Merge remote-tracking branch 'upstream/master' into enable-planner

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -1,6 +1,6 @@
 name: Car bug report
 description: For issues with a particular car make or model
-labels: ["car bug"]
+labels: ["car", "bug"]
 body:
 
   - type: markdown

laika_repo

@@ -1 +1 @@
-Subproject commit 44f048bc1f58ae9e28dfdeb98e40aea3e0f2b699
+Subproject commit 27a0d8a776fc8c1eaf8608d17ce81a00136f8bd0

selfdrive/car/fw_versions.py

@@ -148,14 +148,12 @@ REQUESTS: List[Request] = [
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
     rx_offset=VOLKSWAGEN_RX_OFFSET,
   ),
   Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
-    whitelist_ecus=[Ecu.engine, Ecu.transmission],
   ),
   # Mazda
   Request(

selfdrive/car/tests/test_models.py

@@ -221,6 +221,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
+      checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed

selfdrive/ui/qt/onroad.cc

@@ -196,6 +196,7 @@ void NvgWindow::updateState(const UIState &s) {
   setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
 
   setProperty("is_cruise_set", cruise_set);
+  setProperty("is_metric", s.scene.is_metric);
   setProperty("speed", cur_speed);
   setProperty("setSpeed", set_speed);
   setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
@@ -225,8 +226,8 @@ void NvgWindow::drawHud(QPainter &p) {
   // Draw outer box + border to contain set speed and speed limit
   int default_rect_width = 172;
   int rect_width = default_rect_width;
+  if (is_metric || has_eu_speed_limit) rect_width = 200;
   if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223;
-  else if (has_eu_speed_limit) rect_width = 200;
 
   int rect_height = 204;
   if (has_us_speed_limit) rect_height = 402;
@@ -240,26 +241,6 @@ void NvgWindow::drawHud(QPainter &p) {
   p.setBrush(blackColor(166));
   drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 
-  // Draw set speed
-  if (is_cruise_set) {
-    if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
-      p.setPen(interpColor(
-        setSpeed,
-        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
-        {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
-      ));
-    } else {
-      p.setPen(whiteColor());
-    }
-  } else {
-    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
-  }
-  configFont(p, "Open Sans", 90, "Bold");
-  QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
-  speed_rect.moveCenter({set_speed_rect.center().x(), 0});
-  speed_rect.moveTop(set_speed_rect.top() + 8);
-  p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
-
   // Draw MAX
   if (is_cruise_set) {
     if (status == STATUS_DISENGAGED) {
@@ -281,9 +262,31 @@ void NvgWindow::drawHud(QPainter &p) {
   configFont(p, "Open Sans", 40, "SemiBold");
   QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
   max_rect.moveCenter({set_speed_rect.center().x(), 0});
-  max_rect.moveTop(set_speed_rect.top() + 123);
+  max_rect.moveTop(set_speed_rect.top() + 23);
   p.drawText(max_rect, Qt::AlignCenter, "MAX");
 
+  // Draw set speed
+  if (is_cruise_set) {
+    if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
+      p.setPen(interpColor(
+        setSpeed,
+        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
+        {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
+      ));
+    } else {
+      p.setPen(whiteColor());
+    }
+  } else {
+    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
+  }
+  configFont(p, "Open Sans", 90, "Bold");
+  QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
+  speed_rect.moveCenter({set_speed_rect.center().x(), 0});
+  speed_rect.moveTop(set_speed_rect.top() + 67);
+  p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
+
+
+
   // US/Canada (MUTCD style) sign
   if (has_us_speed_limit) {
     const int border_width = 6;

selfdrive/ui/qt/onroad.h

@@ -34,6 +34,7 @@ class NvgWindow : public CameraViewWidget {
   Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set);
   Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit);
   Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit);
+  Q_PROPERTY(bool is_metric MEMBER is_metric);
 
   Q_PROPERTY(bool engageable MEMBER engageable);
   Q_PROPERTY(bool dmActive MEMBER dmActive);
@@ -57,6 +58,7 @@ private:
   float setSpeed;
   float speedLimit;
   bool is_cruise_set = false;
+  bool is_metric = false;
   bool engageable = false;
   bool dmActive = false;
   bool hideDM = false;

selfdrive/ui/replay/replay.cc

@@ -360,7 +360,8 @@ void Replay::stream() {
       setCurrentSegment(toSeconds(cur_mono_time_) / 60);
 
       // migration for pandaState -> pandaStates to keep UI working for old segments
-      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D) {
+      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && 
+          sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) {
         MessageBuilder msg;
         auto ps = msg.initEvent().initPandaStates(1);
         ps[0].setIgnitionLine(true);