Merge remote-tracking branch 'upstream/master' into hkg-fuzzy

RELEASES.md

@@ -1,6 +1,11 @@
 Version 0.9.3 (2023-06-XX)
 ========================
 * New driving model
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode lead follow distance is shorter and quicker gas/brake response
+  * In relaxed mode lead follow distance is longer
 
 Version 0.9.2 (2023-05-22)
 ========================

cereal

@@ -1 +1 @@
-Subproject commit 8af4582508dd7acef082c40ede11eb7018415d9a
+Subproject commit c331e76b966d324a4f8d56b48db44f59601423dc

common/params.cc

@@ -104,6 +104,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisablePowerDown", PERSISTENT},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT},
     {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},

panda

@@ -1 +1 @@
-Subproject commit 5847d7dbc05df3bc76243b6704b9d98544eb53df
+Subproject commit bf2c0071036bae4e0c00c37ae43237fce6063e31

poetry.lock

@@ -190,7 +190,7 @@ tests = ["pytest"]
 name = "astroid"
 version = "2.15.5"
 description = "An abstract syntax tree for Python with inference support."
-category = "main"
+category = "dev"
 optional = false
 python-versions = ">=3.7.2"
 
@@ -837,7 +837,7 @@ tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytes
 name = "dill"
 version = "0.3.5.1"
 description = "serialize all of python"
-category = "main"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*"
 
@@ -1631,7 +1631,7 @@ six = "*"
 name = "isort"
 version = "5.10.1"
 description = "A Python utility / library to sort Python imports."
-category = "main"
+category = "dev"
 optional = false
 python-versions = ">=3.6.1,<4.0"
 
@@ -1982,7 +1982,7 @@ tabulate = "*"
 name = "lazy-object-proxy"
 version = "1.7.1"
 description = "A fast and thorough lazy object proxy."
-category = "main"
+category = "dev"
 optional = false
 python-versions = ">=3.6"
 
@@ -3255,7 +3255,7 @@ python-versions = "*"
 name = "pylint"
 version = "2.17.4"
 description = "python code static checker"
-category = "main"
+category = "dev"
 optional = false
 python-versions = ">=3.7.2"
 
@@ -4403,7 +4403,7 @@ python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
 name = "tomli"
 version = "2.0.1"
 description = "A lil' TOML parser"
-category = "main"
+category = "dev"
 optional = false
 python-versions = ">=3.7"
 
@@ -4709,7 +4709,7 @@ python-versions = ">=3.7"
 name = "wrapt"
 version = "1.14.1"
 description = "Module for decorators, wrappers and monkey patching."
-category = "main"
+category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
 
@@ -4804,7 +4804,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "454ab16c681fa1754b26156f767ca0701eac357b66c146d71d61b39cbed42f5a"
+content-hash = "8c0419671beb3e8c8f0add750929f5be32be6fa3f077d44614cbd598b4cadc00"
 
 [metadata.files]
 adal = [

pyproject.toml

@@ -37,7 +37,6 @@ psutil = "^5.9.1"
 pycapnp = "==1.1.0"
 pycryptodome = "^3.15.0"
 PyJWT = "^2.5.0"
-pylint = "^2.15.4"
 pyopencl = "^2022.2.4"
 pyserial = "^3.5"
 python-dateutil = "^2.8.2"
@@ -92,6 +91,7 @@ pprofile = "^2.1.0"
 pre-commit = "^2.19.0"
 pycurl = "^7.45.1"
 pygame = "^2.1.2"
+pylint = "^2.17.4"
 pyprof2calltree = "^1.4.5"
 pytest = "^7.1.2"
 pytest-xdist = "^2.5.0"

selfdrive/car/chrysler/values.py

@@ -227,6 +227,7 @@ FW_VERSIONS = {
       b'68510283AG',
       b'68527346AE',
       b'68527375AD',
+      b'68527382AE',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -254,6 +255,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
       b'04672932AB',
+      b'22DTRHD_AA',
       b'68320950AH',
       b'68320950AI',
       b'68320950AJ',
@@ -265,8 +267,10 @@ FW_VERSIONS = {
       b'68475160AG',
     ],
     (Ecu.eps, 0x75A, None): [
+      b'21590101AA',
       b'68273275AF',
       b'68273275AG',
+      b'68273275AH',
       b'68312176AE',
       b'68312176AG',
       b'68440789AC',
@@ -283,7 +287,9 @@ FW_VERSIONS = {
       b'05036065AE ',
       b'05036066AE ',
       b'05149846AA ',
+      b'05149848AA ',
       b'68378701AI ',
+      b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
       b'68448165AK',

selfdrive/car/ford/values.py

@@ -213,8 +213,6 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7E0, None): [
       b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.shiftByWire, 0x732, None): [
-    ],
   },
   CAR.MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [

selfdrive/car/fw_versions.py

@@ -15,6 +15,7 @@ from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
+FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
 FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
@@ -28,11 +29,16 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
+def is_brand(brand: str, filter_brand: Optional[str]) -> bool:
+  """Returns if brand matches filter_brand or no brand filter is specified"""
+  return filter_brand is None or brand == filter_brand
+
+
 def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
                   filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]:
   fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
-    if (filter_brand is None or fw.brand == filter_brand) and not fw.logging:
+    if is_brand(fw.brand, filter_brand) and not fw.logging:
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
       fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
   return dict(fw_versions_dict)
@@ -99,12 +105,6 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
   the match is rejected."""
 
-  # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
-  # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
-  # impossible to get 3 matching versions, even if two models with shared parts are released at the same
-  # time and only one is in our database.
-  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
-
   # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   # TODO: actually fine to be a set. we never assumed that there would be duplicate fw versions,
   #  but now there can be duplicate platform codes for a platform. well we now get the set of platform codes for a
@@ -116,7 +116,11 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
       continue
 
     for addr, fws in fw_by_addr.items():
-      if addr[0] not in exclude_types:
+      # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
+      # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
+      # impossible to get 3 matching versions, even if two models with shared parts are released at the same
+      # time and only one is in our database.
+      if addr[0] not in FUZZY_EXCLUDE_ECUS:
         for f in fws:
           all_fw_versions[(addr[1], addr[2], f)].append(candidate)
 
@@ -128,6 +132,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
   matched_ecus = set()
   candidate = None
   for addr, versions in fw_versions_dict.items():
+    ecu_key = (addr[0], addr[1])
     for version in versions:
       # All cars that have this FW response on the specified address
       ecu_key = (addr[0], addr[1])
@@ -162,7 +167,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
     return set()
 
 
-def match_fw_to_car_exact(fw_versions_dict, _=None) -> Set[str]:
+def match_fw_to_car_exact(fw_versions_dict, _=None, log=True) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -218,7 +223,7 @@ def match_fw_to_car_orig(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
   # Try exact matching first
   exact_matches = []
   if allow_exact:
@@ -231,7 +236,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
     matches = set()
     for brand in VERSIONS.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
-      matches |= match_func(fw_versions_dict, FW_QUERY_CONFIGS[brand])
+      matches |= match_func(fw_versions_dict, FW_QUERY_CONFIGS[brand], log=log)
 
     if len(matches):
       return exact_match, matches
@@ -366,7 +371,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   # Get versions and build capnp list to put into CarParams
   car_fw = []
-  requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
+  requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
       for brand, config, r in requests:

selfdrive/car/hyundai/values.py

@@ -865,12 +865,14 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727'
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
     ],
     (Ecu.transmission, 0x7e1, None): [

selfdrive/car/tests/test_fw_fingerprint.py

@@ -10,7 +10,7 @@ from cereal import car
 from common.params import Params
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, match_fw_to_car, get_fw_versions
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -33,27 +33,51 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(candidates[0], expected)
 
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_fw_fingerprint(self, brand, car_model, ecus):
+  def test_exact_match(self, brand, car_model, ecus):
     CP = car.CarParams.new_message()
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
-        if not len(fw_versions):
-          raise unittest.SkipTest("Car model has no FW versions")
         ecu_name, addr, sub_addr = ecu
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw)
+      _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
       self.assertFingerprints(matches, car_model)
 
-  def test_no_duplicate_fw_versions(self):
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
+    # Asserts that fuzzy matching does not count matching FW, but ECU address keys
+    valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
+    if not len(valid_ecus):
+      raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching")
+
+    fw = []
+    for ecu in valid_ecus:
+      ecu_name, addr, sub_addr = ecu
+      for _ in range(5):
+        # Add multiple FW versions to simulate ECU returning to multiple queries in a brand
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
+                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+      CP = car.CarParams.new_message(carFw=fw)
+      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
+
+      # Assert no match if there are not enough unique ECUs
+      unique_ecus = {(f['address'], f['subAddress']) for f in fw}
+      if len(unique_ecus) < 2:
+        self.assertEqual(len(matches), 0, car_model)
+      # There won't always be a match due to shared FW, but if there is it should be correct
+      elif len(matches):
+        self.assertFingerprints(matches, car_model)
+
+  def test_fw_version_lists(self):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model):
         for ecu, ecu_fw in ecus.items():
           with self.subTest(ecu):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
-            self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
+            self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}')
+            self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}')
 
   def test_all_addrs_map_to_one_ecu(self):
     for brand, cars in VERSIONS.items():

selfdrive/car/volkswagen/values.py

@@ -923,6 +923,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027CJ\xf1\x897798',
       b'\xf1\x8704L997022N \xf1\x899459',
       b'\xf1\x875G0906259A \xf1\x890004',
+      b'\xf1\x875G0906259D \xf1\x890002',
       b'\xf1\x875G0906259L \xf1\x890002',
       b'\xf1\x875G0906259Q \xf1\x890002',
       b'\xf1\x878V0906259F \xf1\x890002',
@@ -932,7 +933,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906264B \xf1\x890003',
       b'\xf1\x878V0907115B \xf1\x890007',
       b'\xf1\x878V0907404A \xf1\x890005',
-      b'\xf1\x875G0906259D \xf1\x890002',
+      b'\xf1\x878V0907404G \xf1\x890005',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300044T \xf1\x895245',
@@ -949,6 +950,7 @@ FW_VERSIONS = {
       b'\xf1\x870DD300046F \xf1\x891602',
       b'\xf1\x870DD300046G \xf1\x891601',
       b'\xf1\x870DL300012E \xf1\x892012',
+      b'\xf1\x870DL300012H \xf1\x892112',
       b'\xf1\x870GC300011  \xf1\x890403',
       b'\xf1\x870GC300013M \xf1\x892402',
       b'\xf1\x870GC300042J \xf1\x891402',
@@ -961,9 +963,9 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
       b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
       b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
     ],
@@ -972,6 +974,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
@@ -1154,6 +1157,7 @@ FW_VERSIONS = {
   CAR.SKODA_KODIAQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027DD\xf1\x893123',
+      b'\xf1\x8704E906027NB\xf1\x896517',
       b'\xf1\x8704L906026DE\xf1\x895418',
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906026HT\xf1\x893617',
@@ -1162,6 +1166,7 @@ FW_VERSIONS = {
       b'\xf1\x8705E906018DJ\xf1\x891903',
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA906259E \xf1\x890003',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870D9300043  \xf1\x895202',
@@ -1170,6 +1175,7 @@ FW_VERSIONS = {
       b'\xf1\x870DL300012N \xf1\x892110',
       b'\xf1\x870DL300013G \xf1\x892119',
       b'\xf1\x870GC300014N \xf1\x892801',
+      b'\xf1\x870GC300019H \xf1\x892806',
       b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
@@ -1179,6 +1185,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
       b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
       b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
@@ -1186,6 +1193,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
+      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572Q \xf1\x890342',

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import numpy as np
-
+from cereal import log
 from common.realtime import sec_since_boot
 from common.numpy_fast import clip
 from system.swaglog import cloudlog
@@ -54,18 +54,38 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 MIN_ACCEL = -3.5
 MAX_ACCEL = 2.0
-T_FOLLOW = 1.45
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
 
+def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
+    return 1.0
+  elif personality==log.LongitudinalPersonality.standard:
+    return 1.0
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 0.5
+  else:
+    raise NotImplementedError("Longitudinal personality not supported")
+
+
+def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
+    return 1.75
+  elif personality==log.LongitudinalPersonality.standard:
+    return 1.45
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 1.25
+  else:
+    raise NotImplementedError("Longitudinal personality not supported")
+
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
-def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW):
+def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
-def desired_follow_distance(v_ego, v_lead):
-  return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead)
+def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()):
+  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
 
 
 def gen_long_model():
@@ -161,7 +181,8 @@ def gen_long_ocp():
 
   x0 = np.zeros(X_DIM)
   ocp.constraints.x0 = x0
-  ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR])
+  ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
+
 
   # We put all constraint cost weights to 0 and only set them at runtime
   cost_weights = np.zeros(CONSTR_DIM)
@@ -249,10 +270,11 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True):
+  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
+    jerk_factor = get_jerk_factor(personality)
     if self.mode == 'acc':
       a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST]
+      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
       constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
@@ -307,7 +329,8 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, radarstate, v_cruise, x, v, a, j):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+    t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
@@ -334,7 +357,7 @@ class LongitudinalMpc:
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped)
+      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW())
       x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
       self.source = SOURCES[np.argmin(x_obstacles[0])]
 
@@ -368,7 +391,7 @@ class LongitudinalMpc:
 
     self.params[:,2] = np.min(x_obstacles, axis=1)
     self.params[:,3] = np.copy(self.prev_a)
-    self.params[:,4] = T_FOLLOW
+    self.params[:,4] = t_follow
 
     self.run()
     if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
@@ -380,9 +403,9 @@ class LongitudinalMpc:
     # Check if it got within lead comfort range
     # TODO This should be done cleaner
     if self.mode == 'blended':
-      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0):
+      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
         self.source = 'lead0'
-      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \
+      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
          (lead_1_obstacle[0] - lead_0_obstacle[0]):
         self.source = 'lead1'
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -2,6 +2,8 @@
 import math
 import numpy as np
 from common.numpy_fast import clip, interp
+from common.params import Params
+from cereal import log
 
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
@@ -57,6 +59,16 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
+    self.params = Params()
+    self.param_read_counter = 0
+    self.read_param()
+    self.personality = log.LongitudinalPersonality.standard
+
+  def read_param(self):
+    try:
+      self.personality = int(self.params.get('LongitudinalPersonality'))
+    except (ValueError, TypeError):
+      self.personality = log.LongitudinalPersonality.standard
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -75,6 +87,9 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
+    if self.param_read_counter % 50 == 0:
+      self.read_param()
+    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
@@ -114,11 +129,11 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint)
+    self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
 
     self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
@@ -154,5 +169,6 @@ class LongitudinalPlanner:
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+    longitudinalPlan.personality = self.personality
 
     pm.send('longitudinalPlan', plan_send)

selfdrive/debug/run_process_on_route.py

@@ -2,10 +2,10 @@
 
 import argparse
 
-from selfdrive.test.process_replay.compare_logs import save_log
 from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
 from tools.lib.logreader import MultiLogIterator
 from tools.lib.route import Route
+from tools.lib.helpers import save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",

selfdrive/manager/manager.py

@@ -7,6 +7,7 @@ import sys
 import traceback
 from typing import List, Tuple, Union
 
+from cereal import log
 import cereal.messaging as messaging
 import selfdrive.sentry as sentry
 from common.basedir import BASEDIR
@@ -44,6 +45,7 @@ def manager_init() -> None:
     ("HasAcceptedTerms", "0"),
     ("LanguageSetting", "main_en"),
     ("OpenpilotEnabledToggle", "1"),
+    ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))

selfdrive/test/process_replay/__init__.py

@@ -0,0 +1 @@
+from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, replay_process, replay_process_with_name  # noqa: F401

selfdrive/test/process_replay/compare_logs.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import bz2
 import sys
 import math
 import capnp
@@ -12,16 +11,6 @@ from tools.lib.logreader import LogReader
 EPSILON = sys.float_info.epsilon
 
 
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress:
-    dat = bz2.compress(dat)
-
-  with open(dest, "wb") as f:
-    f.write(dat)
-
-
 def remove_ignored_fields(msg, ignore):
   msg = msg.as_builder()
   for key in ignore:

selfdrive/test/process_replay/model_replay.py

@@ -14,11 +14,12 @@ from common.transformations.camera import tici_f_frame_size, tici_d_frame_size
 from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
-from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
+from selfdrive.test.process_replay.compare_logs import compare_logs
 from selfdrive.test.process_replay.test_processes import format_diff
 from system.version import get_commit
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
+from tools.lib.helpers import save_log
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6

selfdrive/test/process_replay/process_replay.py

@@ -333,7 +333,28 @@ def get_process_config(name):
     raise Exception(f"Cannot find process config with name: {name}") from ex
 
 
-def replay_process(cfg, lr, fingerprint=None):
+def replay_process_with_name(name, lr, *args, **kwargs):
+  cfg = get_process_config(name)
+  return replay_process(cfg, lr, *args, **kwargs)
+
+
+def replay_process(cfg, lr, fingerprint=None, return_all_logs=False):
+  all_msgs = list(lr)
+  process_logs = _replay_single_process(cfg, all_msgs, fingerprint)
+
+  if return_all_logs:
+    keys = set(cfg.subs)
+    modified_logs = [m for m in all_msgs if m.which() not in keys]
+    modified_logs.extend(process_logs)
+    modified_logs.sort(key=lambda m: m.logMonoTime)
+    log_msgs = modified_logs
+  else:
+    log_msgs = process_logs
+
+  return log_msgs
+
+
+def _replay_single_process(cfg, lr, fingerprint):
   with OpenpilotPrefix():
     controlsState = None
     initialized = False
@@ -484,7 +505,7 @@ def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None,
       params.put_bool("ExperimentalLongitudinalEnabled", True)
 
 
-def check_enabled(msgs):
+def check_openpilot_enabled(msgs):
   cur_enabled_count = 0
   max_enabled_count = 0
   for msg in msgs:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-dfe1e4a5fd7a464c91c0d2e70592b4b1470fda8d
+3e684aef4483b8d311d71bab3bb543d7bad26563

selfdrive/test/process_replay/regen.py

@@ -19,7 +19,7 @@ from panda.python import Panda
 from selfdrive.car.toyota.values import EPS_SCALE
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled
+from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_openpilot_enabled
 from selfdrive.test.update_ci_routes import upload_route
 from tools.lib.route import Route
 from tools.lib.framereader import FrameReader
@@ -343,7 +343,7 @@ def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=Fal
   segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
   seg_path = os.path.join(outdir, segment)
   # check to make sure openpilot is engaged in the route
-  if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
+  if not check_openpilot_enabled(LogReader(os.path.join(seg_path, "rlog"))):
     raise Exception(f"Route did not engage for long enough: {segment}")
 
   return seg_path

selfdrive/test/process_replay/test_processes.py

@@ -9,11 +9,12 @@ from typing import Any, DefaultDict, Dict
 
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url, upload_file
-from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
-from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process
+from selfdrive.test.process_replay.compare_logs import compare_logs
+from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
 from system.version import get_commit
 from tools.lib.filereader import FileReader
 from tools.lib.logreader import LogReader
+from tools.lib.helpers import save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
@@ -104,7 +105,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
 
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
-    if not check_enabled(log_msgs):
+    if not check_openpilot_enabled(log_msgs):
       return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:

selfdrive/ui/qt/offroad/settings.cc

@@ -89,6 +89,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 #endif
   };
 
+
+  std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
+  ButtonParamControl* long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
+                                          tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."),
+                                          "../assets/offroad/icon_speed_limit.png",
+                                          longi_button_texts);
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -97,6 +103,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
     addItem(toggle);
     toggles[param.toStdString()] = toggle;
+
+    // insert longitudinal personality after NDOG toggle
+    if (param == "DisengageOnAccelerator") {
+      addItem(long_personality_setting);
+    }
   }
 
   // Toggles with confirmation dialogs

selfdrive/ui/qt/offroad/software_settings.cc

@@ -126,19 +126,19 @@ void SoftwarePanel::updateLabels() {
     downloadBtn->setValue(updater_state);
   } else {
     if (failed) {
-      downloadBtn->setText("CHECK");
-      downloadBtn->setValue("failed to check for update");
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("failed to check for update"));
     } else if (params.getBool("UpdaterFetchAvailable")) {
-      downloadBtn->setText("DOWNLOAD");
-      downloadBtn->setValue("update available");
+      downloadBtn->setText(tr("DOWNLOAD"));
+      downloadBtn->setValue(tr("update available"));
     } else {
-      QString lastUpdate = "never";
+      QString lastUpdate = tr("never");
       auto tm = params.get("LastUpdateTime");
       if (!tm.empty()) {
         lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate));
       }
-      downloadBtn->setText("CHECK");
-      downloadBtn->setValue("up to date, last checked " + lastUpdate);
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate));
     }
     downloadBtn->setEnabled(true);
   }

selfdrive/ui/qt/widgets/controls.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QButtonGroup>
 #include <QFrame>
 #include <QHBoxLayout>
 #include <QLabel>
@@ -60,7 +61,7 @@ public:
 public slots:
   void showDescription() {
     description->setVisible(true);
-  };
+  }
 
 signals:
   void showDescriptionEvent();
@@ -106,7 +107,7 @@ signals:
   void clicked();
 
 public slots:
-  void setEnabled(bool enabled) { btn.setEnabled(enabled); };
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
 
 private:
   QPushButton btn;
@@ -163,7 +164,7 @@ public:
   void setConfirmation(bool _confirm, bool _store_confirm) {
     confirm = _confirm;
     store_confirm = _store_confirm;
-  };
+  }
 
   void setActiveIcon(const QString &icon) {
     active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
@@ -175,11 +176,11 @@ public:
       toggle.togglePosition();
       setIcon(state);
     }
-  };
+  }
 
   void showEvent(QShowEvent *event) override {
     refresh();
-  };
+  }
 
 private:
   void setIcon(bool state) {
@@ -188,7 +189,7 @@ private:
     } else if (!icon_pixmap.isNull()) {
       icon_label->setPixmap(icon_pixmap);
     }
-  };
+  }
 
   std::string key;
   Params params;
@@ -197,6 +198,55 @@ private:
   bool store_confirm = false;
 };
 
+class ButtonParamControl : public AbstractControl {
+  Q_OBJECT
+public:
+  ButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked {
+        background-color: #33Ab4C;
+      }
+    )";
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    QButtonGroup *button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (int i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(i == value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      hlayout->addWidget(button);
+      button_group->addButton(button, i);
+    }
+
+    QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
+      if (checked) {
+        params.put(key, std::to_string(id));
+      }
+    });
+  }
+
+private:
+  std::string key;
+  Params params;
+};
+
 class ListWidget : public QWidget {
   Q_OBJECT
  public:
@@ -236,7 +286,7 @@ class LayoutWidget : public QWidget {
 public:
   LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
     setLayout(l);
-  };
+  }
 };
 
 class ClickableWidget : public QWidget {

selfdrive/ui/translations/main_de.ts

@@ -858,6 +858,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>Deinstallieren</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1036,6 +1056,26 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ja.ts

@@ -854,6 +854,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>アンインストール</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1030,6 +1050,26 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -855,6 +855,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>제거</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>업데이트 확인 실패</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>최신 상태, 마지막으로 확인 %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>다운로드</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>업데이트 가능</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>업데이트 안함</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1031,6 +1051,26 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다.</translation>
     </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -859,6 +859,26 @@ Isso pode levar até um minuto.</translation>
         <source>Uninstall</source>
         <translation>Desinstalar</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>falha ao verificar por atualizações</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>atualizado, última verificação %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>BAIXAR</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>atualização disponível</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nunca</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1035,6 +1055,26 @@ Isso pode levar até um minuto.</translation>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o alfa de controle longitudinal openpilot.</translation>
     </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Disputador</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Neutro</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Calmo</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Personalidade de Condução</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>Neutro é o recomendado. No modo disputador o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -852,6 +852,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>卸载</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1028,6 +1048,26 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -854,6 +854,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>解除安裝</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>檢查更新失敗</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>已經是最新版本，上次檢查時間為 %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>下載</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>有可用的更新</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>從未更新</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1020,15 +1040,35 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 縱向控制 (Alpha 版)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
+        <translation>警告：此車輛的 Openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
+        <translation>在這輛車上，Openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 Openpilot 的縱向控制。啟用此項功能可切換至 Openpilot 的縱向控制。當啟用 Openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>積極</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>標準</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>舒適</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>駕駛風格</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。</translation>
     </message>
 </context>
 <context>
@@ -1070,23 +1110,23 @@ This may take up to a minute.</source>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Setup Wi-Fi</source>
-        <translation type="unfinished"></translation>
+        <translation>設置 Wi-Fi 連接</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>請連接至 Wi-Fi 以上傳駕駛數據，並協助改進 openpilot。</translation>
     </message>
     <message>
         <source>Open Settings</source>
-        <translation type="unfinished"></translation>
+        <translation>開啟設置</translation>
     </message>
     <message>
         <source>Uploading training data</source>
-        <translation type="unfinished"></translation>
+        <translation>正在上傳訓練數據</translation>
     </message>
     <message>
         <source>Your data is used to train driving models and help improve openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>您的數據將用於訓練駕駛模型並協助改進 openpilot</translation>
     </message>
 </context>
 <context>

system/hardware/tici/tests/test_power_draw.py

@@ -2,9 +2,11 @@
 import unittest
 import time
 import math
+import threading
 from dataclasses import dataclass
 from tabulate import tabulate
 
+import cereal.messaging as messaging
 from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
@@ -24,8 +26,22 @@ PROCS = [
   Proc('modeld', 0.93, atol=0.2),
   Proc('dmonitoringmodeld', 0.4),
   Proc('encoderd', 0.23),
+  Proc('mapsd', 0.05),
+  Proc('navmodeld', 0.05),
 ]
 
+def send_llk_msg(done):
+  pm = messaging.PubMaster(['liveLocationKalman'])
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [32.7174, -117.16277, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+
+  # Send liveLocationKalman at 20hz
+  while not done.is_set():
+    pm.send('liveLocationKalman', msg)
+    time.sleep(1/20)
+
 
 class TestPowerDraw(unittest.TestCase):
 
@@ -46,6 +62,9 @@ class TestPowerDraw(unittest.TestCase):
 
   def test_camera_procs(self):
     baseline = get_power()
+    done = threading.Event()
+    thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True)
+    thread.start()
 
     prev = baseline
     used = {}
@@ -57,6 +76,7 @@ class TestPowerDraw(unittest.TestCase):
       used[proc.name] = now - prev
       prev = now
 
+    done.set()
     manager_cleanup()
 
     tab = []

tools/cabana/binaryview.cc

@@ -437,9 +437,11 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie
   auto sig_color = getColor(sig);
   QColor color = sig_color;
   color.setAlpha(item->bg_color.alpha());
-  painter->fillRect(rc, Qt::white);
+  // Mixing the signal colour with the Base background color to fade it
+  painter->fillRect(rc, QApplication::palette().color(QPalette::Base));
   painter->fillRect(rc, color);
 
+  // Draw edges
   color = sig_color.darker(125);
   painter->setPen(QPen(color, 1));
   if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft());

tools/cabana/chart/chart.cc

@@ -213,9 +213,19 @@ void ChartView::updateTitle() {
   for (QLegendMarker *marker : chart()->legend()->markers()) {
     QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection);
   }
+
+  // Use CSS to draw titles in the WindowText color
+  auto tmp = palette().color(QPalette::WindowText);
+  auto titleColorCss = tmp.name(QColor::HexArgb);
+  // Draw message details in similar color, but slightly fade it to the background
+  tmp.setAlpha(180);
+  auto msgColorCss = tmp.name(QColor::HexArgb);
+
   for (auto &s : sigs) {
     auto decoration = s.series->isVisible() ? "none" : "line-through";
-    s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString()));
+    s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
+                      .arg(decoration, titleColorCss, s.sig->name,
+                           msgColorCss, msgName(s.msg_id), s.msg_id.toString()));
   }
   split_chart_act->setEnabled(sigs.size() > 1);
   resetChartCache();

tools/cabana/historylog.cc

@@ -63,7 +63,10 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
         return "Data";
       }
     } else if (role == Qt::BackgroundRole && section > 0 && show_signals) {
-      return QBrush(getColor(sigs[section - 1]));
+      // Alpha-blend the signal color with the background to ensure contrast
+      QColor sigColor = getColor(sigs[section - 1]);
+      sigColor.setAlpha(128);
+      return QBrush(sigColor);
     }
   }
   return {};

tools/cabana/signalview.cc

@@ -459,7 +459,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
   tree->header()->setStretchLastSection(true);
   tree->setMinimumHeight(300);
-  tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}");
+
+  // Use a distinctive background for the whole row containing a QSpinBox or QLineEdit
+  QString nodeBgColor = palette().color(QPalette::AlternateBase).name(QColor::HexArgb);
+  tree->setStyleSheet(QString("QSpinBox{background-color:%1;border:none;} QLineEdit{background-color:%1;}").arg(nodeBgColor));
 
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);

tools/lib/helpers.py

@@ -1,3 +1,4 @@
+import bz2
 import datetime
 
 TIME_FMT = "%Y-%m-%d--%H-%M-%S"
@@ -13,8 +14,19 @@ class RE:
   EXPLORER_FILE = r'^(?P<segment_name>{})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME)
   OP_SEGMENT_DIR = r'^(?P<segment_name>{})$'.format(SEGMENT_NAME)
 
+
 def timestamp_to_datetime(t: str) -> datetime.datetime:
   """
     Convert an openpilot route timestamp to a python datetime
   """
   return datetime.datetime.strptime(t, TIME_FMT)
+
+
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress:
+    dat = bz2.compress(dat)
+
+  with open(dest, "wb") as f:
+    f.write(dat)

tools/plotjuggler/juggle.py

@@ -11,10 +11,10 @@ import requests
 import argparse
 
 from common.basedir import BASEDIR
-from selfdrive.test.process_replay.compare_logs import save_log
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route, SegmentName
+from tools.lib.helpers import save_log
 from urllib.parse import urlparse, parse_qs
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))