Merge remote-tracking branch 'upstream/master' into take-steering

cereal

@@ -1 +1 @@
-Subproject commit 5ba96b6ded57bcd91e60140ce0036f61370f8512
+Subproject commit b29717c4c328d5cf34d46f682f25267150f82637

common/params.cc

@@ -299,10 +299,13 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
   FileLock file_lock(params_path + "/.lock");
 
-  std::string path;
-  for (auto &[key, type] : keys) {
-    if (type & key_type) {
-      unlink(getParamPath(key).c_str());
+  if (key_type == ALL) {
+    util::remove_files_in_dir(getParamPath());
+  } else {
+    for (auto &[key, type] : keys) {
+      if (type & key_type) {
+        unlink(getParamPath(key).c_str());
+      }
     }
   }
 

common/tests/test_util.cc

@@ -143,3 +143,20 @@ TEST_CASE("util::create_directories") {
     REQUIRE(util::create_directories("", 0755) == false);
   }
 }
+
+TEST_CASE("util::remove_files_in_dir") {
+  std::string tmp_dir = "/tmp/test_remove_all_in_dir";
+  system("rm /tmp/test_remove_all_in_dir -rf");
+  REQUIRE(util::create_directories(tmp_dir, 0755));
+  const int tmp_file_cnt = 10;
+  for (int i = 0; i < tmp_file_cnt; ++i) {
+    std::string tmp_file = tmp_dir + "/test_XXXXXX";
+    int fd = mkstemp((char*)tmp_file.c_str());
+    close(fd);
+    REQUIRE(util::file_exists(tmp_file.c_str()));
+  }
+
+  REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt);
+  util::remove_files_in_dir(tmp_dir);
+  REQUIRE(util::read_files_in_dir(tmp_dir).empty());
+}

common/util.cc

@@ -97,6 +97,22 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
   return ret;
 }
 
+void remove_files_in_dir(const std::string &path) {
+  DIR *d = opendir(path.c_str());
+  if (!d) return;
+
+  std::string fn;
+  struct dirent *de = NULL;
+  while ((de = readdir(d))) {
+    if (de->d_type != DT_DIR) {
+      fn = path + "/" + de->d_name;
+      unlink(fn.c_str());
+    }
+  }
+
+  closedir(d);
+}
+
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
   int fd = HANDLE_EINTR(open(path, flags, mode));
   if (fd == -1) {

common/util.h

@@ -80,6 +80,7 @@ std::string dir_name(std::string const& path);
 // **** file fhelpers *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
+void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
 
 FILE* safe_fopen(const char* filename, const char* mode);

laika_repo

@@ -1 +1 @@
-Subproject commit c8bc1fa01be9f22592efb991ee52d3d965d21968
+Subproject commit e1049cde0a68f7d4a70b1ebd76befdc0e163ad55

selfdrive/car/gm/carstate.py

@@ -41,9 +41,12 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
-    ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
-    ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
+    # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
+    # that the brake is being intermittently pressed without user interaction.
+    # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold
+    # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
+    ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] / 0xd0
+    ret.brakePressed = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] >= 8
 
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
@@ -102,7 +105,7 @@ class CarState(CarStateBase):
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
-      ("BrakePedalPosition", "EBCMBrakePedalPosition"),
+      ("BrakePedalPos", "ECMAcceleratorPos"),
       ("FrontLeftDoor", "BCMDoorBeltStatus"),
       ("FrontRightDoor", "BCMDoorBeltStatus"),
       ("RearLeftDoor", "BCMDoorBeltStatus"),
@@ -148,7 +151,7 @@ class CarState(CarStateBase):
       ("ASCMSteeringButton", 33),
       ("ECMEngineStatus", 100),
       ("PSCMSteeringAngle", 100),
-      ("EBCMBrakePedalPosition", 100),
+      ("ECMAcceleratorPos", 80),
     ]
 
     if CP.transmissionType == TransmissionType.direct:

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -20,6 +20,7 @@ P_DIM = 2
 N = 16
 COST_E_DIM = 3
 COST_DIM = COST_E_DIM + 1
+SPEED_OFFSET = 10.0
 MODEL_NAME = 'lat'
 ACADOS_SOLVER_TYPE = 'SQP_RTI'
 
@@ -88,14 +89,13 @@ def gen_lat_ocp():
 
   ocp.cost.yref = np.zeros((COST_DIM, ))
   ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
-  # TODO hacky weights to keep behavior the same
   ocp.model.cost_y_expr = vertcat(y_ego,
-                                  ((v_ego + 5.0) * psi_ego),
-                                  ((v_ego + 5.0) * psi_rate_ego),
-                                  ((v_ego + 5.0) * psi_rate_ego_dot))
+                                  ((v_ego + SPEED_OFFSET) * psi_ego),
+                                  ((v_ego + SPEED_OFFSET) * psi_rate_ego),
+                                  ((v_ego + SPEED_OFFSET) * psi_rate_ego_dot))
   ocp.model.cost_y_expr_e = vertcat(y_ego,
-                                  ((v_ego + 5.0) * psi_ego),
-                                  ((v_ego + 5.0) * psi_rate_ego))
+                                  ((v_ego + SPEED_OFFSET) * psi_ego),
+                                  ((v_ego + SPEED_OFFSET) * psi_rate_ego))
 
   # set constraints
   ocp.constraints.constr_type = 'BGH'
@@ -158,8 +158,8 @@ class LateralMpc():
     self.yref[:,0] = y_pts
     v_ego = p_cp[0]
     # rotation_radius = p_cp[1]
-    self.yref[:,1] = heading_pts * (v_ego+5.0)
-    self.yref[:,2] = yaw_rate_pts * (v_ego+5.0)
+    self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET)
+    self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET)
     for i in range(N):
       self.solver.cost_set(i, "yref", self.yref[i])
       self.solver.set(i, "p", p_cp)

selfdrive/controls/lib/lateral_planner.py

@@ -12,6 +12,15 @@ from cereal import log
 TRAJECTORY_SIZE = 33
 CAMERA_OFFSET = 0.04
 
+
+PATH_COST = 1.0
+LATERAL_MOTION_COST = 0.11
+LATERAL_ACCEL_COST = 0.0
+LATERAL_JERK_COST = 0.05
+
+MIN_SPEED = 1.5
+
+
 class LateralPlanner:
   def __init__(self, CP):
     self.DH = DesireHelper()
@@ -36,7 +45,8 @@ class LateralPlanner:
     self.lat_mpc.reset(x0=self.x0)
 
   def update(self, sm):
-    v_ego = sm['carState'].vEgo
+    # clip speed , lateral planning is not possible at 0 speed
+    self.v_ego = max(MIN_SPEED, sm['carState'].vEgo)
     measured_curvature = sm['controlsState'].curvature
 
     # Parse model predictions
@@ -56,29 +66,28 @@ class LateralPlanner:
     self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
 
     d_path_xyz = self.path_xyz
-    # Heading cost is useful at low speed, otherwise end of plan can be off-heading
-    heading_cost = interp(v_ego, [5.0, 10.0], [1.0, 0.15])
-    self.lat_mpc.set_weights(1.0, heading_cost, 0.0, .075)
+    self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
+                             LATERAL_ACCEL_COST, LATERAL_JERK_COST)
 
-    y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
-    heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
-    yaw_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate)
+    y_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
+    heading_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
+    yaw_rate_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate)
     self.y_pts = y_pts
 
     assert len(y_pts) == LAT_MPC_N + 1
     assert len(heading_pts) == LAT_MPC_N + 1
     assert len(yaw_rate_pts) == LAT_MPC_N + 1
-    lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2))
-    p = np.array([v_ego, lateral_factor])
+    lateral_factor = max(0, self.factor1 - (self.factor2 * self.v_ego**2))
+    p = np.array([self.v_ego, lateral_factor])
     self.lat_mpc.run(self.x0,
                      p,
                      y_pts,
                      heading_pts,
                      yaw_rate_pts)
-    # init state for next
-    # mpc.u_sol is the desired curvature rate given x0 curv state.
-    # with x0[3] = measured_curvature, this would be the actual desired rate.
-    # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control.
+    # init state for next iteration
+    # mpc.u_sol is the desired second derivative of psi given x0 curv state.
+    # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate.
+    # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control.
     self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
 
     #  Check for infeasible MPC solution
@@ -86,7 +95,7 @@ class LateralPlanner:
     t = sec_since_boot()
     if mpc_nans or self.lat_mpc.solution_status != 0:
       self.reset_mpc()
-      self.x0[3] = measured_curvature
+      self.x0[3] = measured_curvature * self.v_ego
       if t > self.last_cloudlog_t + 5.0:
         self.last_cloudlog_t = t
         cloudlog.warning("Lateral mpc - nan: True")
@@ -105,8 +114,9 @@ class LateralPlanner:
     lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
     lateralPlan.dPathPoints = self.y_pts.tolist()
     lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
-    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/sm['carState'].vEgo).tolist()
-    lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
+
+    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
+    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
 
     lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
     lateralPlan.solverExecutionTime = self.lat_mpc.solve_time

selfdrive/debug/vw_mqb_config.py

@@ -70,8 +70,8 @@ if __name__ == "__main__":
   coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0
   coding_length = len(current_coding)
 
-  # EV_SteerAssisMQB covers the majority of MQB racks (EPS_MQB_ZFLS)
-  if odx_file == "EV_SteerAssisMQB\x00":
+  # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS)
+  if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"):
     coding_variant = "ZF"
     coding_byte = 0
     coding_bit = 4

selfdrive/locationd/laikad.py

@@ -16,7 +16,7 @@ from common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.downloader import DownloadFailed
-from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
+from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem, parse_qcom_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
 from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
@@ -61,6 +61,7 @@ class Laikad:
     self.last_pos_fix = []
     self.last_pos_residual = []
     self.last_pos_fix_t = None
+    self.gps_week = None
     self.use_qcom = use_qcom
 
   def load_cache(self):
@@ -107,11 +108,11 @@ class Laikad:
     return self.last_pos_fix
 
   def is_good_report(self, gnss_msg):
-    if gnss_msg.which == 'drMeasurementReport' and self.use_qcom:
+    if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
       constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
       # TODO support GLONASS
       return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
-    elif gnss_msg.which == 'measurementReport' and not self.use_qcom:
+    elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
       return True
     else:
       return False
@@ -129,9 +130,28 @@ class Laikad:
       new_meas = read_raw_ublox(report)
     return week, tow, new_meas
 
+  def is_ephemeris(self, gnss_msg):
+    if self.use_qcom:
+      return gnss_msg.which() == 'drSvPoly'
+    else:
+      return gnss_msg.which() == 'ephemeris'
+
+  def read_ephemeris(self, gnss_msg):
+    # TODO this only works on GLONASS
+    if self.use_qcom:
+      # TODO this is not robust to gps week rollover
+      if self.gps_week is None:
+        return
+      ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
+    else:
+      ephem = convert_ublox_ephem(gnss_msg.ephemeris)
+    self.astro_dog.add_navs({ephem.prn: [ephem]})
+    self.cache_ephemeris(t=ephem.epoch)
+
   def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
     if self.is_good_report(gnss_msg):
       week, tow, new_meas = self.read_report(gnss_msg)
+      self.gps_week = week
 
       t = gnss_mono_time * 1e-9
       if week > 0:
@@ -172,12 +192,10 @@ class Laikad:
         "correctedMeasurements": meas_msgs
       }
       return dat
-    # TODO this only works on GLONASS, qcom needs live ephemeris parsing too
-    elif gnss_msg.which == 'ephemeris':
-      ephem = convert_ublox_ephem(gnss_msg.ephemeris)
-      self.astro_dog.add_navs({ephem.prn: [ephem]})
-      self.cache_ephemeris(t=ephem.epoch)
-    #elif gnss_msg.which == 'ionoData':
+    elif self.is_ephemeris(gnss_msg):
+      self.read_ephemeris(gnss_msg)
+
+    #elif gnss_msg.which() == 'ionoData':
     # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
 
   def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
@@ -265,9 +283,11 @@ def create_measurement_msg(meas: GNSSMeasurement):
   c.satVel = meas.sat_vel.tolist()
   ephem = meas.sat_ephemeris
   assert ephem is not None
+  week, time_of_week = -1, -1
   if ephem.eph_type == EphemerisType.NAV:
     source_type = EphemerisSourceType.nav
-    week, time_of_week = -1, -1
+  elif ephem.eph_type == EphemerisType.QCOM_POLY:
+    source_type = EphemerisSourceType.qcom
   else:
     assert ephem.file_epoch is not None
     week = ephem.file_epoch.week
@@ -325,6 +345,7 @@ class EphemerisSourceType(IntEnum):
   nav = 0
   nasaUltraRapid = 1
   glonassIacUltraRapid = 2
+  qcom = 3
 
 
 def main(sm=None, pm=None):
@@ -348,6 +369,17 @@ def main(sm=None, pm=None):
 
     if sm.updated[raw_gnss_socket]:
       gnss_msg = sm[raw_gnss_socket]
+
+      # TODO: Understand and use remaining unknown constellations
+      if gnss_msg.which() == "drMeasurementReport":
+        if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']:
+          continue
+
+        if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max:
+          # gpsWeek 65535 is received rarely from quectel, this cannot be
+          # passed to GnssMeasurements's gpsWeek (Int16)
+          continue
+
       msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], block=replay)
       if msg is not None:
         pm.send('gnssMeasurements', msg)

selfdrive/modeld/models/driving.h

@@ -16,7 +16,7 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 #include "selfdrive/modeld/runners/run.h"
 
-constexpr int FEATURE_LEN = 2048;
+constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:30f30bc1251c03db135564ecbf7dc0bc96cbb07be0ebd3691edd8d555dc087fa
-size 58539693
+oid sha256:c4d37af666344af6bb218e0b939b1152ad3784c15ac79e37bcf0124643c8286a
+size 58539563

selfdrive/sensord/rawgps/rawgpsd.py

@@ -14,12 +14,13 @@ import cereal.messaging as messaging
 from laika.gps_time import GPSTime
 from system.swaglog import cloudlog
 from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
-from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report,
+from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
                                               gps_measurement_report, gps_measurement_report_sv,
                                               glonass_measurement_report, glonass_measurement_report_sv,
-                                              oemdre_measurement_report, oemdre_measurement_report_sv,
+                                              oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
                                               LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
-                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT)
+                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
+                                              LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
 
@@ -28,6 +29,7 @@ LOG_TYPES = [
   LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
   LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
   LOG_GNSS_POSITION_REPORT,
+  LOG_GNSS_OEMDRE_SVPOLY_REPORT,
 ]
 
 
@@ -88,7 +90,7 @@ def try_setup_logs(diag, log_types):
 def mmcli(cmd: str) -> None:
   for _ in range(5):
     try:
-      subprocess.check_call(f"mmcli -m 0 {cmd}", shell=True)
+      subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True)
       break
     except subprocess.CalledProcessError:
       cloudlog.exception("rawgps.mmcli_command_failed")
@@ -146,12 +148,15 @@ def main() -> NoReturn:
   unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True)
   unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True)
 
+  unpack_svpoly, _ = dict_unpacker(oemdre_svpoly_report, True)
+  unpack_position, _ = dict_unpacker(position_report)
+
   unpack_position, _ = dict_unpacker(position_report)
 
   # wait for ModemManager to come up
   cloudlog.warning("waiting for modem to come up")
   while True:
-    ret = subprocess.call("mmcli -m 0 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+    ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
     if ret == 0:
       break
     time.sleep(0.1)
@@ -258,7 +263,24 @@ def main() -> NoReturn:
 
       pm.send('gpsLocation', msg)
 
-    if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
+    elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
+      msg = messaging.new_message('qcomGnss')
+      dat = unpack_svpoly(log_payload)
+      dat = relist(dat)
+      gnss = msg.qcomGnss
+      gnss.logTs = log_time
+      gnss.init('drSvPoly')
+      poly = gnss.drSvPoly
+      for k,v in dat.items():
+        if k == "version":
+          assert v == 2
+        elif k == "flags":
+          pass
+        else:
+          setattr(poly, k, v)
+      pm.send('qcomGnss', msg)
+
+    elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
       msg = messaging.new_message('qcomGnss')
 
       gnss = msg.qcomGnss

selfdrive/sensord/rawgps/structs.py

@@ -56,6 +56,29 @@ oemdre_measurement_report = """
   uint8_t source;
 """
 
+oemdre_svpoly_report = """
+  uint8_t version;
+  uint16_t sv_id;
+  int8_t frequency_index;
+  uint8_t flags;
+  uint16_t iode;
+  double t0;
+  double xyz0[3];
+  double xyzN[9];
+  float other[4];
+  float position_uncertainty;
+  float iono_delay;
+  float iono_dot;
+  float sbas_iono_delay;
+  float sbas_iono_dot;
+  float tropo_delay;
+  float elevation;
+  float elevation_dot;
+  float elevation_uncertainty;
+  double velocity_coeff[12];
+"""
+
+
 oemdre_measurement_report_sv = """
   uint8_t sv_id;
   uint8_t unkn;
@@ -311,3 +334,21 @@ def dict_unpacker(ss, camelcase = False):
     nams = [name_to_camelcase(x) for x in nams]
   sz = calcsize(st)
   return lambda x: dict(zip(nams, unpack_from(st, x))), sz
+
+def relist(dat):
+  list_keys = set()
+  for key in dat.keys():
+    if '[' in key:
+      list_keys.add(key.split('[')[0])
+  list_dict = {}
+  for list_key in list_keys:
+    list_dict[list_key] = []
+    i = 0
+    while True:
+      key = list_key + f'[{i}]'
+      if key not in dat:
+        break
+      list_dict[list_key].append(dat[key])
+      del dat[key]
+      i += 1
+  return {**dat, **list_dict}

selfdrive/sensord/rawgps/test_rawgps.py

@@ -40,7 +40,7 @@ class TestRawgpsd(unittest.TestCase):
       time.sleep(s)
       managed_processes['rawgpsd'].stop()
 
-      ls = subprocess.check_output("mmcli -m 0 --location-status --output-json", shell=True, encoding='utf-8')
+      ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
       loc_status = json.loads(ls)
       assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
 

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-008c0a622b7471c6234690d668f76bcb5dc8d999
+c171250d2cc013b3eca1cda4fb62f3d0dda28d4d

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e0ffcae8def2fd9c82c547d1f257d4f06a48a3c3
+f636c68e2b4ed88d3731930cf15b6dee984eb6dd

selfdrive/tombstoned.py

@@ -62,47 +62,6 @@ def get_tombstones():
   return files
 
 
-def report_tombstone_android(fn):
-  f_size = os.path.getsize(fn)
-  if f_size > MAX_SIZE:
-    cloudlog.error(f"Tombstone {fn} too big, {f_size}. Skipping...")
-    return
-
-  with open(fn, encoding='ISO-8859-1') as f:
-    contents = f.read()
-
-  message = " ".join(contents.split('\n')[5:7])
-
-  # Cut off pid/tid, since that varies per run
-  name_idx = message.find('name')
-  if name_idx >= 0:
-    message = message[name_idx:]
-
-  executable = ""
-  start_exe_idx = message.find('>>> ')
-  end_exe_idx = message.find(' <<<')
-  if start_exe_idx >= 0 and end_exe_idx >= 0:
-    executable = message[start_exe_idx + 4:end_exe_idx]
-
-  # Cut off fault addr
-  fault_idx = message.find(', fault addr')
-  if fault_idx >= 0:
-    message = message[:fault_idx]
-
-  sentry.report_tombstone(fn, message, contents)
-
-  # Copy crashlog to upload folder
-  clean_path = executable.replace('./', '').replace('/', '_')
-  date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S")
-
-  new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
-
-  crashlog_dir = os.path.join(ROOT, "crash")
-  mkdirs_exists_ok(crashlog_dir)
-
-  shutil.copy(fn, os.path.join(crashlog_dir, new_fn))
-
-
 def report_tombstone_apport(fn):
   f_size = os.path.getsize(fn)
   if f_size > MAX_SIZE:
@@ -199,7 +158,7 @@ def main() -> NoReturn:
         if fn.endswith(".crash"):
           report_tombstone_apport(fn)
         else:
-          report_tombstone_android(fn)
+          cloudlog.error(f"unknown crash type: {fn}")
       except Exception:
         cloudlog.exception(f"Error reporting tombstone {fn}")
 

system/hardware/tici/hardware.py

@@ -480,7 +480,7 @@ class Tici(HardwareBase):
 
     # blue prime config
     if sim_id.startswith('8901410'):
-      os.system('mmcli -m 0 --3gpp-set-initial-eps-bearer-settings="apn=Broadband"')
+      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn=Broadband"')
 
   def get_networks(self):
     r = {}

tinygrad_repo

@@ -1 +1 @@
-Subproject commit 2993dfe9219089bd1464741757f0c2ad67fe6a2e
+Subproject commit 46f6db75228cb7744a3a0a87616bfffeffa93658

tools/cabana/videowidget.cc

@@ -4,7 +4,9 @@
 #include <QDateTime>
 #include <QHBoxLayout>
 #include <QMouseEvent>
+#include <QPainter>
 #include <QPushButton>
+#include <QTimer>
 #include <QVBoxLayout>
 
 #include "tools/cabana/parser.h"
@@ -98,8 +100,50 @@ void VideoWidget::updateState() {
 }
 
 // Slider
-// TODO: show timeline bar like what replay did.
 Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
+  QTimer *timer = new QTimer(this);
+  timer->setInterval(2000);
+  timer->callOnTimeout([this]() { timeline = parser->replay->getTimeline(); });
+  timer->start();
+}
+
+void Slider::paintEvent(QPaintEvent *ev) {
+  auto getPaintRange = [this](double begin, double end) -> std::pair<double, double> {
+    double total_sec = maximum() - minimum();
+    int start_pos = ((std::max((double)minimum(), (double)begin) - minimum()) / total_sec) * width();
+    int end_pos = ((std::min((double)maximum(), (double)end) - minimum()) / total_sec) * width();
+    return {start_pos, end_pos};
+  };
+
+  QPainter p(this);
+  const int v_margin = 2;
+  p.fillRect(rect().adjusted(0, v_margin, 0, -v_margin), QColor(0, 0, 128));
+
+  for (auto [begin, end, type] : timeline) {
+    if (begin > maximum() || end < minimum()) continue;
+
+    if (type == TimelineType::Engaged) {
+      auto [start_pos, end_pos] = getPaintRange(begin, end);
+      p.fillRect(QRect(start_pos, v_margin, end_pos - start_pos, height() - v_margin * 2), QColor(0, 135, 0));
+    }
+  }
+  for (auto [begin, end, type] : timeline) {
+    if (type == TimelineType::Engaged || begin > maximum() || end < minimum()) continue;
+
+    auto [start_pos, end_pos] = getPaintRange(begin, end);
+    if (type == TimelineType::UserFlag) {
+      p.fillRect(QRect(start_pos, height() - v_margin - 3, end_pos - start_pos, 3), Qt::white);
+    } else {
+      QColor color(Qt::green);
+      if (type != TimelineType::AlertInfo)
+        color = type == TimelineType::AlertWarning ? Qt::yellow : Qt::red;
+
+      p.fillRect(QRect(start_pos, height() - v_margin - 3, end_pos - start_pos, 3), color);
+    }
+  }
+  p.setPen(QPen(Qt::black, 2));
+  qreal x = width() * ((value() - minimum()) / double(maximum() - minimum()));
+  p.drawLine(QPointF{x, 0.}, QPointF{x, (qreal)height()});
 }
 
 void Slider::mousePressEvent(QMouseEvent *e) {

tools/cabana/videowidget.h

@@ -5,6 +5,7 @@
 #include <QWidget>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
+#include "tools/replay/replay.h"
 
 class Slider : public QSlider {
   Q_OBJECT
@@ -15,6 +16,10 @@ public:
 
 signals:
   void setPosition(int value);
+
+private:
+   void paintEvent(QPaintEvent *ev) override;
+   std::vector<std::tuple<int, int, TimelineType>> timeline;
 };
 
 class VideoWidget : public QWidget {