Merge remote-tracking branch 'upstream/master' into person-changing

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.2
+    rev: v0.3.2
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'

cereal

@@ -1 +1 @@
-Subproject commit ae018910975883dfe70700fe161092ef62050fc2
+Subproject commit 2e49ea08fc15c5947f6564dbc7982e95e32c1344

common/params.cc

@@ -207,7 +207,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
-    {"VisionRadarToggle", PERSISTENT},
 };
 
 } // namespace

common/transformations/camera.py

@@ -1,55 +1,58 @@
+import itertools
 import numpy as np
+from dataclasses import dataclass
 
 import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
-eon_f_focal_length = 910.0
-eon_d_focal_length = 650.0
-tici_f_focal_length = 2648.0
-tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
-
-eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (816, 612)
-tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
-
+@dataclass(frozen=True)
+class CameraConfig:
+  width: int
+  height: int
+  focal_length: float
+
+  @property
+  def intrinsics(self):
     # aka 'K' aka camera_frame_from_view_frame
-eon_fcam_intrinsics = np.array([
-  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-eon_intrinsics = eon_fcam_intrinsics # xx
-
-eon_dcam_intrinsics = np.array([
-  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
-  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-
-tici_fcam_intrinsics = np.array([
-  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
-  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
-tici_dcam_intrinsics = np.array([
-  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
-  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
-tici_ecam_intrinsics = tici_dcam_intrinsics
+    return np.array([
+      [self.focal_length,  0.0, float(self.width)/2],
+      [0.0, self.focal_length, float(self.height)/2],
+      [0.0,  0.0, 1.0]
+    ])
 
+  @property
+  def intrinsics_inv(self):
     # aka 'K_inv' aka view_frame_from_camera_frame
-eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
-eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+    return np.linalg.inv(self.intrinsics)
+
+@dataclass(frozen=True)
+class DeviceCameraConfig:
+  fcam: CameraConfig
+  dcam: CameraConfig
+  ecam: CameraConfig
 
-tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
-tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
+ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), ar_ox_fisheye, ar_ox_fisheye)
+os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), os_fisheye, os_fisheye)
 
+DEVICE_CAMERAS = {
+  # A "device camera" is defined by a device type and sensor
 
-FULL_FRAME_SIZE = tici_f_frame_size
-FOCAL = tici_f_focal_length
-fcam_intrinsics = tici_fcam_intrinsics
+  # sensor type was never set on eon/neo/two
+  ("neo", "unknown"): DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), CameraConfig(0, 0, 0.)),
+  # unknown here is AR0231, field was added with OX03C10 support
+  ("tici", "unknown"): ar_ox_config,
 
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+  # before deviceState.deviceType was set, assume tici AR config
+  ("unknown", "ar0231"): ar_ox_config,
+  ("unknown", "ox03c10"): ar_ox_config,
 
+  # simulator (emulates a tici)
+  ("pc", "unknown"): ar_ox_config,
+}
+prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', ar_ox_config), ('ox03c10', ar_ox_config), ('os04c10', os_config)))
+DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
 
 # device/mesh : x->forward, y-> right, z->down
 # view : x->right, y->down, z->forward
@@ -93,7 +96,7 @@ def roll_from_ke(m):
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
 
-def normalize(img_pts, intrinsics=fcam_intrinsics):
+def normalize(img_pts, intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
   intrinsics_inv = np.linalg.inv(intrinsics)
@@ -106,7 +109,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
   return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
+def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
@@ -123,7 +126,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
-def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+def get_calib_from_vp(vp, intrinsics):
   vp_norm = normalize(vp, intrinsics)
   yaw_calib = np.arctan(vp_norm[0])
   pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))

common/transformations/model.py

@@ -1,19 +1,11 @@
 import numpy as np
 
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import (
-  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
-  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
 
 # segnet
 SEGNET_SIZE = (512, 384)
 
-def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
-  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
-                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
-segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
-
-
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
 calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
 
 # This function is verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
-  if tici and wide_camera:
-    cam_intrinsics = tici_ecam_intrinsics
-  elif tici:
-    cam_intrinsics = tici_fcam_intrinsics
-  else:
-    cam_intrinsics = eon_fcam_intrinsics
-
+def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
   calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
   device_from_calib = rot_from_euler(device_from_calib_euler)
-  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
   warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
   return warp_matrix

panda

@@ -1 +1 @@
-Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477
+Subproject commit 895a7001c9d21ac7c4ace65debe70dfaee017443

poetry.lock

@@ -255,13 +255,13 @@ files = [
 
 [[package]]
 name = "azure-core"
-version = "1.30.0"
+version = "1.30.1"
 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-core-1.30.0.tar.gz", hash = "sha256:6f3a7883ef184722f6bd997262eddaf80cfe7e5b3e0caaaf8db1695695893d35"},
-    {file = "azure_core-1.30.0-py3-none-any.whl", hash = "sha256:3dae7962aad109610e68c9a7abb31d79720e1d982ddf61363038d175a5025e89"},
+    {file = "azure-core-1.30.1.tar.gz", hash = "sha256:26273a254131f84269e8ea4464f3560c731f29c0c1f69ac99010845f239c1a8f"},
+    {file = "azure_core-1.30.1-py3-none-any.whl", hash = "sha256:7c5ee397e48f281ec4dd773d67a0a47a0962ed6fa833036057f9ea067f688e74"},
 ]
 
 [package.dependencies]
@@ -291,13 +291,13 @@ msal-extensions = ">=0.3.0,<2.0.0"
 
 [[package]]
 name = "azure-storage-blob"
-version = "12.19.0"
+version = "12.19.1"
 description = "Microsoft Azure Blob Storage Client Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-storage-blob-12.19.0.tar.gz", hash = "sha256:26c0a4320a34a3c2a1b74528ba6812ebcb632a04cd67b1c7377232c4b01a5897"},
-    {file = "azure_storage_blob-12.19.0-py3-none-any.whl", hash = "sha256:7bbc2c9c16678f7a420367fef6b172ba8730a7e66df7f4d7a55d5b3c8216615b"},
+    {file = "azure-storage-blob-12.19.1.tar.gz", hash = "sha256:13e16ba42fc54ac2c7e8f976062173a5c82b9ec0594728e134aac372965a11b0"},
+    {file = "azure_storage_blob-12.19.1-py3-none-any.whl", hash = "sha256:c5530dc51c21c9564e4eb706cd499befca8819b10dd89716d3fc90d747556243"},
 ]
 
 [package.dependencies]
@@ -894,69 +894,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
 [[package]]
 name = "cython"
-version = "3.0.8"
+version = "3.0.9"
 description = "The Cython compiler for writing C extensions in the Python language."
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 files = [
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 [package.dependencies]
@@ -1098,35 +1098,34 @@ certifi = "*"
 click = ">=8.0,<9.0"
 click-plugins = ">=1.0"
 cligj = ">=0.5"
-setuptools = "*"
 six = "*"
 
 [package.extras]
-all = ["Fiona[calc,s3,test]"]
+all = ["fiona[calc,s3,test]"]
 calc = ["shapely"]
 s3 = ["boto3 (>=1.3.1)"]
-test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
+test = ["fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
 
 [[package]]
 name = "flaky"
-version = "3.7.0"
-description = "Plugin for nose or pytest that automatically reruns flaky tests."
+version = "3.8.0"
+description = "Plugin for pytest that automatically reruns flaky tests."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.5"
 files = [
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 ]
 
 [[package]]
 name = "flatbuffers"
-version = "23.5.26"
+version = "24.3.7"
 description = "The FlatBuffers serialization format for Python"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [[package]]
@@ -1469,49 +1468,51 @@ toy-text = ["pygame (==2.1.3)", "pygame (==2.1.3)"]
 
 [[package]]
 name = "h3"
-version = "3.7.6"
+version = "3.7.7"
 description = "Hierarchical hexagonal geospatial indexing system"
 optional = false
 python-versions = "*"
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 [package.extras]
@@ -1610,22 +1611,22 @@ files = [
 
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 [package.dependencies]
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 [[package]]
 name = "iniconfig"
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 ]
 
 [package.dependencies]
@@ -2715,13 +2716,13 @@ numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
 [[package]]
 name = "packaging"
-version = "23.2"
+version = "24.0"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.7"
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 [[package]]
@@ -6294,13 +6295,13 @@ test = ["Mako", "pytest (>=7.0.0)"]
 
 [[package]]
 name = "pyopenssl"
-version = "24.0.0"
+version = "24.1.0"
 description = "Python wrapper module around the OpenSSL library"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "pyOpenSSL-24.0.0-py3-none-any.whl", hash = "sha256:ba07553fb6fd6a7a2259adb9b84e12302a9a8a75c44046e8bb5d3e5ee887e3c3"},
-    {file = "pyOpenSSL-24.0.0.tar.gz", hash = "sha256:6aa33039a93fffa4563e655b61d11364d01264be8ccb49906101e02a334530bf"},
+    {file = "pyOpenSSL-24.1.0-py3-none-any.whl", hash = "sha256:17ed5be5936449c5418d1cd269a1a9e9081bc54c17aed272b45856a3d3dc86ad"},
+    {file = "pyOpenSSL-24.1.0.tar.gz", hash = "sha256:cabed4bfaa5df9f1a16c0ef64a0cb65318b5cd077a7eda7d6970131ca2f41a6f"},
 ]
 
 [package.dependencies]
@@ -6308,17 +6309,17 @@ cryptography = ">=41.0.5,<43"
 
 [package.extras]
 docs = ["sphinx (!=5.2.0,!=5.2.0.post0,!=7.2.5)", "sphinx-rtd-theme"]
-test = ["flaky", "pretend", "pytest (>=3.0.1)"]
+test = ["pretend", "pytest (>=3.0.1)", "pytest-rerunfailures"]
 
 [[package]]
 name = "pyparsing"
-version = "3.1.1"
+version = "3.1.2"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = false
 python-versions = ">=3.6.8"
 files = [
-    {file = "pyparsing-3.1.1-py3-none-any.whl", hash = "sha256:32c7c0b711493c72ff18a981d24f28aaf9c1fb7ed5e9667c9e84e3db623bdbfb"},
-    {file = "pyparsing-3.1.1.tar.gz", hash = "sha256:ede28a1a32462f5a9705e07aea48001a08f7cf81a021585011deba701581a0db"},
+    {file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"},
+    {file = "pyparsing-3.1.2.tar.gz", hash = "sha256:a1bac0ce561155ecc3ed78ca94d3c9378656ad4c94c1270de543f621420f94ad"},
 ]
 
 [package.extras]
@@ -6469,23 +6470,23 @@ cp2110 = ["hidapi"]
 
 [[package]]
 name = "pytest"
-version = "8.0.2"
+version = "8.1.1"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "pytest-8.0.2-py3-none-any.whl", hash = "sha256:edfaaef32ce5172d5466b5127b42e0d6d35ebbe4453f0e3505d96afd93f6b096"},
-    {file = "pytest-8.0.2.tar.gz", hash = "sha256:d4051d623a2e0b7e51960ba963193b09ce6daeb9759a451844a21e4ddedfc1bd"},
+    {file = "pytest-8.1.1-py3-none-any.whl", hash = "sha256:2a8386cfc11fa9d2c50ee7b2a57e7d898ef90470a7a34c4b949ff59662bb78b7"},
+    {file = "pytest-8.1.1.tar.gz", hash = "sha256:ac978141a75948948817d360297b7aae0fcb9d6ff6bc9ec6d514b85d5a65c044"},
 ]
 
 [package.dependencies]
 colorama = {version = "*", markers = "sys_platform == \"win32\""}
 iniconfig = "*"
 packaging = "*"
-pluggy = ">=1.3.0,<2.0"
+pluggy = ">=1.4,<2.0"
 
 [package.extras]
-testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
+testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
 
 [[package]]
 name = "pytest-cov"
@@ -6536,13 +6537,13 @@ pytest = "*"
 
 [[package]]
 name = "pytest-subtests"
-version = "0.11.0"
+version = "0.12.1"
 description = "unittest subTest() support and subtests fixture"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "pytest-subtests-0.11.0.tar.gz", hash = "sha256:51865c88457545f51fb72011942f0a3c6901ee9e24cbfb6d1b9dc1348bafbe37"},
-    {file = "pytest_subtests-0.11.0-py3-none-any.whl", hash = "sha256:453389984952eec85ab0ce0c4f026337153df79587048271c7fd0f49119c07e4"},
+    {file = "pytest-subtests-0.12.1.tar.gz", hash = "sha256:d6605dcb88647e0b7c1889d027f8ef1c17d7a2c60927ebfdc09c7b0d8120476d"},
+    {file = "pytest_subtests-0.12.1-py3-none-any.whl", hash = "sha256:100d9f7eb966fc98efba7026c802812ae327e8b5b37181fb260a2ea93226495c"},
 ]
 
 [package.dependencies]
@@ -6551,17 +6552,17 @@ pytest = ">=7.0"
 
 [[package]]
 name = "pytest-timeout"
-version = "2.2.0"
+version = "2.3.1"
 description = "pytest plugin to abort hanging tests"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "pytest-timeout-2.2.0.tar.gz", hash = "sha256:3b0b95dabf3cb50bac9ef5ca912fa0cfc286526af17afc806824df20c2f72c90"},
-    {file = "pytest_timeout-2.2.0-py3-none-any.whl", hash = "sha256:bde531e096466f49398a59f2dde76fa78429a09a12411466f88a07213e220de2"},
+    {file = "pytest-timeout-2.3.1.tar.gz", hash = "sha256:12397729125c6ecbdaca01035b9e5239d4db97352320af155b3f5de1ba5165d9"},
+    {file = "pytest_timeout-2.3.1-py3-none-any.whl", hash = "sha256:68188cb703edfc6a18fad98dc25a3c61e9f24d644b0b70f33af545219fc7813e"},
 ]
 
 [package.dependencies]
-pytest = ">=5.0.0"
+pytest = ">=7.0.0"
 
 [[package]]
 name = "pytest-xdist"
@@ -6585,13 +6586,13 @@ testing = ["filelock"]
 
 [[package]]
 name = "python-dateutil"
-version = "2.8.2"
+version = "2.9.0.post0"
 description = "Extensions to the standard Python datetime module"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
 files = [
-    {file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
-    {file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
+    {file = "python-dateutil-2.9.0.post0.tar.gz", hash = "sha256:37dd54208da7e1cd875388217d5e00ebd4179249f90fb72437e91a35459a0ad3"},
+    {file = "python_dateutil-2.9.0.post0-py2.py3-none-any.whl", hash = "sha256:a8b2bc7bffae282281c8140a97d3aa9c14da0b136dfe83f850eea9a5f7470427"},
 ]
 
 [package.dependencies]
@@ -6925,28 +6926,28 @@ docs = ["furo (==2023.9.10)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.2.2"
+version = "0.3.2"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "ruff-0.2.2-py3-none-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl", hash = "sha256:0a9efb032855ffb3c21f6405751d5e147b0c6b631e3ca3f6b20f917572b97eb6"},
-    {file = "ruff-0.2.2-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:d450b7fbff85913f866a5384d8912710936e2b96da74541c82c1b458472ddb39"},
-    {file = "ruff-0.2.2-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ecd46e3106850a5c26aee114e562c329f9a1fbe9e4821b008c4404f64ff9ce73"},
-    {file = "ruff-0.2.2-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:5e22676a5b875bd72acd3d11d5fa9075d3a5f53b877fe7b4793e4673499318ba"},
-    {file = "ruff-0.2.2-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1695700d1e25a99d28f7a1636d85bafcc5030bba9d0578c0781ba1790dbcf51c"},
-    {file = "ruff-0.2.2-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:b0c232af3d0bd8f521806223723456ffebf8e323bd1e4e82b0befb20ba18388e"},
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-    {file = "ruff-0.2.2-py3-none-win32.whl", hash = "sha256:d920499b576f6c68295bc04e7b17b6544d9d05f196bb3aac4358792ef6f34325"},
-    {file = "ruff-0.2.2-py3-none-win_amd64.whl", hash = "sha256:cc9a91ae137d687f43a44c900e5d95e9617cb37d4c989e462980ba27039d239d"},
-    {file = "ruff-0.2.2-py3-none-win_arm64.whl", hash = "sha256:c9d15fc41e6054bfc7200478720570078f0b41c9ae4f010bcc16bd6f4d1aacdd"},
-    {file = "ruff-0.2.2.tar.gz", hash = "sha256:e62ed7f36b3068a30ba39193a14274cd706bc486fad521276458022f7bccb31d"},
+    {file = "ruff-0.3.2-py3-none-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl", hash = "sha256:77f2612752e25f730da7421ca5e3147b213dca4f9a0f7e0b534e9562c5441f01"},
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+    {file = "ruff-0.3.2-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b83d17ff166aa0659d1e1deaf9f2f14cbe387293a906de09bc4860717eb2e2da"},
+    {file = "ruff-0.3.2-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:bb875c6cc87b3703aeda85f01c9aebdce3d217aeaca3c2e52e38077383f7268a"},
+    {file = "ruff-0.3.2-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:be75e468a6a86426430373d81c041b7605137a28f7014a72d2fc749e47f572aa"},
+    {file = "ruff-0.3.2-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:967978ac2d4506255e2f52afe70dda023fc602b283e97685c8447d036863a302"},
+    {file = "ruff-0.3.2-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1231eacd4510f73222940727ac927bc5d07667a86b0cbe822024dd00343e77e9"},
+    {file = "ruff-0.3.2-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2c6d613b19e9a8021be2ee1d0e27710208d1603b56f47203d0abbde906929a9b"},
+    {file = "ruff-0.3.2-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c8439338a6303585d27b66b4626cbde89bb3e50fa3cae86ce52c1db7449330a7"},
+    {file = "ruff-0.3.2-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:de8b480d8379620cbb5ea466a9e53bb467d2fb07c7eca54a4aa8576483c35d36"},
+    {file = "ruff-0.3.2-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:b74c3de9103bd35df2bb05d8b2899bf2dbe4efda6474ea9681280648ec4d237d"},
+    {file = "ruff-0.3.2-py3-none-musllinux_1_2_i686.whl", hash = "sha256:f380be9fc15a99765c9cf316b40b9da1f6ad2ab9639e551703e581a5e6da6745"},
+    {file = "ruff-0.3.2-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:0ac06a3759c3ab9ef86bbeca665d31ad3aa9a4b1c17684aadb7e61c10baa0df4"},
+    {file = "ruff-0.3.2-py3-none-win32.whl", hash = "sha256:9bd640a8f7dd07a0b6901fcebccedadeb1a705a50350fb86b4003b805c81385a"},
+    {file = "ruff-0.3.2-py3-none-win_amd64.whl", hash = "sha256:0c1bdd9920cab5707c26c8b3bf33a064a4ca7842d91a99ec0634fec68f9f4037"},
+    {file = "ruff-0.3.2-py3-none-win_arm64.whl", hash = "sha256:5f65103b1d76e0d600cabd577b04179ff592064eaa451a70a81085930e907d0b"},
+    {file = "ruff-0.3.2.tar.gz", hash = "sha256:fa78ec9418eb1ca3db392811df3376b46471ae93792a81af2d1cbb0e5dcb5142"},
 ]
 
 [[package]]
@@ -7028,13 +7029,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "1.40.5"
+version = "1.41.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = "*"
 files = [
-    {file = "sentry-sdk-1.40.5.tar.gz", hash = "sha256:d2dca2392cc5c9a2cc9bb874dd7978ebb759682fe4fe889ee7e970ee8dd1c61e"},
-    {file = "sentry_sdk-1.40.5-py2.py3-none-any.whl", hash = "sha256:d188b407c9bacbe2a50a824e1f8fb99ee1aeb309133310488c570cb6d7056643"},
+    {file = "sentry-sdk-1.41.0.tar.gz", hash = "sha256:4f2d6c43c07925d8cd10dfbd0970ea7cb784f70e79523cca9dbcd72df38e5a46"},
+    {file = "sentry_sdk-1.41.0-py2.py3-none-any.whl", hash = "sha256:be4f8f4b29a80b6a3b71f0f31487beb9e296391da20af8504498a328befed53f"},
 ]
 
 [package.dependencies]
@@ -7595,13 +7596,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.20240218"
+version = "2.31.0.20240311"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.31.0.20240218.tar.gz", hash = "sha256:f1721dba8385958f504a5386240b92de4734e047a08a40751c1654d1ac3349c5"},
-    {file = "types_requests-2.31.0.20240218-py3-none-any.whl", hash = "sha256:a82807ec6ddce8f00fe0e949da6d6bc1fbf1715420218a9640d695f70a9e5a9b"},
+    {file = "types-requests-2.31.0.20240311.tar.gz", hash = "sha256:b1c1b66abfb7fa79aae09097a811c4aa97130eb8831c60e47aee4ca344731ca5"},
+    {file = "types_requests-2.31.0.20240311-py3-none-any.whl", hash = "sha256:47872893d65a38e282ee9f277a4ee50d1b28bd592040df7d1fdaffdf3779937d"},
 ]
 
 [package.dependencies]

release/build_release.sh

@@ -94,7 +94,7 @@ cp -pR -n --parents $TEST_FILES $BUILD_DIR/
 cd $BUILD_DIR
 RELEASE=1 selfdrive/test/test_onroad.py
 #selfdrive/manager/test/test_manager.py
-selfdrive/car/tests/test_car_interfaces.py
+#selfdrive/car/tests/test_car_interfaces.py
 rm -rf $TEST_FILES
 
 if [ ! -z "$RELEASE_BRANCH" ]; then

release/files_common

@@ -82,7 +82,6 @@ selfdrive/boardd/panda.h
 selfdrive/boardd/spi.cc
 selfdrive/boardd/panda_comms.h
 selfdrive/boardd/panda_comms.cc
-selfdrive/boardd/set_time.py
 selfdrive/boardd/pandad.py
 selfdrive/boardd/tests/test_boardd_loopback.py
 

selfdrive/boardd/boardd.cc

@@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);
 
 ExitHandler do_exit;
 
-static std::string get_time_str(const struct tm &time) {
-  char s[30] = {'\0'};
-  std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
-  return s;
-}
-
 bool check_all_connected(const std::vector<Panda *> &pandas) {
   for (const auto& panda : pandas) {
     if (!panda->connected()) {
@@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
-enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
-
-void sync_time(Panda *panda, SyncTimeDir dir) {
-  if (!panda->has_rtc) return;
-
-  setenv("TZ", "UTC", 1);
-  struct tm sys_time = util::get_time();
-  struct tm rtc_time = panda->get_rtc();
-
-  if (dir == SyncTimeDir::TO_PANDA) {
-    if (util::time_valid(sys_time)) {
-      // Write time to RTC if it looks reasonable
-      double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
-      if (std::abs(seconds) > 1.1) {
-        panda->set_rtc(sys_time);
-        LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
-              seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-      }
-    }
-  } else if (dir == SyncTimeDir::FROM_PANDA) {
-    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-
-    if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
-      const struct timeval tv = {mktime(&rtc_time), 0};
-      settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC.");
-    }
-  }
-}
-
 bool safety_setter_thread(std::vector<Panda *> pandas) {
   LOGD("Starting safety setter thread");
 
@@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }
 
-  sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }
 
@@ -581,11 +544,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
-
-    // Write to rtc once per minute when no ignition present
-    if (!ignition && (sm.frame % 120 == 1)) {
-      sync_time(panda, SyncTimeDir::TO_PANDA);
-    }
   }
 }
 

selfdrive/boardd/panda.cc

@@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   }
 
   hw_type = get_hw_type();
-  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS) ||
-            (hw_type == cereal::PandaState::PandaType::TRES);
-
   can_reset_communications();
 
   return;
@@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
   return (cereal::PandaState::PandaType)(hw_query[0]);
 }
 
-void Panda::set_rtc(struct tm sys_time) {
-  // tm struct has year defined as years since 1900
-  handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
-  handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
-  handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
-  // handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
-  handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
-  handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
-  handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
-}
-
-struct tm Panda::get_rtc() {
-  struct __attribute__((packed)) timestamp_t {
-    uint16_t year; // Starts at 0
-    uint8_t month;
-    uint8_t day;
-    uint8_t weekday;
-    uint8_t hour;
-    uint8_t minute;
-    uint8_t second;
-  } rtc_time = {0};
-
-  handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
-
-  struct tm new_time = { 0 };
-  new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
-  new_time.tm_mon  = rtc_time.month - 1;
-  new_time.tm_mday = rtc_time.day;
-  new_time.tm_hour = rtc_time.hour;
-  new_time.tm_min  = rtc_time.minute;
-  new_time.tm_sec  = rtc_time.second;
-
-  return new_time;
-}
-
 void Panda::set_fan_speed(uint16_t fan_speed) {
   handle->control_write(0xb1, fan_speed, 0);
 }

selfdrive/boardd/panda.h

@@ -50,7 +50,6 @@ public:
   Panda(std::string serial="", uint32_t bus_offset=0);
 
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  bool has_rtc = false;
   const uint32_t bus_offset;
 
   bool connected();
@@ -64,8 +63,6 @@ public:
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
-  void set_rtc(struct tm sys_time);
-  struct tm get_rtc();
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();
   void set_ir_pwr(uint16_t ir_pwr);

selfdrive/boardd/pandad.py

@@ -10,7 +10,6 @@ from functools import cmp_to_key
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
@@ -154,10 +153,6 @@ def main() -> NoReturn:
           cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
 
         if first_run:
-          if panda.is_internal():
-            # update time from RTC
-            set_time(cloudlog)
-
           # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
           if panda.is_internal():

selfdrive/boardd/set_time.py

@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-import os
-import datetime
-from panda import Panda
-
-from openpilot.common.time import MIN_DATE
-
-def set_time(logger):
-  sys_time = datetime.datetime.today()
-  if sys_time > MIN_DATE:
-    logger.info("System time valid")
-    return
-
-  try:
-    ps = Panda.list()
-    if len(ps) == 0:
-      logger.error("Failed to set time, no pandas found")
-      return
-
-    for s in ps:
-      with Panda(serial=s) as p:
-        if not p.is_internal():
-          continue
-
-        # Set system time from panda RTC time
-        panda_time = p.get_datetime()
-        if panda_time > MIN_DATE:
-          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
-          os.system(f"TZ=UTC date -s '{panda_time}'")
-        break
-  except Exception:
-    logger.exception("Failed to fetch time from panda")
-
-if __name__ == "__main__":
-  import logging
-  logging.basicConfig(level=logging.DEBUG)
-
-  set_time(logging)

selfdrive/car/chrysler/fingerprints.py

@@ -404,6 +404,7 @@ FW_VERSIONS = {
       b'68527383AD',
       b'68527387AE',
       b'68527403AC',
+      b'68527403AD',
       b'68546047AF',
       b'68631938AA',
       b'68631942AA',
@@ -477,6 +478,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035699AG ',
+      b'05035841AC ',
       b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',

selfdrive/car/toyota/fingerprints.py

@@ -1547,6 +1547,7 @@ FW_VERSIONS = {
       b'\x018966348W5100\x00\x00\x00\x00',
       b'\x018966348W9000\x00\x00\x00\x00',
       b'\x018966348X0000\x00\x00\x00\x00',
+      b'\x01896634D11000\x00\x00\x00\x00',
       b'\x01896634D12000\x00\x00\x00\x00',
       b'\x01896634D12100\x00\x00\x00\x00',
       b'\x01896634D43000\x00\x00\x00\x00',

selfdrive/modeld/modeld.py

@@ -13,6 +13,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive import sentry
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
@@ -153,7 +154,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "cameraOdometry"])
-  sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
 
   publish_state = PublishState()
   params = Params()
@@ -225,10 +226,11 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
-    if sm.updated["liveCalibration"]:
+    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)

selfdrive/modeld/tests/test_modeld.py

@@ -5,13 +5,14 @@ import random
 
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.transformations.camera import tici_f_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.car_helpers import write_car_param
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
-IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
+CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
+IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
 
 
@@ -19,9 +20,9 @@ class TestModeld(unittest.TestCase):
 
   def setUp(self):
     self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.start_listener()
     write_car_param()
 

selfdrive/monitoring/driver_monitor.py

@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
-from openpilot.common.transformations.camera import tici_d_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 EventName = car.CarEvent.EventName
 
@@ -71,9 +71,11 @@ class DRIVER_MONITOR_SETTINGS():
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 
+# TODO: get these live
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
-W, H = tici_d_frame_size # corrected image has same size as raw
+cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
+W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
 
 class DistractedType:
   NOT_DISTRACTED = 0

selfdrive/test/process_replay/migration.py

@@ -12,6 +12,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   msgs = migrate_sensorEvents(lr, old_logtime)
   msgs = migrate_carParams(msgs, old_logtime)
   msgs = migrate_gpsLocation(msgs)
+  msgs = migrate_deviceState(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -52,6 +53,21 @@ def migrate_gpsLocation(lr):
   return all_msgs
 
 
+def migrate_deviceState(lr):
+  all_msgs = []
+  dt = None
+  for msg in lr:
+    if msg.which() == 'initData':
+      dt = msg.initData.deviceType
+    if msg.which() == 'deviceState':
+      n = msg.as_builder()
+      n.deviceState.deviceType = dt
+      all_msgs.append(n.as_reader())
+    else:
+      all_msgs.append(msg)
+  return all_msgs
+
+
 def migrate_pandaStates(lr):
   all_msgs = []
   # TODO: safety param migration should be handled automatically

selfdrive/test/process_replay/model_replay.py

@@ -107,14 +107,17 @@ def model_replay(lr, frs):
   # modeld is using frame pairs
   modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"})
   dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
+
   if not SEND_EXTRA_INPUTS:
-    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration",]]
-    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration",]]
-  # initial calibration
-  cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder()
-  cal_msg.logMonoTime = lr[0].logMonoTime
-  modeld_logs.insert(0, cal_msg.as_reader())
-  dmodeld_logs.insert(0, cal_msg.as_reader())
+    modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'liveCalibration']
+
+  # initial setup
+  for s in ('liveCalibration', 'deviceState'):
+    msg = next(msg for msg in lr if msg.which() == s).as_builder()
+    msg.logMonoTime = lr[0].logMonoTime
+    modeld_logs.insert(1, msg.as_reader())
+    dmodeld_logs.insert(1, msg.as_reader())
 
   modeld = get_process_config("modeld")
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
@@ -218,6 +221,7 @@ if __name__ == "__main__":
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
       diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
 
+      if "CI" in os.environ:
         print(diff_long)
       print('-------------\n'*5)
       print(diff_short)

selfdrive/test/process_replay/process_replay.py

@@ -546,7 +546,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
     subs=["modelV2", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-653f68e6be4689dc9dce1a93cb726d37b9c588d3
+fba62008efd13fb578de325f0cdb0a87fe5e28f0

selfdrive/test/process_replay/regen.py

@@ -10,7 +10,7 @@ from collections.abc import Iterable
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                    check_openpilot_enabled, get_custom_params_from_lr
-from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
+from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
@@ -37,7 +37,7 @@ class DummyFrameReader(BaseFrameReader):
 
   @staticmethod
   def zero_dcamera():
-    return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
+    return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
 
 
 def regen_segment(

selfdrive/test/process_replay/vision_meta.py

@@ -1,17 +1,17 @@
 from collections import namedtuple
 from cereal.visionipc import VisionStreamType
 from openpilot.common.realtime import DT_MDL, DT_DMON
-from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
-WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
-DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
+ROAD_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
+WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.ecam.width, v.ecam.height) for k, v in DEVICE_CAMERAS.items() if v.ecam is not None}
+DRIVER_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
 VIPC_STREAM_METADATA = [
   # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
   ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
   ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
-  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES),
+  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_CAMERA_FRAME_SIZES),
 ]
 
 

selfdrive/thermald/thermald.py

@@ -216,6 +216,7 @@ def thermald_thread(end_event, hw_queue) -> None:
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
     msg = read_thermal(thermal_config)
+    msg.deviceState.deviceType = HARDWARE.get_device_type()
 
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 

selfdrive/ui/qt/network/networking.cc

@@ -82,11 +82,11 @@ void Networking::connectToNetwork(const Network n) {
   if (wifi->isKnownConnection(n.ssid)) {
     wifi->activateWifiConnection(n.ssid);
   } else if (n.security_type == SecurityType::OPEN) {
-    wifi->connect(n);
+    wifi->connect(n, false);
   } else if (n.security_type == SecurityType::WPA) {
     QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
-      wifi->connect(n, pass);
+      wifi->connect(n, false, pass);
     }
   }
 }
@@ -96,7 +96,7 @@ void Networking::wrongPassword(const QString &ssid) {
     const Network &n = wifi->seenNetworks.value(ssid);
     QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
-      wifi->connect(n, pass);
+      wifi->connect(n, false, pass);
     }
   }
 }
@@ -192,9 +192,9 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
       hidden_network.ssid = ssid.toUtf8();
       if (!pass.isEmpty()) {
         hidden_network.security_type = SecurityType::WPA;
-        wifi->connect(hidden_network, pass);
+        wifi->connect(hidden_network, true, pass);
       } else {
-        wifi->connect(hidden_network);
+        wifi->connect(hidden_network, true);
       }
       emit requestWifiScreen();
     }

selfdrive/ui/qt/network/wifi_manager.cc

@@ -166,7 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) {
   }
 }
 
-void WifiManager::connect(const Network &n, const QString &password, const QString &username) {
+void WifiManager::connect(const Network &n, const bool is_hidden, const QString &password, const QString &username) {
   setCurrentConnecting(n.ssid);
   forgetConnection(n.ssid);  // Clear all connections that may already exist to the network we are connecting
   Connection connection;
@@ -176,6 +176,7 @@ void WifiManager::connect(const Network &n, const QString &password, const QStri
   connection["connection"]["autoconnect-retries"] = 0;
 
   connection["802-11-wireless"]["ssid"] = n.ssid;
+  connection["802-11-wireless"]["hidden"] = is_hidden;
   connection["802-11-wireless"]["mode"] = "infrastructure";
 
   if (n.security_type == SecurityType::WPA) {

selfdrive/ui/qt/network/wifi_manager.h

@@ -52,7 +52,7 @@ public:
   std::optional<QDBusPendingCall> activateWifiConnection(const QString &ssid);
   NetworkType currentNetworkType();
   void updateGsmSettings(bool roaming, QString apn, bool metered);
-  void connect(const Network &ssid, const QString &password = {}, const QString &username = {});
+  void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {});
 
   // Tethering functions
   void setTetheringEnabled(bool enabled);

selfdrive/ui/tests/test_ui/run.py

@@ -18,7 +18,7 @@ from cereal.messaging import SubMaster, PubMaster
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.common.transformations.camera import tici_f_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 from openpilot.tools.webcam.camera import Camera
@@ -69,15 +69,16 @@ def setup_onroad(click, pm: PubMaster):
 
   pm.send("pandaStates", dat)
 
+  d = DEVICE_CAMERAS[("tici", "ar0231")]
   server = VisionIpcServer("camerad")
-  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
-  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
-  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
+  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, d.fcam.width, d.fcam.height)
+  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, d.dcam.width, d.dcam.height)
+  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, d.fcam.width, d.fcam.height)
   server.start_listener()
 
   time.sleep(0.5) # give time for vipc server to start
 
-  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8))
+  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
   IMG_BYTES = IMG.flatten().tobytes()
 
   cams = ('roadCameraState', 'wideRoadCameraState')

selfdrive/updated/tests/test_base.py

@@ -32,6 +32,10 @@ def update_release(directory, name, version, agnos_version, release_notes):
   with open(directory / "launch_env.sh", "w") as f:
     f.write(f'export AGNOS_VERSION="{agnos_version}"')
 
+  test_symlink = directory / "test_symlink"
+  if not os.path.exists(str(test_symlink)):
+    os.symlink("common/version.h", test_symlink)
+
 
 @pytest.mark.slow # TODO: can we test overlayfs in GHA?
 class BaseUpdateTest(unittest.TestCase):
@@ -111,6 +115,9 @@ class BaseUpdateTest(unittest.TestCase):
     self.assertEqual(get_version(str(self.staging_root / "finalized")), version)
     self.assertEqual(get_consistent_flag(), True)
 
+    with open(self.staging_root / "finalized" / "test_symlink") as f:
+      self.assertIn(version, f.read())
+
   def wait_for_condition(self, condition, timeout=12):
     start = time.monotonic()
     while True:

system/loggerd/tests/test_loggerd.py

@@ -24,7 +24,7 @@ from openpilot.system.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -142,10 +142,11 @@ class TestLoggerd:
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")
 
+    d = DEVICE_CAMERAS[("tici", "ar0231")]
     expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
-    streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216), "roadCameraState"),
-               (VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216), "driverCameraState"),
-               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
+    streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
+               (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
+               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
 
     pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
     vipc_server = VisionIpcServer("camerad")

tools/replay/lib/ui_helpers.py

@@ -7,9 +7,7 @@ import pygame
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
 
-from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
-                                           tici_f_frame_size, tici_f_focal_length,
-                                           get_view_frame_from_calib_frame)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
 from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
 
 
@@ -20,9 +18,6 @@ YELLOW = (255, 255, 0)
 BLACK = (0, 0, 0)
 WHITE = (255, 255, 255)
 
-_FULL_FRAME_SIZE = {
-}
-
 class UIParams:
   lidar_x, lidar_y, lidar_zoom = 384, 960, 6
   lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
@@ -32,45 +27,13 @@ class UIParams:
   car_color = 110
 UP = UIParams
 
-_BB_TO_FULL_FRAME = {}
-_CALIB_BB_TO_FULL = {}
-_FULL_FRAME_TO_BB = {}
-_INTRINSICS = {}
-
-eon_f_qcam_frame_size = (480, 360)
-tici_f_qcam_frame_size = (528, 330)
-
-cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
-        (tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),
-        (eon_f_qcam_frame_size, eon_f_focal_length, eon_f_frame_size),
-        (tici_f_qcam_frame_size, tici_f_focal_length, tici_f_frame_size)]
-for size, focal, full_size in cams:
-  sz = size[0] * size[1]
-  _BB_SCALE = size[0] / 640.
-  _BB_TO_FULL_FRAME[sz] = np.asarray([
-      [_BB_SCALE, 0., 0.],
-      [0., _BB_SCALE, 0.],
-      [0., 0., 1.]])
-  calib_scale = full_size[0] / 640.
-  _CALIB_BB_TO_FULL[sz] = np.asarray([
-      [calib_scale, 0., 0.],
-      [0., calib_scale, 0.],
-      [0., 0., 1.]])
-  _FULL_FRAME_TO_BB[sz] = np.linalg.inv(_BB_TO_FULL_FRAME[sz])
-  _FULL_FRAME_SIZE[sz] = (size[0], size[1])
-  _INTRINSICS[sz] = np.array([
-    [focal, 0., full_size[0] / 2.],
-    [0., focal, full_size[1] / 2.],
-    [0., 0., 1.]])
-
-
 METER_WIDTH = 20
 
 class Calibration:
-  def __init__(self, num_px, rpy, intrinsic):
+  def __init__(self, num_px, rpy, intrinsic, calib_scale):
     self.intrinsic = intrinsic
     self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
-    self.zoom = _CALIB_BB_TO_FULL[num_px][0, 0]
+    self.zoom = calib_scale
 
   def car_space_to_ff(self, x, y, z):
     car_space_projective = np.column_stack((x, y, z)).T

tools/replay/ui.py

@@ -10,8 +10,9 @@ import pygame
 import cereal.messaging as messaging
 from openpilot.common.numpy_fast import clip
 from openpilot.common.basedir import BASEDIR
-from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
-                                         _INTRINSICS, BLACK, GREEN,
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.tools.replay.lib.ui_helpers import (UP,
+                                         BLACK, GREEN,
                                          YELLOW, Calibration,
                                          get_blank_lid_overlay, init_plots,
                                          maybe_update_radar_points, plot_lead,
@@ -55,7 +56,7 @@ def ui_thread(addr):
   top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
 
   sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveParameters'], addr=addr)
+                            'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
 
   img = np.zeros((480, 640, 3), dtype='uint8')
   imgff = None
@@ -112,20 +113,27 @@ def ui_thread(addr):
       vipc_client.connect(True)
 
     yuv_img_raw = vipc_client.recv()
-
     if yuv_img_raw is None or not yuv_img_raw.data.any():
       continue
 
+    sm.update(0)
+
+    camera = DEVICE_CAMERAS[("three", str(sm['roadCameraState'].sensor))]
+
     imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
     num_px = vipc_client.width * vipc_client.height
     rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
 
-    zoom_matrix = _BB_TO_FULL_FRAME[num_px]
+    qcam = "QCAM" in os.environ
+    bb_scale = (528 if qcam else camera.fcam.width) / 640.
+    calib_scale = camera.fcam.width / 640.
+    zoom_matrix = np.asarray([
+        [bb_scale, 0., 0.],
+        [0., bb_scale, 0.],
+        [0., 0., 1.]])
     cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
 
-    intrinsic_matrix = _INTRINSICS[num_px]
-
-    sm.update(0)
+    intrinsic_matrix = camera.fcam.intrinsics
 
     w = sm['controlsState'].lateralControlState.which()
     if w == 'lqrStateDEPRECATED':
@@ -165,7 +173,7 @@ def ui_thread(addr):
 
     if sm.updated['liveCalibration'] and num_px:
       rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
-      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix)
+      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
     # *** blits ***
     pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))

tools/sim/bridge/metadrive/metadrive_bridge.py

@@ -75,6 +75,7 @@ class MetaDriveBridge(SimulatorBridge):
       on_continuous_line_done=False,
       crash_vehicle_done=False,
       crash_object_done=False,
+      arrive_dest_done=False,
       traffic_density=0.0, # traffic is incredibly expensive
       map_config=create_map(),
       decision_repeat=1,

tools/sim/bridge/metadrive/metadrive_process.py

@@ -22,7 +22,7 @@ C3_HPR = Vec3(0, 0,0)
 metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
 metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
 
-def apply_metadrive_patches():
+def apply_metadrive_patches(arrive_dest_done=True):
   # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
   def add_image_sensor_patched(self, name: str, cls, args):
     if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
@@ -44,12 +44,14 @@ def apply_metadrive_patches():
   def arrive_destination_patch(self, *args, **kwargs):
     return False
 
+  if not arrive_dest_done:
     MetaDriveEnv._is_arrive_destination = arrive_destination_patch
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
                       controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
                       exit_event):
-  apply_metadrive_patches()
+  arrive_dest_done = config.pop("arrive_dest_done", True)
+  apply_metadrive_patches(arrive_dest_done)
 
   road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
   if dual_camera:

tools/sim/scenarios/metadrive/stay_in_lane.py

@@ -65,6 +65,7 @@ class MetaDriveBridge(SimulatorBridge):
       on_continuous_line_done=True,
       crash_vehicle_done=True,
       crash_object_done=True,
+      arrive_dest_done=True,
       traffic_density=0.0,
       map_config=create_map(),
       map_region_size=2048,