Merge branch 'upstream/openpilot/master' into 0501-sync

# Conflicts:
#	.github/workflows/selfdrive_tests.yaml
#	opendbc_repo

.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/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