Merge branch 'master-new' of https://github.com/sunnypilot/sunnypilot into master-new

.github/workflows/selfdrive_tests.yaml

@@ -53,10 +53,6 @@ jobs:
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
@@ -67,6 +63,10 @@ jobs:
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh"
+    - name: Check submodules
+      if: github.repository == 'sunnypilot/sunnypilot'
+      timeout-minutes: 3
+      run: release/check-submodules.sh
 
   build:
     runs-on:

cereal/log.capnp

@@ -48,6 +48,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     preEnableStandstill @12;  # added during pre-enable state with brake
     gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
     steerOverride @14;
+    steerDisengage @94;  # exits active state
     cruiseDisabled @15;
     speedTooLow @16;
     outOfSpace @17;

selfdrive/car/car_specific.py

@@ -191,6 +191,8 @@ class CarSpecificEvents:
       events.add(EventName.accFaulted)
     if CS.steeringPressed:
       events.add(EventName.steerOverride)
+    if CS.steeringDisengage:
+      events.add(EventName.steerDisengage)
     if CS.brakePressed and CS.standstill:
       events.add(EventName.preEnableStandstill)
     if CS.gasPressed:

selfdrive/locationd/torqued.py

@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
@@ -175,7 +175,8 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["steer_override"].append(msg.steeringPressed)
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
-
+    elif which == "liveDelay":
+      self.lag = msg.lateralDelay
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -241,7 +242,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))

selfdrive/modeld/modeld.py

@@ -221,7 +221,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -248,7 +248,6 @@ def main(demo=False):
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   # TODO Move smooth seconds to action function
-  lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS
   long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
   prev_action = log.ModelDataV2.Action()
 
@@ -292,6 +291,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
     lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)

selfdrive/selfdrived/events.py

@@ -503,6 +503,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                               visual_alert=VisualAlert.brakePressed),
   },
 
+  EventName.steerDisengage: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Steering Pressed"),
+  },
+
   EventName.preEnableStandstill: {
     ET.PRE_ENABLE: Alert(
       "Release Brake to Engage",

selfdrive/selfdrived/selfdrived.py

@@ -198,7 +198,7 @@ class SelfdriveD(CruiseHelper):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      car_events_sp = self.car_events_sp.update().to_msg()
+      car_events_sp = self.car_events_sp.update(CS, self.events).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:

selfdrive/test/process_replay/process_replay.py

@@ -571,7 +571,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
+    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
@@ -580,7 +580,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-4c7ac1a362933af9d97697979162087c1ab2584b
+7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0

sunnypilot/selfdrive/car/car_specific.py

@@ -5,12 +5,16 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import custom
+from cereal import log, custom
 from opendbc.car import structs
 
+from opendbc.car.chrysler.values import RAM_DT
+from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
+EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
+GearShifter = structs.CarState.GearShifter
 
 
 class CarSpecificEventsSP:
@@ -18,6 +22,7 @@ class CarSpecificEventsSP:
     self.CP = CP
     self.params = params
 
+    self.low_speed_alert = False
     self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
@@ -25,10 +30,26 @@ class CarSpecificEventsSP:
     self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
-  def update(self):
-    events = EventsSP()
+  def update(self, CS: structs.CarState, events: Events):
+    events_sp = EventsSP()
+
+    if self.CP.brand == 'chrysler':
+      if self.CP.carFingerprint in RAM_DT:
+        # remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic
+        if events.has(EventName.belowSteerSpeed):
+          events.remove(EventName.belowSteerSpeed)
+
+        # TODO-SP: use if/elif to have the gear shifter condition takes precedence over the speed condition
+        # TODO-SP: add 1 m/s hysteresis
+        if CS.vEgo >= self.CP.minEnableSpeed:
+          self.low_speed_alert = False
+        if CS.gearShifter != GearShifter.drive:
+          self.low_speed_alert = True
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
     if self.CP.brand == 'hyundai':
       if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
+        events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed)
 
-    return events
+    return events_sp