replay: migrate old ControlState event to new format during log file parsing (#33425)

Migrate Old ControlState Event to New Format During Log File Parsing

.github/ISSUE_TEMPLATE/config.yml

@@ -1,14 +1,11 @@
 blank_issues_enabled: false
 contact_links:
+  - name: Join the Discord
+    url: https://discord.comma.ai
+    about: The community Discord is for both openpilot development and experience discussion
   - name: Report model bugs
-    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
-    about: Provide feedback for the driving or driver monitoring models
-  - name: Discussions
-    url: https://github.com/commaai/openpilot/discussions
-    about: For questions and general discussion about openpilot
+    url: https://discord.com/channels/469524606043160576/1254834193066623017
+    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
   - name: Community Wiki
     url: https://github.com/commaai/openpilot/wiki
     about: Check out our community wiki
-  - name: Community Discord
-    url: https://discord.comma.ai
-    about: Check out our community discord

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/labeler.yaml

@@ -4,59 +4,7 @@ CI / testing:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/**'
-
-body:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/body/*'
-
-chrysler:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
-
-ford:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/ford/*'
-
-gm:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/gm/*'
-
-honda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/honda/*'
-
-hyundai:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
-
-mazda:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
-
-nissan:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
-
-subaru:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
-
-tesla:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/tesla/*'
-
-toyota:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
-
-volkswagen:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
-
-fingerprint:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
+    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
 
 simulation:
   - changed-files:
@@ -74,6 +22,6 @@ multilanguage:
   - changed-files:
     - any-glob-to-all-files: 'selfdrive/ui/translations/**'
 
-research:
+autonomy:
   - changed-files:
     - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/pull_request_template.md

@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/workflows/auto_pr_review.yaml

@@ -35,11 +35,12 @@ jobs:
         already-exists-comment: "Your PR should be made against the `master` branch"
 
     # Welcome comment
-    - name: comment
-      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+    - name: "First timers PR"
+      uses: actions/first-interaction@v1
       if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
       with:
-        message: |
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        pr-message: |
             <!-- _(run_id **${{ github.run_id }}**)_ -->
             Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
             * Convert your PR to a draft unless it's ready to review
@@ -49,5 +50,4 @@ jobs:
               * all the tests are passing
               * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
               * include a route or your device' dongle ID if relevant
-        comment_tag: run_id
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      

.github/workflows/badges.yaml

@@ -23,7 +23,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
 
         rm .gitattributes
 

.github/workflows/ci_weekly_report.yaml

@@ -58,14 +58,14 @@ jobs:
               const jobName = job.name.split(" / ")[2];
               const runRegex = /\((.*?)\)/;
               const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
               switch (job.conclusion) {
                 case "success":
                   report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                 case "failure":
                   report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "cancelled":
-                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
+                case "canceled":
+                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
               }
             });
             return JSON.stringify({"jobs": report});

.github/workflows/repo-maintenance.yaml

@@ -6,33 +6,6 @@ on:
   workflow_dispatch:
 
 jobs:
-  bump_submodules:
-    name: bump_submodules
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
-        git add .
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: bump submodules
-        title: '[bot] Bump submodules'
-        branch: auto-bump-submodules
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> bump_submodules'
-        labels: bot
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
@@ -41,11 +14,23 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: true
     - name: uv lock
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
         uv lock --upgrade
+    - name: bump submodules
+      run: |
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
+        git add .
+    - name: update car docs
+      run: |
+        scons -j$(nproc) --minimal opendbc
+        PYTHONPATH=. python selfdrive/car/docs.py
+        git add docs/CARS.md
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:

.github/workflows/selfdrive_tests.yaml

@@ -54,20 +54,20 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "python system/manager/build.py"
+        ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
       timeout-minutes: 3
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
+    - name: Static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
     strategy:
@@ -139,17 +139,16 @@ jobs:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    env:
+      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
+    - name: Setup
+      run: tools/op.sh setup
+    - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+      run: tools/op.sh lint
 
   unit_tests:
     name: unit tests
@@ -222,7 +221,7 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 4
@@ -282,7 +281,8 @@ jobs:
   car_docs_diff:
     name: PR comments
     runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request'
+    #if: github.event_name == 'pull_request'
+    if: false  # TODO: run this in opendbc?
     steps:
       - uses: actions/checkout@v4
         with:
@@ -292,7 +292,7 @@ jobs:
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
           sudo chown -R $USER:$USER ${{ github.workspace }}
       - uses: actions/checkout@v4
         with:
@@ -304,7 +304,7 @@ jobs:
         run: |
           cd current
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
+          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
@@ -349,7 +349,7 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            python selfdrive/ui/tests/test_ui/run.py"
+                            python3 selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:

.github/workflows/ui_preview.yaml

@@ -6,6 +6,7 @@ on:
       - 'master'
     paths:
       - 'selfdrive/ui/**'
+  workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
@@ -75,15 +76,27 @@ jobs:
             <table>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide_sidebar.png"></td>
+              </tr>
+              <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_small.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_mid.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_alert_full.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/driver_camera.png"></td>
+                <td></td>
               </tr>
             </table>
           comment_tag: run_id_screenshots

.importlinter

@@ -1,41 +0,0 @@
-[importlinter]
-root_packages =
-    openpilot
-
-[importlinter:contract:1]
-name = Forbid imports from openpilot.selfdrive.car to openpilot.system
-type = forbidden
-source_modules =
-    openpilot.selfdrive.car
-forbidden_modules =
-    openpilot.system
-    openpilot.body
-    openpilot.docs
-    openpilot.msgq
-    openpilot.panda
-    openpilot.rednose
-    openpilot.release
-    openpilot.teleoprtc
-    openpilot.tinygrad
-ignore_imports =
-    openpilot.selfdrive.car.card -> openpilot.common.realtime
-    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
-    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
-    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
-    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
-    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
-unmatched_ignore_imports_alerting = warn

Dockerfile.openpilot_base

@@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp

Jenkinsfile

@@ -95,42 +95,6 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
-def pcStage(String stageName, Closure body) {
-  node {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    checkout scm
-
-    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
-
-    def openpilot_base = retryWithDelay (3, 15) {
-      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
-    }
-
-    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
-      openpilot_base.inside(dockerArgs) {
-        timeout(time: 20, unit: 'MINUTES') {
-          try {
-            retryWithDelay (3, 15) {
-              sh "git config --global --add safe.directory '*'"
-              sh "git submodule update --init --recursive"
-              sh "git lfs pull"
-            }
-            body()
-          } finally {
-              sh "rm -rf ${env.WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),

README.md

@@ -61,7 +61,7 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
 
 Safety and Testing
 ----

SConstruct

@@ -168,9 +168,6 @@ else:
 if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
-# Enable swaglog include in submodules
-cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
-
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
   ccflags += ccflags_option.split(' ')
@@ -185,12 +182,9 @@ env = Environment(
     "-Werror",
     "-Wshadow",
     "-Wno-unknown-warning-option",
-    "-Wno-deprecated-register",
-    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
-    "-Wno-error=unused-but-set-variable",
     "-Wno-vla-cxx-extension",
   ] + cflags + ccflags,
 
@@ -205,9 +199,7 @@ env = Environment(
     "#third_party/linux/include",
     "#third_party/snpe/include",
     "#third_party",
-    "#cereal",
     "#msgq",
-    "#opendbc/can",
   ],
 
   CC='clang',
@@ -273,7 +265,7 @@ Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -319,9 +311,6 @@ qt_flags = [
   "-DQT_NO_DEBUG",
   "-DQT_WIDGETS_LIB",
   "-DQT_GUI_LIB",
-  "-DQT_QUICK_LIB",
-  "-DQT_QUICKWIDGETS_LIB",
-  "-DQT_QML_LIB",
   "-DQT_CORE_LIB",
   "-DQT_MESSAGELOGCONTEXT",
 ]
@@ -346,24 +335,27 @@ Export('env', 'qt_env', 'arch', 'real_arch')
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-common = [_common, 'json11']
+common = [_common, 'json11', 'zmq']
 gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
 # Build messaging (cereal + msgq + socketmaster + their dependencies)
-SConscript(['msgq_repo/SConscript'])
+# Enable swaglog include in submodules
+env_swaglog = env.Clone()
+env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
+SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc/can/SConscript'], exports={'env': env_swaglog})
+
 SConscript(['cereal/SConscript'])
+
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
 Export('messaging')
 
 
 # Build other submodules
-SConscript([
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
+SConscript(['panda/SConscript'])
 
 # Build rednose library
 SConscript(['rednose/SConscript'])

cereal/SConscript

@@ -1,31 +1,20 @@
-Import('env', 'envCython', 'arch', 'common', 'msgq')
-
-import shutil
+Import('env', 'common', 'msgq')
 
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
-other_dir = Dir('#msgq')
 
 # Build cereal
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
 
-# TODO: remove non shared cereal and messaging
-cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
-
-cereal = env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects)
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
-
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
-
-socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
-socketmaster = env.Library('socketmaster', socketmaster)
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 
 Export('cereal', 'socketmaster')

cereal/car.capnp

@@ -117,6 +117,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
     espActive @121;
+    personalityChanged @122;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -196,6 +197,7 @@ struct CarState {
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
 
   # cruise state
   cruiseState @10 :CruiseState;

cereal/log.capnp

@@ -684,18 +684,53 @@ struct LiveTracks {
   oncoming @9 :Bool;
 }
 
+struct SelfdriveState {
+  # high level system state
+  state @0 :OpenpilotState;
+  enabled @1 :Bool;
+  active @2 :Bool;
+  engageable @9 :Bool;  # can OP be engaged?
+
+  # UI alerts
+  alertText1 @3 :Text;
+  alertText2 @4 :Text;
+  alertStatus @5 :AlertStatus;
+  alertSize @6 :AlertSize;
+  alertType @7 :Text;
+  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+
+  # configurable driving settings
+  experimentalMode @10 :Bool;
+  personality @11 :LongitudinalPersonality;
+
+  enum OpenpilotState @0xdbe58b96d2d1ac61 {
+    disabled @0;
+    preEnabled @1;
+    enabled @2;
+    softDisabling @3;
+    overriding @4;  # superset of overriding with steering or accelerator
+  }
+
+  enum AlertStatus @0xa0d0dcd113193c62 {
+    normal @0;
+    userPrompt @1;
+    critical @2;
+  }
+
+  enum AlertSize @0xe98bb99d6e985f64 {
+    none @0;
+    small @1;
+    mid @2;
+    full @3;
+  }
+}
+
 struct ControlsState @0x97ff69c53601abf1 {
+  cumLagMs @15 :Float32;
   startMonoTime @48 :UInt64;
   longitudinalPlanMonoTime @28 :UInt64;
   lateralPlanMonoTime @50 :UInt64;
 
-  state @31 :OpenpilotState;
-  enabled @19 :Bool;
-  active @36 :Bool;
-
-  experimentalMode @64 :Bool;
-  personality @66 :LongitudinalPersonality;
-
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vTargetLead @3 :Float32;
   vCruise @22 :Float32;  # actual set speed
@@ -706,19 +741,21 @@ struct ControlsState @0x97ff69c53601abf1 {
   aTarget @35 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
-  forceDecel @51 :Bool;
 
-  # UI alerts
+  # TODO: remove these, they're now in selfdriveState
   alertText1 @24 :Text;
   alertText2 @25 :Text;
-  alertStatus @38 :AlertStatus;
-  alertSize @39 :AlertSize;
-  alertBlinkingRate @42 :Float32;
+  alertStatus @38 :SelfdriveState.AlertStatus;
+  alertSize @39 :SelfdriveState.AlertSize;
   alertType @44 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   engageable @41 :Bool;  # can OP be engaged?
-
-  cumLagMs @15 :Float32;
+  forceDecel @51 :Bool;
+  state @31 :SelfdriveState.OpenpilotState;
+  enabled @19 :Bool;
+  active @36 :Bool;
+  experimentalMode @64 :Bool;
+  personality @66 :LongitudinalPersonality;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -731,27 +768,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     lqrStateDEPRECATED @55 :LateralLQRState;
   }
 
-  enum OpenpilotState @0xdbe58b96d2d1ac61 {
-    disabled @0;
-    preEnabled @1;
-    enabled @2;
-    softDisabling @3;
-    overriding @4;  # superset of overriding with steering or accelerator
-  }
-
-  enum AlertStatus {
-    normal @0;       # low priority alert for user's convenience
-    userPrompt @1;   # mid priority alert that might require user intervention
-    critical @2;     # high priority alert that needs immediate user intervention
-  }
-
-  enum AlertSize {
-    none @0;    # don't display the alert
-    small @1;   # small box
-    mid @2;     # mid screen
-    full @3;    # full screen
-  }
-
   struct LateralINDIState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
@@ -865,6 +881,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
   vPidDEPRECATED @2 :Float32;
+  alertBlinkingRateDEPRECATED @42 :Float32;
 }
 
 struct DrivingModelData {
@@ -1010,6 +1027,8 @@ struct ModelDataV2 {
     brake3MetersPerSecondSquaredProbs @4 :List(Float32);
     brake4MetersPerSecondSquaredProbs @5 :List(Float32);
     brake5MetersPerSecondSquaredProbs @6 :List(Float32);
+    gasPressProbs @7 :List(Float32);
+    brakePressProbs @8 :List(Float32);
   }
 
   struct Pose {
@@ -2082,9 +2101,15 @@ struct LiveParametersData {
   stiffnessFactorStd @12 :Float32;
   steerRatioStd @13 :Float32;
   roll @14 :Float32;
-  filterState @15 :LiveLocationKalman.Measurement;
+  debugFilterState @16 :FilterState;
 
   yawRateDEPRECATED @7 :Float32;
+  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
+
+  struct FilterState {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+  }
 }
 
 struct LiveTorqueParametersData {
@@ -2292,6 +2317,7 @@ struct Event {
     gpsNMEA @3 :GPSNMEAData;
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
+    selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
     gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
@@ -2323,7 +2349,6 @@ struct Event {
     onroadEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
-    liveLocationKalman @72 :LiveLocationKalman;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2396,7 +2421,7 @@ struct Event {
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
     liveMpcDEPRECATED @36 :LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
+    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
     orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
     liveUIDEPRECATED @14 :Legacy.LiveUI;
     sensorEventDEPRECATED @4 :SensorEventData;
@@ -2433,5 +2458,6 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
+    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
   }
 }

cereal/messaging/__init__.py

@@ -92,26 +92,63 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
       return log_from_bytes(dat)
 
 
+class FrequencyTracker:
+  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
+    freq = max(min(service_freq, update_freq), 1.)
+    if is_poll:
+      min_freq = max_freq = freq
+    else:
+      max_freq = min(freq, update_freq)
+      if service_freq >= 2 * update_freq:
+        min_freq = update_freq
+      elif update_freq >= 2* service_freq:
+        min_freq = freq
+      else:
+        min_freq = min(freq, freq / 2.)
+
+    self.min_freq = min_freq * 0.8
+    self.max_freq = max_freq * 1.2
+    self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
+    self.prev_time = 0.0
+
+  def record_recv_time(self, cur_time: float) -> None:
+    # TODO: Handle case where cur_time is less than prev_time
+    if self.prev_time > 1e-5:
+      self.recv_dts.append(cur_time - self.prev_time)
+    self.prev_time = cur_time
+
+  @property
+  def valid(self) -> bool:
+    if not self.recv_dts:
+      return False
+
+    avg_freq = len(self.recv_dts) / sum(self.recv_dts)
+    if self.min_freq <= avg_freq <= self.max_freq:
+      return True
+
+    recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):]
+    avg_freq_recent = len(recent_dts) / sum(recent_dts)
+    return self.min_freq <= avg_freq_recent <= self.max_freq
+
+
 class SubMaster:
   def __init__(self, services: List[str], poll: Optional[str] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
                ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
     self.frame = -1
+    self.services = services
     self.seen = {s: False for s in services}
     self.updated = {s: False for s in services}
     self.recv_time = {s: 0. for s in services}
     self.recv_frame = {s: 0 for s in services}
     self.alive = {s: False for s in services}
     self.freq_ok = {s: False for s in services}
-    self.recv_dts: Dict[str, Deque[float]] = {}
     self.sock = {}
     self.data = {}
     self.valid = {}
     self.logMonoTime = {}
 
-    self.max_freq = {}
-    self.min_freq = {}
-
+    self.freq_tracker: Dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -138,22 +175,7 @@ class SubMaster:
       self.data[s] = getattr(data.as_reader(), s)
       self.logMonoTime[s] = 0
       self.valid[s] = True  # FIXME: this should default to False
-
-      freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
-      if s == poll:
-        max_freq = freq
-        min_freq = freq
-      else:
-        max_freq = min(freq, self.update_freq)
-        if SERVICE_LIST[s].frequency >= 2*self.update_freq:
-          min_freq = self.update_freq
-        elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
-          min_freq = freq
-        else:
-          min_freq = min(freq, freq / 2.)
-      self.max_freq[s] = max_freq*1.2
-      self.min_freq[s] = min_freq*0.8
-      self.recv_dts[s] = deque(maxlen=int(10*freq))
+      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
@@ -173,7 +195,7 @@ class SubMaster:
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
-    self.updated = dict.fromkeys(self.updated, False)
+    self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
       if msg is None:
         continue
@@ -182,54 +204,30 @@ class SubMaster:
       self.seen[s] = True
       self.updated[s] = True
 
-      if self.recv_time[s] > 1e-5:
-        self.recv_dts[s].append(cur_time - self.recv_time[s])
+      self.freq_tracker[s].record_recv_time(cur_time)
       self.recv_time[s] = cur_time
       self.recv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.data:
+    for s in self.services:
       if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
         # alive if delay is within 10x the expected frequency
         self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
-
-        # check average frequency; slow to fall, quick to recover
-        dts = self.recv_dts[s]
-        assert dts.maxlen is not None
-        recent_dts = list(dts)[-int(dts.maxlen / 10):]
-        try:
-          avg_freq = 1 / (sum(dts) / len(dts))
-          avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
-        except ZeroDivisionError:
-          avg_freq = 0
-          avg_freq_recent = 0
-
-        avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
-        recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
-        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
+        self.freq_ok[s] = self.freq_tracker[s].valid
       else:
         self.freq_ok[s] = True
-        if self.simulation:
-          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
-        else:
-          self.alive[s] = True
+        self.alive[s] = self.seen[s] if self.simulation else True
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
+    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
   def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
+    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
   def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
-      service_list = list(self.sock.keys())
-    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
+    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
   def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)

cereal/messaging/bridge.cc

@@ -1,25 +1,10 @@
-#include <algorithm>
 #include <cassert>
-#include <csignal>
-#include <iostream>
-#include <map>
-#include <string>
-
-typedef void (*sighandler_t)(int sig);
 
+#include "cereal/messaging/msgq_to_zmq.h"
 #include "cereal/services.h"
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "common/util.h"
 
-std::atomic<bool> do_exit = false;
-static void set_do_exit(int sig) {
-  do_exit = true;
-}
-
-void sigpipe_handler(int sig) {
-  assert(sig == SIGPIPE);
-  std::cout << "SIGPIPE received" << std::endl;
-}
+ExitHandler do_exit;
 
 static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
@@ -34,41 +19,22 @@ static std::vector<std::string> get_services(std::string whitelist_str, bool zmq
   return service_list;
 }
 
-int main(int argc, char** argv) {
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
-  signal(SIGINT, (sighandler_t)set_do_exit);
-  signal(SIGTERM, (sighandler_t)set_do_exit);
+void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  MsgqToZmq bridge;
+  bridge.run(endpoints, ip);
+}
 
-  bool zmq_to_msgq = argc > 2;
-  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
-  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
+void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
+  auto poller = std::make_unique<ZMQPoller>();
+  auto pub_context = std::make_unique<MSGQContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
+  std::map<SubSocket *, PubSocket *> sub2pub;
 
-  Poller *poller;
-  Context *pub_context;
-  Context *sub_context;
-  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
-    poller = new ZMQPoller();
-    pub_context = new MSGQContext();
-    sub_context = new ZMQContext();
-  } else {
-    poller = new MSGQPoller();
-    pub_context = new ZMQContext();
-    sub_context = new MSGQContext();
-  }
-
-  std::map<SubSocket*, PubSocket*> sub2pub;
-  for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) {
-    PubSocket * pub_sock;
-    SubSocket * sub_sock;
-    if (zmq_to_msgq) {
-      pub_sock = new MSGQPubSocket();
-      sub_sock = new ZMQSubSocket();
-    } else {
-      pub_sock = new ZMQPubSocket();
-      sub_sock = new MSGQSubSocket();
-    }
-    pub_sock->connect(pub_context, endpoint);
-    sub_sock->connect(sub_context, endpoint, ip, false);
+  for (auto endpoint : endpoints) {
+    auto pub_sock = new MSGQPubSocket();
+    auto sub_sock = new ZMQSubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
+    sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);
     sub2pub[sub_sock] = pub_sock;
@@ -76,17 +42,30 @@ int main(int argc, char** argv) {
 
   while (!do_exit) {
     for (auto sub_sock : poller->poll(100)) {
-      Message * msg = sub_sock->receive();
-      if (msg == NULL) continue;
-      int ret;
-      do {
-        ret = sub2pub[sub_sock]->sendMessage(msg);
-      } while (ret == -1 && errno == EINTR && !do_exit);
-      assert(ret >= 0 || do_exit);
-      delete msg;
-
-      if (do_exit) break;
+      std::unique_ptr<Message> msg(sub_sock->receive(true));
+      if (msg) {
+        sub2pub[sub_sock]->sendMessage(msg.get());
+      }
     }
   }
+
+  // Clean up allocated sockets
+  for (auto &[sub_sock, pub_sock] : sub2pub) {
+    delete sub_sock;
+    delete pub_sock;
+  }
+}
+
+int main(int argc, char **argv) {
+  bool is_zmq_to_msgq = argc > 2;
+  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
+  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
+  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
+
+  if (is_zmq_to_msgq) {
+    zmq_to_msgq(endpoints, ip);
+  } else {
+    msgq_to_zmq(endpoints, ip);
+  }
   return 0;
 }

cereal/messaging/msgq_to_zmq.cc

@@ -0,0 +1,143 @@
+#include "cereal/messaging/msgq_to_zmq.h"
+
+#include <cassert>
+
+#include "common/util.h"
+
+extern ExitHandler do_exit;
+
+// Max messages to process per socket per poll
+constexpr int MAX_MESSAGES_PER_SOCKET = 50;
+
+static std::string recv_zmq_msg(void *sock) {
+  zmq_msg_t msg;
+  zmq_msg_init(&msg);
+  std::string ret;
+  if (zmq_msg_recv(&msg, sock, 0) > 0) {
+    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+  zmq_msg_close(&msg);
+  return ret;
+}
+
+void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
+  zmq_context = std::make_unique<ZMQContext>();
+  msgq_context = std::make_unique<MSGQContext>();
+
+  // Create ZMQPubSockets for each endpoint
+  for (const auto &endpoint : endpoints) {
+    auto &socket_pair = socket_pairs.emplace_back();
+    socket_pair.endpoint = endpoint;
+    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
+    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
+    if (ret != 0) {
+      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
+      return;
+    }
+  }
+
+  // Start ZMQ monitoring thread to monitor socket events
+  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
+
+  // Main loop for processing messages
+  while (!do_exit) {
+    {
+      std::unique_lock lk(mutex);
+      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
+      if (do_exit) break;
+
+      for (auto sub_sock : msgq_poller->poll(100)) {
+        // Process messages for each socket
+        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
+          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
+          if (!msg) break;
+
+          while (sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
+            if (errno != EINTR) break;
+          }
+        }
+      }
+    }
+    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
+  }
+
+  thread.join();
+}
+
+void MsgqToZmq::zmqMonitorThread() {
+  std::vector<zmq_pollitem_t> pollitems;
+
+  // Set up ZMQ monitor for each pub socket
+  for (int i = 0; i < socket_pairs.size(); ++i) {
+    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+
+    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
+    zmq_connect(monitor_socket, addr.c_str());
+    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
+  }
+
+  while (!do_exit) {
+    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
+    if (ret < 0) {
+      if (errno == EINTR) {
+        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
+        // to reduce CPU usage during retry attempts.
+        util::sleep_for(200);
+      }
+      continue;
+    }
+
+    for (int i = 0; i < pollitems.size(); ++i) {
+      if (pollitems[i].revents & ZMQ_POLLIN) {
+        // First frame in message contains event number and value
+        std::string frame = recv_zmq_msg(pollitems[i].socket);
+        if (frame.empty()) continue;
+
+        uint16_t event_type = *(uint16_t *)(frame.data());
+
+        // Second frame in message contains event address
+        frame = recv_zmq_msg(pollitems[i].socket);
+        if (frame.empty()) continue;
+
+        std::unique_lock lk(mutex);
+        auto &pair = socket_pairs[i];
+        if (event_type & ZMQ_EVENT_ACCEPTED) {
+          printf("socket [%s] connected\n", pair.endpoint.c_str());
+          if (++pair.connected_clients == 1) {
+            // Create new MSGQ subscriber socket and map to ZMQ publisher
+            pair.sub_sock = std::make_unique<MSGQSubSocket>();
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
+            registerSockets();
+          }
+        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
+          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
+          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
+            // Remove MSGQ subscriber socket from mapping and reset it
+            sub2pub.erase(pair.sub_sock.get());
+            pair.sub_sock.reset(nullptr);
+            registerSockets();
+          }
+        }
+        cv.notify_one();
+      }
+    }
+  }
+
+  // Clean up monitor sockets
+  for (int i = 0; i < pollitems.size(); ++i) {
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
+    zmq_close(pollitems[i].socket);
+  }
+  cv.notify_one();
+}
+
+void MsgqToZmq::registerSockets() {
+  msgq_poller = std::make_unique<MSGQPoller>();
+  for (const auto &socket_pair : socket_pairs) {
+    if (socket_pair.sub_sock) {
+      msgq_poller->registerSocket(socket_pair.sub_sock.get());
+    }
+  }
+}

cereal/messaging/msgq_to_zmq.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <condition_variable>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#define private public
+#include "msgq/impl_msgq.h"
+#include "msgq/impl_zmq.h"
+
+class MsgqToZmq {
+public:
+  MsgqToZmq() {}
+  void run(const std::vector<std::string> &endpoints, const std::string &ip);
+
+protected:
+  void registerSockets();
+  void zmqMonitorThread();
+
+  struct SocketPair {
+    std::string endpoint;
+    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<MSGQSubSocket> sub_sock;
+    int connected_clients = 0;
+  };
+
+  std::unique_ptr<MSGQContext> msgq_context;
+  std::unique_ptr<ZMQContext> zmq_context;
+  std::mutex mutex;
+  std::condition_variable cv;
+  std::unique_ptr<MSGQPoller> msgq_poller;
+  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::vector<SocketPair> socket_pairs;
+};

cereal/messaging/tests/test_pub_sub_master.py

@@ -89,8 +89,8 @@ class TestSubMaster:
       for service, (max_freq, min_freq) in checks.items():
         if max_freq is not None:
           assert sm._check_avg_freq(service)
-          assert sm.max_freq[service] == max_freq*1.2
-          assert sm.min_freq[service] == min_freq*0.8
+          assert sm.freq_tracker[service].max_freq == max_freq*1.2
+          assert sm.freq_tracker[service].min_freq == min_freq*0.8
         else:
           assert not sm._check_avg_freq(service)
 

cereal/services.py

@@ -24,6 +24,7 @@ _services: dict[str, tuple] = {
   "deviceState": (True, 2., 1),
   "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
+  "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
@@ -48,7 +49,6 @@ _services: dict[str, tuple] = {
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
-  "liveLocationKalman": (True, 20.),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 0.2, 1),

common/gps.py

@@ -0,0 +1,8 @@
+from openpilot.common.params import Params
+
+
+def get_gps_location_service(params: Params) -> str:
+  if params.get_bool("UbloxAvailable"):
+    return "gpsLocationExternal"
+  else:
+    return "gpsLocation"

common/mock/__init__.py

@@ -8,12 +8,12 @@ import functools
 import threading
 from cereal.messaging import PubMaster
 from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.common.mock.generators import generate_livePose
 from openpilot.common.realtime import Ratekeeper
 
 
 MOCK_GENERATOR = {
-  "liveLocationKalman": generate_liveLocationKalman
+  "livePose": generate_livePose
 }
 
 

common/mock/generators.py

@@ -1,20 +1,14 @@
 from cereal import messaging
 
 
-LOCATION1 = (32.7174, -117.16277)
-LOCATION2 = (32.7558, -117.2037)
-
-LLK_DECIMATION = 10
-RENDER_FRAMES = 15
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
-
-
-def generate_liveLocationKalman(location=LOCATION1):
-  msg = messaging.new_message('liveLocationKalman')
-  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.status = 'valid'
-  msg.liveLocationKalman.gpsOK = True
+def generate_livePose():
+  msg = messaging.new_message('livePose')
+  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
+  msg.livePose.orientationNED = meas
+  msg.livePose.velocityDevice = meas
+  msg.livePose.angularVelocityDevice = meas
+  msg.livePose.accelerationDevice = meas
+  msg.livePose.inputsOK = True
+  msg.livePose.posenetOK = True
+  msg.livePose.sensorsOK = True
   return msg

common/params.cc

@@ -104,7 +104,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
     {"CarParamsPrevRoute", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CurrentBootlog", PERSISTENT},

common/realtime.py

@@ -4,7 +4,7 @@ import os
 import time
 from collections import deque
 
-from openpilot.common.threadname import getthreadname
+from setproctitle import getproctitle
 
 from openpilot.system.hardware import PC
 
@@ -52,7 +52,7 @@ class Ratekeeper:
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._thread_name = getthreadname()
+    self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = time.monotonic()
 
@@ -87,7 +87,7 @@ class Ratekeeper:
     remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining

common/swaglog.py

@@ -104,6 +104,15 @@ class UnixDomainSocketHandler(logging.Handler):
       pass
 
 
+class ForwardingHandler(logging.Handler):
+  def __init__(self, target_logger):
+    super().__init__()
+    self.target_logger = target_logger
+
+  def emit(self, record):
+    self.target_logger.handle(record)
+
+
 def add_file_handler(log):
   """
   Function to add the file log handler to swaglog.

common/tests/test_threadname.py

@@ -1,8 +0,0 @@
-from openpilot.common.threadname import setthreadname, getthreadname, LINUX
-
-class TestThreadName:
-  def test_set_get_threadname(self):
-    if LINUX:
-      name = 'TESTING'
-      setthreadname(name)
-      assert name == getthreadname()

common/threadname.py

@@ -1,19 +0,0 @@
-import ctypes
-import os
-
-LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
-
-if LINUX:
-  libc = ctypes.CDLL('libc.so.6')
-
-def setthreadname(name: str) -> None:
-  if LINUX:
-    name = name[-15:] + '\0'
-    libc.prctl(15, str.encode(name), 0, 0, 0)
-
-def getthreadname() -> str:
-  if LINUX:
-    name = ctypes.create_string_buffer(16)
-    libc.prctl(16, name)
-    return name.value.decode('utf-8')
-  return ""

common/time.py

@@ -1,7 +1,7 @@
 import datetime
 from pathlib import Path
 
-_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+_MIN_DATE = datetime.datetime(year=2024, month=8, day=26)
 
 def min_date():
   # on systemd systems, the default time is the systemd build time

common/utils.py

@@ -1,11 +0,0 @@
-class Freezable:
-  _frozen: bool = False
-
-  def freeze(self):
-    if not self._frozen:
-      self._frozen = True
-
-  def __setattr__(self, *args, **kwargs):
-    if self._frozen:
-      raise Exception("cannot modify frozen object")
-    super().__setattr__(*args, **kwargs)

docs/BOUNTIES.md

@@ -1,62 +0,0 @@
-# [Bounties](https://github.com/orgs/commaai/projects/26/views/1)
-
-Get paid to improve openpilot!
-
-## Rules
-
-* code must be merged into openpilot master
-* bounty eligibility is solely at our discretion
-* once you open a PR, the bounty is locked to you until you stop working on it
-* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
-* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
-* for bounties >$100, the first PR gets a lock, which times out after a week of no progress
-
-We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
-This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
-
-## Issue bounties
-
-We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
-* **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot
-* **$300** - a day of work for an experienced openpilot developer
-* **$500** - a few days of work for an experienced openpilot developer
-* **$1k+** - a week or two of work (could be less for the right person)
-
-New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
-
-## Car bounties
-
-The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).
-
-#### Brand or platform port - $2000
-Example PR: [commaai/openpilot#23331](https://github.com/commaai/openpilot/pull/23331)
-
-This is for adding support for an entirely new brand or a substantially new ADAS platform within a brand (e.g. the Volkswagen PQ platform).
-
-#### Model port - $250
-Example PR: [commaai/openpilot#30245](https://github.com/commaai/openpilot/pull/30245)
-
-This is for porting a new car model that runs on a platform openpilot already supports.
-In the average case, this is a few hours of work for an experienced software developer.
-
-This bounty also covers getting openpilot supported on a previously unsupported trim of an already supported car, e.g. the Chevy Bolt without ACC.
-
-#### Reverse Engineering a new Actuation Message - $300
-
-This is for cars that are already supported, and it has three components:
-* reverse a new steering, adaptive cruise, or AEB message
-* merge the DBC definitions to [opendbc](http://github.com/commaai/opendbc)
-* merge the openpilot code to use it and post a demo route
-
-The control doesn't have to be perfect, but it should generally do what it's supposed to do.
-
-### Specific Cars
-
-#### Rivian R1T or R1S - $3000
-
-Get a Rivian driving with openpilot.
-Requires a merged port with lateral control and at least a POC of longitudinal control.
-
-#### Chevy Bolt with SuperCruise - $2500
-
-The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.

docs/CARS.md

@@ -8,8 +8,8 @@ A supported vehicle is one that just works when you install a comma device. All
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
@@ -64,20 +64,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
 |Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
-|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||

docs/CONTRIBUTING.md

@@ -1,6 +1,8 @@
 # How to contribute
 
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai).
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
+
+Development is coordinated through [Discord](https://discord.comma.ai) and GitHub.
 
 ### Getting Started
 
@@ -11,7 +13,8 @@ Our software is open source so you can solve your own problems without needing h
 
 ## What contributions are we looking for?
 
-**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. 
+**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
 
 ### What gets merged?
 
@@ -27,24 +30,21 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful 
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
-* **UI design changes**: we do not have a good review process for this yet
+* **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
+* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
-Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
-
-### What do I need to contribute?
-
-A lot of openpilot work requires only a PC, and some requires a comma device.
-Most car-related contributions require access to that car, plus a comma device installed in the car.
+[Bounties](https://comma.ai/bounties) are the best place to get started.
+There's lot of bounties that don't require a comma 3/3X or a car.
 
 ## Pull Requests
 
-Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+Pull requests should be against the master branch.
 
 A good pull request has all of the following:
 * a clearly stated purpose

docs/car-porting/what-is-a-car-port.md

@@ -1,6 +1,6 @@
 # What is a car port?
 
-A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
+A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/car_specific.py` and `opendbc_repo/opendbc/car`.
 
 The complexity of a car port varies depending on many factors including:
 * existing openpilot support for similar cars

docs/contributing/roadmap.md

@@ -5,6 +5,7 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
 * [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
 * [Bounties](https://comma.ai/bounties) for paid individual issues
+* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
 ## openpilot 0.10
 

docs/how-to/connect-to-comma.md

@@ -7,7 +7,7 @@ A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) compu
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
 Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
-On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect.
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
 On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
 

docs/how-to/turn-the-speed-blue.md

@@ -9,7 +9,7 @@ And if you have a comma 3/3X, we'll deploy the change to your device for testing
 
 Run this to clone openpilot and install all the dependencies:
 ```bash
-curl -fsSL openpilot.comma.ai | bash
+bash <(curl -fsSL openpilot.comma.ai)
 ```
 
 Navigate to openpilot folder & activate a Python virtual environment

launch_chffrplus.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 if [ -z "$BASEDIR" ]; then
   BASEDIR="/data/openpilot"

launch_env.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 export OMP_NUM_THREADS=1
 export MKL_NUM_THREADS=1

launch_openpilot.sh

@@ -1,3 +1,3 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 exec ./launch_chffrplus.sh

pyproject.toml

@@ -26,7 +26,7 @@ dependencies = [
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy",
+  "numpy < 2.0.0",
 
   # body / webrtcd
   "aiohttp",
@@ -52,13 +52,13 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
-  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
+  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
   "future-fstrings",
 
   # these should be removed
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
+  "setproctitle",
 
   # logreader
   "zstandard",
@@ -74,7 +74,6 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "import-linter",
   "mypy",
   "pytest",
   "pytest-cov",
@@ -88,6 +87,7 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
+  "pre-commit-hooks",
 ]
 
 dev = [
@@ -99,7 +99,7 @@ dev = [
   "inputs",
   "lru-dict",
   "matplotlib",
-  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "parameterized >=0.8, <0.9",
   #"pprofile",
   "pyautogui",
@@ -107,7 +107,7 @@ dev = [
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
   "pywinctl",
   "pyprof2calltree",
-  "rerun-sdk",
+  "rerun-sdk >= 0.18",
   "tabulate",
   "types-requests",
   "types-tabulate",
@@ -144,6 +144,7 @@ testpaths = [
   "common",
   "selfdrive/pandad",
   "selfdrive/car",
+  "selfdrive/opcar",
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
@@ -165,11 +166,11 @@ testpaths = [
 ]
 
 [tool.codespell]
-count = true
 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"
-builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+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"
+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/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 
 [tool.mypy]
 python_version = "3.11"
@@ -177,9 +178,11 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
-  "body/",
   "cereal/",
+  "msgq/",
+  "msgq_repo/",
   "opendbc/",
+  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -204,6 +207,10 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+local_partial_types=true
+explicit_package_bases=true
+disable_error_code = "annotation-unchecked"
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2

release/build_devel.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -ex
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"

release/build_release.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -e
 set -x
 

release/check-dirty.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"

release/check-submodules.sh

@@ -1,7 +1,7 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 3000 origin master
+  git -C $submodule fetch --depth 4000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

release/release_files.py

@@ -118,10 +118,6 @@ whitelist = [
   "opendbc_repo/dbc/toyota_tss2_adas.dbc",
   "opendbc_repo/dbc/vw_golf_mk4.dbc",
   "opendbc_repo/dbc/vw_mqb_2010.dbc",
-  "opendbc_repo/dbc/tesla_can.dbc",
-  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
-  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
-  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]
 
 

scripts/apply-pr.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [ $# -eq 0 ]; then
   echo "usage: $0 <pull-request-number>"

scripts/build_small.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -ex
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"

scripts/cell.sh

@@ -1,3 +1,3 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
 nmcli con up esim

scripts/checkout-pr.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 if [ $# -eq 0 ]; then

scripts/count_cars.py

@@ -2,7 +2,7 @@
 from collections import Counter
 from pprint import pprint
 
-from openpilot.selfdrive.car.docs import get_all_car_docs
+from opendbc.car.docs import get_all_car_docs
 
 if __name__ == "__main__":
   cars = get_all_car_docs()

scripts/git_rewrite/rewrite-git-history.sh

@@ -1,4 +1,5 @@
-#!/bin/bash -e
+#!/usr/bin/env bash
+set -e
 
 SRC=/tmp/openpilot/
 SRC_CLONE=/tmp/openpilot-clone/
@@ -209,7 +210,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
     MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
     if [ -n "$MERGE_BASE" ]; then
       echo "Rewriting branch: $BRANCH"
-      
+
       # create a new branch based on the new master
       NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
       if [ -z "$NEW_MERGE_BASE" ]; then
@@ -217,10 +218,10 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
         continue
       fi
       git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
-      
+
       # get the range of commits unique to this branch
       COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
-      
+
       HAS_ERROR=0
 
       # simple delimiter
@@ -263,7 +264,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
           git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
         fi
       done
-      
+
       # force push the new branch
       if [ $HAS_ERROR -eq 0 ]; then
         # git lfs goes haywire here, so we need to install and uninstall
@@ -271,7 +272,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
         git lfs uninstall --local > /dev/null
         git push -f origin ${BRANCH}_new:${BRANCH}
       fi
-      
+
       # clean up local branch
       git checkout master > /dev/null
       git branch -D ${BRANCH}_new > /dev/null
@@ -318,7 +319,7 @@ if [ ! -f "$SRC_CLONE/validation-done" ]; then
 
     # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
     echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
-    
+
     # generate lists of files and their hashes for the old and new commits, excluding ignored files
     OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
     NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")

scripts/git_rewrite/rewrite.sh

@@ -0,0 +1,54 @@
+#!/usr/bin/env bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+git clone --bare https://github.com/commaai/openpilot
+cp -r openpilot.git openpilot_backup
+cd openpilot.git
+
+# backup old repo
+git push git@github.com:maxime-desroches/openpilot_archive.git +refs/heads/master:refs/heads/master
+git push git@github.com:maxime-desroches/openpilot_archive.git +refs/heads/*:refs/heads/*
+git push git@github.com:maxime-desroches/openpilot_archive.git +refs/tags/*:refs/tags/*
+git push --mirror git@github.com:maxime-desroches/openpilot_archive.git
+
+# ignore all release branches
+git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
+
+# re-tag old releases on master
+declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
+for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
+
+# get master root commit
+ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
+
+# link master and devel
+git replace --graft $ROOT_COMMIT v0.7.1
+git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
+
+# delete replace refs
+git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
+
+# validate
+tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'diff <(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) <(git ls-tree -r $1 | sha1sum) || exit 255'
+
+# cleanup
+git reflog expire --expire=now --all
+git gc --prune=now --aggressive
+
+# get all lfs files
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git lfs fetch --all
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git lfs fetch --all
+
+# add new files to lfs
+git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+
+# set new lfs endpoint
+git config lfs.url https://gitlab.com/commaai/openpilot_rewrite_lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot_rewrite_lfs.git
+
+# push all branch+tag (scary stuff...)
+git push -f --set-upstream git@github.com:maxime-desroches/tinypilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/launch_corolla.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 

scripts/lint.sh

@@ -1,10 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../
-
-# TODO: bring back rest of pre-commit checks:
-# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
-
-ruff check .

scripts/lint/check_shebang_format.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep '^#!.*python' $@ | grep -v '#!/usr/bin/env python3$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env python3'\n"
+  FAIL=1
+fi
+
+if grep '^#!.*bash' $@ | grep -v '#!/usr/bin/env bash$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env bash'"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/lint.sh

@@ -0,0 +1,115 @@
+#!/usr/bin/env bash
+set -e
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../../
+
+FAILED=0
+
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
+IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+
+function run() {
+  shopt -s extglob
+  case $1 in
+    $SKIP | $RUN ) return 0 ;;
+  esac
+
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$1
+  PYTHON_FILES=$2
+
+  run "ruff" ruff check $PYTHON_FILES --quiet
+  run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
+  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+  run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
+
+  if [[ -z "$FAST" ]]; then
+    run "mypy" mypy $PYTHON_FILES
+    run "codespell" codespell $ALL_FILES
+  fi
+
+  return $FAILED
+}
+
+function help() {
+  echo "A fast linter"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [TESTS] [OPTIONS]"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
+  echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}codespell${NC}"
+  echo -e "  ${BOLD}check_added_large_files${NC}"
+  echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-f, --fast${NC}"
+  echo "          Skip slow tests"
+  echo -e "  ${BOLD}-s, --skip${NC}"
+  echo "          Specify tests to skip separated by spaces"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
+  echo "  op lint mypy ruff"
+  echo "          Only run the mypy and ruff tests"
+  echo ""
+  echo "  op lint --skip mypy ruff"
+  echo "          Skip the mypy and ruff tests"
+  echo ""
+  echo "  op lint"
+  echo "          Run all the tests"
+}
+
+SKIP=""
+RUN=""
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    -f | --fast ) shift 1; FAST="1" ;;
+    -s | --skip ) shift 1; SKIP=" " ;;
+    -h | --help | -help | --h ) help; exit 0 ;;
+    * ) if [[ -n $SKIP ]]; then SKIP+="$1 "; else RUN+="$1 "; fi; shift 1 ;;
+  esac
+done
+
+RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
+SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
+
+GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
+ALL_FILES=""
+for f in $GIT_FILES; do
+  if [[ -f $f ]]; then
+    ALL_FILES+="$f"$'\n'
+  fi
+done
+PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
+
+run_tests "$ALL_FILES" "$PYTHON_FILES"

scripts/post-commit

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -e
+if [[ -f .git/hooks/post-commit.d/post-commit ]]; then
+  .git/hooks/post-commit.d/post-commit
+fi
+tools/op.sh lint --fast
+echo ""

scripts/retry.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 function fail {
   echo $1 >&2

scripts/waste.py

@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 
 def waste(core):
   os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setthreadname("%3d: %8d" % (core, i))
+      setproctitle("%3d: %8d" % (core, i))
       lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt

selfdrive/assets/compress-images.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 echo "compressing training guide images"
 optipng -o7 -strip all training/*

selfdrive/assets/strip-svg-metadata.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # sudo apt install scour
 

selfdrive/car/__init__.py

@@ -1,311 +0,0 @@
-# functions common among cars
-from collections import namedtuple
-from dataclasses import dataclass
-from enum import IntFlag, ReprEnum, EnumType
-from dataclasses import replace
-
-import capnp
-
-from cereal import car
-from panda.python.uds import SERVICE_TYPE
-from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.utils import Freezable
-from openpilot.selfdrive.car.docs_definitions import CarDocs
-
-DT_CTRL = 0.01  # car state and control loop timestep (s)
-
-# kg of standard extra cargo to count for drive, gas, etc...
-STD_CARGO_KG = 136.
-
-ButtonType = car.CarState.ButtonEvent.Type
-EventName = car.CarEvent.EventName
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
-
-
-def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
-  if val > val_steady + hyst_gap:
-    val_steady = val - hyst_gap
-  elif val < val_steady - hyst_gap:
-    val_steady = val + hyst_gap
-  return val_steady
-
-
-def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule],
-                         unpressed_btn: int = 0) -> list[capnp.lib.capnp._DynamicStructBuilder]:
-  events: list[capnp.lib.capnp._DynamicStructBuilder] = []
-
-  if cur_btn == prev_btn:
-    return events
-
-  # Add events for button presses, multiple when a button switches without going to unpressed
-  for pressed, btn in ((False, prev_btn), (True, cur_btn)):
-    if btn != unpressed_btn:
-      events.append(car.CarState.ButtonEvent(pressed=pressed,
-                                             type=buttons_dict.get(btn, ButtonType.unknown)))
-  return events
-
-
-def gen_empty_fingerprint():
-  return {i: {} for i in range(8)}
-
-
-# these params were derived for the Civic and used to calculate params for other cars
-class VehicleDynamicsParams:
-  MASS = 1326. + STD_CARGO_KG
-  WHEELBASE = 2.70
-  CENTER_TO_FRONT = WHEELBASE * 0.4
-  CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
-  ROTATIONAL_INERTIA = 2500
-  TIRE_STIFFNESS_FRONT = 192150
-  TIRE_STIFFNESS_REAR = 202500
-
-
-# TODO: get actual value, for now starting with reasonable value for
-# civic and scaling by mass and wheelbase
-def scale_rot_inertia(mass, wheelbase):
-  return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
-
-
-# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-# mass and CG position, so all cars will have approximately similar dyn behaviors
-def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
-  center_to_rear = wheelbase - center_to_front
-  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
-                         (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)
-
-  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
-                        (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)
-
-  return tire_stiffness_front, tire_stiffness_rear
-
-
-DbcDict = dict[str, str]
-
-
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
-  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
-
-
-def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
-
-  # limits due to driver torque
-  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
-  driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
-  max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
-  min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
-  apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
-
-  # slow rate if steer torque increases in magnitude
-  if apply_torque_last > 0:
-    apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
-                        apply_torque_last + LIMITS.STEER_DELTA_UP)
-  else:
-    apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
-                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
-
-  return int(round(float(apply_torque)))
-
-
-def apply_dist_to_meas_limits(val, val_last, val_meas,
-                              STEER_DELTA_UP, STEER_DELTA_DOWN,
-                              STEER_ERROR_MAX, STEER_MAX):
-  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
-  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
-  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
-
-  val = clip(val, min_lim, max_lim)
-
-  # slow rate if val increases in magnitude
-  if val_last > 0:
-    val = clip(val,
-               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
-               val_last + STEER_DELTA_UP)
-  else:
-    val = clip(val,
-               val_last - STEER_DELTA_UP,
-               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
-
-  return float(val)
-
-
-def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
-                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
-                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
-
-
-def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
-  # pick angle rate limits based on wind up/down
-  steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
-  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
-
-  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
-  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
-
-
-def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
-                           max_above_limit_frames: int, max_mismatching_frames: int = 1):
-  """
-  Several cars have the ability to work around their EPS limits by cutting the
-  request bit of their LKAS message after a certain number of frames above the limit.
-  """
-
-  # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
-  if request and fault_condition:
-    above_limit_frames += 1
-  else:
-    above_limit_frames = 0
-
-  # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
-  # Some brands do not respect our workaround without multiple messages on the bus, for example
-  if above_limit_frames > max_above_limit_frames:
-    request = False
-
-  if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
-    above_limit_frames = 0
-
-  return above_limit_frames, request
-
-
-def apply_center_deadzone(error, deadzone):
-  if (error > - deadzone) and (error < deadzone):
-    error = 0.
-  return error
-
-
-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
-
-
-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
-  friction_interp = interp(
-    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-    [-friction_threshold, friction_threshold],
-    [-torque_params.friction, torque_params.friction]
-  )
-  friction = float(friction_interp) if friction_compensation else 0.0
-  return friction
-
-
-def make_can_msg(addr, dat, bus):
-  return [addr, dat, bus]
-
-
-def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
-  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
-  if subaddr is not None:
-    dat.insert(0, subaddr)
-  dat.append(0x80 if suppress_response else 0x0)  # sub-function
-
-  dat.extend([0x0] * (8 - len(dat)))
-  return make_can_msg(addr, bytes(dat), bus)
-
-
-def get_safety_config(safety_model, safety_param = None):
-  ret = car.CarParams.SafetyConfig.new_message()
-  ret.safetyModel = safety_model
-  if safety_param is not None:
-    ret.safetyParam = safety_param
-  return ret
-
-
-class CanBusBase:
-  offset: int
-
-  def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
-    if CP is None:
-      assert fingerprint is not None
-      num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
-    else:
-      num = len(CP.safetyConfigs)
-    self.offset = 4 * (num - 1)
-
-
-class CanSignalRateCalculator:
-  """
-  Calculates the instantaneous rate of a CAN signal by using the counter
-  variable and the known frequency of the CAN message that contains it.
-  """
-  def __init__(self, frequency):
-    self.frequency = frequency
-    self.previous_counter = 0
-    self.previous_value = 0
-    self.rate = 0
-
-  def update(self, current_value, current_counter):
-    if current_counter != self.previous_counter:
-      self.rate = (current_value - self.previous_value) * self.frequency
-
-    self.previous_counter = current_counter
-    self.previous_value = current_value
-
-    return self.rate
-
-
-@dataclass(frozen=True, kw_only=True)
-class CarSpecs:
-  mass: float  # kg, curb weight
-  wheelbase: float  # meters
-  steerRatio: float
-  centerToFrontRatio: float = 0.5
-  minSteerSpeed: float = 0.0  # m/s
-  minEnableSpeed: float = -1.0  # m/s
-  tireStiffnessFactor: float = 1.0
-
-  def override(self, **kwargs):
-    return replace(self, **kwargs)
-
-
-@dataclass(order=True)
-class PlatformConfig(Freezable):
-  car_docs: list[CarDocs]
-  specs: CarSpecs
-
-  dbc_dict: DbcDict
-
-  flags: int = 0
-
-  platform_str: str | None = None
-
-  def __hash__(self) -> int:
-    return hash(self.platform_str)
-
-  def override(self, **kwargs):
-    return replace(self, **kwargs)
-
-  def init(self):
-    pass
-
-  def __post_init__(self):
-    self.init()
-
-
-class PlatformsType(EnumType):
-  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
-    for key in classdict._member_names.keys():
-      cfg: PlatformConfig = classdict[key]
-      cfg.platform_str = key
-      cfg.freeze()
-    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
-
-
-class Platforms(str, ReprEnum, metaclass=PlatformsType):
-  config: PlatformConfig
-
-  def __new__(cls, platform_config: PlatformConfig):
-    member = str.__new__(cls, platform_config.platform_str)
-    member.config = platform_config
-    member._value_ = platform_config.platform_str
-    return member
-
-  def __repr__(self):
-    return f"<{self.__class__.__name__}.{self.name}>"
-
-  @classmethod
-  def create_dbc_map(cls) -> dict[str, DbcDict]:
-    return {p: p.config.dbc_dict for p in cls}
-
-  @classmethod
-  def with_flags(cls, flags: IntFlag) -> set['Platforms']:
-    return {p for p in cls if p.config.flags & flags}

selfdrive/car/body/bodycan.py

@@ -1,7 +0,0 @@
-def create_control(packer, torque_l, torque_r):
-  values = {
-    "TORQUE_L": torque_l,
-    "TORQUE_R": torque_r,
-  }
-
-  return packer.make_can_msg("TORQUE_CMD", 0, values)

selfdrive/car/body/carcontroller.py

@@ -1,84 +0,0 @@
-import numpy as np
-
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
-from openpilot.selfdrive.car.body import bodycan
-from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.pid import PIDController
-
-
-MAX_TORQUE = 500
-MAX_TORQUE_RATE = 50
-MAX_ANGLE_ERROR = np.radians(7)
-MAX_POS_INTEGRATOR = 0.2   # meters
-MAX_TURN_INTEGRATOR = 0.1  # meters
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
-    self.packer = CANPacker(dbc_name)
-
-    # PIDs
-    self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
-
-    self.torque_r_filtered = 0.
-    self.torque_l_filtered = 0.
-
-  @staticmethod
-  def deadband_filter(torque, deadband):
-    if torque > 0:
-      torque += deadband
-    else:
-      torque -= deadband
-    return torque
-
-  def update(self, CC, CS, now_nanos):
-
-    torque_l = 0
-    torque_r = 0
-
-    llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
-    if CC.enabled and llk_valid:
-      # Read these from the joystick
-      # TODO: this isn't acceleration, okay?
-      speed_desired = CC.actuators.accel / 5.
-      speed_diff_desired = -CC.actuators.steer / 2.
-
-      speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
-      speed_error = speed_desired - speed_measured
-
-      torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
-
-      speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
-      turn_error = speed_diff_measured - speed_diff_desired
-      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
-                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
-      torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
-
-      # Combine 2 PIDs outputs
-      torque_r = torque + torque_diff
-      torque_l = torque - torque_diff
-
-      # Torque rate limits
-      self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10),
-                                       self.torque_r_filtered - MAX_TORQUE_RATE,
-                                       self.torque_r_filtered + MAX_TORQUE_RATE)
-      self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
-                                       self.torque_l_filtered - MAX_TORQUE_RATE,
-                                       self.torque_l_filtered + MAX_TORQUE_RATE)
-      torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
-      torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
-
-    can_sends = []
-    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
-
-    new_actuators = CC.actuators.as_builder()
-    new_actuators.accel = torque_l
-    new_actuators.steer = torque_r
-    new_actuators.steerOutputCan = torque_r
-
-    self.frame += 1
-    return new_actuators, can_sends

selfdrive/car/body/carstate.py

@@ -1,40 +0,0 @@
-from cereal import car
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.body.values import DBC
-
-STARTUP_TICKS = 100
-
-class CarState(CarStateBase):
-  def update(self, cp):
-    ret = car.CarState.new_message()
-
-    ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
-    ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
-
-    ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
-
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = False
-
-    ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
-                                   cp.vl['VAR_VALUES']['FAULT']])
-
-    ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
-    ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
-
-    # irrelevant for non-car
-    ret.gearShifter = car.CarState.GearShifter.drive
-    ret.cruiseState.enabled = True
-    ret.cruiseState.available = True
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      ("MOTORS_DATA", 100),
-      ("VAR_VALUES", 10),
-      ("BODY_DATA", 1),
-    ]
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)

selfdrive/car/body/fingerprints.py

@@ -1,28 +0,0 @@
-# ruff: noqa: E501
-from cereal import car
-from openpilot.selfdrive.car.body.values import CAR
-
-Ecu = car.CarParams.Ecu
-
-# debug ecu fw version is the git hash of the firmware
-
-
-FINGERPRINTS = {
-  CAR.COMMA_BODY: [{
-    513: 8, 516: 8, 514: 3, 515: 4
-  }],
-}
-
-FW_VERSIONS = {
-  CAR.COMMA_BODY: {
-    (Ecu.engine, 0x720, None): [
-      b'0.0.01',
-      b'0.3.00a',
-      b'02/27/2022',
-    ],
-    (Ecu.debug, 0x721, None): [
-      b'166bd860',
-      b'dc780f85',
-    ],
-  },
-}

selfdrive/car/body/interface.py

@@ -1,38 +0,0 @@
-import math
-from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
-    ret.notCar = True
-    ret.carName = "body"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
-
-    ret.minSteerSpeed = -math.inf
-    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
-    ret.steerLimitTimer = 1.0
-    ret.steerActuatorDelay = 0.
-
-    ret.wheelSpeedFactor = SPEED_FROM_RPM
-
-    ret.radarUnavailable = True
-    ret.openpilotLongitudinalControl = True
-    ret.steerControlType = car.CarParams.SteerControlType.angle
-
-    return ret
-
-  def _update(self, c):
-    ret = self.CS.update(self.cp)
-
-    # wait for everything to init first
-    if self.frame > int(5. / DT_CTRL):
-      # body always wants to enable
-      ret.init('events', 1)
-      ret.events[0].name = car.CarEvent.EventName.pcmEnable
-      ret.events[0].enable = True
-    self.frame += 1
-
-    return ret

selfdrive/car/body/radar_interface.py

@@ -1,4 +0,0 @@
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-class RadarInterface(RadarInterfaceBase):
-  pass

selfdrive/car/body/values.py

@@ -1,40 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarDocs
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = car.CarParams.Ecu
-
-SPEED_FROM_RPM = 0.008587
-
-
-class CarControllerParams:
-  ANGLE_DELTA_BP = [0., 5., 15.]
-  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
-  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
-  STEER_THRESHOLD = 1.0
-
-  def __init__(self, CP):
-    pass
-
-
-class CAR(Platforms):
-  COMMA_BODY = PlatformConfig(
-    [CarDocs("comma body", package="All")],
-    CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
-    dbc_dict('comma_body', None),
-  )
-
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      bus=0,
-    ),
-  ],
-)
-
-DBC = CAR.create_dbc_map()

selfdrive/car/car_helpers.py

@@ -1,219 +0,0 @@
-import os
-import time
-from collections.abc import Callable
-
-from cereal import car
-from openpilot.common.params import Params
-from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
-from openpilot.common.swaglog import cloudlog
-import cereal.messaging as messaging
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.system.version import get_build_metadata
-
-FRAME_FINGERPRINT = 100  # 1s
-
-EventName = car.CarEvent.EventName
-
-
-def get_startup_event(car_recognized, controller_available, fw_seen):
-  build_metadata = get_build_metadata()
-  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
-    event = EventName.startup
-  else:
-    event = EventName.startupMaster
-
-  if not car_recognized:
-    if fw_seen:
-      event = EventName.startupNoCar
-    else:
-      event = EventName.startupNoFw
-  elif car_recognized and not controller_available:
-    event = EventName.startupNoControl
-  return event
-
-
-def get_one_can(logcan):
-  while True:
-    can = messaging.recv_one_retry(logcan)
-    if len(can.can) > 0:
-      return can
-
-
-def load_interfaces(brand_names):
-  ret = {}
-  for brand_name in brand_names:
-    path = f'openpilot.selfdrive.car.{brand_name}'
-    CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-    CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-    for model_name in brand_names[brand_name]:
-      ret[model_name] = (CarInterface, CarController, CarState)
-  return ret
-
-
-def _get_interface_names() -> dict[str, list[str]]:
-  # returns a dict of brand name and its respective models
-  brand_names = {}
-  for brand_name, brand_models in get_interface_attr("CAR").items():
-    brand_names[brand_name] = [model.value for model in brand_models]
-
-  return brand_names
-
-
-# imports from directory selfdrive/car/<name>/
-interface_names = _get_interface_names()
-interfaces = load_interfaces(interface_names)
-
-
-def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
-  finger = gen_empty_fingerprint()
-  candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
-  frame = 0
-  car_fingerprint = None
-  done = False
-
-  while not done:
-    a = next_can()
-
-    for can in a.can:
-      # The fingerprint dict is generated for all buses, this way the car interface
-      # can use it to detect a (valid) multipanda setup and initialize accordingly
-      if can.src < 128:
-        if can.src not in finger:
-          finger[can.src] = {}
-        finger[can.src][can.address] = len(can.dat)
-
-      for b in candidate_cars:
-        # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
-
-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
-        # fingerprint done
-        car_fingerprint = candidate_cars[b][0]
-
-    # bail if no cars left or we've been waiting for more than 2s
-    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
-    succeeded = car_fingerprint is not None
-    done = failed or succeeded
-
-    frame += 1
-
-  return car_fingerprint, finger
-
-
-# **** for use live only ****
-def fingerprint(logcan, sendcan, num_pandas):
-  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
-  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
-  disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
-  ecu_rx_addrs = set()
-  params = Params()
-
-  start_time = time.monotonic()
-  if not skip_fw_query:
-    cached_params = params.get("CarParamsCache")
-    if cached_params is not None:
-      with car.CarParams.from_bytes(cached_params) as cached_params:
-        if cached_params.carName == "mock":
-          cached_params = None
-
-    if cached_params is not None and len(cached_params.carFw) > 0 and \
-       cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
-      cloudlog.warning("Using cached CarParams")
-      vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
-      car_fw = list(cached_params.carFw)
-      cached = True
-    else:
-      cloudlog.warning("Getting VIN & FW versions")
-      # enable OBD multiplexing for VIN query
-      # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
-      set_obd_multiplexing(params, True)
-      # VIN query only reliably works through OBDII
-      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
-      ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
-      cached = False
-
-    exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
-  else:
-    vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
-    exact_fw_match, fw_candidates, car_fw = True, set(), []
-    cached = False
-
-  if not is_valid_vin(vin):
-    cloudlog.event("Malformed VIN", vin=vin, error=True)
-    vin = VIN_UNKNOWN
-  cloudlog.warning("VIN %s", vin)
-  params.put("CarVin", vin)
-
-  # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
-  set_obd_multiplexing(params, False)
-  params.put_bool("FirmwareQueryDone", True)
-
-  fw_query_time = time.monotonic() - start_time
-
-  # CAN fingerprint
-  # drain CAN socket so we get the latest messages
-  messaging.drain_sock_raw(logcan)
-  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
-
-  exact_match = True
-  source = car.CarParams.FingerprintSource.can
-
-  # If FW query returns exactly 1 candidate, use it
-  if len(fw_candidates) == 1:
-    car_fingerprint = list(fw_candidates)[0]
-    source = car.CarParams.FingerprintSource.fw
-    exact_match = exact_fw_match
-
-  if fixed_fingerprint:
-    car_fingerprint = fixed_fingerprint
-    source = car.CarParams.FingerprintSource.fixed
-
-  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
-                 fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
-
-  return car_fingerprint, finger, vin, car_fw, source, exact_match
-
-
-def get_car_interface(CP):
-  CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
-  return CarInterface(CP, CarController, CarState)
-
-
-def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
-
-  if candidate is None:
-    cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
-    candidate = "MOCK"
-
-  CarInterface, _, _ = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
-  CP.carVin = vin
-  CP.carFw = car_fw
-  CP.fingerprintSource = source
-  CP.fuzzyFingerprint = not exact_match
-
-  return get_car_interface(CP), CP
-
-def write_car_param(platform=MOCK.MOCK):
-  params = Params()
-  CarInterface, _, _ = interfaces[platform]
-  CP = CarInterface.get_non_essential_params(platform)
-  params.put("CarParams", CP.to_bytes())
-
-def get_demo_car_params():
-  platform = MOCK.MOCK
-  CarInterface, _, _ = interfaces[platform]
-  CP = CarInterface.get_non_essential_params(platform)
-  return CP

selfdrive/car/car_specific.py

@@ -0,0 +1,254 @@
+from cereal import car
+import cereal.messaging as messaging
+from opendbc.car import DT_CTRL, structs
+from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
+from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
+from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
+
+from openpilot.selfdrive.controls.lib.events import Events
+
+ButtonType = structs.CarState.ButtonEvent.Type
+GearShifter = structs.CarState.GearShifter
+EventName = car.CarEvent.EventName
+NetworkLocation = structs.CarParams.NetworkLocation
+
+
+# TODO: the goal is to abstract this file into the CarState struct and make events generic
+class MockCarState:
+  def __init__(self):
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
+
+  def update(self, CS: car.CarState):
+    self.sm.update(0)
+    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
+
+    CS.vEgo = self.sm[gps_sock].speed
+    CS.vEgoRaw = self.sm[gps_sock].speed
+
+    return CS
+
+
+class CarSpecificEvents:
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
+
+    self.steering_unpressed = 0
+    self.low_speed_alert = False
+    self.no_steer_warning = False
+    self.silent_steer_warning = True
+
+  def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl):
+    if self.CP.carName in ('body', 'mock'):
+      events = Events()
+
+    elif self.CP.carName == 'subaru':
+      events = self.create_common_events(CS.out, CS_prev)
+
+    elif self.CP.carName == 'ford':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
+
+    elif self.CP.carName == 'nissan':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
+
+      if CS.lkas_enabled:  # type: ignore[attr-defined]
+        events.add(EventName.invalidLkasSetting)
+
+    elif self.CP.carName == 'mazda':
+      events = self.create_common_events(CS.out, CS_prev)
+
+      if CS.lkas_disabled:  # type: ignore[attr-defined]
+        events.add(EventName.lkasDisabled)
+      elif CS.low_speed_alert:  # type: ignore[attr-defined]
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'chrysler':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
+
+      # Low speed steer alert hysteresis logic
+      if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
+        self.low_speed_alert = True
+      elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'honda':
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
+
+      if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.belowEngageSpeed)
+
+      if self.CP.pcmCruise:
+        # we engage when pcm is active (rising edge)
+        if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
+          events.add(EventName.pcmEnable)
+        elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
+          # it can happen that car cruise disables while comma system is enabled: need to
+          # keep braking if needed or if the speed is very low
+          if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
+            # non loud alert if cruise disables below 25mph as expected (+ a little margin)
+            events.add(EventName.speedTooLow)
+          else:
+            events.add(EventName.cruiseDisabled)
+      if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
+        events.add(EventName.manualRestart)
+
+    elif self.CP.carName == 'toyota':
+      events = self.create_common_events(CS.out, CS_prev)
+
+      if self.CP.openpilotLongitudinalControl:
+        if CS.out.cruiseState.standstill and not CS.out.brakePressed:
+          events.add(EventName.resumeRequired)
+        if CS.low_speed_lockout:  # type: ignore[attr-defined]
+          events.add(EventName.lowSpeedLockout)
+        if CS.out.vEgo < self.CP.minEnableSpeed:
+          events.add(EventName.belowEngageSpeed)
+          if CC_prev.actuators.accel > 0.3:
+            # some margin on the actuator to not false trigger cancellation while stopping
+            events.add(EventName.speedTooLow)
+          if CS.out.vEgo < 0.001:
+            # while in standstill, send a user alert
+            events.add(EventName.manualRestart)
+
+    elif self.CP.carName == 'gm':
+      # The ECM allows enabling on falling edge of set, but only rising edge of resume
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                                       GearShifter.eco, GearShifter.manumatic],
+                                         pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+      if not self.CP.pcmCruise:
+        if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
+          events.add(EventName.buttonEnable)
+
+      # Enabling at a standstill with brake is allowed
+      # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
+      below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward  # type: ignore[attr-defined]
+      if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
+                                         self.CP.networkLocation == NetworkLocation.fwdCamera):
+        events.add(EventName.belowEngageSpeed)
+      if CS.out.cruiseState.standstill:
+        events.add(EventName.resumeRequired)
+      if CS.out.vEgo < self.CP.minSteerSpeed:
+        events.add(EventName.belowSteerSpeed)
+
+    elif self.CP.carName == 'volkswagen':
+      events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+                                         pcm_enable=not self.CP.openpilotLongitudinalControl,
+                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
+
+      # Low speed steer alert hysteresis logic
+      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = True
+      elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+      if self.CP.openpilotLongitudinalControl:
+        if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
+          events.add(EventName.belowEngageSpeed)
+        if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
+          events.add(EventName.speedTooLow)
+
+      if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+        events.add(EventName.steerTimeLimit)
+
+    elif self.CP.carName == 'hyundai':
+      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
+      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
+      # Main button also can trigger an engagement on these cars
+      allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons)  # type: ignore[attr-defined]
+      events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
+
+      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
+      if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+        self.low_speed_alert = True
+      if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    else:
+      raise ValueError(f"Unsupported car: {self.CP.carName}")
+
+    return events
+
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
+                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+    events = Events()
+
+    if CS.doorOpen:
+      events.add(EventName.doorOpen)
+    if CS.seatbeltUnlatched:
+      events.add(EventName.seatbeltNotLatched)
+    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
+       CS.gearShifter not in extra_gears):
+      events.add(EventName.wrongGear)
+    if CS.gearShifter == GearShifter.reverse:
+      events.add(EventName.reverseGear)
+    if not CS.cruiseState.available:
+      events.add(EventName.wrongCarMode)
+    if CS.espDisabled:
+      events.add(EventName.espDisabled)
+    if CS.espActive:
+      events.add(EventName.espActive)
+    if CS.stockFcw:
+      events.add(EventName.stockFcw)
+    if CS.stockAeb:
+      events.add(EventName.stockAeb)
+    if CS.vEgo > MAX_CTRL_SPEED:
+      events.add(EventName.speedTooHigh)
+    if CS.cruiseState.nonAdaptive:
+      events.add(EventName.wrongCruiseMode)
+    if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
+      events.add(EventName.brakeHold)
+    if CS.parkingBrake:
+      events.add(EventName.parkBrake)
+    if CS.accFaulted:
+      events.add(EventName.accFaulted)
+    if CS.steeringPressed:
+      events.add(EventName.steerOverride)
+    if CS.brakePressed and CS.standstill:
+      events.add(EventName.preEnableStandstill)
+    if CS.gasPressed:
+      events.add(EventName.gasPressedOverride)
+    if CS.vehicleSensorsInvalid:
+      events.add(EventName.vehicleSensorsInvalid)
+
+    # Handle button presses
+    for b in CS.buttonEvents:
+      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
+      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
+        events.add(EventName.buttonEnable)
+      # Disable on rising and falling edge of cancel for both stock and OP long
+      if b.type == ButtonType.cancel:
+        events.add(EventName.buttonCancel)
+
+    # Handle permanent and temporary steering faults
+    self.steering_unpressed = 0 if CS.steeringPressed else self.steering_unpressed + 1
+    if CS.steerFaultTemporary:
+      if CS.steeringPressed and (not CS_prev.steerFaultTemporary or self.no_steer_warning):
+        self.no_steer_warning = True
+      else:
+        self.no_steer_warning = False
+
+        # if the user overrode recently, show a less harsh alert
+        if self.silent_steer_warning or CS.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+          self.silent_steer_warning = True
+          events.add(EventName.steerTempUnavailableSilent)
+        else:
+          events.add(EventName.steerTempUnavailable)
+    else:
+      self.no_steer_warning = False
+      self.silent_steer_warning = False
+    if CS.steerFaultPermanent:
+      events.add(EventName.steerUnavailable)
+
+    # we engage when pcm is active (rising edge)
+    # enabling can optionally be blocked by the car interface
+    if pcm_enable:
+      if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable:
+        events.add(EventName.pcmEnable)
+      elif not CS.cruiseState.enabled:
+        events.add(EventName.pcmDisable)
+
+    return events

selfdrive/car/card.py

@@ -10,22 +10,61 @@ from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL
-from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from opendbc.car import DT_CTRL, carlog, structs
+from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from opendbc.car.fw_versions import ObdCallback
+from opendbc.car.car_helpers import get_car
+from opendbc.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
+from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
+from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
 EventName = car.CarEvent.EventName
 
+# forward
+carlog.addHandler(ForwardingHandler(cloudlog))
+
+
+def obd_callback(params: Params) -> ObdCallback:
+  def set_obd_multiplexing(obd_multiplexing: bool):
+    if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
+      cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
+      params.remove("ObdMultiplexingChanged")
+      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+      params.get_bool("ObdMultiplexingChanged", block=True)
+      cloudlog.warning("OBD multiplexing set successfully")
+  return set_obd_multiplexing
+
+
+def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket) -> tuple[CanRecvCallable, CanSendCallable]:
+  def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+    """
+    wait_for_one: wait the normal logcan socket timeout for a CAN packet, may return empty list if nothing comes
+
+    Returns: CAN packets comprised of CanData objects for easy access
+    """
+    ret = []
+    for can in messaging.drain_sock(logcan, wait_for_one=wait_for_one):
+      ret.append([CanData(msg.address, msg.dat, msg.src) for msg in can.can])
+    return ret
+
+  def can_send(msgs: list[CanData]) -> None:
+    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+
+  return can_recv, can_send
+
 
 class Car:
   CI: CarInterfaceBase
+  CP: structs.CarParams
+  CP_capnp: car.CarParams
 
-  def __init__(self, CI=None):
+  def __init__(self, CI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
@@ -36,18 +75,34 @@ class Car:
     self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
-    self.last_actuators_output = car.CarControl.Actuators.new_message()
+    self.last_actuators_output = structs.CarControl.Actuators()
 
     self.params = Params()
 
+    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
-      get_one_can(self.can_sock)
+      while True:
+        can = messaging.recv_one_retry(self.can_sock)
+        if len(can.can) > 0:
+          break
 
-      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
+      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+
+      cached_params = None
+      cached_params_raw = self.params.get("CarParamsCache")
+      if cached_params_raw is not None:
+        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
+          cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CP = self.CI.CP
+
+      # continue onto next fingerprinting step in pandad
+      self.params.put_bool("FirmwareQueryDone", True)
     else:
       self.CI, self.CP = CI, CI.CP
 
@@ -63,8 +118,8 @@ class Car:
 
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
-      safety_config = car.CarParams.SafetyConfig.new_message()
-      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
+      safety_config = structs.CarParams.SafetyConfig()
+      safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
     # Write previous route's CarParams
@@ -73,13 +128,18 @@ class Car:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
-    cp_bytes = self.CP.to_bytes()
+    # convert to pycapnp representation for caching and logging
+    self.CP_capnp = convert_to_capnp(self.CP)
+    cp_bytes = self.CP_capnp.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
     self.events = Events()
 
+    self.car_events = CarSpecificEvents(self.CP)
+    self.mock_carstate = MockCarState()
+
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -88,7 +148,10 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = convert_to_capnp(self.CI.update(can_capnp_to_list(can_strs)))
+
+    if self.CP.carName == 'mock':
+      CS = self.mock_carstate.update(CS)
 
     self.sm.update(0)
 
@@ -103,11 +166,19 @@ class Car:
 
     return CS
 
-  def update_events(self, CS: car.CarState) -> car.CarState:
+  def update_events(self, CS: car.CarState):
     self.events.clear()
 
+    CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
+
     self.events.add_from_msg(CS.events)
 
+    if self.CP.notCar:
+      # wait for everything to init first
+      if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
+        # body always wants to enable
+        self.events.add(EventName.pcmEnable)
+
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
@@ -123,13 +194,13 @@ class Car:
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
-      cp_send.carParams = self.CP
+      cp_send.carParams = self.CP_capnp
       self.pm.send('carParams', cp_send)
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
     co_send.valid = self.sm.all_checks(['carControl'])
-    co_send.carOutput.actuatorsOutput = self.last_actuators_output
+    co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
     self.pm.send('carOutput', co_send)
 
     # kick off controlsd step while we actuate the latest carControl packet
@@ -146,14 +217,14 @@ class Car:
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC

selfdrive/car/chrysler/carcontroller.py

@@ -1,83 +0,0 @@
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
-from openpilot.selfdrive.car.chrysler import chryslercan
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
-    self.apply_steer_last = 0
-
-    self.hud_count = 0
-    self.last_lkas_falling_edge = 0
-    self.lkas_control_bit_prev = False
-    self.last_button_frame = 0
-
-    self.packer = CANPacker(dbc_name)
-    self.params = CarControllerParams(CP)
-
-  def update(self, CC, CS, now_nanos):
-    can_sends = []
-
-    lkas_active = CC.latActive and self.lkas_control_bit_prev
-
-    # cruise buttons
-    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
-      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
-
-      # ACC cancellation
-      if CC.cruiseControl.cancel:
-        self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
-
-      # ACC resume from standstill
-      elif CC.cruiseControl.resume:
-        self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
-
-    # HUD alerts
-    if self.frame % 25 == 0:
-      if CS.lkas_car_model != -1:
-        can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
-                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
-        self.hud_count += 1
-
-    # steering
-    if self.frame % self.params.STEER_STEP == 0:
-
-      # TODO: can we make this more sane? why is it different for all the cars?
-      lkas_control_bit = self.lkas_control_bit_prev
-      if CS.out.vEgo > self.CP.minSteerSpeed:
-        lkas_control_bit = True
-      elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
-        if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
-          lkas_control_bit = False
-      elif self.CP.carFingerprint in RAM_CARS:
-        if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
-          lkas_control_bit = False
-
-      # EPS faults if LKAS re-enables too quickly
-      lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
-
-      if not lkas_control_bit and self.lkas_control_bit_prev:
-        self.last_lkas_falling_edge = self.frame
-      self.lkas_control_bit_prev = lkas_control_bit
-
-      # steer torque
-      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
-      apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
-      if not lkas_active or not lkas_control_bit:
-        apply_steer = 0
-      self.apply_steer_last = apply_steer
-
-      can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
-
-    self.frame += 1
-
-    new_actuators = CC.actuators.as_builder()
-    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
-    new_actuators.steerOutputCan = self.apply_steer_last
-
-    return new_actuators, can_sends

selfdrive/car/chrysler/carstate.py

@@ -1,156 +0,0 @@
-from cereal import car
-from openpilot.common.conversions import Conversions as CV
-from opendbc.can.parser import CANParser
-from opendbc.can.can_define import CANDefine
-from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.CP = CP
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-
-    self.auto_high_beam = 0
-    self.button_counter = 0
-    self.lkas_car_model = -1
-
-    if CP.carFingerprint in RAM_CARS:
-      self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
-    else:
-      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
-
-    self.prev_distance_button = 0
-    self.distance_button = 0
-
-  def update(self, cp, cp_cam):
-
-    ret = car.CarState.new_message()
-
-    self.prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
-
-    # lock info
-    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
-                        cp.vl["BCM_1"]["DOOR_OPEN_FR"],
-                        cp.vl["BCM_1"]["DOOR_OPEN_RL"],
-                        cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
-
-    # brake pedal
-    ret.brake = 0
-    ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1  # Physical brake pedal switch
-
-    # gas pedal
-    ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
-    ret.gasPressed = ret.gas > 1e-5
-
-    # car speed
-    if self.CP.carFingerprint in RAM_CARS:
-      ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
-    else:
-      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = not ret.vEgoRaw > 0.001
-    ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
-      cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
-      cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
-      cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
-      unit=1,
-    )
-
-    # button presses
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
-                                                                       cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
-    ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
-
-    # steering wheel
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
-    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
-    ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
-    ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-
-    # cruise state
-    cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
-
-    ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
-    ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
-    ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
-    ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2)  # 1 NormalCCOn and 2 NormalCCSet
-    ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
-    ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
-
-    if self.CP.carFingerprint in RAM_CARS:
-      # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
-      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
-      ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
-    else:
-      ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
-      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
-
-    # blindspot sensors
-    if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
-      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
-
-    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
-    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
-
-    return ret
-
-  @staticmethod
-  def get_cruise_messages():
-    messages = [
-      ("DAS_3", 50),
-      ("DAS_4", 50),
-    ]
-    return messages
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("ESP_1", 50),
-      ("EPS_2", 100),
-      ("ESP_6", 50),
-      ("STEERING", 100),
-      ("ECM_5", 50),
-      ("CRUISE_BUTTONS", 50),
-      ("STEERING_LEVERS", 10),
-      ("ORC_1", 2),
-      ("BCM_1", 1),
-    ]
-
-    if CP.enableBsm:
-      messages.append(("BSM_1", 2))
-
-    if CP.carFingerprint in RAM_CARS:
-      messages += [
-        ("ESP_8", 50),
-        ("EPS_3", 50),
-        ("Transmission_Status", 50),
-      ]
-    else:
-      messages += [
-        ("GEAR", 50),
-        ("SPEED_1", 100),
-      ]
-      messages += CarState.get_cruise_messages()
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
-      ("DAS_6", 4),
-    ]
-
-    if CP.carFingerprint in RAM_CARS:
-      messages += CarState.get_cruise_messages()
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)

selfdrive/car/chrysler/chryslercan.py

@@ -1,71 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.chrysler.values import RAM_CARS
-
-GearShifter = car.CarState.GearShifter
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-
-def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
-  # LKAS_HUD - Controls what lane-keeping icon is displayed
-
-  # == Color ==
-  # 0 hidden?
-  # 1 white
-  # 2 green
-  # 3 ldw
-
-  # == Lines ==
-  # 03 white Lines
-  # 04 grey lines
-  # 09 left lane close
-  # 0A right lane close
-  # 0B left Lane very close
-  # 0C right Lane very close
-  # 0D left cross cross
-  # 0E right lane cross
-
-  # == Alerts ==
-  # 7 Normal
-  # 6 lane departure place hands on wheel
-
-  color = 2 if lkas_active else 1
-  lines = 3 if lkas_active else 0
-  alerts = 7 if lkas_active else 0
-
-  if hud_count < (1 * 4):  # first 3 seconds, 4Hz
-    alerts = 1
-
-  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
-    color = 4
-    lines = 0
-    alerts = 6
-
-  values = {
-    "LKAS_ICON_COLOR": color,
-    "CAR_MODEL": car_model,
-    "LKAS_LANE_LINES": lines,
-    "LKAS_ALERTS": alerts,
-  }
-
-  if CP.carFingerprint in RAM_CARS:
-    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
-
-  return packer.make_can_msg("DAS_6", 0, values)
-
-
-def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
-  # LKAS_COMMAND Lane-keeping signal to turn the wheel
-  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
-  values = {
-    "STEERING_TORQUE": apply_steer,
-    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
-  }
-  return packer.make_can_msg("LKAS_COMMAND", 0, values)
-
-
-def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
-  values = {
-    "ACC_Cancel": cancel,
-    "ACC_Resume": resume,
-    "COUNTER": frame % 0x10,
-  }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

selfdrive/car/chrysler/fingerprints.py

@@ -1,711 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.chrysler.values import CAR
-
-Ecu = car.CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.CHRYSLER_PACIFICA_2018: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68227902AF',
-      b'68227902AG',
-      b'68227902AH',
-      b'68227905AG',
-      b'68360252AC',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68211617AF',
-      b'68211617AG',
-      b'68358974AC',
-      b'68405937AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68222747AG',
-      b'68330876AA',
-      b'68330876AB',
-      b'68352227AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AA',
-      b'04672758AB',
-      b'68226356AF',
-      b'68226356AH',
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288891AE',
-      b'68378884AA',
-      b'68525338AA',
-      b'68525338AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68267018AO ',
-      b'68267020AJ ',
-      b'68303534AG ',
-      b'68303534AJ ',
-      b'68340762AD ',
-      b'68340764AD ',
-      b'68352652AE ',
-      b'68352654AE ',
-      b'68366851AH ',
-      b'68366853AE ',
-      b'68366853AG ',
-      b'68372861AF ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'68277370AJ',
-      b'68277370AM',
-      b'68277372AD',
-      b'68277372AE',
-      b'68277372AN',
-      b'68277374AA',
-      b'68277374AB',
-      b'68277374AD',
-      b'68277374AN',
-      b'68367471AC',
-      b'68367471AD',
-      b'68380571AB',
-    ],
-  },
-  CAR.CHRYSLER_PACIFICA_2020: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68405327AC',
-      b'68436233AB',
-      b'68436233AC',
-      b'68436234AB',
-      b'68436250AE',
-      b'68529067AA',
-      b'68594993AB',
-      b'68594994AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68405565AB',
-      b'68405565AC',
-      b'68444299AC',
-      b'68480707AC',
-      b'68480708AC',
-      b'68526663AB',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68397394AA',
-      b'68433480AB',
-      b'68453575AF',
-      b'68577676AA',
-      b'68593395AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AA',
-      b'04672758AB',
-      b'68417813AF',
-      b'68540436AA',
-      b'68540436AC',
-      b'68540436AD',
-      b'68598670AB',
-      b'68598670AC',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68416742AA',
-      b'68460393AA',
-      b'68460393AB',
-      b'68494461AB',
-      b'68494461AC',
-      b'68524936AA',
-      b'68524936AB',
-      b'68525338AB',
-      b'68594337AB',
-      b'68594340AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68413871AD ',
-      b'68413871AE ',
-      b'68413871AH ',
-      b'68413871AI ',
-      b'68413873AH ',
-      b'68413873AI ',
-      b'68443120AE ',
-      b'68443123AC ',
-      b'68443125AC ',
-      b'68496647AI ',
-      b'68496647AJ ',
-      b'68496650AH ',
-      b'68496650AI ',
-      b'68496652AH ',
-      b'68526752AD ',
-      b'68526752AE ',
-      b'68526754AE ',
-      b'68536264AE ',
-      b'68700304AB ',
-      b'68700306AB ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'68414271AC',
-      b'68414271AD',
-      b'68414275AC',
-      b'68414275AD',
-      b'68443154AB',
-      b'68443155AC',
-      b'68443158AB',
-      b'68501050AD',
-      b'68501051AD',
-      b'68501055AD',
-      b'68527221AB',
-      b'68527223AB',
-      b'68586231AD',
-      b'68586233AD',
-    ],
-  },
-  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68239262AH',
-      b'68239262AI',
-      b'68239262AJ',
-      b'68239263AH',
-      b'68239263AJ',
-      b'68358439AE',
-      b'68358439AG',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68238840AH',
-      b'68358990AC',
-      b'68405939AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AA',
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288309AC',
-      b'68288309AD',
-      b'68525339AA',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68277480AV ',
-      b'68277480AX ',
-      b'68277480AZ ',
-      b'68366580AI ',
-      b'68366580AK ',
-      b'68366580AM ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05190175BF',
-      b'05190175BH',
-      b'05190226AI',
-      b'05190226AK',
-      b'05190226AM',
-    ],
-  },
-  CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68405292AC',
-      b'68434956AC',
-      b'68434956AD',
-      b'68434960AE',
-      b'68434960AF',
-      b'68529064AB',
-      b'68594990AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68405567AB',
-      b'68405567AC',
-      b'68453076AD',
-      b'68480710AC',
-      b'68526665AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672758AB',
-      b'68417813AF',
-      b'68540436AA',
-      b'68540436AB',
-      b'68540436AC',
-      b'68540436AD',
-      b'68598670AB',
-      b'68598670AC',
-      b'68645752AA',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68416741AA',
-      b'68460392AA',
-      b'68525339AA',
-      b'68525339AB',
-      b'68594341AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68416680AE ',
-      b'68416680AF ',
-      b'68416680AG ',
-      b'68444228AC ',
-      b'68444228AD ',
-      b'68444228AE ',
-      b'68444228AF ',
-      b'68499122AD ',
-      b'68499122AE ',
-      b'68499122AF ',
-      b'68526772AD ',
-      b'68526772AH ',
-      b'68599493AC ',
-      b'68657433AA ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05185116AF',
-      b'05185116AJ',
-      b'05185116AK',
-      b'05190240AP',
-      b'05190240AQ',
-      b'05190240AR',
-      b'05190265AG',
-      b'05190265AH',
-      b'05190289AE',
-      b'68540977AH',
-      b'68540977AK',
-      b'68597647AE',
-      b'68632416AB',
-    ],
-  },
-  CAR.JEEP_GRAND_CHEROKEE: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68243549AG',
-      b'68302211AC',
-      b'68302212AD',
-      b'68302223AC',
-      b'68302246AC',
-      b'68331511AC',
-      b'68331574AC',
-      b'68331687AC',
-      b'68331690AC',
-      b'68340272AD',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68309533AA',
-      b'68316742AB',
-      b'68355363AB',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68252642AG',
-      b'68306178AD',
-      b'68336275AB',
-      b'68336276AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672627AB',
-      b'68251506AF',
-      b'68332015AB',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68276201AG',
-      b'68321644AB',
-      b'68321644AC',
-      b'68321646AC',
-      b'68321648AC',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035920AE ',
-      b'68252272AG ',
-      b'68284455AI ',
-      b'68284456AI ',
-      b'68284477AF ',
-      b'68325564AH ',
-      b'68325564AI ',
-      b'68325565AH ',
-      b'68325565AI ',
-      b'68325618AD ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035517AH',
-      b'68253222AF',
-      b'68311218AC',
-      b'68311223AF',
-      b'68311223AG',
-      b'68361911AE',
-      b'68361911AF',
-      b'68361911AH',
-      b'68361916AD',
-    ],
-  },
-  CAR.JEEP_GRAND_CHEROKEE_2019: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68402703AB',
-      b'68402704AB',
-      b'68402708AB',
-      b'68402971AD',
-      b'68454144AD',
-      b'68454145AB',
-      b'68454152AB',
-      b'68454156AB',
-      b'68516650AB',
-      b'68516651AB',
-      b'68516669AB',
-      b'68516671AB',
-      b'68516683AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68355363AB',
-      b'68355364AB',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68408639AC',
-      b'68408639AD',
-      b'68499978AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672788AA',
-      b'68456722AC',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68417279AA',
-      b'68417280AA',
-      b'68417281AA',
-      b'68453431AA',
-      b'68453433AA',
-      b'68453435AA',
-      b'68499171AA',
-      b'68499171AB',
-      b'68501183AA',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035674AB ',
-      b'68412635AG ',
-      b'68412660AD ',
-      b'68422860AB',
-      b'68449435AE ',
-      b'68496223AA ',
-      b'68504959AD ',
-      b'68504959AE ',
-      b'68504960AD ',
-      b'68504993AC ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035707AA',
-      b'68419672AC',
-      b'68419678AB',
-      b'68423905AB',
-      b'68449258AC',
-      b'68495807AA',
-      b'68495807AB',
-      b'68503641AC',
-      b'68503664AC',
-    ],
-  },
-  CAR.RAM_1500_5TH_GEN: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68294051AG',
-      b'68294051AI',
-      b'68294052AG',
-      b'68294052AH',
-      b'68294059AI',
-      b'68294063AG',
-      b'68294063AH',
-      b'68294063AI',
-      b'68434846AC',
-      b'68434847AC',
-      b'68434849AC',
-      b'68434856AC',
-      b'68434858AC',
-      b'68434859AC',
-      b'68434860AC',
-      b'68453471AD',
-      b'68453483AC',
-      b'68453483AD',
-      b'68453487AD',
-      b'68453491AC',
-      b'68453491AD',
-      b'68453499AD',
-      b'68453503AC',
-      b'68453503AD',
-      b'68453505AC',
-      b'68453505AD',
-      b'68453511AC',
-      b'68453513AC',
-      b'68453513AD',
-      b'68453514AD',
-      b'68505633AB',
-      b'68510277AG',
-      b'68510277AH',
-      b'68510280AG',
-      b'68510282AG',
-      b'68510282AH',
-      b'68510283AG',
-      b'68527346AE',
-      b'68527361AD',
-      b'68527375AD',
-      b'68527381AD',
-      b'68527381AE',
-      b'68527382AE',
-      b'68527383AD',
-      b'68527383AE',
-      b'68527387AE',
-      b'68527397AD',
-      b'68527403AC',
-      b'68527403AD',
-      b'68546047AF',
-      b'68631938AA',
-      b'68631939AA',
-      b'68631940AA',
-      b'68631940AB',
-      b'68631942AA',
-      b'68631943AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68428609AB',
-      b'68441329AB',
-      b'68473844AB',
-      b'68490898AA',
-      b'68500728AA',
-      b'68615033AA',
-      b'68615034AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68292406AG',
-      b'68292406AH',
-      b'68432418AB',
-      b'68432418AC',
-      b'68432418AD',
-      b'68436004AD',
-      b'68436004AE',
-      b'68438454AC',
-      b'68438454AD',
-      b'68438456AE',
-      b'68438456AF',
-      b'68535469AB',
-      b'68535470AC',
-      b'68548900AB',
-      b'68586307AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672892AB',
-      b'04672932AB',
-      b'04672932AC',
-      b'22DTRHD_AA',
-      b'68320950AH',
-      b'68320950AI',
-      b'68320950AJ',
-      b'68320950AL',
-      b'68320950AM',
-      b'68454268AB',
-      b'68475160AE',
-      b'68475160AF',
-      b'68475160AG',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'21590101AA',
-      b'21590101AB',
-      b'68273275AF',
-      b'68273275AG',
-      b'68273275AH',
-      b'68312176AE',
-      b'68312176AG',
-      b'68440789AC',
-      b'68466110AA',
-      b'68466110AB',
-      b'68466113AA',
-      b'68469901AA',
-      b'68469907AA',
-      b'68522583AA',
-      b'68522583AB',
-      b'68522584AA',
-      b'68522585AB',
-      b'68552788AA',
-      b'68552789AA',
-      b'68552790AA',
-      b'68552791AB',
-      b'68552794AA',
-      b'68552794AD',
-      b'68585106AB',
-      b'68585107AB',
-      b'68585108AB',
-      b'68585109AB',
-      b'68585112AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035699AG ',
-      b'05035841AC ',
-      b'05035841AD ',
-      b'05036026AB ',
-      b'05036065AE ',
-      b'05036066AE ',
-      b'05036193AA ',
-      b'05149368AA ',
-      b'05149374AA ',
-      b'05149591AD ',
-      b'05149591AE ',
-      b'05149592AE ',
-      b'05149599AE ',
-      b'05149600AD ',
-      b'05149605AE ',
-      b'05149846AA ',
-      b'05149848AA ',
-      b'05149848AC ',
-      b'05190341AD',
-      b'68378695AJ ',
-      b'68378696AJ ',
-      b'68378696AK ',
-      b'68378701AI ',
-      b'68378702AI ',
-      b'68378710AL ',
-      b'68378742AI ',
-      b'68378742AK ',
-      b'68378748AL ',
-      b'68378758AM ',
-      b'68448163AJ',
-      b'68448163AK',
-      b'68448163AL',
-      b'68448165AG',
-      b'68448165AK',
-      b'68455111AC ',
-      b'68455119AC ',
-      b'68455145AC ',
-      b'68455145AE ',
-      b'68455146AC ',
-      b'68460927AA ',
-      b'68467915AC ',
-      b'68467916AC ',
-      b'68467936AC ',
-      b'68500630AD',
-      b'68500630AE',
-      b'68500631AE',
-      b'68502719AC ',
-      b'68502722AC ',
-      b'68502733AC ',
-      b'68502734AF ',
-      b'68502740AF ',
-      b'68502741AF ',
-      b'68502742AC ',
-      b'68502742AF ',
-      b'68539650AD',
-      b'68539650AF',
-      b'68539651AD',
-      b'68586101AA ',
-      b'68586102AA ',
-      b'68586105AB ',
-      b'68629919AC ',
-      b'68629922AC ',
-      b'68629925AC ',
-      b'68629926AC ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035706AD',
-      b'05035842AB',
-      b'05036069AA',
-      b'05036181AA',
-      b'05149536AC',
-      b'05149537AC',
-      b'05149543AC',
-      b'68360078AL',
-      b'68360080AL',
-      b'68360080AM',
-      b'68360081AM',
-      b'68360085AJ',
-      b'68360085AL',
-      b'68360086AH',
-      b'68360086AK',
-      b'68384328AD',
-      b'68384332AD',
-      b'68445531AC',
-      b'68445533AB',
-      b'68445536AB',
-      b'68445537AB',
-      b'68466081AB',
-      b'68466087AB',
-      b'68484466AC',
-      b'68484467AC',
-      b'68484471AC',
-      b'68502994AD',
-      b'68502996AD',
-      b'68520867AE',
-      b'68520867AF',
-      b'68520870AC',
-      b'68520871AC',
-      b'68528325AE',
-      b'68540431AB',
-      b'68540433AB',
-      b'68551676AA',
-      b'68629935AB',
-      b'68629936AC',
-    ],
-  },
-  CAR.RAM_HD_5TH_GEN: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68361606AH',
-      b'68437735AC',
-      b'68492693AD',
-      b'68525485AB',
-      b'68525487AB',
-      b'68525498AB',
-      b'68528791AF',
-      b'68628474AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68399794AC',
-      b'68428503AA',
-      b'68428505AA',
-      b'68428507AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68334977AH',
-      b'68455481AC',
-      b'68504022AA',
-      b'68504022AB',
-      b'68504022AC',
-      b'68530686AB',
-      b'68530686AC',
-      b'68544596AC',
-      b'68641704AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672895AB',
-      b'04672934AB',
-      b'56029827AG',
-      b'56029827AH',
-      b'68462657AE',
-      b'68484694AD',
-      b'68484694AE',
-      b'68615489AB',
-    ],
-    (Ecu.eps, 0x761, None): [
-      b'68421036AC',
-      b'68507906AB',
-      b'68534023AC',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'52370131AF',
-      b'52370231AF',
-      b'52370231AG',
-      b'52370491AA',
-      b'52370931CT',
-      b'52401032AE',
-      b'52421132AF',
-      b'52421332AF',
-      b'68527616AD ',
-      b'M2370131MB',
-      b'M2421132MB',
-    ],
-  },
-  CAR.DODGE_DURANGO: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68454261AD',
-      b'68471535AE',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68355362AB',
-      b'68492238AD',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68408639AD',
-      b'68499978AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'68440581AE',
-      b'68456722AC',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68453435AA',
-      b'68498477AA',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035786AE ',
-      b'68449476AE ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035826AC',
-      b'68449265AC',
-    ],
-  },
-}

selfdrive/car/chrysler/interface.py

@@ -1,97 +0,0 @@
-#!/usr/bin/env python3
-from cereal import car
-from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
-from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
-    ret.carName = "chrysler"
-    ret.dashcamOnly = candidate in RAM_HD
-
-    # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
-    ret.radarUnavailable = True # DBC[candidate]['radar'] is None
-    ret.steerActuatorDelay = 0.1
-    ret.steerLimitTimer = 0.4
-
-    # safety config
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
-    if candidate in RAM_HD:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
-    elif candidate in RAM_DT:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
-
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-    if candidate not in RAM_CARS:
-      # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
-      new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
-      if new_eps_platform or new_eps_firmware:
-        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
-
-    # Chrysler
-    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
-                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
-
-    # Jeep
-    elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
-      ret.steerActuatorDelay = 0.2
-
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
-
-    # Ram
-    elif candidate == CAR.RAM_1500_5TH_GEN:
-      ret.steerActuatorDelay = 0.2
-      ret.wheelbase = 3.88
-      # Older EPS FW allow steer to zero
-      if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
-        ret.minSteerSpeed = 0.
-
-    elif candidate == CAR.RAM_HD_5TH_GEN:
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
-
-    else:
-      raise ValueError(f"Unsupported car: {candidate}")
-
-    if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
-      # TODO: allow these cars to steer down to 13 m/s if already engaged.
-      # TODO: Durango 2020 may be able to steer to zero once above 38 kph
-      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
-
-    ret.centerToFront = ret.wheelbase * 0.44
-    ret.enableBsm = 720 in fingerprint[0]
-
-    return ret
-
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
-
-    # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
-      self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
-      self.low_speed_alert = False
-    if self.low_speed_alert:
-      events.add(car.CarEvent.EventName.belowSteerSpeed)
-
-    ret.events = events.to_msg()
-
-    return ret

selfdrive/car/chrysler/radar_interface.py

@@ -1,85 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.can.parser import CANParser
-from cereal import car
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-from openpilot.selfdrive.car.chrysler.values import DBC
-
-RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
-RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
-LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
-NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
-
-def _create_radar_can_parser(car_fingerprint):
-  dbc = DBC[car_fingerprint]['radar']
-  if dbc is None:
-    return None
-
-  msg_n = len(RADAR_MSGS_C)
-  # list of [(signal name, message name or number), (...)]
-  # [('RADAR_STATE', 1024),
-  #  ('LONG_DIST', 1072),
-  #  ('LONG_DIST', 1073),
-  #  ('LONG_DIST', 1074),
-  #  ('LONG_DIST', 1075),
-
-  messages = list(zip(RADAR_MSGS_C +
-                      RADAR_MSGS_D,
-                      [20] * msg_n +  # 20Hz (0.05s)
-                      [20] * msg_n, strict=True))  # 20Hz (0.05s)
-
-  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
-
-def _address_to_track(address):
-  if address in RADAR_MSGS_C:
-    return (address - RADAR_MSGS_C[0]) // 2
-  if address in RADAR_MSGS_D:
-    return (address - RADAR_MSGS_D[0]) // 2
-  raise ValueError("radar received unexpected address %d" % address)
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.rcp = _create_radar_can_parser(CP.carFingerprint)
-    self.updated_messages = set()
-    self.trigger_msg = LAST_MSG
-
-  def update(self, can_strings):
-    if self.rcp is None or self.CP.radarUnavailable:
-      return super().update(None)
-
-    vls = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(vls)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    ret = car.RadarData.new_message()
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append("canError")
-    ret.errors = errors
-
-    for ii in self.updated_messages:  # ii should be the message ID as a number
-      cpt = self.rcp.vl[ii]
-      trackId = _address_to_track(ii)
-
-      if trackId not in self.pts:
-        self.pts[trackId] = car.RadarData.RadarPoint.new_message()
-        self.pts[trackId].trackId = trackId
-        self.pts[trackId].aRel = float('nan')
-        self.pts[trackId].yvRel = float('nan')
-        self.pts[trackId].measured = True
-
-      if 'LONG_DIST' in cpt:  # c_* message
-        self.pts[trackId].dRel = cpt['LONG_DIST']  # from front of car
-        # our lat_dist is positive to the right in car's frame.
-        # TODO what does yRel want?
-        self.pts[trackId].yRel = cpt['LAT_DIST']  # in car frame's y axis, left is positive
-      else:  # d_* message
-        self.pts[trackId].vRel = cpt['REL_SPEED']
-
-    # We want a list, not a dictionary. Filter out LONG_DIST==0 because that means it's not valid.
-    ret.points = [x for x in self.pts.values() if x.dRel != 0]
-
-    self.updated_messages.clear()
-    return ret

selfdrive/car/chrysler/values.py

@@ -1,152 +0,0 @@
-from enum import IntFlag
-from dataclasses import dataclass, field
-
-from cereal import car
-from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
-
-Ecu = car.CarParams.Ecu
-
-
-class ChryslerFlags(IntFlag):
-  # Detected flags
-  HIGHER_MIN_STEERING_SPEED = 1
-
-@dataclass
-class ChryslerCarDocs(CarDocs):
-  package: str = "Adaptive Cruise Control (ACC)"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
-
-
-@dataclass
-class ChryslerPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'))
-
-
-@dataclass(frozen=True)
-class ChryslerCarSpecs(CarSpecs):
-  minSteerSpeed: float = 3.8  # m/s
-
-
-class CAR(Platforms):
-  # Chrysler
-  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
-    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
-  )
-  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
-    [
-      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
-      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
-    ],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-
-  # Dodge
-  DODGE_DURANGO = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Dodge Durango 2020-21")],
-    CHRYSLER_PACIFICA_2018_HYBRID.specs,
-  )
-
-  # Jeep
-  JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
-    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
-    ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
-  )
-
-  JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
-    [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
-    JEEP_GRAND_CHEROKEE.specs,
-  )
-
-  # Ram
-  RAM_1500_5TH_GEN = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
-    ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
-    dbc_dict('chrysler_ram_dt_generated', None),
-  )
-  RAM_HD_5TH_GEN = ChryslerPlatformConfig(
-    [
-      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
-    ],
-    ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
-    dbc_dict('chrysler_ram_hd_generated', None),
-  )
-
-
-class CarControllerParams:
-  def __init__(self, CP):
-    self.STEER_STEP = 2  # 50 Hz
-    self.STEER_ERROR_MAX = 80
-    if CP.carFingerprint in RAM_HD:
-      self.STEER_DELTA_UP = 14
-      self.STEER_DELTA_DOWN = 14
-      self.STEER_MAX = 361  # higher than this faults the EPS
-    elif CP.carFingerprint in RAM_DT:
-      self.STEER_DELTA_UP = 6
-      self.STEER_DELTA_DOWN = 6
-      self.STEER_MAX = 261  # EPS allows more, up to 350?
-    else:
-      self.STEER_DELTA_UP = 3
-      self.STEER_DELTA_DOWN = 3
-      self.STEER_MAX = 261  # higher than this faults the EPS
-
-
-STEER_THRESHOLD = 120
-
-RAM_DT = {CAR.RAM_1500_5TH_GEN, }
-RAM_HD = {CAR.RAM_HD_5TH_GEN, }
-RAM_CARS = RAM_DT | RAM_HD
-
-
-CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf132)
-CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(0xf132)
-
-CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
-CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
-
-CHRYSLER_RX_OFFSET = -0x280
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    Request(
-      [CHRYSLER_VERSION_REQUEST],
-      [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
-      rx_offset=CHRYSLER_RX_OFFSET,
-      bus=0,
-    ),
-    Request(
-      [CHRYSLER_VERSION_REQUEST],
-      [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
-      bus=0,
-    ),
-    Request(
-      [CHRYSLER_SOFTWARE_VERSION_REQUEST],
-      [CHRYSLER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.transmission],
-      bus=0,
-    ),
-  ],
-  extra_ecus=[
-    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids, NOTE: not on all hybrid platforms
-  ],
-)
-
-DBC = CAR.create_dbc_map()

selfdrive/car/disable_ecu.py

@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.common.swaglog import cloudlog
-
-EXT_DIAG_REQUEST = b'\x10\x03'
-EXT_DIAG_RESPONSE = b'\x50\x03'
-
-COM_CONT_RESPONSE = b''
-
-
-def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
-  """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
-  The ECU will stay silent as long as openpilot keeps sending Tester Present.
-
-  This is used to disable the radar in some cars. Openpilot will emulate the radar.
-  WARNING: THIS DISABLES AEB!"""
-  cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
-
-  for i in range(retry):
-    try:
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
-
-      for _, _ in query.get_data(timeout).items():
-        cloudlog.warning("communication control disable tx/rx ...")
-
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
-        query.get_data(0)
-
-        cloudlog.warning("ecu disabled")
-        return True
-
-    except Exception:
-      cloudlog.exception("ecu disable exception")
-
-    cloudlog.error(f"ecu disable retry ({i + 1}) ...")
-  cloudlog.error("ecu disable failed")
-  return False
-
-
-if __name__ == "__main__":
-  import time
-  import cereal.messaging as messaging
-  sendcan = messaging.pub_sock('sendcan')
-  logcan = messaging.sub_sock('can')
-  time.sleep(1)
-
-  # honda bosch radar disable
-  disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
-  print(f"disabled: {disabled}")

selfdrive/car/docs.py

@@ -1,72 +1,13 @@
 #!/usr/bin/env python3
 import argparse
-from collections import defaultdict
-import jinja2
 import os
-from enum import Enum
-from natsort import natsorted
 
-from cereal import car
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
-from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
-from openpilot.selfdrive.car.values import PLATFORMS
-
-
-def get_all_footnotes() -> dict[Enum, int]:
-  all_footnotes = list(CommonFootnote)
-  for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
-    all_footnotes.extend(footnotes)
-  return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
-
+from opendbc.car.docs import get_all_car_docs, generate_cars_md
 
 CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
-
-def get_all_car_docs() -> list[CarDocs]:
-  all_car_docs: list[CarDocs] = []
-  footnotes = get_all_footnotes()
-  for model, platform in PLATFORMS.items():
-    car_docs = platform.config.car_docs
-    # If available, uses experimental longitudinal limits for the docs
-    CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
-                                         car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
-
-    if CP.dashcamOnly or not len(car_docs):
-      continue
-
-    # A platform can include multiple car models
-    for _car_docs in car_docs:
-      if not hasattr(_car_docs, "row"):
-        _car_docs.init_make(CP)
-        _car_docs.init(CP, footnotes)
-      all_car_docs.append(_car_docs)
-
-  # Sort cars by make and model + year
-  sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
-  return sorted_cars
-
-
-def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
-  sorted_car_docs = defaultdict(list)
-  for car_docs in all_car_docs:
-    sorted_car_docs[car_docs.make].append(car_docs)
-  return dict(sorted_car_docs)
-
-
-def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
-  with open(template_fn) as f:
-    template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
-
-  footnotes = [fn.value.text for fn in get_all_footnotes()]
-  cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
-                                 group_by_make=group_by_make, footnotes=footnotes,
-                                 Column=Column)
-  return cars_md
-
-
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)

selfdrive/car/docs_definitions.py

@@ -1,368 +0,0 @@
-import re
-from collections import namedtuple
-import copy
-from dataclasses import dataclass, field
-from enum import Enum
-
-from cereal import car
-from openpilot.common.conversions import Conversions as CV
-
-GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
-MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
-
-
-class Column(Enum):
-  MAKE = "Make"
-  MODEL = "Model"
-  PACKAGE = "Supported Package"
-  LONGITUDINAL = "ACC"
-  FSR_LONGITUDINAL = "No ACC accel below"
-  FSR_STEERING = "No ALC below"
-  STEERING_TORQUE = "Steering Torque"
-  AUTO_RESUME = "Resume from stop"
-  HARDWARE = "Hardware Needed"
-  VIDEO = "Video"
-
-
-class Star(Enum):
-  FULL = "full"
-  HALF = "half"
-  EMPTY = "empty"
-
-
-# A part + its comprised parts
-@dataclass
-class BasePart:
-  name: str
-  parts: list[Enum] = field(default_factory=list)
-
-  def all_parts(self):
-    # Recursively get all parts
-    _parts = 'parts'
-    parts = []
-    parts.extend(getattr(self, _parts))
-    for part in getattr(self, _parts):
-      parts.extend(part.value.all_parts())
-
-    return parts
-
-
-class EnumBase(Enum):
-  @property
-  def part_type(self):
-    return PartType(self.__class__)
-
-
-class Mount(EnumBase):
-  mount = BasePart("mount")
-  angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
-
-
-class Cable(EnumBase):
-  rj45_cable_7ft = BasePart("RJ45 cable (7 ft)")
-  long_obdc_cable = BasePart("long OBD-C cable")
-  usb_a_2_a_cable = BasePart("USB A-A cable")
-  usbc_otg_cable = BasePart("USB C OTG cable")
-  usbc_coupler = BasePart("USB-C coupler")
-  obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
-  right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
-
-
-class Accessory(EnumBase):
-  harness_box = BasePart("harness box")
-  comma_power_v2 = BasePart("comma power v2")
-
-
-@dataclass
-class BaseCarHarness(BasePart):
-  parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
-  has_connector: bool = True  # without are hidden on the harness connector page
-
-
-class CarHarness(EnumBase):
-  nidec = BaseCarHarness("Honda Nidec connector")
-  bosch_a = BaseCarHarness("Honda Bosch A connector")
-  bosch_b = BaseCarHarness("Honda Bosch B connector")
-  toyota_a = BaseCarHarness("Toyota A connector")
-  toyota_b = BaseCarHarness("Toyota B connector")
-  subaru_a = BaseCarHarness("Subaru A connector")
-  subaru_b = BaseCarHarness("Subaru B connector")
-  subaru_c = BaseCarHarness("Subaru C connector")
-  subaru_d = BaseCarHarness("Subaru D connector")
-  fca = BaseCarHarness("FCA connector")
-  ram = BaseCarHarness("Ram connector")
-  vw_a = BaseCarHarness("VW A connector")
-  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
-  hyundai_a = BaseCarHarness("Hyundai A connector")
-  hyundai_b = BaseCarHarness("Hyundai B connector")
-  hyundai_c = BaseCarHarness("Hyundai C connector")
-  hyundai_d = BaseCarHarness("Hyundai D connector")
-  hyundai_e = BaseCarHarness("Hyundai E connector")
-  hyundai_f = BaseCarHarness("Hyundai F connector")
-  hyundai_g = BaseCarHarness("Hyundai G connector")
-  hyundai_h = BaseCarHarness("Hyundai H connector")
-  hyundai_i = BaseCarHarness("Hyundai I connector")
-  hyundai_j = BaseCarHarness("Hyundai J connector")
-  hyundai_k = BaseCarHarness("Hyundai K connector")
-  hyundai_l = BaseCarHarness("Hyundai L connector")
-  hyundai_m = BaseCarHarness("Hyundai M connector")
-  hyundai_n = BaseCarHarness("Hyundai N connector")
-  hyundai_o = BaseCarHarness("Hyundai O connector")
-  hyundai_p = BaseCarHarness("Hyundai P connector")
-  hyundai_q = BaseCarHarness("Hyundai Q connector")
-  hyundai_r = BaseCarHarness("Hyundai R connector")
-  custom = BaseCarHarness("Developer connector")
-  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
-  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
-  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
-  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
-  mazda = BaseCarHarness("Mazda connector")
-  ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft, Cable.long_obdc_cable,
-                                                       Cable.usbc_coupler])
-
-
-class Device(EnumBase):
-  threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
-  # variant of comma 3X with angled mounts
-  threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
-  red_panda = BasePart("red panda")
-
-
-class Kit(EnumBase):
-  red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box,
-                                                      Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
-
-
-class Tool(EnumBase):
-  socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)")
-  pry_tool = BasePart("Pry Tool")
-
-
-class PartType(Enum):
-  accessory = Accessory
-  cable = Cable
-  connector = CarHarness
-  device = Device
-  kit = Kit
-  mount = Mount
-  tool = Tool
-
-
-DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex]
-
-
-@dataclass
-class CarParts:
-  parts: list[EnumBase] = field(default_factory=list)
-
-  def __call__(self):
-    return copy.deepcopy(self)
-
-  @classmethod
-  def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None):
-    p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
-    return cls(p)
-
-  def all_parts(self):
-    parts = []
-    for part in self.parts:
-      parts.extend(part.value.all_parts())
-    return self.parts + parts
-
-
-CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
-
-
-class CommonFootnote(Enum):
-  EXP_LONG_AVAIL = CarFootnote(
-    "openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
-    "the toggle is only available in non-release branches such as `devel` or `master-ci`.",
-    Column.LONGITUDINAL, docs_only=True)
-  EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
-    "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
-    "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
-    Column.LONGITUDINAL)
-
-
-def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
-  # Returns applicable footnotes given current column
-  return [fn for fn in footnotes if fn.value.column == column]
-
-
-# TODO: store years as a list
-def get_year_list(years):
-  years_list = []
-  if len(years) == 0:
-    return years_list
-
-  for year in years.split(','):
-    year = year.strip()
-    if len(year) == 4:
-      years_list.append(str(year))
-    elif "-" in year and len(year) == 7:
-      start, end = year.split("-")
-      years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
-    else:
-      raise Exception(f"Malformed year string: {years}")
-  return years_list
-
-
-def split_name(name: str) -> tuple[str, str, str]:
-  make, model = name.split(" ", 1)
-  years = ""
-  match = re.search(MODEL_YEARS_RE, model)
-  if match is not None:
-    years = model[match.start():]
-    model = model[:match.start() - 1]
-  return make, model, years
-
-
-@dataclass
-class CarDocs:
-  # make + model + model years
-  name: str
-
-  # Example for Toyota Corolla MY20
-  # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC)
-  # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC
-
-  # the simplest description of the requirements for the US market
-  package: str
-
-  # the minimum compatibility requirements for this model, regardless
-  # of market. can be a package, trim, or list of features
-  requirements: str | None = None
-
-  video_link: str | None = None
-  footnotes: list[Enum] = field(default_factory=list)
-  min_steer_speed: float | None = None
-  min_enable_speed: float | None = None
-  auto_resume: bool | None = None
-
-  # all the parts needed for the supported car
-  car_parts: CarParts = field(default_factory=CarParts)
-
-  def __post_init__(self):
-    self.make, self.model, self.years = split_name(self.name)
-    self.year_list = get_year_list(self.years)
-
-  def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]):
-    self.car_name = CP.carName
-    self.car_fingerprint = CP.carFingerprint
-
-    # longitudinal column
-    op_long = "Stock"
-    if CP.experimentalLongitudinalAvailable or CP.enableDsu:
-      op_long = "openpilot available"
-      if CP.enableDsu:
-        self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
-      else:
-        self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
-    elif CP.openpilotLongitudinalControl and not CP.enableDsu:
-      op_long = "openpilot"
-
-    # min steer & enable speed columns
-    # TODO: set all the min steer speeds in carParams and remove this
-    if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
-    else:
-      self.min_steer_speed = CP.minSteerSpeed
-
-    # TODO: set all the min enable speeds in carParams correctly and remove this
-    if self.min_enable_speed is None:
-      self.min_enable_speed = CP.minEnableSpeed
-
-    if self.auto_resume is None:
-      self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0
-
-    # hardware column
-    hardware_col = "None"
-    if self.car_parts.parts:
-      model_years = self.model + (' ' + self.years if self.years else '')
-      buy_link = f'<a href="https://comma.ai/shop/comma-3x.html?make={self.make}&model={model_years}">Buy Here</a>'
-
-      tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)]
-      parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)]
-
-      def display_func(parts):
-        return '<br>'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))])
-
-      hardware_col = f'<details><summary>Parts</summary><sub>{display_func(parts_docs)}<br>{buy_link}</sub></details>'
-      if len(tools_docs):
-        hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
-
-    self.row: dict[Enum, str | Star] = {
-      Column.MAKE: self.make,
-      Column.MODEL: self.model,
-      Column.PACKAGE: self.package,
-      Column.LONGITUDINAL: op_long,
-      Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
-      Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
-      Column.STEERING_TORQUE: Star.EMPTY,
-      Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY,
-      Column.HARDWARE: hardware_col,
-      Column.VIDEO: self.video_link if self.video_link is not None else "",  # replaced with an image and link from template in get_column
-    }
-
-    # Set steering torque star from max lateral acceleration
-    assert CP.maxLateralAccel > 0.1
-    if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
-      self.row[Column.STEERING_TORQUE] = Star.FULL
-
-    self.all_footnotes = all_footnotes
-    self.detail_sentence = self.get_detail_sentence(CP)
-
-    return self
-
-  def init_make(self, CP: car.CarParams):
-    """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
-
-  def get_detail_sentence(self, CP):
-    if not CP.notCar:
-      sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
-
-      if self.min_steer_speed > self.min_enable_speed:
-        alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
-      else:
-        alc = ""
-
-      # Exception for cars which do not auto-resume yet
-      acc = ""
-      if self.min_enable_speed > 0:
-        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
-      elif self.auto_resume:
-        acc = " <strong>that automatically resumes from a stop</strong>"
-
-      if self.row[Column.STEERING_TORQUE] != Star.FULL:
-        sentence_builder += " This car may not be able to take tight turns on its own."
-
-      # experimental mode
-      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
-      if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
-        sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
-
-      return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
-
-    else:
-      if CP.carFingerprint == "COMMA_BODY":
-        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
-      else:
-        raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
-
-  def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
-    item: str | Star = self.row[column]
-    if isinstance(item, Star):
-      item = star_icon.format(item.value)
-    elif column == Column.MODEL and len(self.years):
-      item += f" {self.years}"
-    elif column == Column.VIDEO and len(item) > 0:
-      item = video_icon.format(item)
-
-    footnotes = get_footnotes(self.footnotes, column)
-    if len(footnotes):
-      sups = sorted([self.all_footnotes[fn] for fn in footnotes])
-      item += footnote_tag.format(f'{",".join(map(str, sups))}')
-
-    return item

selfdrive/car/ecu_addrs.py

@@ -1,96 +0,0 @@
-#!/usr/bin/env python3
-import capnp
-import time
-
-import cereal.messaging as messaging
-from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_tester_present_msg
-from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.common.swaglog import cloudlog
-
-
-def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
-  # ISO-TP messages are always padded to 8 bytes
-  # tester present response is always a single frame
-  dat_offset = 1 if subaddr is not None else 0
-  if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
-    # success response
-    if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
-      return True
-    # error response
-    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
-      return True
-  return False
-
-
-def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
-  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
-  queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
-  responses = queries
-  return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
-
-
-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType],
-                  responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
-  ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
-  try:
-    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
-
-    messaging.drain_sock_raw(logcan)
-    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
-    start_time = time.monotonic()
-    while time.monotonic() - start_time < timeout:
-      can_packets = messaging.drain_sock(logcan, wait_for_one=True)
-      for packet in can_packets:
-        for msg in packet.can:
-          if not len(msg.dat):
-            cloudlog.warning("ECU addr scan: skipping empty remote frame")
-            continue
-
-          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
-          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
-            if debug:
-              print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
-              if (msg.address, subaddr, msg.src) in ecu_responses:
-                print(f"Duplicate ECU address: {hex(msg.address)}")
-            ecu_responses.add((msg.address, subaddr, msg.src))
-  except Exception:
-    cloudlog.exception("ECU addr scan exception")
-  return ecu_responses
-
-
-if __name__ == "__main__":
-  import argparse
-  from openpilot.common.params import Params
-  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing
-
-  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
-  parser.add_argument('--debug', action='store_true')
-  parser.add_argument('--bus', type=int, default=1)
-  parser.add_argument('--no-obd', action='store_true')
-  parser.add_argument('--timeout', type=float, default=1.0)
-  args = parser.parse_args()
-
-  logcan = messaging.sub_sock('can')
-  sendcan = messaging.pub_sock('sendcan')
-
-  # Set up params for pandad
-  params = Params()
-  params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
-  time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
-
-  set_obd_multiplexing(params, not args.no_obd)
-
-  print("Getting ECU addresses ...")
-  ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
-
-  print()
-  print("Found ECUs on rx addresses:")
-  for addr, subaddr, _ in ecu_addrs:
-    msg = f"  {hex(addr)}"
-    if subaddr is not None:
-      msg += f" (sub-address: {hex(subaddr)})"
-    print(msg)

selfdrive/car/fingerprints.py

@@ -1,348 +0,0 @@
-from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.selfdrive.car.body.values import CAR as BODY
-from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
-from openpilot.selfdrive.car.ford.values import CAR as FORD
-from openpilot.selfdrive.car.gm.values import CAR as GM
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
-from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
-from openpilot.selfdrive.car.tesla.values import CAR as TESLA
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.volkswagen.values import CAR as VW
-
-FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
-_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
-
-_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
-
-
-def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]):
-  adr = msg.address
-  # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
-
-
-def eliminate_incompatible_cars(msg, candidate_cars):
-  """Removes cars that could not have sent msg.
-
-     Inputs:
-      msg: A cereal/log CanData message from the car.
-      candidate_cars: A list of cars to consider.
-
-     Returns:
-      A list containing the subset of candidate_cars that could have sent msg.
-  """
-  compatible_cars = []
-
-  for car_name in candidate_cars:
-    car_fingerprints = _FINGERPRINTS[car_name]
-
-    for fingerprint in car_fingerprints:
-      # add alien debug address
-      if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS):
-        compatible_cars.append(car_name)
-        break
-
-  return compatible_cars
-
-
-def all_known_cars():
-  """Returns a list of all known car strings."""
-  return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()})
-
-
-def all_legacy_fingerprint_cars():
-  """Returns a list of all known car strings, FPv1 only."""
-  return list(_FINGERPRINTS.keys())
-
-
-# A dict that maps old platform strings to their latest representations
-MIGRATION = {
-  "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
-  "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
-  "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
-  "AUDI A3": VW.AUDI_A3_MK3,
-  "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
-  "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
-  "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
-  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
-  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
-  "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
-  "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
-  "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
-  "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
-  "HONDA FIT 2018 EX": HONDA.HONDA_FIT,
-  "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
-  "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
-  "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
-  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
-  "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
-  "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
-  "HONDA PILOT 2019": HONDA.HONDA_PILOT,
-  "HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
-  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
-  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
-  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
-  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
-  "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
-  "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
-  "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
-  "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
-  "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
-  "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
-  "LEXUS IS300 2018": TOYOTA.LEXUS_IS,
-  "LEXUS NX300 2018": TOYOTA.LEXUS_NX,
-  "LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
-  "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
-  "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
-  "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
-  "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
-  "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
-  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
-  "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
-  "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
-  "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
-  "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
-  "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
-  "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
-  "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
-  "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
-  "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
-  "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
-  "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
-  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
-  "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
-  "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
-  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
-  "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
-  "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
-  "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
-  "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
-  "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
-  "CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
-
-  # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
-  "COMMA BODY": BODY.COMMA_BODY,
-  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
-  "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
-  "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
-  "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
-  "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
-  "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
-  "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
-  "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
-  "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
-  "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
-  "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
-  "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
-  "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
-  "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
-  "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
-  "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
-  "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
-  "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
-  "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
-  "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
-  "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
-  "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
-  "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
-  "GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
-  "BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
-  "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
-  "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
-  "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
-  "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
-  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
-  "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
-  "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
-  "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
-  "HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
-  "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
-  "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
-  "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
-  "HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
-  "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
-  "HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
-  "ACURA RDX 2020": HONDA.ACURA_RDX_3G,
-  "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
-  "HONDA E 2020": HONDA.HONDA_E,
-  "ACURA ILX 2016": HONDA.ACURA_ILX,
-  "HONDA CR-V 2016": HONDA.HONDA_CRV,
-  "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
-  "HONDA FIT 2018": HONDA.HONDA_FIT,
-  "HONDA FREED 2020": HONDA.HONDA_FREED,
-  "HONDA HRV 2019": HONDA.HONDA_HRV,
-  "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
-  "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
-  "ACURA RDX 2018": HONDA.ACURA_RDX,
-  "HONDA PILOT 2017": HONDA.HONDA_PILOT,
-  "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
-  "HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
-  "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
-  "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
-  "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
-  "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
-  "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
-  "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
-  "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
-  "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
-  "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
-  "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
-  "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
-  "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
-  "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
-  "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
-  "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
-  "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
-  "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
-  "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
-  "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
-  "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
-  "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
-  "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
-  "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
-  "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
-  "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
-  "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
-  "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
-  "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
-  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
-  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
-  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
-  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
-  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
-  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
-  "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
-  "KIA K5 2021": HYUNDAI.KIA_K5_2021,
-  "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
-  "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
-  "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
-  "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
-  "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
-  "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
-  "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
-  "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
-  "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
-  "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
-  "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
-  "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
-  "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
-  "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
-  "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
-  "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
-  "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
-  "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
-  "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
-  "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
-  "KIA EV6 2022": HYUNDAI.KIA_EV6,
-  "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
-  "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
-  "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
-  "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
-  "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
-  "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
-  "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
-  "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
-  "MAZDA CX-5": MAZDA.MAZDA_CX5,
-  "MAZDA CX-9": MAZDA.MAZDA_CX9,
-  "MAZDA 3": MAZDA.MAZDA_3,
-  "MAZDA 6": MAZDA.MAZDA_6,
-  "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
-  "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
-  "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
-  "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
-  "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
-  "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
-  "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
-  "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
-  "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
-  "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
-  "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
-  "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
-  "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
-  "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
-  "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
-  "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
-  "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
-  "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
-  "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
-  "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
-  "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
-  "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
-  'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
-  'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
-  'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
-  "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
-  "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
-  "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
-  "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
-  "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
-  "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
-  "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
-  "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
-  "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
-  "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
-  "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
-  "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
-  "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
-  "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
-  "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
-  "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
-  "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
-  "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
-  "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
-  "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
-  "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
-  "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
-  "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
-  "LEXUS ES 2018": TOYOTA.LEXUS_ES,
-  "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
-  "LEXUS IS 2018": TOYOTA.LEXUS_IS,
-  "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
-  "LEXUS NX 2018": TOYOTA.LEXUS_NX,
-  "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
-  "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
-  "LEXUS RC 2020": TOYOTA.LEXUS_RC,
-  "LEXUS RX 2016": TOYOTA.LEXUS_RX,
-  "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
-  "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
-  "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
-  "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
-  "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
-  "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
-  "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
-  "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
-  "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
-  "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
-  "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
-  "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
-  "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
-  "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
-  "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
-  "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
-  "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
-  "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
-  "AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
-  "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
-  "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
-  "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
-  "SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
-  "SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
-  "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
-  "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
-  "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
-  "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
-  "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
-  "SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
-  "SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
-  "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
-
-  "mock": MOCK.MOCK,
-}

selfdrive/car/ford/carcontroller.py

@@ -1,120 +0,0 @@
-from cereal import car
-from opendbc.can.packer import CANPacker
-from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import apply_std_steer_angle_limits
-from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-
-LongCtrlState = car.CarControl.Actuators.LongControlState
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-V_CRUISE_MAX = 145
-
-
-def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
-  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
-  if v_ego_raw > 9:
-    apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
-                           current_curvature + CarControllerParams.CURVATURE_ERROR)
-
-  # Curvature rate limit after driver torque limit
-  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
-
-  return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
-    self.VM = VM
-    self.packer = CANPacker(dbc_name)
-    self.CAN = fordcan.CanBus(CP)
-
-    self.apply_curvature_last = 0
-    self.main_on_last = False
-    self.lkas_enabled_last = False
-    self.steer_alert_last = False
-    self.lead_distance_bars_last = None
-
-  def update(self, CC, CS, now_nanos):
-    can_sends = []
-
-    actuators = CC.actuators
-    hud_control = CC.hudControl
-
-    main_on = CS.out.cruiseState.available
-    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
-    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
-
-    ### acc buttons ###
-    if CC.cruiseControl.cancel:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
-    elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
-    # if stock lane centering isn't off, send a button press to toggle it off
-    # the stock system checks for steering pressed, and eventually disengages cruise control
-    elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
-
-    ### lateral control ###
-    # send steer msg at 20Hz
-    if (self.frame % CarControllerParams.STEER_STEP) == 0:
-      if CC.latActive:
-        # apply rate limits, curvature error limit, and clip to signal range
-        current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
-        apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
-      else:
-        apply_curvature = 0.
-
-      self.apply_curvature_last = apply_curvature
-
-      if self.CP.flags & FordFlags.CANFD:
-        # TODO: extended mode
-        mode = 1 if CC.latActive else 0
-        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
-      else:
-        can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
-
-    # send lka msg at 33Hz
-    if (self.frame % CarControllerParams.LKA_STEP) == 0:
-      can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
-
-    ### longitudinal control ###
-    # send acc msg at 50Hz
-    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
-      # Both gas and accel are in m/s^2, accel is used solely for braking
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-      gas = accel
-      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
-        gas = CarControllerParams.INACTIVE_GAS
-      stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      # TODO: look into using the actuators packet to send the desired speed
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
-
-    ### ui ###
-    send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
-    # send lkas ui msg at 1Hz or if ui state changes
-    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
-
-    # send acc ui msg at 5Hz or if ui state changes
-    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
-      send_ui = True
-    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                                 fcw_alert, CS.out.cruiseState.standstill, hud_control,
-                                                 CS.acc_tja_status_stock_values))
-
-    self.main_on_last = main_on
-    self.lkas_enabled_last = CC.latActive
-    self.steer_alert_last = steer_alert
-    self.lead_distance_bars_last = hud_control.leadDistanceBars
-
-    new_actuators = actuators.as_builder()
-    new_actuators.curvature = self.apply_curvature_last
-
-    self.frame += 1
-    return new_actuators, can_sends

selfdrive/car/ford/carstate.py

@@ -1,174 +0,0 @@
-from cereal import car
-from opendbc.can.can_define import CANDefine
-from opendbc.can.parser import CANParser
-from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
-from openpilot.selfdrive.car.interfaces import CarStateBase
-
-GearShifter = car.CarState.GearShifter
-TransmissionType = car.CarParams.TransmissionType
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
-
-    self.vehicle_sensors_valid = False
-
-    self.prev_distance_button = 0
-    self.distance_button = 0
-
-  def update(self, cp, cp_cam):
-    ret = car.CarState.new_message()
-
-    # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
-    # The vehicle usually recovers out of this state within a minute of normal driving
-    self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
-
-    # car speed
-    ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"]
-    ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1
-
-    # gas pedal
-    ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100.
-    ret.gasPressed = ret.gas > 1e-6
-
-    # brake pedal
-    ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756.  # torque in Nm
-    ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2
-    ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)
-
-    # steering wheel
-    ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
-    ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
-    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
-    ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
-    ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
-    ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0  # 0 is default mode
-
-    if self.CP.flags & FordFlags.CANFD:
-      # this signal is always 0 on non-CAN FD cars
-      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
-
-    # cruise state
-    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
-    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
-    ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
-    ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
-    ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
-    ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
-    ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
-    if not self.CP.openpilotLongitudinalControl:
-      ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
-
-    # gear
-    if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
-      ret.gearShifter = self.parse_gear_shifter(gear)
-    elif self.CP.transmissionType == TransmissionType.manual:
-      ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
-      if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
-        ret.gearShifter = GearShifter.reverse
-      else:
-        ret.gearShifter = GearShifter.drive
-
-    # safety
-    ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
-    ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
-
-    # button presses
-    ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
-    ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
-    # TODO: block this going to the camera otherwise it will enable stock TJA
-    ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
-    self.prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
-
-    # lock info
-    ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
-                        cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]])
-    ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2
-
-    # blindspot sensors
-    if self.CP.enableBsm:
-      cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp
-      ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
-      ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
-
-    # Stock steering buttons so that we can passthru blinkers etc.
-    self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
-    # Stock values from IPMA so that we can retain some stock functionality
-    self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
-    self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("VehicleOperatingModes", 100),
-      ("BrakeSysFeatures", 50),
-      ("Yaw_Data_FD1", 100),
-      ("DesiredTorqBrk", 50),
-      ("EngVehicleSpThrottle", 100),
-      ("BrakeSnData_4", 50),
-      ("EngBrakeData", 10),
-      ("Cluster_Info1_FD1", 10),
-      ("SteeringPinion_Data", 100),
-      ("EPAS_INFO", 50),
-      ("Steering_Data_FD1", 10),
-      ("BodyInfo_3_FD1", 2),
-      ("RCMStatusMessage2_FD1", 10),
-    ]
-
-    if CP.flags & FordFlags.CANFD:
-      messages += [
-        ("Lane_Assist_Data3_FD1", 33),
-      ]
-    else:
-      messages += [
-        ("INSTRUMENT_PANEL", 1),
-      ]
-
-    if CP.transmissionType == TransmissionType.automatic:
-      messages += [
-        ("PowertrainData_10", 10),
-      ]
-    elif CP.transmissionType == TransmissionType.manual:
-      messages += [
-        ("Engine_Clutch_Data", 33),
-        ("BCM_Lamp_Stat_FD1", 1),
-      ]
-
-    if CP.enableBsm and not (CP.flags & FordFlags.CANFD):
-      messages += [
-        ("Side_Detect_L_Stat", 5),
-        ("Side_Detect_R_Stat", 5),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("ACCDATA", 50),
-      ("ACCDATA_2", 50),
-      ("ACCDATA_3", 5),
-      ("IPMA_Data", 1),
-    ]
-
-    if CP.enableBsm and CP.flags & FordFlags.CANFD:
-      messages += [
-        ("Side_Detect_L_Stat", 5),
-        ("Side_Detect_R_Stat", 5),
-      ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)

selfdrive/car/ford/fingerprints.py

@@ -1,166 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.car.ford.values import CAR
-
-Ecu = car.CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.FORD_BRONCO_SPORT_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_ESCAPE_MK4: {
-    (Ecu.eps, 0x730, None): [
-      b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_EXPLORER_MK6: {
-    (Ecu.eps, 0x730, None): [
-      b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_F_150_MK14: {
-    (Ecu.eps, 0x730, None): [
-      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_F_150_LIGHTNING_MK1: {
-    (Ecu.abs, 0x760, None): [
-      b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_MUSTANG_MACH_E_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_FOCUS_MK4: {
-    (Ecu.eps, 0x730, None): [
-      b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_MAVERICK_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FORD_RANGER_MK2: {
-    (Ecu.eps, 0x730, None): [
-      b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-}