Merge branch 'upstream/openpilot/master-20231016-sync' into master-20231016

# Conflicts:
#	cereal
#	panda
#	selfdrive/car/hyundai/interface.py
#	selfdrive/car/hyundai/values.py
#	selfdrive/car/subaru/values.py
#	selfdrive/controls/controlsd.py
#	selfdrive/controls/plannerd.py
#	selfdrive/monitoring/dmonitoringd.py

selfdrive/debug/auto_fingerprint.py

@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import argparse
+from openpilot.common.basedir import BASEDIR
+
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.selfdrive.car.fw_versions import match_fw_to_car
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+
+
+ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
+ALL_CARS = get_interface_attr("CAR")
+
+PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
+BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
+PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
+
+def add_fw_versions(brand, platform, new_fw_versions):
+  filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py"
+  with open(filename, "r") as f:
+    values_py = f.read()
+
+  for key in new_fw_versions.keys():
+    ecu, addr, subAddr = key
+    fw_version = new_fw_versions[key]
+
+    platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
+
+    start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
+
+    try:
+      end_str = "],\n"
+      end = values_py.index(end_str, start)
+    except ValueError:
+      end_str = "]\n"
+      end = values_py.index(end_str, start)
+
+    values_py = values_py[:end] + f"  {fw_version},\n    " + values_py[end:]
+
+  with open(filename, "w") as f:
+    f.write(values_py)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
+  args = parser.parse_args()
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.qlog_paths())
+
+  carFw = None
+  carVin = None
+  carPlatform = None
+
+  for msg in lr:
+    if msg.which() == "carParams":
+      carFw = msg.carParams.carFw
+      carVin = msg.carParams.carVin
+      carPlatform = msg.carParams.carFingerprint
+      break
+
+  if carFw is None:
+    raise Exception("No fw versions in the provided route...")
+
+  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
+    _, possible_platforms = match_fw_to_car(carFw, log=False)
+
+    if len(possible_platforms) != 1:
+      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
+
+      if carPlatform != "mock":
+        print("Using platform from route")
+        platform = carPlatform
+      else:
+        raise Exception("unable to determine platform, try manually specifying the fingerprint.")
+    else:
+      platform = list(possible_platforms)[0]
+
+  else:
+    platform = args.platform
+
+  print("Attempting to add fw version for: ", platform)
+
+  brand = PLATFORM_TO_BRAND[platform]
+
+  new_fw_versions = {}
+
+  for fw in carFw:
+    if fw.brand == brand:
+      addr = fw.address
+      subAddr = None if fw.subAddress == 0 else fw.subAddress
+      key = (fw.ecu.raw, addr, subAddr)
+
+      if key in ALL_FW_VERSIONS[brand][platform]:
+        fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
+        if fw.fwVersion not in fw_versions:
+          new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
+
+  if not new_fw_versions:
+    print("No new fw versions found...")
+
+  add_fw_versions(brand, platform, new_fw_versions)

selfdrive/debug/check_lag.py

@@ -2,7 +2,7 @@
 from typing import Dict
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 TO_CHECK = ['carState']
 
@@ -20,7 +20,7 @@ if __name__ == "__main__":
         t = sm.logMonoTime[s] / 1e9
 
         if s in prev_t:
-          expected = 1.0 / (service_list[s].frequency)
+          expected = 1.0 / (SERVICE_LIST[s].frequency)
           dt = t - prev_t[s]
           if dt > 10 * expected:
             print(t, s, dt)

selfdrive/debug/count_events.py

@@ -7,7 +7,7 @@ from pprint import pprint
 from tqdm import tqdm
 from typing import List, Tuple, cast
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
 
@@ -17,7 +17,7 @@ if __name__ == "__main__":
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
-  cams = [s for s in service_list if s.endswith('CameraState')]
+  cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
   alerts: List[Tuple[float, str]] = []
@@ -62,7 +62,7 @@ if __name__ == "__main__":
   print("\n")
   print("Cameras")
   for k, v in cnt_cameras.items():
-    s = service_list[k]
+    s = SERVICE_LIST[k]
     expected_frames = int(s.frequency * duration / cast(float, s.decimation))
     print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
 

selfdrive/debug/cycle_alerts.py

@@ -25,7 +25,8 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.buttonCancel, ET.USER_DISABLE),
     (EventName.wrongGear, ET.NO_ENTRY),
 
-    (EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
+    (EventName.locationdTemporaryError, ET.SOFT_DISABLE),
+    (EventName.paramsdTemporaryError, ET.SOFT_DISABLE),
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence

selfdrive/debug/dump.py

@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 
 from hexdump import hexdump
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
@@ -31,7 +31,7 @@ if __name__ == "__main__":
 
   poller = messaging.Poller()
 
-  for m in args.socket if len(args.socket) > 0 else service_list:
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
     messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None

selfdrive/debug/hyundai_enable_radar_points.py

@@ -62,6 +62,10 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 K5 HEV
+  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":

selfdrive/debug/internal/qlog_size.py

@@ -5,7 +5,7 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route
 
@@ -49,7 +49,7 @@ if __name__ == "__main__":
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
   qlog_by_type = defaultdict(list)
-  for name, service in service_list.items():
+  for name, service in SERVICE_LIST.items():
     if service.decimation is None:
       continue
 

selfdrive/debug/profiling/simpleperf/eon_perf.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-set -e
-
-cd "$( dirname "${BASH_SOURCE[0]}" )"
-
-ssh "$1" '$HOME/one/external/simpleperf/bin/android/arm64/simpleperf record --call-graph fp -a --duration 10 -o /tmp/perf.data'
-scp "$1":/tmp/perf.data /tmp/perf.data
-python2 report_html.py -i /tmp/perf.data -o /tmp/report.html

selfdrive/debug/profiling/simpleperf/get.txt

@@ -1,3 +0,0 @@
-git clone https://android.googlesource.com/platform/prebuilts/simpleperf
-git reset --hard 311a9d2cd27841498fc90a0b26a755deb47e7ebd
-cp -r report_html.* simpleperf_report_lib.py utils.py inferno lib ~/one/external/simpleperf/

selfdrive/debug/vw_mqb_config.py

@@ -144,6 +144,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
       quit()
 
     try: