Merge remote-tracking branch 'upstream/master' into new-nav-settings-button

panda

@@ -1 +1 @@
-Subproject commit dd78b2bf6c9d63ef59e81d0c400e85c8b477a8be
+Subproject commit ed8ff7e48ad41b5b7c0ce9df5bb2bb5024b6429d

pyproject.toml

@@ -11,167 +11,168 @@ documentation = "https://docs.comma.ai"
 
 [tool.poetry.dependencies]
 python = "~3.11"
-atomicwrites = "^1.4.0"
+atomicwrites = "*"
 casadi = "==3.6.3"
-cffi = "^1.15.1"
+cffi = "*"
-crcmod = "^1.7"
+crcmod = "*"
-cryptography = "^37.0.4"
+cryptography = "*"
-Cython = "^3.0.0"
+Cython = "*"
-flake8 = "^4.0.1"
+flake8 = "*"
-Flask = "^2.1.2"
+Flask = "*"
-future-fstrings = "^1.2.0"  # for acados
+future-fstrings = "*"  # for acados
-gunicorn = "^20.1.0"
+gunicorn = "*"
 hatanaka = "==2.4"
-hexdump = "^3.3"
+hexdump = "*"
-Jinja2 = "^3.1.2"
+Jinja2 = "*"
-json-rpc = "^1.13.0"
+json-rpc = "*"
-libusb1 = "^3.0.0"
+libusb1 = "*"
 numpy = "==1.23.0"  # locked pending deprecation fixes in xx
-onnx = "^1.14.0"
+onnx = ">=1.14.0"
-onnxruntime-gpu = { version = "^1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
-pillow = "^9.2.0"
+pillow = "*"
 poetry = "==1.2.2"
-psutil = "^5.9.1"
+protobuf = "==3.20.3"
-pycapnp = "^1.3.0"
+psutil = "*"
-pycryptodome = "^3.15.0"
+pycapnp = "*"
-PyJWT = "^2.5.0"
+pycryptodome = "*"
-pyopencl = "^2022.2.4"
+PyJWT = "*"
-pyserial = "^3.5"
+pyopencl = "*"
-python-dateutil = "^2.8.2"
+pyserial = "*"
-PyYAML = "^6.0"
+python-dateutil = "*"
-pyzmq = "^23.2.0"
+PyYAML = "*"
-requests = "^2.28.1"
+pyzmq = "*"
-scons = "^4.5.2"
+requests = "*"
-sentry-sdk = "^1.6.0"
+scons = "*"
-setproctitle = "^1.2.3"
+sentry-sdk = "*"
-smbus2 = "^0.4.2"
+setproctitle = "*"
-sounddevice = "^0.4.5"
+smbus2 = "*"
-spidev = { version = "^3.6", platform = "linux" }
+sounddevice = "*"
-spidev2 = { version = "^0.9.0", platform = "linux" }
+spidev = { version = "*", platform = "linux" }
-sympy = "^1.11.1"
+spidev2 = { version = "*", platform = "linux" }
-timezonefinder = "^6.2.0"
+sympy = "*"
-tqdm = "^4.64.0"
+timezonefinder = "*"
-urllib3 = "^1.26.10"
+tqdm = "*"
-utm = "^0.7.0"
+urllib3 = "*"
-websocket_client = "^1.3.3"
+utm = "*"
-polyline = "^1.4.0"
+websocket_client = "*"
+polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 
 [tool.poetry.group.dev.dependencies]
-av = "^10.0.0"
+av = "*"
 azure-storage-blob = "~2.1"
-breathe = "^4.34.0"
+breathe = "*"
 carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
-control = "^0.9.2"
+control = "*"
-coverage = "^6.4.1"
+coverage = "*"
-dictdiffer = "^0.9.0"
+dictdiffer = "*"
-fastcluster = "^1.2.6"
+fastcluster = "*"
-ft4222 = "^1.4.1"
+ft4222 = "*"
-hexdump = "^3.3"
+hexdump = "*"
 hypothesis = "==6.46.7"
-inputs = "^0.5"
+inputs = "*"
-lru-dict = "^1.1.7"
+lru-dict = "*"
-lxml = "^4.9.1"
+lxml = "*"
-markdown-it-py = "^2.1.0"
+markdown-it-py = "*"
-matplotlib = "^3.5.2"
+matplotlib = "*"
-mpld3 = "^0.5.8"
+mpld3 = "*"
-mypy = "^1.4.0"
+mypy = "*"
-myst-parser = "^0.18.0"
+myst-parser = "*"
-natsort = "^8.1.0"
+natsort = "*"
 opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
-pandas = "^1.4.3"
+pandas = "*"
-parameterized = "^0.8.1"
+parameterized = "^0.8"
-paramiko = "^2.11.0"
+paramiko = "*"
-pprofile = "^2.1.0"
+pprofile = "*"
-pre-commit = "^2.19.0"
+pre-commit = "*"
-pycurl = "^7.45.1"
+pycurl = "*"
-pygame = "^2.4.0"
+pygame = "*"
-pylint = "^2.17.4"
+pylint = "*"
-pyprof2calltree = "^1.4.5"
+pyprof2calltree = "*"
-pytest = "^7.1.2"
+pytest = "*"
-pytest-xdist = "^2.5.0"
+pytest-xdist = "*"
-reverse_geocoder = "^1.5.1"
+reverse_geocoder = "*"
 scipy = "==1.9.3"  # pinned until xx refs changes can be checked
-sphinx = "^5.0.2"
+sphinx = "*"
-sphinx-rtd-theme = "^1.0.0"
+sphinx-rtd-theme = "*"
-sphinx-sitemap = "^2.2.0"
+sphinx-sitemap = "*"
-tabulate = "^0.8.10"
+tabulate = "*"
-tenacity = "^8.0.1"
+tenacity = "*"
-types-atomicwrites = "^1.4.5"
+types-atomicwrites = "*"
-types-certifi = "^2021.10.8"
+types-certifi = "*"
-types-pycurl = "^7.45.1"
+types-pycurl = "*"
-types-python-dateutil = "^2.8.19.13"
+types-python-dateutil = "*"
-types-PyYAML = "^6.0"
+types-PyYAML = "*"
-types-requests = "^2.28.11"
+types-requests = "*"
-types-tabulate = "^0.8.10"
+types-tabulate = "*"
 
 
 [tool.poetry.group.xx]
 optional = true
 
 [tool.poetry.group.xx.dependencies]
-aenum = "^3.1.11"
+aenum = "*"
-aiohttp = "^3.8.1"
+aiohttp = "*"
-albumentations = "^1.2.1"
+albumentations = "*"
-azure-cli-core = "^2.38.0"
+azure-cli-core = "*"
-azure-common = "^1.1.28"
+azure-common = "*"
-azure-core = "^1.24.2"
+azure-core = "*"
 azure-nspkg = "~3.0"
 azure-storage-common = "~2.1"
 azure-storage-nspkg = "~3.1"
 blosc = "==1.9.2"
-cloudpickle = "^2.1.0"
+cloudpickle = "*"
-configargparse = "^1.5.3"
+configargparse = "*"
-cupy-cuda11x = "^11.6.0"
+cupy-cuda11x = "*"
-datadog = "^0.44.0"
+datadog = "*"
-dotmap = "^1.3.30"
+dotmap = "*"
-einops = "^0.5.0"
+einops = "*"
-elasticsearch = "^8.3.1"
+elasticsearch = "*"
-Flask-Cors = "^3.0.10"
+Flask-Cors = "*"
-Flask-SocketIO = "^5.2.0"
+Flask-SocketIO = "*"
-GeoAlchemy2 = "^0.12.1"
+GeoAlchemy2 = "*"
-imageio = "^2.19.5"
+imageio = "*"
-influxdb-client = "^1.30.0"
+influxdb-client = "*"
-ipykernel = "^6.15.1"
+ipykernel = "*"
-ipython = "^8.4.0"
+ipython = "*"
-joblib = "^1.1.0"
+joblib = "*"
-json-logging-py = "^0.2"
+json-logging-py = "*"
-jupyter = "^1.0.0"
+jupyter = "*"
-jupyterlab = "^3.4.4"
+jupyterlab = "*"
-jupyterlab-vim = "^0.15.1"
+jupyterlab-vim = "*"
-Markdown = "^3.4.1"
+Markdown = "*"
-msgpack-python = "^0.5.6"
+msgpack-python = "*"
 networkx = "~2.8"
-nvidia-ml-py3 = "^7.352.0"
+nvidia-ml-py3 = "*"
-onnx2torch = "^1.5.4"
+onnx2torch = "*"
-onnxoptimizer = "^0.3.1"
+onnxoptimizer = "*"
-osmium = "^3.3.0"
+osmium = "*"
-pillow-avif-plugin = "^1.2.2"
+pillow-avif-plugin = "*"
 pipenv = "==2022.10.12"
-plotly = "^5.9.0"
+plotly = "*"
-pycuda = "^2022.1"
+pycuda = "*"
-Pygments = "^2.12.0"
+Pygments = "*"
 PyMySQL = "~0.9"
-pyproj = "^3.3.1"
+pyproj = "*"
-python-logstash = "^0.4.8"
+python-logstash = "*"
-redis = "^4.3.4"
+redis = "*"
-s2sphere = "^0.2.5"
+s2sphere = "*"
-scikit-image = "^0.19.3"
+scikit-image = "*"
-scikit-learn = "^1.1.1"
+scikit-learn = "*"
 segmentation-models-pytorch = "==0.3.3"
-simplejson = "^3.17.6"
+simplejson = "*"
-SQLAlchemy = "^1.4.39"
+SQLAlchemy = "*"
 torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl" }
-torchsummary = "^1.5.1"
+torchsummary = "*"
 torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl" }
-triton = "^2.0.0"
+triton = "*"
-Werkzeug = "^2.1.2"
+Werkzeug = "*"
 zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
-omegaconf = "^2.3.0"
+omegaconf = "*"
 osmnx = "==1.2.2"
 tritonclient = {version = "2.28.0", extras = ["http"]}
-transformers = "^4.29.2"
+transformers = "*"
 timm = "==0.9.2"
 PyNvCodec = { git = "https://github.com/NVIDIA/VideoProcessingFramework.git", rev = "3347e55" }
 

selfdrive/boardd/boardd.cc

@@ -301,6 +301,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
   pandaCanStates.reserve(pandas_cnt);
 
+  const bool red_panda_comma_three = (pandas.size() == 2) &&
+                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
+                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
+
   for (const auto& panda : pandas){
     auto health_opt = panda->get_state();
     if (!health_opt) {
@@ -323,6 +327,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 1;
     }
 
+    // on comma three setups with a red panda, the dos can
+    // get false positive ignitions due to the harness box
+    // without a harness connector, so ignore it
+    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
+      health.ignition_line_pkt = 0;
+    }
+
     ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
     pandaStates.push_back(health);

selfdrive/boardd/spi.cc

@@ -236,9 +236,12 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
       std::this_thread::yield();
 
       if (ret == SpiError::NACK) {
-        // prevent busy wait while the panda is NACK'ing
+        // prevent busy waiting while the panda is NACK'ing
+        // due to full TX buffers
         nack_count += 1;
-        usleep(std::clamp(nack_count*10, 200, 2000));
+        if (nack_count > 3) {
+          usleep(std::clamp(nack_count*10, 200, 2000));
+        }
       }
     }
   } while (ret < 0 && connected && !timed_out);
@@ -260,7 +263,6 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   spi_ioc_transfer transfer = {
     .tx_buf = (uint64_t)tx_buf,
     .rx_buf = (uint64_t)rx_buf,
-    .delay_usecs = 10,
     .len = length
   };
   tx_buf[0] = tx;
@@ -284,9 +286,6 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
       LOGD("SPI: timed out waiting for ACK");
       return SpiError::ACK_TIMEOUT;
     }
-
-    // backoff
-    transfer.delay_usecs = std::clamp(transfer.delay_usecs*2, 10, 250);
   }
 
   return 0;

selfdrive/car/volkswagen/values.py

@@ -361,11 +361,13 @@ FW_VERSIONS = {
       b'\xf1\x8703H906026S \xf1\x896693',
       b'\xf1\x8703H906026S \xf1\x899970',
       b'\xf1\x873CN906259  \xf1\x890005',
+      b'\xf1\x873CN906259F \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158A \xf1\x893387',
       b'\xf1\x8709G927158DR\xf1\x893536',
       b'\xf1\x8709G927158DR\xf1\x893742',
+      b'\xf1\x8709G927158EN\xf1\x893691',
       b'\xf1\x8709G927158F \xf1\x893489',
       b'\xf1\x8709G927158FT\xf1\x893835',
       b'\xf1\x8709G927158GL\xf1\x893939',

selfdrive/ui/qt/maps/map.cc

@@ -164,10 +164,10 @@ void MapWindow::updateState(const UIState &s) {
 
     // Only open the map on setting destination the first time
     if (allow_open) {
+      emit requestSettings(false);
       emit requestVisible(true); // Show map on destination set/change
       allow_open = false;
     }
-    emit requestSettings(false);
   }
 
   loaded_once = loaded_once || (m_map && m_map->isFullyLoaded());