Merge branch 'master' into tici-camerad

.dockerignore

@@ -1,5 +1,21 @@
 .git
 .DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
 notebooks
 phone
 massivemap

.github/workflows/test.yaml

@@ -11,9 +11,14 @@ env:
   CI_RUN: docker run -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID --rm tmppilotci /bin/bash -c
   UNIT_TEST: coverage run --append -m unittest discover
   BUILD: |
-      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.openpilot) || true
+      # build the openpilot docker base image
+      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull docker.io/commaai/openpilot-base:latest || true
+      docker build --cache-from docker.io/commaai/openpilot-base:latest -t commaai/openpilot-base:latest -f Dockerfile.openpilot_base .
+
+      # build the final CI image
       docker pull docker.io/commaai/openpilotci:latest || true
-      docker build --cache-from docker.io/commaai/openpilotci:latest -t tmppilot -f Dockerfile.openpilot .
+      docker build --cache-from docker.io/commaai/openpilotci:latest -t tmppilot -f Dockerfile.openpilotci .
 
 jobs:
   build_release:
@@ -30,7 +35,7 @@ jobs:
       run: |
         mkdir $TEST_DIR
         cp -pR --parents $(cat release/files_common) $TEST_DIR
-        cp Dockerfile.openpilot $TEST_DIR
+        cp Dockerfile.openpilot_base Dockerfile.openpilotci $TEST_DIR
 
         # need this to build on x86
         cp -pR --parents phonelibs/libyuv phonelibs/snpe \
@@ -88,6 +93,8 @@ jobs:
       - name: Push to dockerhub
         run: |
           docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN}}
+          docker tag commaai/openpilot-base:latest docker.io/commaai/openpilot-base:latest
+          docker push docker.io/commaai/openpilot-base:latest
           docker tag tmppilot docker.io/commaai/openpilotci:latest
           docker push docker.io/commaai/openpilotci:latest
 
@@ -102,7 +109,7 @@ jobs:
         with:
           submodules: true
       - name: Build Docker image
-        run: echo "RUN cd /tmp/openpilot && scons -c && scons -j3" >> Dockerfile.openpilot && eval "$BUILD"
+        run: echo "RUN cd /tmp/openpilot && scons -c && scons -j\$(nproc)" >> Dockerfile.openpilotci && eval "$BUILD"
       - name: Push to dockerhub
         run: |
           docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN}}

Dockerfile.openpilot_base

@@ -1,6 +1,5 @@
 FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1
-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
     autoconf \
@@ -22,7 +21,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libffi-dev \
     libglew-dev \
     libgles2-mesa-dev \
-    libglfw3-dev \
     libglib2.0-0 \
     liblzma-dev \
     libomp-dev \
@@ -58,42 +56,5 @@ RUN pyenv install 3.8.2 && \
     pip install --no-cache-dir --upgrade pip==20.1.1 && \
     pip install --no-cache-dir pipenv==2018.11.26 && \
     cd /tmp && \
-    pipenv install --system --deploy --clear && \
+    pipenv install --system --deploy --dev --clear && \
-    pip uninstall -y pipenv && \
+    pip uninstall -y pipenv
-    pip install --no-cache-dir \
-      matplotlib==3.1.1 \
-      dictdiffer==0.8.0 \
-      fastcluster==1.1.25 \
-      aenum==2.2.1 \
-      lru-dict==1.1.6 \
-      scipy==1.4.1 \
-      tenacity==5.1.1 \
-      azure-common==1.1.23 \
-      azure-nspkg==3.0.2 \
-      azure-storage-blob==2.1.0 \
-      azure-storage-common==2.1.0 \
-      azure-storage-nspkg==3.1.0 \
-      pycurl==7.43.0.3 \
-      coverage==5.1 \
-      pre-commit==2.4.0 \
-      parameterized==0.7.4
-
-RUN mkdir -p /tmp/openpilot
-
-COPY SConstruct \
-     .pylintrc \
-     .pre-commit-config.yaml \
-     /tmp/openpilot/
-
-COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./laika /tmp/openpilot/laika
-COPY ./laika_repo /tmp/openpilot/laika_repo
-COPY ./rednose /tmp/openpilot/rednose
-COPY ./tools /tmp/openpilot/tools
-COPY ./release /tmp/openpilot/release
-COPY ./common /tmp/openpilot/common
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./panda /tmp/openpilot/panda
-COPY ./selfdrive /tmp/openpilot/selfdrive

Dockerfile.openpilotci

@@ -0,0 +1,24 @@
+FROM commaai/openpilot-base:latest
+
+ENV PYTHONUNBUFFERED 1
+ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
+
+RUN mkdir -p /tmp/openpilot
+
+COPY SConstruct \
+     .pylintrc \
+     .pre-commit-config.yaml \
+     /tmp/openpilot/
+
+COPY ./pyextra /tmp/openpilot/pyextra
+COPY ./phonelibs /tmp/openpilot/phonelibs
+COPY ./laika /tmp/openpilot/laika
+COPY ./laika_repo /tmp/openpilot/laika_repo
+COPY ./rednose /tmp/openpilot/rednose
+COPY ./tools /tmp/openpilot/tools
+COPY ./release /tmp/openpilot/release
+COPY ./common /tmp/openpilot/common
+COPY ./opendbc /tmp/openpilot/opendbc
+COPY ./cereal /tmp/openpilot/cereal
+COPY ./panda /tmp/openpilot/panda
+COPY ./selfdrive /tmp/openpilot/selfdrive

Jenkinsfile

@@ -70,7 +70,7 @@ pipeline {
         stage('PC tests') {
           agent {
             dockerfile {
-              filename 'Dockerfile.openpilot'
+              filename 'Dockerfile.openpilotci'
               args '--privileged --shm-size=1G --user=root'
             }
           }

SConstruct

@@ -302,19 +302,19 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
+SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/locationd/models/SConscript'])
 
-
 if arch == "aarch64":
   SConscript(['selfdrive/logcatd/SConscript'])
   SConscript(['selfdrive/sensord/SConscript'])
-  SConscript(['selfdrive/clocksd/SConscript'])
-else:
-  SConscript(['tools/lib/index_log/SConscript'])
 
 if arch != "larch64":
   SConscript(['selfdrive/ui/SConscript'])
+
+if arch == "x86_64":
+  SConscript(['tools/lib/index_log/SConscript'])

cereal

@@ -1 +1 @@
-Subproject commit 146f42944a81babba84ba810ae9e52d197df3eb7
+Subproject commit b40925942610dd0e985224da21b20572a02a31bc

common/gpio.py

@@ -0,0 +1,22 @@
+GPIO_HUB_RST_N = 30
+GPIO_UBLOX_RST_N = 32
+GPIO_UBLOX_SAFEBOOT_N = 33
+GPIO_UBLOX_PWR_EN = 34
+GPIO_STM_RST_N = 124
+GPIO_STM_BOOT0 = 134
+
+
+def gpio_init(pin, output):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
+      f.write(b"out" if output else b"in")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} direction: {e}")
+
+
+def gpio_set(pin, high):
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
+      f.write(b"1" if high else b"0")
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")

common/hardware.py

@@ -0,0 +1,4 @@
+import os
+
+EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')

release/files_common

@@ -18,6 +18,8 @@ apk/ai.comma*.apk
 common/.gitignore
 common/__init__.py
 common/android.py
+common/hardware.py
+common/gpio.py
 common/realtime.py
 common/clock.pyx
 common/timeout.py

scripts/code_stats.py

@@ -26,6 +26,9 @@ class Analyzer(ast.NodeVisitor):
     self.generic_visit(node)
 
 tlns = 0
+carlns = 0
+scriptlns = 0
+testlns = 0
 for f in sorted(pyf):
   if f not in fouts:
     continue
@@ -35,7 +38,17 @@ for f in sorted(pyf):
   tree = ast.parse(src)
   Analyzer().visit(tree)
   print("%5d %s %s" % (lns, f, xbit))
-  tlns += lns
+  if 'test' in f:
+    testlns += lns
+  elif f.startswith('tools/') or f.startswith('scripts/') or f.startswith('selfdrive/debug'):
+    scriptlns += lns
+  elif f.startswith('selfdrive/car'):
+    carlns += lns
+  else:
+    tlns += lns
 
-print("%d lines of parsed openpilot python" % tlns)
+print("%d lines of openpilot python" % tlns)
+print("%d lines of car ports" % carlns)
+print("%d lines of tools/scripts/debug" % scriptlns)
+print("%d lines of tests" % testlns)
 #print(sorted(list(imps)))

selfdrive/boardd/boardd.cc

@@ -392,8 +392,8 @@ void hardware_control_thread() {
   LOGD("start hardware control thread");
   SubMaster sm({"thermal", "frontFrame"});
 
-  // Only control fan speed on UNO
+  // Other pandas don't have hardware to control
-  if (panda->hw_type != cereal::HealthData::HwType::UNO) return;
+  if (panda->hw_type != cereal::HealthData::HwType::UNO && panda->hw_type != cereal::HealthData::HwType::DOS) return;
 
   uint64_t last_front_frame_t = 0;
   uint16_t prev_fan_speed = 999;

selfdrive/car/honda/values.py

@@ -645,10 +645,12 @@ FW_VERSIONS = {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TPA-G020\x00\x00',
       b'57114-TPG-A020\x00\x00',
+      b'57114-TMB-H030\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TPA-G030\x00\x00',
       b'39990-TPG-A020\x00\x00',
+      b'39990-TMA-H020\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TMA-H110\x00\x00',
@@ -661,10 +663,12 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TPA-E050\x00\x00',
       b'36161-TPG-A030\x00\x00',
+      b'36161-TMB-H040\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TPA-G520\x00\x00',
       b'78109-TPG-A110\x00\x00',
+      b'78109-TMB-H220\x00\x00',
     ],
     (Ecu.hud, 0x18da61f1, None): [
       b'78209-TLA-X010\x00\x00',
@@ -672,10 +676,12 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TPA-E040\x00\x00',
       b'36802-TPG-A020\x00\x00',
+      b'36802-TMB-H040\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TLA-G220\x00\x00',
       b'77959-TLA-C320\x00\x00',
+      b'77959-TLA-H240\x00\x00',
     ],
   },
   CAR.FIT: {
@@ -891,6 +897,7 @@ FW_VERSIONS = {
       b'77959-TXM-A230\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TXM-A030\x00\x00',
       b'57114-TXM-A040\x00\x00',
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
@@ -900,6 +907,7 @@ FW_VERSIONS = {
       b'38897-TXM-A020\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TXM-A010\x00\x00',
       b'78109-TXM-A020\x00\x00',
     ],
   },

selfdrive/clocksd/SConscript

@@ -1,2 +1,2 @@
 Import('env', 'common', 'cereal', 'messaging')
-env.Program('clocksd.cc', LIBS=['diag', 'time_genoff', common, cereal, messaging, 'capnp', 'zmq', 'kj'])
+env.Program('clocksd.cc', LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj'])

selfdrive/clocksd/clocksd.cc

@@ -1,12 +1,22 @@
+#include <chrono>
+#include <thread>
+
 #include <stdio.h>
 #include <stdint.h>
+#include <unistd.h>
 #include <sys/resource.h>
-#include <sys/timerfd.h>
 #include <sys/time.h>
-#include <utils/Timers.h>
+
+#include <cassert>
 #include "messaging.hpp"
 #include "common/timing.h"
 
+// Apple doesn't have timerfd
+#ifndef __APPLE__
+#include <sys/timerfd.h>
+#endif
+
+#ifdef QCOM
 namespace {
   int64_t arm_cntpct() {
     int64_t v;
@@ -14,13 +24,14 @@ namespace {
     return v;
   }
 }
+#endif
 
 int main() {
   setpriority(PRIO_PROCESS, 0, -13);
 
-  int err = 0;
   PubMaster pm({"clocks"});
 
+#ifndef __APPLE__
   int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
   assert(timerfd >= 0);
 
@@ -30,19 +41,26 @@ int main() {
   spec.it_value.tv_sec = 1;
   spec.it_value.tv_nsec = 0;
 
-  err = timerfd_settime(timerfd, 0, &spec, 0);
+  int err = timerfd_settime(timerfd, 0, &spec, 0);
   assert(err == 0);
 
   uint64_t expirations = 0;
   while ((err = read(timerfd, &expirations, sizeof(expirations)))) {
     if (err < 0) break;
+#else
+  // Just run at 1Hz on apple
+  while (true){
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+#endif
 
     uint64_t boottime = nanos_since_boot();
     uint64_t monotonic = nanos_monotonic();
     uint64_t monotonic_raw = nanos_monotonic_raw();
     uint64_t wall_time = nanos_since_epoch();
 
+#ifdef QCOM
     uint64_t modem_uptime_v = arm_cntpct() / 19200ULL; // 19.2 mhz clock
+#endif
 
     capnp::MallocMessageBuilder msg;
     cereal::Event::Builder event = msg.initRoot<cereal::Event>();
@@ -53,11 +71,15 @@ int main() {
     clocks.setMonotonicNanos(monotonic);
     clocks.setMonotonicRawNanos(monotonic_raw);
     clocks.setWallTimeNanos(wall_time);
+#ifdef QCOM
     clocks.setModemUptimeMillis(modem_uptime_v);
+#endif
 
     pm.send("clocks", msg);
   }
 
+#ifndef __APPLE__
   close(timerfd);
+#endif
   return 0;
 }

selfdrive/common/swaglog.cc

@@ -93,15 +93,13 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
     {"created", seconds_since_epoch()}
   };
 
-  char* log_s = strdup(log_j.dump().c_str());
+  std::string log_s = log_j.dump();
-  assert(log_s);
 
   free(msg_buf);
 
   char levelnum_c = levelnum;
   zmq_send(s.sock, &levelnum_c, 1, ZMQ_NOBLOCK | ZMQ_SNDMORE);
-  zmq_send(s.sock, log_s, strlen(log_s), ZMQ_NOBLOCK);
+  zmq_send(s.sock, log_s.c_str(), log_s.length(), ZMQ_NOBLOCK);
-  free(log_s);
 
   pthread_mutex_unlock(&s.lock);
 }

selfdrive/common/visionipc.c

@@ -90,6 +90,7 @@ int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, Visi
   err = vipc_send(s->ipc_fd, &p);
   if (err < 0) {
     close(s->ipc_fd);
+    s->ipc_fd = -1;
     return -1;
   }
 
@@ -97,6 +98,7 @@ int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, Visi
   err = vipc_recv(s->ipc_fd, &rp);
   if (err <= 0) {
     close(s->ipc_fd);
+    s->ipc_fd = -1;
     return -1;
   }
   assert(rp.type == VIPC_STREAM_BUFS);
@@ -190,5 +192,5 @@ void visionstream_destroy(VisionStream *s) {
     }
   }
   if (s->bufs) free(s->bufs);
-  close(s->ipc_fd);
+  if (s->ipc_fd >= 0) close(s->ipc_fd);
 }

selfdrive/debug/get_fingerprint.py

@@ -17,6 +17,9 @@ logcan = messaging.sub_sock('can')
 msgs = {}
 while True:
   lc = messaging.recv_sock(logcan, True)
+  if lc is None:
+    continue
+
   for c in lc.can:
     # read also msgs sent by EON on CAN bus 0x80 and filter out the
     # addr with more than 11 bits

selfdrive/debug/internal/measure_modeld_packet_drop.py

@@ -11,6 +11,9 @@ if __name__ == "__main__":
 
   while True:
     m = messaging.recv_one(modeld_sock)
+    if m is None:
+      continue
+
     frame_id = m.model.frameId
     t = m.logMonoTime / 1e9
     frame_cnt += 1

selfdrive/manager.py

@@ -239,6 +239,7 @@ car_started_processes = [
   'proclogd',
   'ubloxd',
   'locationd',
+  'clocksd',
 ]
 
 driver_view_processes = [
@@ -255,7 +256,6 @@ if WEBCAM:
 if ANDROID:
   car_started_processes += [
     'sensord',
-    'clocksd',
     'gpsd',
     'dmonitoringmodeld',
   ]

selfdrive/modeld/modeld.cc

@@ -52,6 +52,13 @@ void* live_thread(void *arg) {
     0.0,   0.0,   1.0;
 #endif
 
+    // debayering does a 2x downscale
+  mat3 yuv_transform = transform_scale_buffer((mat3){{
+    1.0, 0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0, 0.0, 1.0,
+  }}, 0.5);
+
   while (!do_exit) {
     if (sm.update(10) > 0){
 
@@ -68,12 +75,13 @@ void* live_thread(void *arg) {
       camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
 
       auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame;
-
+      mat3 transform = {};
-      pthread_mutex_lock(&transform_lock);
       for (int i=0; i<3*3; i++) {
-        cur_transform.v[i] = warp_matrix(i / 3, i % 3);
+        transform.v[i] = warp_matrix(i / 3, i % 3);
       }
-
+      mat3 model_transform = matmul3(yuv_transform, transform);
+      pthread_mutex_lock(&transform_lock);
+      cur_transform = model_transform;
       run_model = true;
       pthread_mutex_unlock(&transform_lock);
     }
@@ -118,13 +126,6 @@ int main(int argc, char **argv) {
   model_init(&model, device_id, context, true);
   LOGW("models loaded, modeld starting");
 
-  // debayering does a 2x downscale
-  mat3 yuv_transform = transform_scale_buffer((mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0,
-  }}, 0.5);
-
   // loop
   VisionStream stream;
   while (!do_exit) {
@@ -160,7 +161,7 @@ int main(int argc, char **argv) {
       }
 
       pthread_mutex_lock(&transform_lock);
-      mat3 transform = cur_transform;
+      mat3 model_transform = cur_transform;
       const bool run_model_this_iter = run_model;
       pthread_mutex_unlock(&transform_lock);
 
@@ -177,8 +178,6 @@ int main(int argc, char **argv) {
           vec_desire[desire] = 1.0;
         }
 
-        mat3 model_transform = matmul3(yuv_transform, transform);
-        
         mt1 = millis_since_boot();
 
         // TODO: don't make copies!

selfdrive/modeld/models/commonmodel.c

@@ -7,25 +7,23 @@
 void frame_init(ModelFrame* frame, int width, int height,
                       cl_device_id device_id, cl_context context) {
   int err;
-  frame->device_id = device_id;
-  frame->context = context;
 
   transform_init(&frame->transform, context, device_id);
   frame->transformed_width = width;
   frame->transformed_height = height;
 
-  frame->transformed_y_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
+  frame->transformed_y_cl = clCreateBuffer(context, CL_MEM_READ_WRITE,
                                            (size_t)frame->transformed_width*frame->transformed_height, NULL, &err);
   assert(err == 0);
-  frame->transformed_u_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
+  frame->transformed_u_cl = clCreateBuffer(context, CL_MEM_READ_WRITE,
                                            (size_t)(frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err);
   assert(err == 0);
-  frame->transformed_v_cl = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
+  frame->transformed_v_cl = clCreateBuffer(context, CL_MEM_READ_WRITE,
                                            (size_t)(frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err);
   assert(err == 0);
 
   frame->net_input_size = ((width*height*3)/2)*sizeof(float);
-  frame->net_input = clCreateBuffer(frame->context, CL_MEM_READ_WRITE,
+  frame->net_input = clCreateBuffer(context, CL_MEM_READ_WRITE,
                                 frame->net_input_size, (void*)NULL, &err);
   assert(err == 0);
 

selfdrive/modeld/models/commonmodel.h

@@ -20,10 +20,6 @@ float softplus(float input);
 float sigmoid(float input);
 
 typedef struct ModelFrame {
-  cl_device_id device_id;
-  cl_context context;
-
-  // input
   Transform transform;
   int transformed_width, transformed_height;
   cl_mem transformed_y_cl, transformed_u_cl, transformed_v_cl;

selfdrive/pandad.py

@@ -3,8 +3,27 @@
 import os
 import time
 
+from common.hardware import TICI
+from common.gpio import GPIO_HUB_RST_N, GPIO_STM_BOOT0, GPIO_STM_RST_N, gpio_init, gpio_set
+from panda import BASEDIR, Panda, PandaDFU, build_st
 from selfdrive.swaglog import cloudlog
-from panda import Panda, PandaDFU, BASEDIR, build_st
+
+
+def set_panda_power(power=True):
+  if not TICI:
+    return
+
+  gpio_init(GPIO_STM_RST_N, True)
+  gpio_init(GPIO_STM_BOOT0, True)
+  gpio_init(GPIO_HUB_RST_N, True)
+
+  gpio_set(GPIO_STM_RST_N, False)
+  gpio_set(GPIO_HUB_RST_N, True)
+  gpio_set(GPIO_STM_BOOT0, False)
+
+  time.sleep(0.1)
+
+  gpio_set(GPIO_STM_RST_N, power)
 
 
 def get_firmware_fn():
@@ -88,10 +107,12 @@ def update_panda():
 
 
 def main():
+  set_panda_power()
   update_panda()
 
   os.chdir("boardd")
   os.execvp("./boardd", ["./boardd"])
 
+
 if __name__ == "__main__":
   main()

selfdrive/thermald/thermald.py

@@ -1,23 +1,33 @@
 #!/usr/bin/env python3
-import os
 import datetime
-import psutil
+import os
 import time
+from collections import namedtuple
+
+import psutil
 from smbus2 import SMBus
+
+import cereal.messaging as messaging
 from cereal import log
-from common.android import ANDROID, get_network_type, get_network_strength
+from common.android import get_network_strength, get_network_type
-from common.params import Params, put_nonblocking
-from common.realtime import sec_since_boot, DT_TRML
-from common.numpy_fast import clip, interp
 from common.filter_simple import FirstOrderFilter
-from selfdrive.version import terms_version, training_version, get_git_branch
+from common.hardware import EON, TICI
-from selfdrive.swaglog import cloudlog
+from common.numpy_fast import clip, interp
-import cereal.messaging as messaging
+from common.params import Params, put_nonblocking
+from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.pandad import get_expected_signature
-from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, \
+from selfdrive.swaglog import cloudlog
-                                                get_battery_current, get_battery_voltage, get_usb_present
+from selfdrive.thermald.power_monitoring import (PowerMonitoring,
+                                                 get_battery_capacity,
+                                                 get_battery_current,
+                                                 get_battery_status,
+                                                 get_battery_voltage,
+                                                 get_usb_present)
+from selfdrive.version import get_git_branch, terms_version, training_version
+
+ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient'])
 
 FW_SIGNATURE = get_expected_signature()
 
@@ -34,31 +44,34 @@ LEON = False
 last_eon_fan_val = None
 
 
-def read_tz(x, clip=True):
+def get_thermal_config():
-  if not ANDROID:
+  # (tz, scale)
-    # we don't monitor thermal on PC
+  if EON:
+    return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1))
+  elif TICI:
+    return ThermalConfig(cpu=((1, 2, 3, 4, 5, 6, 7, 8), 1000), gpu=((48,49), 1000), mem=(15, 1000), bat=(None, 1), ambient=(70, 1000))
+  else:
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))
+
+
+def read_tz(x):
+  if x is None:
     return 0
+
   try:
     with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
-      ret = int(f.read())
+      return int(f.read())
-      if clip:
-        ret = max(0, ret)
   except FileNotFoundError:
     return 0
 
-  return ret
 
-
+def read_thermal(thermal_config):
-def read_thermal():
   dat = messaging.new_message('thermal')
-  dat.thermal.cpu0 = read_tz(5)
+  dat.thermal.cpu = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
-  dat.thermal.cpu1 = read_tz(7)
+  dat.thermal.gpu = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
-  dat.thermal.cpu2 = read_tz(10)
+  dat.thermal.mem = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
-  dat.thermal.cpu3 = read_tz(12)
+  dat.thermal.ambient = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1]
-  dat.thermal.mem = read_tz(2)
+  dat.thermal.bat = read_tz(thermal_config.bat[0]) / thermal_config.bat[1]
-  dat.thermal.gpu = read_tz(16)
-  dat.thermal.bat = read_tz(29)
-  dat.thermal.pa0 = read_tz(25)
   return dat
 
 
@@ -183,11 +196,13 @@ def thermald_thread():
   pm = PowerMonitoring()
   no_panda_cnt = 0
 
+  thermal_config = get_thermal_config()
+
   while 1:
     health = messaging.recv_sock(health_sock, wait=True)
     location = messaging.recv_sock(location_sock)
     location = location.gpsLocation if location else None
-    msg = read_thermal()
+    msg = read_thermal(thermal_config)
 
     if health is not None:
       usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
@@ -208,7 +223,7 @@ def thermald_thread():
         is_uno = health.health.hwType == log.HealthData.HwType.uno
         has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno, log.HealthData.HwType.dos]
 
-        if is_uno or not ANDROID:
+        if (not EON) or is_uno:
           cloudlog.info("Setting up UNO fan handler")
           handle_fan = handle_fan_uno
         else:
@@ -243,7 +258,7 @@ def thermald_thread():
     msg.thermal.usbOnline = get_usb_present()
 
     # Fake battery levels on uno for frame
-    if is_uno:
+    if (not EON) or is_uno:
       msg.thermal.batteryPercent = 100
       msg.thermal.batteryStatus = "Charging"
       msg.thermal.bat = 0
@@ -251,14 +266,9 @@ def thermald_thread():
     current_filter.update(msg.thermal.batteryCurrent / 1e6)
 
     # TODO: add car battery voltage check
-    max_cpu_temp = cpu_temp_filter.update(
+    max_cpu_temp = cpu_temp_filter.update(max(msg.thermal.cpu))
-      max(msg.thermal.cpu0,
+    max_comp_temp = max(max_cpu_temp, msg.thermal.mem, max(msg.thermal.gpu))
-          msg.thermal.cpu1,
+    bat_temp = msg.thermal.bat
-          msg.thermal.cpu2,
-          msg.thermal.cpu3) / 10.0)
-
-    max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
-    bat_temp = msg.thermal.bat / 1000.
 
     if handle_fan is not None:
       fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)

selfdrive/ui/paint.cc

@@ -637,8 +637,6 @@ static void ui_draw_vision_header(UIState *s) {
 }
 
 static void ui_draw_vision_footer(UIState *s) {
-  nvgBeginPath(s->vg);
-  nvgRect(s->vg, s->scene.ui_viz_rx, footer_y, s->scene.ui_viz_rw, footer_h);
 
   ui_draw_vision_face(s);
 

selfdrive/ui/qt/ui.cc

@@ -5,7 +5,13 @@
 int main(int argc, char *argv[])
 {
   QSurfaceFormat fmt;
+#ifdef __APPLE__
+  fmt.setVersion(3, 2);
+  fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
+  fmt.setRenderableType(QSurfaceFormat::OpenGL);
+#else
   fmt.setRenderableType(QSurfaceFormat::OpenGLES);
+#endif
   QSurfaceFormat::setDefaultFormat(fmt);
 
   QApplication a(argc, argv);

selfdrive/ui/sidebar.cc

@@ -124,7 +124,7 @@ static void ui_draw_sidebar_temp_metric(UIState *s) {
   char temp_value_str[32];
   char temp_value_unit[32];
   const int temp_y_offset = 0;
-  snprintf(temp_value_str, sizeof(temp_value_str), "%d", s->scene.thermal.getPa0());
+  snprintf(temp_value_str, sizeof(temp_value_str), "%.0f", s->scene.thermal.getAmbient());
   snprintf(temp_value_unit, sizeof(temp_value_unit), "%s", "°C");
   snprintf(temp_label_str, sizeof(temp_label_str), "%s", "TEMP");
   strcat(temp_value_str, temp_value_unit);

tools/replay/sensorium.py

@@ -26,7 +26,7 @@ if __name__ == "__main__":
 
   while 1:
     fpkt = messaging.recv_one(frame)
-    if len(fpkt.frame.image) == 0:
+    if fpkt is None or len(fpkt.frame.image) == 0:
       continue
     sm.update(timeout=1)
     rgb_img_raw = fpkt.frame.image