Sync: commaai/openpilot:master into sunnypilot/sunnypilot:master-new (#590)

cereal/README.md

@@ -29,6 +29,50 @@ then means breaking backwards-compatibility with all old logs of your fork. So w
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
+An example of compatible changes:
+```diff
+diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+index 3348e859e..3365c7b98 100644
+--- a/cereal/custom.capnp
++++ b/cereal/custom.capnp
+@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
+ # DO rename the structs
+ # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
+-struct CustomReserved0 @0x81c2f05a394cf4af {
++struct SteeringInfo @0x81c2f05a394cf4af {
++  active @0 :Bool;
++  steeringAngleDeg @1 :Float32;
++  steeringRateDeg @2 :Float32;
++  steeringAccelDeg @3 :Float32;
+ }
+
+ struct CustomReserved1 @0xaedffd8f31e7b55d {
+diff --git a/cereal/log.capnp b/cereal/log.capnp
+index 1209f3fd9..b189f58b6 100644
+--- a/cereal/log.capnp
++++ b/cereal/log.capnp
+@@ -2558,14 +2558,14 @@ struct Event {
+
+     # DO change the name of the field
+     # DON'T change anything after the "@"
+-    customReservedRawData0 @124 :Data;
++    rawCanData @124 :Data;
+     customReservedRawData1 @125 :Data;
+     customReservedRawData2 @126 :Data;
+
+     # DO change the name of the field and struct
+     # DON'T change the ID (e.g. @107)
+     # DON'T change which struct it points to
+-    customReserved0 @107 :Custom.CustomReserved0;
++    steeringInfo @107 :Custom.SteeringInfo;
+     customReserved1 @108 :Custom.CustomReserved1;
+     customReserved2 @109 :Custom.CustomReserved2;
+     customReserved3 @110 :Custom.CustomReserved3;
+```
+
+---
+
 Example
 ---
 ```python

cereal/custom.capnp

@@ -7,7 +7,9 @@ $Cxx.namespace("cereal");
 # These structs are guaranteed to remain reserved and empty in mainline
 # cereal, so use these if you want custom events in your fork.
 
-# you can rename the struct, but don't change the identifier
+# DO rename the structs
+# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 
@@ -64,7 +66,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
-  
+
   enum Runner {
     snpe @0;
     tinygrad @1;
@@ -105,3 +107,33 @@ struct CustomReserved8 @0xf416ec09499d9d19 {
 
 struct CustomReserved9 @0xa1680744031fdb2d {
 }
+
+struct CustomReserved10 @0xcb9fd56c7057593a {
+}
+
+struct CustomReserved11 @0xc2243c65e0340384 {
+}
+
+struct CustomReserved12 @0x9ccdc8676701b412 {
+}
+
+struct CustomReserved13 @0xcd96dafb67a082d0 {
+}
+
+struct CustomReserved14 @0xb057204d7deadf3f {
+}
+
+struct CustomReserved15 @0xbd443b539493bc68 {
+}
+
+struct CustomReserved16 @0xfc6241ed8877b611 {
+}
+
+struct CustomReserved17 @0xa30662f84033036c {
+}
+
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
+}
+
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
+}

cereal/log.capnp

@@ -2628,11 +2628,17 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
+    # *********** Custom: reserved for forks ***********
+
+    # DO change the name of the field
+    # DON'T change anything after the "@"
     customReservedRawData0 @124 :Data;
     customReservedRawData1 @125 :Data;
     customReservedRawData2 @126 :Data;
 
-    # *********** Custom: reserved for forks ***********
+    # DO change the name of the field and struct
+    # DON'T change the ID (e.g. @107)
+    # DON'T change which struct it points to
     selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     modelManagerSP @108 :Custom.ModelManagerSP;
     customReserved2 @109 :Custom.CustomReserved2;
@@ -2643,6 +2649,16 @@ struct Event {
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
+    customReserved10 @136 :Custom.CustomReserved10;
+    customReserved11 @137 :Custom.CustomReserved11;
+    customReserved12 @138 :Custom.CustomReserved12;
+    customReserved13 @139 :Custom.CustomReserved13;
+    customReserved14 @140 :Custom.CustomReserved14;
+    customReserved15 @141 :Custom.CustomReserved15;
+    customReserved16 @142 :Custom.CustomReserved16;
+    customReserved17 @143 :Custom.CustomReserved17;
+    customReserved18 @144 :Custom.CustomReserved18;
+    customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated

common/util.cc

@@ -294,4 +294,17 @@ std::string check_output(const std::string& command) {
   return result;
 }
 
+bool system_time_valid() {
+  // Default to August 26, 2024
+  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
+  time_t min_date = mktime(&min_tm);
+
+  struct stat st;
+  if (stat("/lib/systemd/systemd", &st) == 0) {
+    min_date = std::max(min_date, st.st_mtime + 86400);  // Add 1 day (86400 seconds)
+  }
+
+  return time(nullptr) > min_date;
+}
+
 }  // namespace util

common/util.h

@@ -96,6 +96,8 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
+bool system_time_valid();
+
 inline void sleep_for(const int milliseconds) {
   if (milliseconds > 0) {
     std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));

selfdrive/car/car_specific.py

@@ -191,7 +191,7 @@ class CarSpecificEvents:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
       events.add(EventName.wrongCruiseMode)
-    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl and self.CP.carName != 'toyota':
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
       events.add(EventName.brakeHold)
     if CS.parkingBrake:
       events.add(EventName.parkBrake)

selfdrive/car/card.py

@@ -133,6 +133,15 @@ class Car:
       self.CP.safetyConfigs = [safety_config]
 
     if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+      # Copy user key if available
+      try:
+        with open("/cache/params/SecOCKey") as f:
+          user_key = f.readline().strip()
+          if len(user_key) == 32:
+            self.params.put("SecOCKey", user_key)
+      except Exception:
+        pass
+
       secoc_key = self.params.get("SecOCKey", encoding='utf8')
       if secoc_key is not None:
         saved_secoc_key = bytes.fromhex(secoc_key.strip())

selfdrive/selfdrived/events.py

@@ -652,8 +652,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.brakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+    ET.WARNING: Alert(
+      "Press Resume to Exit Brake Hold",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },
 
   EventName.parkBrake: {

selfdrive/ui/qt/widgets/prime.cc

@@ -116,6 +116,14 @@ PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) {
   hlayout->addWidget(qr, 1);
 }
 
+int PairingPopup::exec() {
+  if (!util::system_time_valid()) {
+    ConfirmationDialog::alert(tr("Please connect to Wi-Fi to complete initial pairing"), parentWidget());
+    return QDialog::Rejected;
+  }
+  return DialogBase::exec();
+}
+
 
 PrimeUserWidget::PrimeUserWidget(QWidget *parent) : QFrame(parent) {
   setObjectName("primeWidget");

selfdrive/ui/qt/widgets/prime.h

@@ -33,6 +33,7 @@ class PairingPopup : public DialogBase {
 
 public:
   explicit PairingPopup(QWidget* parent);
+  int exec() override;
 };
 
 

selfdrive/ui/translations/main_ar.ts

@@ -584,6 +584,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>اجعل لـconnect.comma.ai إشارة مرجعية على شاشتك  الرئيسية من أجل استخدامه مثل أي تطبيق</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_de.ts

@@ -579,6 +579,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_es.ts

@@ -580,6 +580,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_fr.ts

@@ -580,6 +580,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Ajoutez connect.comma.ai à votre écran d&apos;accueil pour l&apos;utiliser comme une application</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_ja.ts

@@ -578,6 +578,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます。</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_ko.ts

@@ -579,6 +579,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -580,6 +580,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Salve connect.comma.ai como sua página inicial para utilizar como um app</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_th.ts

@@ -579,6 +579,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_tr.ts

@@ -578,6 +578,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Uygulama gibi kullanmak için connect.comma.ai sitesini yer işaretlerine ekleyin.</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -579,6 +579,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -579,6 +579,10 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>將 connect.comma.ai 加入您的主螢幕，以便像手機 App 一樣使用它</translation>
     </message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>

system/manager/build.py

@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2820
+TOTAL_SCONS_NODES = 3130
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:

tools/joystick/joystick_control.py

@@ -34,7 +34,7 @@ class Keyboard:
     elif key in self.axes_map:
       axis = self.axes_map[key]
       incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
-      self.axes_values[axis] = np.clip(self.axes_values[axis] + incr, -1, 1)
+      self.axes_values[axis] = float(np.clip(self.axes_values[axis] + incr, -1, 1))
     else:
       return False
     return True
@@ -83,7 +83,7 @@ class Joystick:
       self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
-      norm = -np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
+      norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
       self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
     else:

tools/joystick/joystickd.py

@@ -9,6 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
+LongCtrlState = car.CarControl.Actuators.LongControlState
 MAX_LAT_ACCEL = 2.5
 
 
@@ -45,13 +46,14 @@ def joystickd_thread():
       joystick_axes = [0.0, 0.0]
 
     if CC.longActive:
-      actuators.accel = 4.0 * np.clip(joystick_axes[0], -1, 1)
+      actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
+      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
       max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
 
-      actuators.steer = np.clip(joystick_axes[1], -1, 1)
+      actuators.steer = float(np.clip(joystick_axes[1], -1, 1))
       actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
 
     pm.send('carControl', cc_msg)