-19 15:43:49 -0800

launch_chffrplus.sh

@@ -45,12 +45,14 @@ set_tici_hw() {
 }
 
 set_lite_hw() {
-  output=$(i2cget -y 0 0x10 0x00 2>/dev/null)
+  if grep -q "tici" /sys/firmware/devicetree/base/model 2>/dev/null; then
+    output=$(i2cget -y 0 0x10 0x00 2>/dev/null)
 
-  if [ -z "$output" ]; then
-    echo "Lite HW"
-    export LITE=1
-    export DISABLE_DRIVER=1
+    if [ -z "$output" ]; then
+      echo "Lite HW"
+      export LITE=1
+      export DISABLE_DRIVER=1
+    fi
   fi
 }
 

launch_env.sh

@@ -6,8 +6,17 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
+# models get lower priority than ui
+# - ui is ~5ms
+# - modeld is 20ms
+# - DM is 10ms
+# in order to run ui at 60fps (16.67ms), we need to allow
+# it to preempt the model workloads. we have enough
+# headroom for this until ui is moved to the CPU.
+export QCOM_PRIORITY=12
+
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="14.3"
+  export AGNOS_VERSION="15.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

msgq_repo/msgq/visionipc/visionipc_client.cc

@@ -96,7 +96,13 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
   assert(r->getSize() == sizeof(VisionIpcPacket));
   VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
 
-  assert(packet->idx < num_buffers);
+  // Check if packet index is out of bounds, indicating server has changed
+  if (packet->idx >= num_buffers) {
+    connected = false;
+    delete r;
+    return nullptr;
+  }
+
   VisionBuf * buf = &buffers[packet->idx];
 
   if (buf->server_id != packet->server_id){

opendbc_repo/docs/CARS.md

@@ -242,7 +242,7 @@
 |Mazda|CX-5 2022-25|All|[Upstream](#upstream)|
 |Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
 |Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
-|Nissan|Altima 2019-20|ProPILOT Assist|[Upstream](#upstream)|
+|Nissan|Altima 2019-20, 2024|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|

opendbc_repo/opendbc/car/car.capnp

@@ -549,15 +549,15 @@ struct CarParams {
   }
 
   struct LateralTorqueTuning {
-    kp @1 :Float32;
-    ki @2 :Float32;
-    kd @8 : Float32;
     friction @3 :Float32;
-    kf @4 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
     useSteeringAngleDEPRECATED @0 :Bool;
+    kpDEPRECATED @1 :Float32;
+    kiDEPRECATED @2 :Float32;
+    kfDEPRECATED @4 :Float32;
+    kdDEPRECATED @8 : Float32;
   }
 
   struct LongitudinalPIDTuning {
@@ -565,7 +565,7 @@ struct CarParams {
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    kf @6 :Float32;
+    kfDEPRECATED @6 :Float32;
     deadzoneBPDEPRECATED @4 :List(Float32);
     deadzoneVDEPRECATED @5 :List(Float32);
   }

opendbc_repo/opendbc/car/chrysler/fingerprints.py

@@ -351,6 +351,7 @@ FW_VERSIONS = {
       b'68402707AB',
       b'68402708AB',
       b'68402714AB',
+      b'68402736AB',
       b'68402971AD',
       b'68454144AD',
       b'68454145AB',
@@ -379,6 +380,7 @@ FW_VERSIONS = {
       b'68417279AA',
       b'68417280AA',
       b'68417281AA',
+      b'68417283AA',
       b'68453431AA',
       b'68453433AA',
       b'68453435AA',
@@ -391,6 +393,7 @@ FW_VERSIONS = {
       b'05035674AB ',
       b'68412635AE ',
       b'68412635AG ',
+      b'68412635AH ',
       b'68412660AD ',
       b'68412660AF ',
       b'68422860AB',
@@ -404,6 +407,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'05035707AA',
       b'68419672AC',
+      b'68419675AC',
       b'68419678AB',
       b'68423905AB',
       b'68449258AC',

opendbc_repo/opendbc/car/honda/fingerprints.py

@@ -26,7 +26,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'38897-TTA-J010\x00\x00',
-    ]
+    ],
   },
   CAR.HONDA_ACCORD: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
@@ -331,6 +331,7 @@ FW_VERSIONS = {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T1W-A230\x00\x00',
       b'57114-T1W-A240\x00\x00',
+      b'57114-TFF-A930\x00\x00',
       b'57114-TFF-A940\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
@@ -1055,7 +1056,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TGV-A060\x00\x00',
     ],
-     (Ecu.fwdCamera, 0x18dab5f1, None): [
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TGV-A030\x00\x00',
     ],
   },

opendbc_repo/opendbc/car/honda/hondacan.py

@@ -121,7 +121,7 @@ def create_steering_control(packer, CAN, apply_torque, lkas_active, tja_control)
   }
 
   if tja_control:
-    values["STEER_DOWN_TO_ZERO"] = 1
+    values["STEER_DOWN_TO_ZERO"] = lkas_active
 
   return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)
 

opendbc_repo/opendbc/car/honda/interface.py

@@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
       # If Bosch radarless, this blocks ACC messages from the camera
       # TODO: get radar disable working on Bosch CANFD
       ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
-      ret.openpilotLongitudinalControl = alpha_long
+      ret.openpilotLongitudinalControl = alpha_long and (candidate not in HONDA_BOSCH_CANFD)
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]

opendbc_repo/opendbc/car/interfaces.py

@@ -210,7 +210,6 @@ class CarInterfaceBase(ABC):
     ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
-    ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
@@ -225,10 +224,6 @@ class CarInterfaceBase(ABC):
     params = get_torque_params()[candidate]
 
     tune.init('torque')
-    tune.torque.kf = 1.0
-    tune.torque.kp = 1.0
-    tune.torque.ki = 0.3
-    tune.torque.kd = 0.0
     tune.torque.friction = params['FRICTION']
     tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
     tune.torque.latAccelOffset = 0.0

opendbc_repo/opendbc/car/nissan/fingerprints.py

@@ -11,12 +11,15 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x742, None): [
       b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
+      b'6CA2C\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'237106GU3B',
       b'237109HE2B',
     ],
     (Ecu.gateway, 0x18dad0f1, None): [
       b'284U29HE0A',
+      b'284U29HF0A',
     ],
   },
   CAR.NISSAN_LEAF: {
@@ -56,6 +59,7 @@ FW_VERSIONS = {
       b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
     ],
     (Ecu.abs, 0x740, None): [
+      b'476605SD2D',
       b'476605SD2E',
       b'476605SH1D',
       b'476605SH7D',
@@ -66,13 +70,17 @@ FW_VERSIONS = {
       b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
       b'5SH2A\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
       b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH3A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH3C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
       b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
     ],
     (Ecu.gateway, 0x18dad0f1, None): [
       b'284U25SF0C',
       b'284U25SH3A',
+      b'284U25SH3B',
       b'284U25SK2D',
       b'284U25SR0B',
+      b'284U25SR0C',
     ],
   },
   CAR.NISSAN_XTRAIL: {

opendbc_repo/opendbc/car/nissan/values.py

@@ -72,7 +72,7 @@ class CAR(Platforms):
     NissanCarSpecs(mass=1610, wheelbase=2.705)
   )
   NISSAN_ALTIMA = NissanPlatformConfig(
-    [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
+    [NissanCarDocs("Nissan Altima 2019-20, 2024", car_parts=CarParts.common([CarHarness.nissan_b]))],
     NissanCarSpecs(mass=1492, wheelbase=2.824)
   )
 

opendbc_repo/opendbc/car/tests/test_car_interfaces.py

@@ -87,7 +87,7 @@ class TestCarInterfaces:
           assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
 
       elif tune.which() == 'torque':
-        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
+        assert not math.isnan(tune.torque.latAccelFactor) and tune.torque.latAccelFactor > 0
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     # Run car interface

opendbc_repo/opendbc/car/volkswagen/carstate.py

@@ -159,14 +159,14 @@ class CarState(CarStateBase):
     ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
 
     # Update gas, brakes, and gearshift.
-    ret.gasPressed = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] > 0
+    ret.gasPressed = pt_cp.vl["Motor_3"]["MO3_Pedalwert"] > 0
     ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
     ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"])
     ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
 
     # Update gear and/or clutch position data.
     if self.CP.transmissionType == TransmissionType.automatic:
-      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["GE1_Wahl_Pos"], None))
     elif self.CP.transmissionType == TransmissionType.manual:
       reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
       if reverse_light:
@@ -206,7 +206,7 @@ class CarState(CarStateBase):
 
     # Update ACC radar status.
     self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
-    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
+    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["MO5_GRA_Hauptsch"])
     ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["MO2_Sta_GRA"] in (1, 2)
     if self.CP.pcmCruise:
       ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)

opendbc_repo/opendbc/car/volkswagen/values.py

@@ -81,7 +81,7 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
 
       if CP.transmissionType == TransmissionType.automatic:
-        self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
+        self.shifter_values = can_define.dv["Getriebe_1"]["GE1_Wahl_Pos"]
       self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
 
       self.BUTTONS = [
@@ -90,7 +90,7 @@ class CarControllerParams:
         Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
         Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
         Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
-        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
+        Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [3]),
       ]
 
       self.LDW_MESSAGES = {

opendbc_repo/opendbc/dbc/vw_pq.dbc

@@ -22,6 +22,7 @@ NS_ :
 	SIG_GROUP_
 	SIG_VALTYPE_
 	SIGTYPE_VALTYPE_
+	SG_MUL_VAL_
 
 BS_:
 
@@ -330,50 +331,64 @@ BO_ 1160 Motor_6: 8 XXX
  SG_ Sollmoment_f_r_Getriebe : 8|8@1+ (0.39,0) [0|99] "MDI" XXX
  SG_ Checksumme_Motor_6 : 0|8@1+ (1,0) [0|0] "" XXX
 
-BO_ 1152 Motor_5: 8 XXX
- SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Motortext_Bits__4_1_ : 52|4@1+ (1,0) [0|0] "" XXX
- SG_ Doppelte_Momente : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ GRA_Hauptschalter : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Anlasser_Ausspuren : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Anlasser_Freigabe : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Klimadrucksignal__Motor_5_ : 40|8@1+ (0.2,0) [0|50.8] "bar" XXX
- SG_ K_hlerluefteransteuerung : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Verbrauch_Ueberlauf : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Kraftstoffverbrauchssignal : 16|15@1+ (1,0) [0|32767] "ul" XXX
- SG_ Klimakompressor_Leistungsreduzi : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Kennfeldkuehlung : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Klimakompressor_aus__Motor_5_ : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ CAT_Warnung : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ OBD_2_Lampe : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ E_Gas_Lampe : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Vorgluehlampe__Motor_5_ : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Ladekontroll_Lampe : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Code M : 6|2@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Info_norm__Verbrauch m3 : 0|6@1+ (20,0) [0|1260] "l/Zyl" XXX
- SG_ Multiplex_Info_Motortyp m2 : 0|6@1+ (1,0) [0|0] "" XXX
- SG_ Multiplex_Info_Drehzahl_MD_Max m1 : 0|6@1+ (100,0) [0|6300] "U/min" XXX
- SG_ Multiplex_Info_Max_Drehmoment m0 : 0|6@1+ (10,0) [0|630] "Nm" XXX
+BO_ 1152 Motor_5: 8 Motor
+ SG_ MO5_Mp_Code M : 6|2@1+ (1,0) [0|3] "" Gateway
+ SG_ MO5_max_Moment m0 : 0|6@1+ (10,0) [0|630] "Nm" Gateway
+ SG_ MO5_Drehzahl m1 : 0|6@1+ (100,0) [0|6300] "U/min" Gateway
+ SG_ MO5_Motortyp m2 : 0|6@1+ (1,0) [0|63] "" Gateway
+ SG_ MO5_Abgastyp m3 : 0|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Abgastyp2 m3 : 1|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Abgastyp3 m3 : 2|1@1+ (1,0) [0|1] "" Gateway
+ SG_ OBD_Kaltstart_Denominator m3 : 3|1@1+ (1,0) [0|1] "" Gateway
+ SG_ OBD_Minimum_Trip m3 : 4|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_DPF_reg m3 : 5|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Vorgluehen : 9|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_E_Gas : 10|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_OBD_2 : 11|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_Heissl : 12|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_KlimaKompr : 13|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Feld_kuehl : 14|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_KliKo_Red : 15|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Verbrauch : 16|15@1+ (1,0) [0|32767] "µl" KOMBI
+ SG_ MO5_UeberlVerb : 31|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_Luefter : 32|8@1+ (0.4,0) [0|101.6] "%" Gateway
+ SG_ MO5_HLeuchte : 40|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_PartikelLamp : 41|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_Sta_BKU : 42|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_TypStartSteu : 43|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_TDE_Lampe : 44|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_TDE_Text : 45|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_DZM_Daempf : 46|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_Interlock : 47|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Start : 48|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Anlasser : 49|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_GRA_Hauptsch : 50|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Momente : 51|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO5_Motortext1 : 52|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_Motortext2 : 53|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_Motortext3 : 54|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ MO5_Motortext4 : 55|1@1+ (1,0) [0|1] "" KOMBI
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" Gateway
 
-BO_ 896 Motor_3: 8 XXX
- SG_ Drosselklappenpoti : 56|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Motor_Wunschdrehzahl : 48|8@1+ (25,0) [0|6350] "U/min" XXX
- SG_ Motordrehzahlbeeinflussung : 40|8@1+ (0.392,0) [0|100] "%" XXX
- SG_ Kein_Start_Stop : 39|1@1+ (1,0) [0|0] "" XXX
- SG_ Kein_E_Gas : 38|1@1+ (1,0) [0|0] "" XXX
- SG_ Reserviert_Motor_3_1 : 37|1@1+ (1,0) [0|0] "" XXX
- SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX
- SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX
- SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
- SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Fahrpedalwert_ungenau__Motor_3_ : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_3_1 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Motor_Wunschdrehzahl_Priorit_t : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Uebertemperaturschutz__Motor_3_ : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Vorgluehmeldung : 0|1@1+ (1,0) [0|0] "" XXX
+BO_ 896 Motor_3: 8 Motor
+ SG_ MO3_Vorgluehen : 0|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO3_Prio_Dz : 1|1@1+ (1,0) [0|1] "" Transmission
+ SG_ MO_Schalter_StartStopp : 2|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO3_Winterprg : 3|1@1+ (1,0) [0|1] "" Transmission
+ SG_ MO3_Sta_Pedal : 4|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO3_Sta_FPG M : 5|1@1+ (1,0) [0|1] "" ESP
+ SG_ MO3_Sign_FPG m1 : 6|1@1+ (1,0) [0|1] "" ESP
+ SG_ MO3_Sta_Temp : 7|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO3_Offsentemp : 8|8@1+ (0.75,-48) [-48|142.5] "°C" Gateway
+ SG_ MO3_Pedalwert : 16|8@1+ (0.4,0) [0|101.6] "%" Gateway
+ SG_ MO3_Rad_Wu_Mo : 24|12@1+ (0.39,0) [0|1596.66] "%" Transmission
+ SG_ MO3_Vorz_RadWu : 36|1@1+ (1,0) [0|1] "" Transmission
+ SG_ MO3_Freigabe_Segeln : 37|1@1+ (1,0) [0|1] "" Transmission
+ SG_ MO_StartStopp_StoppVorbereitung : 38|1@1+ (1,0) [0|1] "" Gateway
+ SG_ MO3_Dz_Beeinfl : 40|8@1+ (0.39,0) [0|99.45] "%" Transmission
+ SG_ MO3_WunschDz : 48|8@1+ (25,0) [0|6350] "U/min" Transmission
+ SG_ MO3_DKW m0 : 56|8@1+ (0.4,0) [0|101.6] "%" Gateway
+ SG_ MO3_FPGradient m1 : 56|8@1+ (25,0) [0|6350] "%/s" ESP
 
 BO_ 648 Motor_2: 8 Motor
  SG_ MO2_Mp_Code m : 6|2@1+ (1,0) [0|3] "" Gateway
@@ -705,28 +720,27 @@ BO_ 1344 Getriebe_2: 8 XXX
  SG_ Schubabschaltunterstuetzung : 1|1@1+ (1,0) [0|0] "" XXX
  SG_ LFR_Adaption_Freigabeflag : 0|1@1+ (1,0) [0|0] "" XXX
 
-BO_ 1088 Getriebe_1: 8 XXX
- SG_ Wandlerverlustmoment : 56|8@1+ (0.39,0) [0|99.06] "MDI" XXX
- SG_ Fehlerspeichereintrag__Getriebe : 55|1@1+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" XXX
- SG_ Gang_eingelegt : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Schaltabsicht : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Motor_aus : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ OBD_Status__Getriebe_1___4_1_ : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlleistung : 44|2@1+ (1,0) [0|0] "" XXX
- SG_ Getriebe_Notlauf : 40|4@1+ (1,0) [0|0] "" XXX
- SG_ Fahrwiderstandsindex : 32|8@1+ (0.249,-31.6) [-31.6|31.6] "" XXX
- SG_ inneres_Soll_Motormoment : 24|8@1+ (0.39,0) [0|99.06] "MDI" XXX
- SG_ Uebertragungsfunktion : 16|8@1+ (0.1,0) [0|25.4] "" XXX
- SG_ Waehlhebelposition__Getriebe_1_ : 12|4@1+ (1,0) [0|0] "" XXX
- SG_ Zielgang_oder_eingelegter_Gang : 8|4@1+ (1,0) [0|0] "" XXX
- SG_ EGS_Anforderung : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Kodierung_im_MSG : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Leerlaufsolldrehzahlanhebung : 5|1@1+ (1,0) [0|0] "" XXX
- SG_ Wandlerkupplung : 3|2@1+ (1,0) [0|0] "" XXX
- SG_ Klimakompressor_aus__Getriebe_1 : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX
+BO_ 1088 Getriebe_1: 8 Transmission
+ SG_ GE1_Schaltung : 0|1@1+ (1,0) [0|1] "" Gateway
+ SG_ GE1_Sta_Schutz : 1|1@1+ (1,0) [0|1] "" Motor
+ SG_ GE1_Klimakompr : 2|1@1+ (1,0) [0|1] "" Motor
+ SG_ GE1_WK : 3|2@1+ (1,0) [0|3] "" Gateway
+ SG_ GE1_StSt_Info : 5|2@1+ (1,0) [0|3] "" Gateway
+ SG_ GE1_EGS_Anf : 7|1@1+ (1,0) [0|1] "" Motor
+ SG_ GE1_Zielgang : 8|4@1+ (1,0) [0|15] "" Gateway
+ SG_ GE1_Wahl_Pos : 12|4@1+ (1,0) [0|15] "" Gateway
+ SG_ GE1_Mrad_Mkurb : 16|8@1+ (0.1,0) [0|25.4] "" Gateway
+ SG_ GE1_Soll_Mo : 24|8@1+ (0.39,0) [0|99.06] "%" Motor
+ SG_ GE1_Fahrwistd : 32|8@1+ (0.249,-31.623) [-31.623|31.623] "" Gateway
+ SG_ GE1_Notlauf : 40|4@1+ (1,0) [0|15] "" Gateway
+ SG_ GE1_Kuehlung : 44|2@1+ (1,0) [0|3] "" Gateway
+ SG_ GE1_Sta_OBD : 47|1@1+ (1,0) [0|1] "" Motor
+ SG_ GE1_LaunchControl : 48|1@1+ (1,0) [0|1] "" ESP
+ SG_ GE1_Infobit : 49|1@1+ (1,0) [0|1] "" Gateway
+ SG_ GE1_SleepInd : 50|1@1+ (1,0) [0|1] "" Gateway
+ SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" Gateway
+ SG_ GE1_Fehlereintr : 55|1@1+ (1,0) [0|1] "" Gateway
+ SG_ GE1_WaVerl_Mo : 56|8@1+ (0.39,0) [0|99.06] "%" Motor
 
 BO_ 912 Gate_Komf_1: 8 XXX
  SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX
@@ -1406,6 +1420,8 @@ BO_ 1175 Parkhilfe_01: 8 XXX
  SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 1463 Bremse_11: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX
  SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX
  SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX
@@ -1600,14 +1616,24 @@ CM_ SG_ 648 MO2_LL_Solldz "Idle target speed";
 CM_ SG_ 648 MO2_Begr_Mo "Limiting torque - max possible at speed";
 CM_ SG_ 648 MO2_Mo_ZWR "Minimum engine torque with ignition angle retardation";
 
-CM_ SG_ 896 Drosselklappenpoti "Throttle Position";
-CM_ SG_ 896 Motor_Wunschdrehzahl "Desired engine speed";
-CM_ SG_ 896 Motordrehzahlbeeinflussung "Shift Target Influence";
-CM_ SG_ 896 Fahrpedal_Rohsignal "Accelerator Pedal Position";
-CM_ SG_ 896 Ansauglufttemperatur "Intake Air Temperature";
-CM_ SG_ 896 Kein_E_Gas "ETB flag";
-CM_ SG_ 896 Kein_Start_Stop "Start/stop flag";
-CM_ SG_ 896 Rad_Wunschmoment "Desired wheel torque";
+CM_ SG_ 896 MO3_Vorgluehen "Pre-glow active (diesel engines)";
+CM_ SG_ 896 MO3_Prio_Dz "Engine speed priority: 0=request, 1=mandatory";
+CM_ SG_ 896 MO_Schalter_StartStopp "Start/stop deactivated by driver (LED on when 0)";
+CM_ SG_ 896 MO3_Winterprg "Winter driving program active";
+CM_ SG_ 896 MO3_Sta_Pedal "Accelerator pedal status: 0=OK, 1=substitute value";
+CM_ SG_ 896 MO3_Sta_FPG "Accelerator pedal gradient control bit (multiplexer for byte 8)";
+CM_ SG_ 896 MO3_Sign_FPG "Accelerator pedal gradient sign (only when MO3_Sta_FPG=1)";
+CM_ SG_ 896 MO3_Sta_Temp "Intake air temperature status: 0=OK, 1=substitute value";
+CM_ SG_ 896 MO3_Offsentemp "Intake air temperature";
+CM_ SG_ 896 MO3_Pedalwert "Accelerator pedal raw signal (0-101.6%)";
+CM_ SG_ 896 MO3_Rad_Wu_Mo "Wheel torque request (12-bit value, 0-1596.66% MDI)";
+CM_ SG_ 896 MO3_Vorz_RadWu "Wheel torque sign: 0=positive, 1=negative";
+CM_ SG_ 896 MO3_Freigabe_Segeln "Sailing operation enable for transmission";
+CM_ SG_ 896 MO_StartStopp_StoppVorbereitung "Engine stop in preparation";
+CM_ SG_ 896 MO3_Dz_Beeinfl "Engine speed influence factor (0-100% interpolation)";
+CM_ SG_ 896 MO3_WunschDz "Desired engine speed (when MO3_Prio_Dz=1)";
+CM_ SG_ 896 MO3_DKW "Throttle valve position when MO3_Sta_FPG=0 (0-101.6%)";
+CM_ SG_ 896 MO3_FPGradient "Accelerator pedal gradient when MO3_Sta_FPG=1 (0-6350%/s)";
 
 CM_ SG_ 912 GK1_Fa_Tuerkont "Status of the driver's door rotary latch";
 CM_ SG_ 912 BSK_HL_geoeffnet "Status of the rear left door rotary latch";
@@ -1615,18 +1641,28 @@ CM_ SG_ 912 BSK_HR_geoeffnet "Status of the rear right door rotary latch";
 CM_ SG_ 912 BSK_BT_geoeffnet "Status of the passenger door rotary latch";
 CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent";
 
-CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1";
-CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position";
-CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque";
-CM_ SG_ 1088 Gang_eingelegt "Gear Engaged";
-CM_ SG_ 1088 Schaltabsicht "Shift Intent";
-CM_ SG_ 1088 Kuehlleistung "Cooling Power";
-CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss";
-CM_ SG_ 1088 Getriebe_Notlauf "Transmission_Notlauf";
-CM_ SG_ 1088 Zielgang_oder_eingelegter_Gang "target_gear_or_gear_in_engagement";
-CM_ SG_ 1088 Uebertragungsfunktion "transfer function";
-CM_ SG_ 1088 EGS_Anforderung "EGS Requirement";
-CM_ SG_ 1088 Schaltung_aktiv__Getriebe_1_ "Shift Activity";
+CM_ BO_ 1088 "Getriebe 1 - Contains gear status, torque requests, and control signals";
+
+CM_ SG_ 1088 GE1_Schaltung "Gear shift active: 0=no shift, 1=shift in progress";
+CM_ SG_ 1088 GE1_Sta_Schutz "Transmission/converter protection request (power reduction or ignition angle)";
+CM_ SG_ 1088 GE1_Klimakompr "AC compressor off request";
+CM_ SG_ 1088 GE1_WK "Torque converter clutch status";
+CM_ SG_ 1088 GE1_StSt_Info "Start/stop coordinator info";
+CM_ SG_ 1088 GE1_EGS_Anf "EGS request - byte 4 becomes valid when set";
+CM_ SG_ 1088 GE1_Zielgang "Target gear when shifting or current gear";
+CM_ SG_ 1088 GE1_Wahl_Pos "Selector lever position / driving program";
+CM_ SG_ 1088 GE1_Mrad_Mkurb "Wheel torque to crankshaft torque ratio (Mrad/Mcrank)";
+CM_ SG_ 1088 GE1_Soll_Mo "Internal target engine torque request (0-99.06%)";
+CM_ SG_ 1088 GE1_Fahrwistd "Driving resistance index (normalized % slope)";
+CM_ SG_ 1088 GE1_Notlauf "Emergency mode status";
+CM_ SG_ 1088 GE1_Kuehlung "Cooling request level";
+CM_ SG_ 1088 GE1_Sta_OBD "OBD status - MIL lamp control";
+CM_ SG_ 1088 GE1_LaunchControl "Launch control active";
+CM_ SG_ 1088 GE1_Infobit "Transmission type: 0=stepped automatic, 1=CVT";
+CM_ SG_ 1088 GE1_SleepInd "Sleep readiness after terminal 15 off";
+CM_ SG_ 1088 GE1_Zaehler "Message counter (synchronized with Getriebe_2)";
+CM_ SG_ 1088 GE1_Fehlereintr "Fault memory entry present";
+CM_ SG_ 1088 GE1_WaVerl_Mo "Transmission torque loss / clutch torque (0-99.06%)";
 
 CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error";
 CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error";
@@ -1637,19 +1673,45 @@ CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature";
 
 CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1";
 
-CM_ SG_ 1152 CHECKSUM "Checksum Motor_5";
-CM_ SG_ 1152 Anlasser_Ausspuren "Starter Disable";
-CM_ SG_ 1152 Anlasser_Freigabe "Starter Release";
-CM_ SG_ 1152 Klimadrucksignal__Motor_5_ "Air conditioning pressure signal";
-CM_ SG_ 1152 Kraftstoffverbrauchssignal "Fuel consumption signal";
-CM_ SG_ 1152 K_hlerluefteransteuerung "Cooling fan control signal";
-CM_ SG_ 1152 Klimakompressor_Leistungsreduzi "Air conditioning compressor power reduction flag";
-CM_ SG_ 1152 Klimakompressor_aus__Motor_5_ "Air conditioning compressor";
-CM_ SG_ 1152 Anlasser_Freigabe "Starter release";
-CM_ SG_ 1152 OBD_2_Lampe "OBD light";
-CM_ SG_ 1152 E_Gas_Lampe "ETB light";
-CM_ SG_ 1152 Ladekontroll_Lampe "Charge light";
-CM_ SG_ 1152 Vorgluehlampe__Motor_5_ "Glow light";
+CM_ BO_ 1152 "Motor message 5 - Contains engine type, consumption, lamps, and diagnostic info";
+
+CM_ SG_ 1152 MO5_Mp_Code "Multiplex selector - switches every 4 transmissions";
+CM_ SG_ 1152 MO5_max_Moment "Maximum torque when Mp_Code=0 (0-630 Nm)";
+CM_ SG_ 1152 MO5_Drehzahl "Engine speed at max torque when Mp_Code=1 (0-6300 RPM)";
+CM_ SG_ 1152 MO5_Motortyp "Engine type info when Mp_Code=2 (cylinder count, turbo, fuel type)";
+CM_ SG_ 1152 MO5_Abgastyp "Exhaust type EOBD when Mp_Code=3";
+CM_ SG_ 1152 MO5_Abgastyp2 "Exhaust type OBD when Mp_Code=3";
+CM_ SG_ 1152 MO5_Abgastyp3 "DPF installed when Mp_Code=3";
+CM_ SG_ 1152 OBD_Kaltstart_Denominator "Cold start denominator increment when Mp_Code=3";
+CM_ SG_ 1152 OBD_Minimum_Trip "Minimum normalized trip when Mp_Code=3";
+CM_ SG_ 1152 MO5_DPF_reg "DPF regenerating when Mp_Code=3";
+CM_ SG_ 1152 MO5_Vorgluehen "Diesel pre-glow lamp";
+CM_ SG_ 1152 MO5_E_Gas "E-Gas system lamp (petrol only)";
+CM_ SG_ 1152 MO5_OBD_2 "OBD/MIL lamp control";
+CM_ SG_ 1152 MO5_Heissl "Coolant overheat warning lamp";
+CM_ SG_ 1152 MO5_KlimaKompr "AC compressor off request";
+CM_ SG_ 1152 MO5_Feld_kuehl "Map cooling installed and OK";
+CM_ SG_ 1152 MO5_KliKo_Red "AC compressor power reduction";
+CM_ SG_ 1152 MO5_Verbrauch "Fuel consumption counter (15-bit, µl)";
+CM_ SG_ 1152 MO5_UeberlVerb "Consumption counter overflow";
+CM_ SG_ 1152 MO5_Luefter "Cooling fan PWM control (0-101.6%)";
+CM_ SG_ 1152 MO5_HLeuchte "Overheat pre-warning";
+CM_ SG_ 1152 MO5_PartikelLamp "Particle filter lamp";
+CM_ SG_ 1152 MO5_Sta_BKU "Brake vacuum pump status (Porsche only)";
+CM_ SG_ 1152 MO5_TypStartSteu "Starter control type: 0=BSG/BCM, 1=MSG";
+CM_ SG_ 1152 MO5_TDE_Lampe "Fuel cap warning lamp (petrol only)";
+CM_ SG_ 1152 MO5_TDE_Text "Fuel cap text display (petrol only)";
+CM_ SG_ 1152 MO5_DZM_Daempf "RPM gauge damping control";
+CM_ SG_ 1152 MO5_Interlock "Interlock switch for manual transmission start";
+CM_ SG_ 1152 MO5_Start "Automatic start permission";
+CM_ SG_ 1152 MO5_Anlasser "Starter control permission";
+CM_ SG_ 1152 MO5_GRA_Hauptsch "GRA main switch / readiness";
+CM_ SG_ 1152 MO5_Momente "MDI torque values doubled";
+CM_ SG_ 1152 MO5_Motortext1 "Text: Engine workshop";
+CM_ SG_ 1152 MO5_Motortext2 "Text: Exhaust workshop (deprecated)";
+CM_ SG_ 1152 MO5_Motortext3 "Text: Fuel system fault";
+CM_ SG_ 1152 MO5_Motortext4 "Text: Particle filter needs regeneration";
+CM_ SG_ 1152 CHECKSUM "Checksum with final value 0x0";
 
 CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6";
 CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction";
@@ -1688,6 +1750,10 @@ CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
 SG_MUL_VAL_ 416 BR1_ASRMo_fa BR1_MSR_Anf 0-0;
 SG_MUL_VAL_ 416 BR1_MSR_Mo_inv BR1_MSR_Anf 1-1;
 
+SG_MUL_VAL_ 896 MO3_DKW MO3_Sta_FPG 0-0;
+SG_MUL_VAL_ 896 MO3_FPGradient MO3_Sta_FPG 1-1;
+SG_MUL_VAL_ 896 MO3_Sign_FPG MO3_Sta_FPG 1-1;
+
 VAL_ 194 LW1_LRW_Sign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
 VAL_ 194 LW1_Gesch_Sign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
 VAL_ 194 LW1_ID 0 "noch_not_kalibriert" 128 "kalibriert_nur_bei_PQ35_46_VW32x_VW411";
@@ -1721,6 +1787,16 @@ SG_MUL_VAL_ 648 MO2_max_Mo MO2_Mp_Code 3-3;
 SG_MUL_VAL_ 648 MO2_CAN_Vers MO2_Mp_Code 0-0;
 SG_MUL_VAL_ 648 MO2_Motor_Code MO2_Mp_Code 1-1;
 
+SG_MUL_VAL_ 1152 MO5_max_Moment MO5_Mp_Code 0-0;
+SG_MUL_VAL_ 1152 MO5_Drehzahl MO5_Mp_Code 1-1;
+SG_MUL_VAL_ 1152 MO5_Motortyp MO5_Mp_Code 2-2;
+SG_MUL_VAL_ 1152 MO5_Abgastyp MO5_Mp_Code 3-3;
+SG_MUL_VAL_ 1152 MO5_Abgastyp2 MO5_Mp_Code 3-3;
+SG_MUL_VAL_ 1152 MO5_Abgastyp3 MO5_Mp_Code 3-3;
+SG_MUL_VAL_ 1152 OBD_Kaltstart_Denominator MO5_Mp_Code 3-3;
+SG_MUL_VAL_ 1152 OBD_Minimum_Trip MO5_Mp_Code 3-3;
+SG_MUL_VAL_ 1152 MO5_DPF_reg MO5_Mp_Code 3-3;
+
 VAL_ 648 MO2_Mp_Code 0 "CAN_Stand" 1 "Motor_Kod" 2 "Getriebe_Kod" 3 "MDI_Max";
 
 VAL_ 648 MO2_Getr_Code 0 "_5HP19" 1 "_5HP24" 2 "AG4" 3 "VL300" 4 "VQ250" 5 "VQ35" 6 "AG4_yestco" 7 "AG5_yestco" 8 "autom_Kupplung" 9 "autom_Kupplung_mit_ASG" 10 "AG6_yestco_ZF_6HP_AISIN" 11 "DQ500_DQ250_DQ200" 12 "SQ100_SQ200" 14 "AL1000_AL551_AL951_ZF8HPx" 15 "Handschalter_konv" 16 "DL800" 17 "E_Fahrzeug__Single_Gear";
@@ -1779,8 +1855,68 @@ VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
 VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
 VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
 
+VAL_ 896 MO3_Vorgluehen 0 "no_Vorgluehen" 1 "Vorgluehen_active";
+VAL_ 896 MO3_Prio_Dz 0 "Wunsch" 1 "Zwang";
+VAL_ 896 MO_Schalter_StartStopp 0 "StartStopp_ueber_Hauptschalter_deactivated_LED_an" 1 "StartStopp_ueber_Hauptschalter_activated_LED_aus";
+VAL_ 896 MO3_Winterprg 0 "not_active" 1 "active";
+VAL_ 896 MO3_Sta_Pedal 0 "Fahrpedal_iO" 1 "Ersatzwert";
+VAL_ 896 MO3_Sta_FPG 0 "Gradient_not_bed" 1 "Gradient_bed";
+VAL_ 896 MO3_Sign_FPG 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
+VAL_ 896 MO3_Sta_Temp 0 "Geber_iO" 1 "Ersatzwert";
+VAL_ 896 MO3_Vorz_RadWu 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
+VAL_ 896 MO3_Freigabe_Segeln 0 "Segelbetrieb_not_freigegeben" 1 "Segelbetrieb_freigegeben";
+VAL_ 896 MO_StartStopp_StoppVorbereitung 0 "Motorstopp_not_in_Vorbereitung" 1 "Motorstopp_in_Vorbereitung";
+CM_ BO_ 896 "Motor message 3 - Contains accelerator pedal, temperatures, and control signals";
+
 VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 7 "active";
-VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
+
+VAL_ 1088 GE1_Schaltung 0 "no_circuit" 1 "circuit_is_running";
+VAL_ 1088 GE1_Sta_Schutz 0 "no_protection" 1 "protection_requested";
+VAL_ 1088 GE1_Klimakompr 0 "no_Anforderung" 1 "Kompressor_aus";
+VAL_ 1088 GE1_WK 0 "WK_open" 1 "WK_regulated" 2 "WK_closed" 3 "Failure";
+VAL_ 1088 GE1_StSt_Info 0 "Engine_running_not_necessary_stop_release" 1 "Motor_start_not_mandatory_necessary_stop_prohibition" 2 "Motor_start_absolute_necessary_start_request" 3 "System_error";
+VAL_ 1088 GE1_EGS_Anf 0 "no_requirement" 1 "EGS_requirement";
+VAL_ 1088 GE1_Zielgang 0 "P (Park) | Disengaged" 1 "Gear 1 | Engaged" 2 "Gear 2 | Engaged" 3 "Gear 3 | Engaged" 4 "Gear 4 | Engaged" 5 "Gear 5 | Engaged" 6 "1m Gear" 7 "Gang_R" 8 "Gear 6 | Engaged" 9 "Gear 7 | Engaged" 10 "Gear 8 | Engaged" 14 "Speed Not Defined" 15 "Failure";
+VAL_ 1088 GE1_Wahl_Pos 0 "Intermediate Position" 1 "Pos_1" 2 "Pos_2" 3 "Pos_3" 4 "Pos_4" 5 "D (Drive)" 6 "Pos_N" 7 "R (Reverse)" 8 "P (Park)" 9 "Tiptronic Override" 10 "Pos_Z1" 11 "Pos_Z2" 12 "S (Sport)" 13 "Pos_L" 14 "Gas Pedal Force Downshift" 15 "Failure";
+VAL_ 1088 GE1_Notlauf 0 "No Emergency" 1 "No Switching" 2 "Switch to Neutral" 3 "50% Shifting Capacity" 4 "Driving Without UK" 5 "No Emeregency" 6 "No Emergency" 7 "No Emergency, Target Shifting Reached" 15 "Failure";
+VAL_ 1088 GE1_Kuehlung 0 "No Additional Cooling Requested" 1 "20% Additional Fan Cooling Requested" 2 "40% Additional Fan Cooling Requested" 3 "Maximum Additional Fan Cooling Requested";
+VAL_ 1088 GE1_Sta_OBD 0 "MIL Off" 1 "MIL On";
+VAL_ 1088 GE1_LaunchControl 0 "Launch Control Not Active" 1 "Launch Control Program Active";
+VAL_ 1088 GE1_Infobit 0 "Standard Automatic" 1 "CVT";
+VAL_ 1088 GE1_SleepInd 0 "CAN is Required" 1 "Sleep Ready";
+VAL_ 1088 GE1_Fehlereintr 0 "No Failure Memory Entry" 1 "Failure Memory Entry";
+
+VAL_ 1152 MO5_Mp_Code 0 "Max_Moment" 1 "Drehzahl" 2 "Motor_Typ" 3 "Abgastyp_od_norm_Verbrauch";
+VAL_ 1152 MO5_Abgastyp 0 "no_EOBD" 1 "EOBD";
+VAL_ 1152 MO5_Abgastyp2 0 "no_OBD" 1 "OBD";
+VAL_ 1152 MO5_Abgastyp3 0 "no_DPF_verbaut" 1 "DPF_verbaut";
+VAL_ 1152 OBD_Kaltstart_Denominator 0 "Denominator_not_hochzaehlen" 1 "Bedingungen_zum_Inkr_des_Kaltstart_Denom_erf";
+VAL_ 1152 OBD_Minimum_Trip 0 "no_Min_Normed_Trip" 1 "Min_Normed_Trip";
+VAL_ 1152 MO5_DPF_reg 0 "DPF_regeneriert_nicht" 1 "DPF_regeneriert";
+VAL_ 1152 MO5_Vorgluehen 0 "Lamp_off" 1 "Lamp_on";
+VAL_ 1152 MO5_E_Gas 0 "Lamp_off" 1 "Lamp_on";
+VAL_ 1152 MO5_OBD_2 0 "Lamp_off" 1 "Lamp_on";
+VAL_ 1152 MO5_Heissl 0 "Lamp_off" 1 "Lamp_on";
+VAL_ 1152 MO5_KlimaKompr 0 "no_Anforderung" 1 "Klimakompr_aus";
+VAL_ 1152 MO5_Feld_kuehl 0 "no" 1 "yes";
+VAL_ 1152 MO5_KliKo_Red 0 "no" 1 "yes";
+VAL_ 1152 MO5_UeberlVerb 0 "no_Ueberlauf" 1 "mindestens_einmal_uebergelaufen";
+VAL_ 1152 MO5_HLeuchte 0 "no_Warnung" 1 "Vorwarnung";
+VAL_ 1152 MO5_PartikelLamp 0 "Lamp_off" 1 "Lamp_on";
+VAL_ 1152 MO5_Sta_BKU 0 "iO_oder_not_verbaut" 1 "n_iO";
+VAL_ 1152 MO5_TypStartSteu 0 "Startersteuerung_BSG_BCM_KessyD1_ZAS" 1 "Startersteuerung_durch_MSG";
+VAL_ 1152 MO5_TDE_Lampe 0 "Lamp_off" 1 "Lamp_on";
+VAL_ 1152 MO5_TDE_Text 0 "no_Text" 1 "Textanzeige_nach_ISO";
+VAL_ 1152 MO5_DZM_Daempf 0 "normale_Daempfung" 1 "dynamische_Daempfung";
+VAL_ 1152 MO5_Interlock 0 "Interlock_not_betaetigt" 1 "Interlock_betaetigt";
+VAL_ 1152 MO5_Start 0 "Start_not_zulaessig" 1 "Startfreigabe";
+VAL_ 1152 MO5_Anlasser 0 "Anlasser_darf_angesteuert_werden" 1 "Anlasser_ausspuren_Ansteuerung_not_moeglich";
+VAL_ 1152 MO5_GRA_Hauptsch 0 "Off" 1 "On";
+VAL_ 1152 MO5_Momente 0 "Einfach" 1 "Doppelt";
+VAL_ 1152 MO5_Motortext1 0 "no_Text" 1 "Text_1";
+VAL_ 1152 MO5_Motortext2 0 "no_Text" 1 "Text_2";
+VAL_ 1152 MO5_Motortext3 0 "no_Text" 1 "Text_3";
+VAL_ 1152 MO5_Motortext4 0 "no_Text" 1 "Text_4";
 
 VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;
 VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ;

opendbc_repo/opendbc/safety/modes/chrysler.h

@@ -73,6 +73,7 @@ static void chrysler_rx_hook(const CANPacket_t *msg) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   const unsigned int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0U : 2U;
   if ((msg->bus == das_3_bus) && (msg->addr == chrysler_addrs->DAS_3)) {
+    acc_main_on = GET_BIT(msg, 20U);
     bool cruise_engaged = GET_BIT(msg, 21U);
     pcm_cruise_check(cruise_engaged);
   }

opendbc_repo/opendbc/safety/modes/ford.h

@@ -157,6 +157,7 @@ static void ford_rx_hook(const CANPacket_t *msg) {
       // Signal: CcStat_D_Actl
       unsigned int cruise_state = msg->data[1] & 0x07U;
       bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
+      acc_main_on = (cruise_state == 3U) || cruise_engaged;
       pcm_cruise_check(cruise_engaged);
     }
   }

opendbc_repo/opendbc/safety/modes/gm.h

@@ -89,6 +89,10 @@ static void gm_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == 0xBDU) {
       regen_braking = (msg->data[0] >> 4) != 0U;
     }
+
+    if (msg->addr == 0xC9U) {
+      acc_main_on = GET_BIT(msg, 29U);
+    }
   }
 }
 

opendbc_repo/opendbc/safety/modes/mazda.h

@@ -32,6 +32,7 @@ static void mazda_rx_hook(const CANPacket_t *msg) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (msg->addr == MAZDA_CRZ_CTRL) {
+      acc_main_on = GET_BIT(msg, 17U);
       bool cruise_engaged = msg->data[0] & 0x8U;
       pcm_cruise_check(cruise_engaged);
     }

opendbc_repo/opendbc/safety/modes/nissan.h

@@ -43,6 +43,14 @@ static void nissan_rx_hook(const CANPacket_t *msg) {
         brake_pressed = ((msg->data[4] >> 5) & 1U) != 0U;
       }
     }
+
+    if ((msg->bus == 0U) && (msg->addr == 0x239U)) {
+      acc_main_on = GET_BIT(msg, 17U);
+    }
+
+    if ((msg->bus == (nissan_alt_eps ? 2U : 1U)) && (msg->addr == 0x1B6U)) {
+      acc_main_on = GET_BIT(msg, 36U);
+    }
   }
 
   // Handle cruise enabled

opendbc_repo/opendbc/safety/modes/subaru.h

@@ -109,6 +109,7 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((msg->addr == MSG_SUBARU_CruiseControl) && (msg->bus == alt_main_bus)) {
+    acc_main_on = GET_BIT(msg, 40U);
     bool cruise_engaged = (msg->data[5] >> 1) & 1U;
     pcm_cruise_check(cruise_engaged);
   }

opendbc_repo/opendbc/safety/modes/subaru_preglobal.h

@@ -31,6 +31,7 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (msg->addr == MSG_SUBARU_PG_CruiseControl) {
+      acc_main_on = GET_BIT(msg, 48U);
       bool cruise_engaged = (msg->data[6] >> 1) & 1U;
       pcm_cruise_check(cruise_engaged);
     }

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -201,6 +201,14 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
 
       UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 * KPH_TO_MS);
     }
+
+    if (msg->addr == 0x1D3U) {
+      acc_main_on = GET_BIT(msg, 15U);
+    }
+
+    if (msg->addr == 0x365U) {
+      acc_main_on = GET_BIT(msg, 0U);
+    }
   }
 }
 

opendbc_repo/opendbc/safety/modes/volkswagen_pq.h

@@ -78,7 +78,7 @@ static safety_config volkswagen_pq_init(uint16_t param) {
 static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
   if (msg->bus == 0U) {
     // Update in-motion state from speed value.
-    // Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
+    // Signal: Bremse_1.BR1_Rad_kmh
     if (msg->addr == MSG_BREMSE_1) {
       int speed = ((msg->data[2] & 0xFEU) >> 1) | (msg->data[3] << 7);
       vehicle_moving = speed > 0;
@@ -99,7 +99,7 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
     if (volkswagen_longitudinal) {
       if (msg->addr == MSG_MOTOR_5) {
         // ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
-        // Signal: Motor_5.GRA_Hauptschalter
+        // Signal: Motor_5.MO5_GRA_Hauptsch
         acc_main_on = GET_BIT(msg, 50U);
         if (!acc_main_on) {
           controls_allowed = false;
@@ -126,19 +126,19 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
     } else {
       if (msg->addr == MSG_MOTOR_2) {
         // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
-        // Signal: Motor_2.GRA_Status
+        // Signal: Motor_2.MO2_Sta_GRA
         int acc_status = (msg->data[2] & 0xC0U) >> 6;
         bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
         pcm_cruise_check(cruise_engaged);
       }
     }
 
-    // Signal: Motor_3.Fahrpedal_Rohsignal
+    // Signal: Motor_3.MO3_Pedalwert
     if (msg->addr == MSG_MOTOR_3) {
       gas_pressed = (msg->data[2]);
     }
 
-    // Signal: Motor_2.Bremslichtschalter
+    // Signal: Motor_2.MO2_BLS
     if (msg->addr == MSG_MOTOR_2) {
       brake_pressed = (msg->data[2] & 0x1U);
     }

opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py

@@ -75,12 +75,12 @@ class TestVolkswagenPqSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeri
 
   # ACC main switch status
   def _motor_5_msg(self, main_switch=False):
-    values = {"GRA_Hauptschalter": main_switch}
+    values = {"MO5_GRA_Hauptsch": main_switch}
     return self.packer.make_can_msg_safety("Motor_5", 0, values)
 
   # Driver throttle input (Motor_3)
   def _user_gas_msg(self, gas):
-    values = {"Fahrpedal_Rohsignal": gas}
+    values = {"MO3_Pedalwert": gas}
     return self.packer.make_can_msg_safety("Motor_3", 0, values)
 
   # Cruise control buttons (GRA_Neu)

pyproject.toml

@@ -177,7 +177,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 [tool.mypy]
 python_version = "3.11"
@@ -235,7 +235,7 @@ lint.ignore = [
   "B027",
   "B024",
   "NPY002",  # new numpy random syntax is worse
-  "UP038",   # (x, y) -> x|y for isinstance
+  "UP045", "UP007",  # these don't play nice with raylib atm
 ]
 line-length = 160
 target-version ="py311"

release/pack.py

@@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR
 
 
 DIRS = ['cereal', 'openpilot']
-EXTS = ['.png', '.py', '.ttf', '.capnp']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo']
 INTERPRETER = '/usr/bin/env python3'
 
 

selfdrive/assets/.gitignore

@@ -1,2 +1,4 @@
 *.cc
+fonts/*.fnt
+fonts/*.png
 translations_assets.qrc

selfdrive/assets/fonts/process.py

@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+from pathlib import Path
+import json
+
+import pyray as rl
+
+FONT_DIR = Path(__file__).resolve().parent
+SELFDRIVE_DIR = FONT_DIR.parents[1]
+TRANSLATIONS_DIR = SELFDRIVE_DIR / "ui" / "translations"
+LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json"
+
+GLYPH_PADDING = 6
+EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
+UNIFONT_LANGUAGES = {"ar", "th", "zh-CHT", "zh-CHS", "ko", "ja"}
+
+
+def _languages():
+  if not LANGUAGES_FILE.exists():
+    return {}
+  with LANGUAGES_FILE.open(encoding="utf-8") as f:
+    return json.load(f)
+
+
+def _char_sets():
+  base = set(map(chr, range(32, 127))) | set(EXTRA_CHARS)
+  unifont = set(base)
+
+  for language, code in _languages().items():
+    unifont.update(language)
+    po_path = TRANSLATIONS_DIR / f"app_{code}.po"
+    try:
+      chars = set(po_path.read_text(encoding="utf-8"))
+    except FileNotFoundError:
+      continue
+    (unifont if code in UNIFONT_LANGUAGES else base).update(chars)
+
+  return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
+
+
+def _glyph_metrics(glyphs, rects, codepoints):
+  entries = []
+  min_offset_y, max_extent = None, 0
+  for idx, codepoint in enumerate(codepoints):
+    glyph = glyphs[idx]
+    rect = rects[idx]
+    width = int(round(rect.width))
+    height = int(round(rect.height))
+    offset_y = int(round(glyph.offsetY))
+    min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
+    max_extent = max(max_extent, offset_y + height)
+    entries.append({
+      "id": codepoint,
+      "x": int(round(rect.x)),
+      "y": int(round(rect.y)),
+      "width": width,
+      "height": height,
+      "xoffset": int(round(glyph.offsetX)),
+      "yoffset": offset_y,
+      "xadvance": int(round(glyph.advanceX)),
+    })
+
+  if min_offset_y is None:
+    raise RuntimeError("No glyphs were generated")
+
+  line_height = int(round(max_extent - min_offset_y))
+  base = int(round(max_extent))
+  return entries, line_height, base
+
+
+def _write_bmfont(path: Path, font_size: int, face: str, atlas_name: str, line_height: int, base: int, atlas_size, entries):
+  # TODO: why doesn't raylib calculate these metrics correctly?
+  if line_height != font_size:
+    print("using font size for line height", atlas_name)
+    line_height = font_size
+  lines = [
+    f"info face=\"{face}\" size=-{font_size} bold=0 italic=0 charset=\"\" unicode=1 stretchH=100 smooth=0 aa=1 padding=0,0,0,0 spacing=0,0 outline=0",
+    f"common lineHeight={line_height} base={base} scaleW={atlas_size[0]} scaleH={atlas_size[1]} pages=1 packed=0 alphaChnl=0 redChnl=4 greenChnl=4 blueChnl=4",
+    f"page id=0 file=\"{atlas_name}\"",
+    f"chars count={len(entries)}",
+  ]
+  for entry in entries:
+    lines.append(
+      ("char id={id:<4} x={x:<5} y={y:<5} width={width:<5} height={height:<5} " +
+       "xoffset={xoffset:<5} yoffset={yoffset:<5} xadvance={xadvance:<5} page=0  chnl=15").format(**entry)
+    )
+  path.write_text("\n".join(lines) + "\n")
+
+
+def _process_font(font_path: Path, codepoints: tuple[int, ...]):
+  print(f"Processing {font_path.name}...")
+
+  font_size = {
+    "unifont.otf": 16,  # unifont is only 16x8 or 16x16 pixels per glyph
+  }.get(font_path.name, 200)
+
+  data = font_path.read_bytes()
+  file_buf = rl.ffi.new("unsigned char[]", data)
+  cp_buffer = rl.ffi.new("int[]", codepoints)
+  cp_ptr = rl.ffi.cast("int *", cp_buffer)
+  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
+  if glyphs == rl.ffi.NULL:
+    raise RuntimeError("raylib failed to load font data")
+
+  rects_ptr = rl.ffi.new("Rectangle **")
+  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
+  if image.width == 0 or image.height == 0:
+    raise RuntimeError("raylib returned an empty atlas")
+
+  rects = rects_ptr[0]
+  atlas_name = f"{font_path.stem}.png"
+  atlas_path = FONT_DIR / atlas_name
+  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
+
+  if not rl.export_image(image, atlas_path.as_posix()):
+    raise RuntimeError("Failed to export atlas image")
+
+  _write_bmfont(FONT_DIR / f"{font_path.stem}.fnt", font_size, font_path.stem, atlas_name, line_height, base, (image.width, image.height), entries)
+
+
+def main():
+  base_cp, unifont_cp = _char_sets()
+  fonts = sorted(FONT_DIR.glob("*.ttf")) + sorted(FONT_DIR.glob("*.otf"))
+  for font in fonts:
+    if "emoji" in font.name.lower():
+      continue
+    glyphs = unifont_cp if font.stem.lower().startswith("unifont") else base_cp
+    _process_font(font, glyphs)
+  return 0
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())