Merge remote-tracking branch 'upstream/master' into log-stock-aeb-tssp

.github/workflows/badges.yaml

@@ -7,12 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
-  BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
 jobs:
   badges:
@@ -23,23 +18,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-
+    - uses: ./.github/workflows/setup
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-
-    - name: Build Docker image
-      run: eval "$BUILD"
-
     - name: Push badges
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
@@ -49,6 +28,6 @@ jobs:
         git config user.email "badge-researcher@comma.ai"
         git config user.name "Badge Researcher"
 
-        git add translation_badge_*.svg
+        git add translation_badge.svg
         git commit -m "Add/Update badges"
         git push -f origin HEAD

.github/workflows/selfdrive_tests.yaml

@@ -17,7 +17,7 @@ env:
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
       docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
@@ -27,11 +27,10 @@ env:
   UNIT_TEST: coverage run --append -m unittest discover
 
 jobs:
-  # TODO: once actions/cache supports read only mode, use the cache for all jobs
   build_release:
     name: build release
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -39,44 +38,29 @@ jobs:
       with:
         fetch-depth: 0
         submodules: true
-    - name: Pull LFS
+    - name: Build devel
-      run: git lfs pull
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: release/check-submodules.sh
-    - name: Cache scons
+    - name: Build openpilot and run checks
-      id: scons-cache
+      run: |
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+        cd $STRIPPED_DIR
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+        ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
-      env:
+    - name: Run tests
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build devel
       run: |
-        TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+        cd $STRIPPED_DIR
-        cp Dockerfile.openpilot_base $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        python -m unittest discover selfdrive/car"
+    - name: pre-commit
+      run: |
+        cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
         cp .pylintrc $STRIPPED_DIR
         cp mypy.ini $STRIPPED_DIR
-    - name: Build Docker image
+        cd $STRIPPED_DIR
-      run: |
+        ${{ env.RUN }} "pre-commit run --all"
-          eval "$BUILD"
-          rm $STRIPPED_DIR/Dockerfile.openpilot_base
-    - name: Build openpilot and run checks
-      run: |
-          cd $STRIPPED_DIR
-          ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
-                          pre-commit run --all && \
-                          rm .pre-commit-config.yaml && \
-                          rm .pylintrc && \
-                          rm mypy.ini && \
-                          release/check-dirty.sh && \
-                          python -m unittest discover selfdrive/car"
 
   build_all:
     name: build all
@@ -86,26 +70,14 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
+    - uses: ./.github/workflows/setup
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
       with:
-        path: /tmp/scons_cache
+        save-cache: true
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Build openpilot with all flags
       run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
-          ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --extras --test --cache-populate"
 
   #build_mac:
@@ -175,21 +147,9 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
+    - uses: ./.github/workflows/setup
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
     - name: Build Docker image
       run: |
-        eval "$BUILD"
         docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
         docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile .
     - name: Build openpilot
@@ -244,30 +204,11 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
-      id: dependency-cache
-      uses: actions/cache@v2
-      with:
-        path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Run valgrind
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && \
-                        FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
+                        python selfdrive/test/test_valgrind_replay.py"
     - name: Print logs
       if: always()
       run: cat selfdrive/test/valgrind_logs.txt
@@ -277,28 +218,10 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - name: Get current date
-      id: date
-      run: echo "::set-output name=time::$(date +'%s')"
-    - name: Output timestamp
-      run: echo $TIMESTAMP
-      env:
-        TIMESTAMP: ${{ steps.date.outputs.time }}
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
+    - uses: ./.github/workflows/setup
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
-        restore-keys: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Run unit tests
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
@@ -339,30 +262,17 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
+    - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Run replay
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && \
-                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
     - name: Print diff
       if: always()
@@ -389,35 +299,16 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Pull LFS
+    - uses: ./.github/workflows/setup
-      run: git lfs pull
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v2
-      with:
-        path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/model_replay.py') }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
     - name: Build Docker image
-      # Sim docker is needed to get the intel OPENCL drivers
+      # Sim docker is needed to get the OpenCL drivers
       run: eval "$BUILD_CL"
     - name: Run replay
       run: |
         ${{ env.RUN_CL }} "scons -j$(nproc) && \
-                            ONNXCPU=1 FILEREADER_CACHE=1 CI=1 coverage run \
+                           ONNXCPU=1 CI=1 coverage run \
-                            selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
+                           selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
-                            coverage xml"
+                           coverage xml"
 
   test_longitudinal:
     name: longitudinal
@@ -427,20 +318,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
+    - uses: ./.github/workflows/setup
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Test longitudinal
       run: |
         ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
@@ -469,30 +347,17 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
+    - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v2
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
       with:
         path: /tmp/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Test car models
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --test && \
-                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/car/tests/test_models.py && \
+                        coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
@@ -530,20 +395,7 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
-      - name: Cache scons
+      - uses: ./.github/workflows/setup
-        id: scons-cache
-        # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-        uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-        env:
-          CACHE_SKIP_SAVE: true
-        with:
-          path: /tmp/scons_cache
-          key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          restore-keys: |
-            scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-            scons-
-      - name: Build Docker image
-        run: eval "$BUILD"
       - name: Get base car info
         run: |
           ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"

.github/workflows/setup/action.yaml

@@ -0,0 +1,45 @@
+name: 'openpilot env setup'
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+inputs:
+  save-cache:
+    default: false
+    required: false
+
+runs:
+  using: "composite"
+  steps:
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
+    - shell: bash
+      run: git lfs pull
+
+    # build cache
+    - id: date
+      shell: bash
+      run: echo "::set-output name=date::$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d')"
+    - shell: bash
+      run: echo "${{ steps.date.outputs.date }}"
+    - shell: bash
+      run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
+      if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
+    - id: scons-cache
+      # TODO: change the version to the released version
+      # when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ steps.date.outputs.date }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ steps.date.outputs.date }}-
+          scons-
+
+    # build our docker image
+    - shell: bash
+      run: eval "$BUILD"

.github/workflows/tools_tests.yaml

@@ -21,46 +21,6 @@ env:
        GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 
 jobs:
-  build_latest_ubuntu:
-    name: build latest ubuntu
-    runs-on: ubuntu-20.04
-    timeout-minutes: 60
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - name: Cache pyenv
-      id: ubuntu-latest-pyenv
-      uses: actions/cache@v3
-      with:
-        path: |
-          ~/.pyenv
-          ~/.local/share/virtualenvs/
-        key: ubuntu-latest-python-${{ hashFiles('tools/ubuntu_setup.sh') }}-
-    - name: Cache scons
-      id: ubuntu-latest-scons
-      uses: actions/cache@v3
-      with:
-        path: /tmp/scons_cache
-        key: ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
-        restore-keys: |
-          ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
-          ubuntu-latest-scons-
-
-    - name: tools/ubuntu_setup.sh
-      run: |
-        source tools/openpilot_env.sh
-        tools/ubuntu_setup.sh
-    - name: Build openpilot
-      run: |
-        source tools/openpilot_env.sh
-        pipenv run scons -j$(nproc) --extras --test
-    - name: Cleanup scons cache
-      run: |
-        source tools/openpilot_env.sh
-        rm -rf /tmp/scons_cache/*
-        pipenv run scons -j$(nproc) --extras --test --cache-populate
-
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04

README.md

@@ -17,7 +17,7 @@ Table of Contents
 What is openpilot?
 ------
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
@@ -40,9 +40,9 @@ Running on a dedicated device in a car
 
 To use openpilot in a car, you need four things
 * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
-* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
+* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
-The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
+The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -52,11 +52,11 @@ Running on PC
 
 All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
 
-With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
+With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
 
-A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
+A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
 
 Community and Contributing
 ------
@@ -78,8 +78,8 @@ By default, openpilot uploads the driving data to our servers. You can also acce
 
 openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
 By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 
@@ -87,11 +87,11 @@ Safety and Testing
 ----
 
 * openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
 * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
 Directory Structure

RELEASES.md

@@ -1,11 +1,18 @@
-Version 0.8.16 (2022-XX-XX)
+Version 0.8.16 (2022-08-26)
 ========================
 * New driving model
   * Reduced turn cutting
 * Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
 * Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
 * Subaru Legacy 2020-22 support thanks to martinl!
 * Subaru Outback 2020-22 support
 

cereal

@@ -1 +1 @@
-Subproject commit ecff0a284a2aa9879c4d04ea797356e4ef024dc4
+Subproject commit 589ef049a7b0bac31f4c8987c0fc539839fae489

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-# 202 Supported Cars
+# 205 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -18,7 +18,8 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
 |Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
@@ -31,6 +32,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
 |Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
 |Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
@@ -76,6 +78,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|

opendbc

@@ -1 +1 @@
-Subproject commit 7e095a90af3d36e6db9128a80f6f3b0cca01efa2
+Subproject commit b913296c9123441b2b271c00239929ed388169b5

panda

@@ -1 +1 @@
-Subproject commit ba8772123f13123c797234660c56adb70795cebb
+Subproject commit 9d6496ece8465dfe30997b31dfb352e1e51dde6c

release/files_common

@@ -513,6 +513,8 @@ opendbc/gm_global_a_powertrain_generated.dbc
 opendbc/gm_global_a_object.dbc
 opendbc/gm_global_a_chassis.dbc
 
+opendbc/FORD_CADS.dbc
+opendbc/ford_fusion_2018_adas.dbc
 opendbc/ford_lincoln_base_pt.dbc
 
 opendbc/honda_accord_2018_can_generated.dbc

selfdrive/boardd/tests/boardd_old.py

@@ -1,245 +0,0 @@
-#!/usr/bin/env python3
-# pylint: skip-file
-
-# This file is not used by openpilot. Only boardd.cc is used.
-# The python version is slower, but has more options for development.
-
-# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and
-# delete this python version of boardd
-
-import os
-import struct
-import time
-
-import cereal.messaging as messaging
-from common.realtime import Ratekeeper
-from system.swaglog import cloudlog
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-from cereal import car
-
-SafetyModel = car.CarParams.SafetyModel
-
-# USB is optional
-try:
-  import usb1
-  from usb1 import USBErrorIO, USBErrorOverflow  # pylint: disable=no-name-in-module
-except Exception:
-  pass
-
-# *** serialization functions ***
-def can_list_to_can_capnp(can_msgs, msgtype='can'):
-  dat = messaging.new_message(msgtype, len(can_msgs))
-  for i, can_msg in enumerate(can_msgs):
-    if msgtype == 'sendcan':
-      cc = dat.sendcan[i]
-    else:
-      cc = dat.can[i]
-    cc.address = can_msg[0]
-    cc.busTime = can_msg[1]
-    cc.dat = bytes(can_msg[2])
-    cc.src = can_msg[3]
-  return dat
-
-
-# *** can driver ***
-def can_health():
-  while 1:
-    try:
-      dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x16)
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD HEALTH, RETRYING")
-  v, i = struct.unpack("II", dat[0:8])
-  ign_line, ign_can = struct.unpack("BB", dat[20:22])
-  return {"voltage": v, "current": i, "ignition_line": bool(ign_line), "ignition_can": bool(ign_can)}
-
-def __parse_can_buffer(dat):
-  ret = []
-  for j in range(0, len(dat), 0x10):
-    ddat = dat[j:j+0x10]
-    f1, f2 = struct.unpack("II", ddat[0:8])
-    ret.append((f1 >> 21, f2 >> 16, ddat[8:8 + (f2 & 0xF)], (f2 >> 4) & 0xFF))
-  return ret
-
-def can_send_many(arr):
-  snds = []
-  for addr, _, dat, alt in arr:
-    if addr < 0x800:  # only support 11 bit addr
-      snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
-      snd = snd.ljust(0x10, b'\x00')
-      snds.append(snd)
-  while 1:
-    try:
-      handle.bulkWrite(3, b''.join(snds))
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD SEND MANY, RETRYING")
-
-def can_recv():
-  dat = b""
-  while 1:
-    try:
-      dat = handle.bulkRead(1, 0x10*256)
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD RECV, RETRYING")
-  return __parse_can_buffer(dat)
-
-def can_init():
-  global handle, context
-  handle = None
-  cloudlog.info("attempting can init")
-
-  context = usb1.USBContext()
-  #context.setDebug(9)
-
-  for device in context.getDeviceList(skip_on_error=True):
-    if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
-      handle = device.open()
-      handle.claimInterface(0)
-      handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
-
-  if handle is None:
-    cloudlog.warning("CAN NOT FOUND")
-    exit(-1)
-
-  cloudlog.info("got handle")
-  cloudlog.info("can init done")
-
-def boardd_mock_loop():
-  can_init()
-  handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
-
-  logcan = messaging.sub_sock('can')
-  sendcan = messaging.pub_sock('sendcan')
-
-  while 1:
-    tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
-    snd = []
-    for s in snds:
-      snd += s
-    snd = list(filter(lambda x: x[-1] <= 2, snd))
-    snd_0 = len(list(filter(lambda x: x[-1] == 0, snd)))
-    snd_1 = len(list(filter(lambda x: x[-1] == 1, snd)))
-    snd_2 = len(list(filter(lambda x: x[-1] == 2, snd)))
-    can_send_many(snd)
-
-    # recv @ 100hz
-    can_msgs = can_recv()
-    got_0 = len(list(filter(lambda x: x[-1] == 0+0x80, can_msgs)))
-    got_1 = len(list(filter(lambda x: x[-1] == 1+0x80, can_msgs)))
-    got_2 = len(list(filter(lambda x: x[-1] == 2+0x80, can_msgs)))
-    print("sent %3d (%3d/%3d/%3d) got %3d (%3d/%3d/%3d)" %
-      (len(snd), snd_0, snd_1, snd_2, len(can_msgs), got_0, got_1, got_2))
-    m = can_list_to_can_capnp(can_msgs, msgtype='sendcan')
-    sendcan.send(m.to_bytes())
-
-def boardd_test_loop():
-  can_init()
-  cnt = 0
-  while 1:
-    can_send_many([[0xbb, 0, "\xaa\xaa\xaa\xaa", 0], [0xaa, 0, "\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt), 1]])
-    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]])
-    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
-    # recv @ 100hz
-    can_msgs = can_recv()
-    print("got %d" % (len(can_msgs)))
-    time.sleep(0.01)
-    cnt += 1
-
-# *** main loop ***
-def boardd_loop(rate=100):
-  rk = Ratekeeper(rate)
-
-  can_init()
-
-  # *** publishes can and health
-  logcan = messaging.pub_sock('can')
-  health_sock = messaging.pub_sock('pandaStates')
-
-  # *** subscribes to can send
-  sendcan = messaging.sub_sock('sendcan')
-
-  # drain sendcan to delete any stale messages from previous runs
-  messaging.drain_sock(sendcan)
-
-  while 1:
-    # health packet @ 2hz
-    if (rk.frame % (rate // 2)) == 0:
-      health = can_health()
-      msg = messaging.new_message('pandaStates', 1)
-
-      # store the health to be logged
-      msg.pandaState[0].voltage = health['voltage']
-      msg.pandaState[0].current = health['current']
-      msg.pandaState[0].ignitionLine = health['ignition_line']
-      msg.pandaState[0].ignitionCan = health['ignition_can']
-      msg.pandaState[0].controlsAllowed = True
-
-      health_sock.send(msg.to_bytes())
-
-    # recv @ 100hz
-    can_msgs = can_recv()
-
-    # publish to logger
-    # TODO: refactor for speed
-    if len(can_msgs) > 0:
-      dat = can_list_to_can_capnp(can_msgs).to_bytes()
-      logcan.send(dat)
-
-    # send can if we have a packet
-    tsc = messaging.recv_sock(sendcan)
-    if tsc is not None:
-      can_send_many(can_capnp_to_can_list(tsc.sendcan))
-
-    rk.keep_time()
-
-# *** main loop ***
-def boardd_proxy_loop(rate=100, address="192.168.2.251"):
-  rk = Ratekeeper(rate)
-
-  can_init()
-
-  # *** subscribes can
-  logcan = messaging.sub_sock('can', addr=address)
-  # *** publishes to can send
-  sendcan = messaging.pub_sock('sendcan')
-
-  # drain sendcan to delete any stale messages from previous runs
-  messaging.drain_sock(sendcan)
-
-  while 1:
-    # recv @ 100hz
-    can_msgs = can_recv()
-    #for m in can_msgs:
-    #  print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
-
-    # publish to logger
-    # TODO: refactor for speed
-    if len(can_msgs) > 0:
-      dat = can_list_to_can_capnp(can_msgs, "sendcan")
-      sendcan.send(dat)
-
-    # send can if we have a packet
-    tsc = messaging.recv_sock(logcan)
-    if tsc is not None:
-      cl = can_capnp_to_can_list(tsc.can)
-      #for m in cl:
-      #  print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
-      can_send_many(cl)
-
-    rk.keep_time()
-
-def main():
-  if os.getenv("MOCK") is not None:
-    boardd_mock_loop()
-  elif os.getenv("PROXY") is not None:
-    boardd_proxy_loop()
-  elif os.getenv("BOARDTEST") is not None:
-    boardd_test_loop()
-  else:
-    boardd_loop()
-
-if __name__ == "__main__":
-  main()

selfdrive/boardd/tests/replay_many.py

@@ -1,83 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import time
-import signal
-import traceback
-import usb1
-from panda import Panda, PandaDFU
-from multiprocessing import Pool
-
-jungle = "JUNGLE" in os.environ
-if jungle:
-  from panda_jungle import PandaJungle  # pylint: disable=import-error
-
-import cereal.messaging as messaging
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-
-def initializer():
-  """Ignore CTRL+C in the worker process.
-  source: https://stackoverflow.com/a/44869451 """
-  signal.signal(signal.SIGINT, signal.SIG_IGN)
-
-def send_thread(sender_serial):
-  while True:
-    try:
-      if jungle:
-        sender = PandaJungle(sender_serial)
-      else:
-        sender = Panda(sender_serial)
-        sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-      sender.set_can_loopback(False)
-      can_sock = messaging.sub_sock('can')
-
-      while True:
-        tsc = messaging.recv_one(can_sock)
-        snd = can_capnp_to_can_list(tsc.can)
-        snd = list(filter(lambda x: x[-1] <= 2, snd))
-
-        try:
-          sender.can_send_many(snd)
-        except usb1.USBErrorTimeout:
-          pass
-
-        # Drain panda message buffer
-        sender.can_recv()
-    except Exception:
-      traceback.print_exc()
-      time.sleep(1)
-
-if __name__ == "__main__":
-  if jungle:
-    serials = PandaJungle.list()
-  else:
-    serials = Panda.list()
-  num_senders = len(serials)
-
-  if num_senders == 0:
-    print("No senders found. Exiting")
-    sys.exit(1)
-  else:
-    print("%d senders found. Starting broadcast" % num_senders)
-
-  if "FLASH" in os.environ:
-    for s in PandaDFU.list():
-      PandaDFU(s).recover()
-
-    time.sleep(1)
-    for s in serials:
-      Panda(s).recover()
-      Panda(s).flash()
-
-  pool = Pool(num_senders, initializer=initializer)
-  pool.map_async(send_thread, serials)
-
-  while True:
-    try:
-      time.sleep(10)
-    except KeyboardInterrupt:
-      pool.terminate()
-      pool.join()
-      raise
-

selfdrive/boardd/tests/test_boardd_api.py

@@ -1,77 +0,0 @@
-import random
-import numpy as np
-
-import selfdrive.boardd.tests.boardd_old as boardd_old
-import selfdrive.boardd.boardd as boardd
-
-from common.realtime import sec_since_boot
-from cereal import log
-import unittest
-
-
-def generate_random_can_data_list():
-  can_list = []
-  cnt = random.randint(1, 64)
-  for _ in range(cnt):
-    can_data = np.random.bytes(random.randint(1, 8))
-    can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
-  return can_list, cnt
-
-
-class TestBoarddApiMethods(unittest.TestCase):
-  def test_correctness(self):
-    for i in range(1000):
-      can_list, _ = generate_random_can_data_list()
-
-      # Sendcan
-      # Old API
-      m_old = boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
-      # new API
-      m = boardd.can_list_to_can_capnp(can_list, 'sendcan')
-
-      ev_old = log.Event.from_bytes(m_old)
-      ev = log.Event.from_bytes(m)
-
-      self.assertEqual(ev_old.which(), ev.which())
-      self.assertEqual(len(ev.sendcan), len(ev_old.sendcan))
-      for i in range(len(ev.sendcan)):
-        attrs = ['address', 'busTime', 'dat', 'src']
-        for attr in attrs:
-          self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old'))
-
-      # Can
-      m_old = boardd_old.can_list_to_can_capnp(can_list, 'can').to_bytes()
-      # new API
-      m = boardd.can_list_to_can_capnp(can_list, 'can')
-
-      ev_old = log.Event.from_bytes(m_old)
-      ev = log.Event.from_bytes(m)
-      self.assertEqual(ev_old.which(), ev.which())
-      self.assertEqual(len(ev.can), len(ev_old.can))
-      for i in range(len(ev.can)):
-        attrs = ['address', 'busTime', 'dat', 'src']
-        for attr in attrs:
-          self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old'))
-
-  def test_performance(self):
-    can_list, _ = generate_random_can_data_list()
-    recursions = 1000
-
-    n1 = sec_since_boot()
-    for _ in range(recursions):
-      boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
-    n2 = sec_since_boot()
-    elapsed_old = n2 - n1
-
-    # print('Old API, elapsed time: {} secs'.format(elapsed_old))
-    n1 = sec_since_boot()
-    for _ in range(recursions):
-      boardd.can_list_to_can_capnp(can_list)
-    n2 = sec_since_boot()
-    elapsed_new = n2 - n1
-    # print('New API, elapsed time: {} secs'.format(elapsed_new))
-    self.assertTrue(elapsed_new < elapsed_old / 2)
-
-
-if __name__ == '__main__':
-  unittest.main()

selfdrive/car/docs.py

@@ -8,6 +8,7 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
+from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.docs_definitions import CarInfo, Column
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
@@ -29,7 +30,8 @@ def get_all_car_info() -> List[CarInfo]:
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
     # Hyundai exception: those with radar have openpilot longitudinal
-    fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1] = {HKG_RADAR_START_ADDR: 8}
     CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
 
     if CP.dashcamOnly or car_info is None:

selfdrive/car/ford/radar_interface.py

@@ -1,33 +1,63 @@
 #!/usr/bin/env python3
+from math import cos, sin
 from cereal import car
-from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
-from selfdrive.car.ford.values import CANBUS, DBC
+from common.conversions import Conversions as CV
+from selfdrive.car.ford.values import CANBUS, DBC, RADAR
 from selfdrive.car.interfaces import RadarInterfaceBase
 
-RADAR_MSGS = list(range(0x500, 0x540))
+DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 
+DELPHI_MRR_RADAR_START_ADDR = 0x120
+DELPHI_MRR_RADAR_MSG_COUNT = 64
 
-def _create_radar_can_parser(car_fingerprint):
-  if DBC[car_fingerprint]['radar'] is None:
-    return None
 
-  msg_n = len(RADAR_MSGS)
+def _create_delphi_esr_radar_can_parser():
+  msg_n = len(DELPHI_ESR_RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
-                     RADAR_MSGS * 3))
+                     DELPHI_ESR_RADAR_MSGS * 3))
-  checks = list(zip(RADAR_MSGS, [20] * msg_n))
+  checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
+
+  return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar)
+
+
+def _create_delphi_mrr_radar_can_parser():
+  signals = []
+  checks = []
+
+  for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
+    msg = f"MRR_Detection_{i:03d}"
+    signals += [
+      (f"CAN_DET_VALID_LEVEL_{i:02d}", msg),
+      (f"CAN_DET_AZIMUTH_{i:02d}", msg),
+      (f"CAN_DET_RANGE_{i:02d}", msg),
+      (f"CAN_DET_RANGE_RATE_{i:02d}", msg),
+      (f"CAN_DET_AMPLITUDE_{i:02d}", msg),
+      (f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg),
+    ]
+    checks += [(msg, 20)]
+
+  return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar)
 
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CANBUS.radar)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.validCnt = {key: 0 for key in RADAR_MSGS}
-    self.track_id = 0
 
-    self.rcp = _create_radar_can_parser(CP.carFingerprint)
-    self.trigger_msg = 0x53f
     self.updated_messages = set()
+    self.track_id = 0
+    self.radar = DBC[CP.carFingerprint]['radar']
+    if self.radar is None:
+      self.rcp = None
+    elif self.radar == RADAR.DELPHI_ESR:
+      self.rcp = _create_delphi_esr_radar_can_parser()
+      self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
+      self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
+    elif self.radar == RADAR.DELPHI_MRR:
+      self.rcp = _create_delphi_mrr_radar_can_parser()
+      self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
+    else:
+      raise ValueError(f"Unsupported radar: {self.radar}")
 
   def update(self, can_strings):
     if self.rcp is None:
@@ -45,20 +75,30 @@ class RadarInterface(RadarInterfaceBase):
       errors.append("canError")
     ret.errors = errors
 
+    if self.radar == RADAR.DELPHI_ESR:
+      self._update_delphi_esr()
+    elif self.radar == RADAR.DELPHI_MRR:
+      self._update_delphi_mrr()
+
+    ret.points = list(self.pts.values())
+    self.updated_messages.clear()
+    return ret
+
+  def _update_delphi_esr(self):
     for ii in sorted(self.updated_messages):
       cpt = self.rcp.vl[ii]
 
       if cpt['X_Rel'] > 0.00001:
-        self.validCnt[ii] = 0    # reset counter
+        self.valid_cnt[ii] = 0    # reset counter
 
       if cpt['X_Rel'] > 0.00001:
-        self.validCnt[ii] += 1
+        self.valid_cnt[ii] += 1
       else:
-        self.validCnt[ii] = max(self.validCnt[ii] - 1, 0)
+        self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
-      #print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
+      #print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
 
       # radar point only valid if there have been enough valid measurements
-      if self.validCnt[ii] > 0:
+      if self.valid_cnt[ii] > 0:
         if ii not in self.pts:
           self.pts[ii] = car.RadarData.RadarPoint.new_message()
           self.pts[ii].trackId = self.track_id
@@ -73,6 +113,36 @@ class RadarInterface(RadarInterfaceBase):
         if ii in self.pts:
           del self.pts[ii]
 
-    ret.points = list(self.pts.values())
+  def _update_delphi_mrr(self):
-    self.updated_messages.clear()
+    for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
-    return ret
+      msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
+
+      # SCAN_INDEX rotates through 0..3 on each message
+      # treat these as separate points
+      scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
+      i = (ii - 1) * 4 + scanIndex
+
+      if i not in self.pts:
+        self.pts[i] = car.RadarData.RadarPoint.new_message()
+        self.pts[i].trackId = self.track_id
+        self.pts[i].aRel = float('nan')
+        self.pts[i].yvRel = float('nan')
+        self.track_id += 1
+
+      valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
+      amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"]            # dBsm [-64|63]
+
+      if valid and 0 < amplitude <= 15:
+        azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"]              # rad [-3.1416|3.13964]
+        dist = msg[f"CAN_DET_RANGE_{ii:02d}"]                   # m [0|255.984]
+        distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"]          # m/s [-128|127.984]
+
+        # *** openpilot radar point ***
+        self.pts[i].dRel = cos(azimuth) * dist                  # m from front of car
+        self.pts[i].yRel = -sin(azimuth) * dist                 # in car frame's y axis, left is positive
+        self.pts[i].vRel = distRate                             # m/s
+
+        self.pts[i].measured = True
+
+      else:
+        del self.pts[i]

selfdrive/car/ford/values.py

@@ -24,6 +24,11 @@ class CarControllerParams:
   STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
 
 
+class RADAR:
+  DELPHI_ESR = 'ford_fusion_2018_adas'
+  DELPHI_MRR = 'FORD_CADS'
+
+
 class CANBUS:
   main = 0
   radar = 1
@@ -80,6 +85,6 @@ FW_VERSIONS = {
 
 
 DBC = {
-  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None),
+  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
-  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None),
+  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
 }

selfdrive/car/gm/carcontroller.py

@@ -109,10 +109,10 @@ class CarController:
 
     else:
       # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if CC.cruiseControl.cancel:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.

selfdrive/car/gm/carstate.py

@@ -16,12 +16,14 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
+    self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -109,6 +111,7 @@ class CarState(CarStateBase):
       ("AcceleratorPedal2", "AcceleratorPedal2"),
       ("CruiseState", "AcceleratorPedal2"),
       ("ACCButtons", "ASCMSteeringButton"),
+      ("RollingCounter", "ASCMSteeringButton"),
       ("SteeringWheelAngle", "PSCMSteeringAngle"),
       ("SteeringWheelRate", "PSCMSteeringAngle"),
       ("FLWheelSpd", "EBCMWheelSpdFront"),

selfdrive/car/gm/gmcan.py

@@ -1,7 +1,10 @@
 from selfdrive.car import make_can_msg
 
-def create_buttons(packer, bus, button):
+def create_buttons(packer, bus, idx, button):
-  values = {"ACCButtons": button}
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": idx,
+  }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):

selfdrive/car/gm/interface.py

@@ -4,7 +4,7 @@ from math import fabs
 from panda import Panda
 
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -160,6 +160,15 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.SILVERADO:
+      ret.minEnableSpeed = -1
+      ret.mass = 2200. + STD_CARGO_KG
+      ret.wheelbase = 3.75
+      ret.steerRatio = 16.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      tire_stiffness_factor = 1.0
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -195,9 +204,6 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/gm/values.py

@@ -59,6 +59,7 @@ class CAR:
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
+  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
 
 
 class Footnote(Enum):
@@ -83,7 +84,11 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
+  CAR.SILVERADO: [
+    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
+  ],
 }
 
 
@@ -157,6 +162,10 @@ FINGERPRINTS = {
   {
     189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
   }],
+  CAR.SILVERADO: [
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+  }],
 }
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
@@ -164,6 +173,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}
 
 STEER_THRESHOLD = 1.0

selfdrive/car/honda/interface.py

@@ -4,7 +4,7 @@ from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
 
@@ -352,9 +352,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/values.py

@@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
   CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
+  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_BOSCH: [
     HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
     HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),

selfdrive/car/hyundai/carcontroller.py

@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -71,22 +71,33 @@ class CarController:
 
     if self.CP.carFingerprint in CANFD_CAR:
       # steering control
-      can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+      can_sends.append(hyundaicanfd.create_lkas(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
 
-      if self.frame % 5 == 0:
+      # block LFA on HDA2
+      if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.CANFD_HDA2):
         can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
-      # cruise cancel
+      # LFA and HDA icons
+      if self.frame % 2 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_HDA2):
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, CC.enabled))
+
+      # button presses
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
+        # cruise cancel
         if CC.cruiseControl.cancel:
-          for _ in range(20):
+          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            can_sends.append(hyundaicanfd.create_cruise_info(self.packer, CS.cruise_info_copy, True))
-          self.last_button_frame = self.frame
+            self.last_button_frame = self.frame
+          else:
+            for _ in range(20):
+              can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            self.last_button_frame = self.frame
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
-          self.last_button_frame = self.frame
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+            self.last_button_frame = self.frame
     else:
 
       # tester present - w/ no response (keeps radar disabled)

selfdrive/car/hyundai/carstate.py

@@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
     if CP.carFingerprint in CANFD_CAR:
-      self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
+      self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"]
     elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
@@ -136,14 +136,17 @@ class CarState(CarStateBase):
   def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
-    ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
+    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
-    ret.gasPressed = ret.gas > 1e-3
+      ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
+    else:
+      ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
+    ret.gasPressed = ret.gas > 1e-5
     ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
 
     ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
     ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
 
-    gear = cp.vl["ACCELERATOR"]["GEAR"]
+    gear = cp.vl["GEAR_SHIFTER"]["GEAR"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
     # TODO: figure out positions
@@ -168,16 +171,19 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = True
     ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
-    ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+    cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-
     speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
-    ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
+    ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
+    ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
 
-    self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
-    self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
-    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+    self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
+    self.cruise_info_copy = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
 
-    self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
+    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
+      self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
@@ -319,9 +325,7 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in CANFD_CAR:
-      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      return CarState.get_cam_can_parser_canfd(CP)
-      checks = [("CAM_0x2a4", 20)]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
 
     signals = [
       # signal_name, signal_address
@@ -374,14 +378,15 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser_canfd(CP):
+
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
 
-      ("ACCELERATOR_PEDAL", "ACCELERATOR"),
+      ("GEAR", "GEAR_SHIFTER"),
-      ("GEAR", "ACCELERATOR"),
       ("BRAKE_PRESSED", "BRAKE"),
 
       ("STEERING_RATE", "STEERING_SENSORS"),
@@ -390,11 +395,9 @@ class CarState(CarStateBase):
       ("STEERING_OUT_TORQUE", "MDPS"),
 
       ("CRUISE_ACTIVE", "SCC1"),
-      ("SET_SPEED", "CRUISE_INFO"),
+      ("COUNTER", cruise_btn_msg),
-      ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+      ("CRUISE_BUTTONS", cruise_btn_msg),
-      ("COUNTER", "CRUISE_BUTTONS"),
+      ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
-      ("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
-      ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),
 
       ("DISTANCE_UNIT", "CLUSTER_INFO"),
 
@@ -407,16 +410,64 @@ class CarState(CarStateBase):
 
     checks = [
       ("WHEEL_SPEEDS", 100),
-      ("ACCELERATOR", 100),
+      ("GEAR_SHIFTER", 100),
       ("BRAKE", 100),
       ("STEERING_SENSORS", 100),
       ("MDPS", 100),
       ("SCC1", 50),
-      ("CRUISE_INFO", 50),
+      (cruise_btn_msg, 50),
-      ("CRUISE_BUTTONS", 50),
       ("CLUSTER_INFO", 4),
       ("BLINKERS", 4),
       ("DOORS_SEATBELTS", 4),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5)
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      signals += [
+        ("ACCELERATOR_PEDAL", "ACCELERATOR"),
+        ("GEAR", "ACCELERATOR"),
+        ("SET_SPEED", "CRUISE_INFO"),
+        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+      ]
+      checks += [
+        ("CRUISE_INFO", 50),
+        ("ACCELERATOR", 100),
+      ]
+    else:
+      signals += [
+        ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),
+      ]
+      checks += [
+        ("ACCELERATOR_ALT", 100),
+      ]
+
+    bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+
+  @staticmethod
+  def get_cam_can_parser_canfd(CP):
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks = [("CAM_0x2a4", 20)]
+    else:
+      signals = [
+        ("COUNTER", "CRUISE_INFO"),
+        ("NEW_SIGNAL_1", "CRUISE_INFO"),
+        ("CRUISE_MAIN", "CRUISE_INFO"),
+        ("CRUISE_STATUS", "CRUISE_INFO"),
+        ("CRUISE_INACTIVE", "CRUISE_INFO"),
+        ("NEW_SIGNAL_2", "CRUISE_INFO"),
+        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+        ("NEW_SIGNAL_3", "CRUISE_INFO"),
+        ("BYTE11", "CRUISE_INFO"),
+        ("SET_SPEED", "CRUISE_INFO"),
+        ("NEW_SIGNAL_4", "CRUISE_INFO"),
+      ]
+
+      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(3, 7)]
+      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(13, 31)]
+
+      checks = [
+        ("CRUISE_INFO", 50),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,4 +1,7 @@
-def create_lkas(packer, enabled, lat_active, apply_steer):
+from selfdrive.car.hyundai.values import HyundaiFlags
+
+
+def create_lkas(packer, CP, enabled, lat_active, apply_steer):
   values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
@@ -10,7 +13,9 @@ def create_lkas(packer, enabled, lat_active, apply_steer):
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_2": 0,
   }
-  return packer.make_can_msg("LKAS", 4, values)
+
+  msg = "LKAS" if CP.flags & HyundaiFlags.CANFD_HDA2 else "LFA"
+  return packer.make_can_msg(msg, 4, values)
 
 def create_cam_0x2a4(packer, camera_values):
   camera_values.update({
@@ -25,3 +30,17 @@ def create_buttons(packer, cnt, btn):
     "CRUISE_BUTTONS": btn,
   }
   return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+
+def create_cruise_info(packer, cruise_info_copy, cancel):
+  values = cruise_info_copy
+  if cancel:
+    values["CRUISE_STATUS"] = 0
+    values["CRUISE_INACTIVE"] = 1
+  return packer.make_can_msg("CRUISE_INFO", 4, values)
+
+def create_lfahda_cluster(packer, enabled):
+  values = {
+    "HDA_ICON": 1 if enabled else 0,
+    "LFA_ICON": 2 if enabled else 0,
+  }
+  return packer.make_can_msg("LFAHDA_CLUSTER", 4, values)

selfdrive/car/hyundai/interface.py

@@ -2,9 +2,9 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
 
@@ -160,6 +160,12 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
+      ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
+      ret.wheelbase = 2.756
+      ret.steerRatio = 16.
+      tire_stiffness_factor = 0.385
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -169,7 +175,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1737. + STD_CARGO_KG
       ret.wheelbase = 2.7
@@ -177,7 +183,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-      if candidate == CAR.KIA_NIRO_HEV:
+      if candidate == CAR.KIA_NIRO_PHEV:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.KIA_SELTOS:
       ret.mass = 1337. + STD_CARGO_KG
@@ -284,7 +290,18 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+
+      # detect HDA2 with LKAS message
+      if 0x50 in fingerprint[6]:
+        ret.flags |= HyundaiFlags.CANFD_HDA2.value
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+      else:
+        # non-HDA2
+        if 0x1cf not in fingerprint[4]:
+          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
     else:
+      ret.enableBsm = 0x58b in fingerprint[0]
+
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
@@ -314,8 +331,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.enableBsm = 0x58b in fingerprint[0]
-
     return ret
 
   @staticmethod
@@ -326,6 +341,14 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
+      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
+      # Handle CF_Clu_CruiseSwState changing buttons mid-press
+      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
+        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
+
+      ret.buttonEvents = buttonEvents
+
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
@@ -335,15 +358,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
 
-    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
-      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
-      # Handle CF_Clu_CruiseSwState changing buttons mid-press
-      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
-        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
-
-      ret.buttonEvents = buttonEvents
-      events.events.extend(create_button_enable_events(ret.buttonEvents))
-
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
       self.low_speed_alert = True

selfdrive/car/hyundai/values.py

@@ -1,3 +1,4 @@
+from enum import IntFlag
 from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
 
@@ -29,7 +30,7 @@ class CarControllerParams:
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
-                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
+                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
 
@@ -38,6 +39,11 @@ class CarControllerParams:
       self.STEER_MAX = 384
 
 
+class HyundaiFlags(IntFlag):
+  CANFD_HDA2 = 1
+  CANFD_ALT_BUTTONS = 2
+
+
 class CAR:
   # Hyundai
   ELANTRA = "HYUNDAI ELANTRA 2017"
@@ -66,12 +72,13 @@ class CAR:
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
   IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
-  KIA_NIRO_HEV = "KIA NIRO HYBRID 2019"
+  KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
   KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
@@ -128,6 +135,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
   CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
   CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.hyundai_q),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
 
   # Kia
   CAR.KIA_FORTE: [
@@ -141,7 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],
-  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
+  CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
   CAR.KIA_NIRO_HEV_2021: [
     HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
     HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
@@ -695,6 +703,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -712,6 +721,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
+      b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
@@ -721,6 +731,7 @@ FW_VERSIONS = {
       b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
       b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
       b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
+      b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
     ],
   },
   CAR.PALISADE: {
@@ -1039,7 +1050,7 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
-  CAR.KIA_NIRO_HEV: {
+  CAR.KIA_NIRO_PHEV: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1292,6 +1303,21 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
     ],
   },
+  CAR.TUCSON_HYBRID_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MND0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
+      b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1303,18 +1329,18 @@ FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
   "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}  # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -1341,7 +1367,7 @@ DBC = {
   CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
-  CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
@@ -1364,5 +1390,6 @@ DBC = {
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/interfaces.py

@@ -9,7 +9,7 @@ from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
-from selfdrive.car import gen_empty_fingerprint
+from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -213,6 +213,9 @@ class CarInterfaceBase(ABC):
     if cs_out.accFaulted:
       events.add(EventName.accFaulted)
 
+    # Handle button presses
+    events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
+
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:

selfdrive/car/mazda/values.py

@@ -40,7 +40,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
   CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }
 

selfdrive/car/tests/routes.py

@@ -48,6 +48,7 @@ routes = [
   TestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   TestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
   TestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
+  TestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),
 
   TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
@@ -82,13 +83,14 @@ routes = [
   TestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
   TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
   TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
-  TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022),
+  TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
   TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
   TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
   TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
   TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
+  TestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
   TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   TestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
@@ -107,7 +109,7 @@ routes = [
   TestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),
   TestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
-  TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV),
+  TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
   TestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
   TestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   TestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),

selfdrive/car/tests/test_models.py

@@ -138,19 +138,23 @@ class TestCarModelBase(unittest.TestCase):
         raise Exception("unkown tuning")
 
   def test_car_interface(self):
-    # TODO: also check for checkusm and counter violations from can parser
+    # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
+    can_valid = False
     CC = car.CarControl.new_message()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
       self.CI.apply(CC)
 
-      # wait 2s for low frequency msgs to be seen
+      if CS.canValid:
-      if i > 200:
+        can_valid = True
+
+      # wait max of 2s for low frequency msgs to be seen
+      if i > 200 or can_valid:
         can_invalid_cnt += not CS.canValid
 
-    self.assertLess(can_invalid_cnt, 50)
+    self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
     os.environ['NO_RADAR_SLEEP'] = "1"

selfdrive/car/torque_data/override.yaml

@@ -25,7 +25,9 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
+CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
+HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/car/toyota/values.py

@@ -783,6 +783,7 @@ FW_VERSIONS = {
       b'\x01896637626000\x00\x00\x00\x00',
       b'\x01896637648000\x00\x00\x00\x00',
       b'\x01896637643000\x00\x00\x00\x00',
+      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -827,6 +828,7 @@ FW_VERSIONS = {
       b'F152612A10\x00\x00\x00\x00\x00\x00',
       b'F152612D00\x00\x00\x00\x00\x00\x00',
       b'F152616011\x00\x00\x00\x00\x00\x00',
+      b'F152616060\x00\x00\x00\x00\x00\x00',
       b'F152642540\x00\x00\x00\x00\x00\x00',
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',

selfdrive/car/volkswagen/interface.py

@@ -1,12 +1,11 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
                           gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
 
-
 EventName = car.CarEvent.EventName
 
 
@@ -225,7 +224,6 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
-    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
     ret.events = events.to_msg()
 
     return ret

selfdrive/loggerd/encoder/v4l_encoder.cc

@@ -303,4 +303,10 @@ V4LEncoder::~V4LEncoder() {
   checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
   request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0);
   close(fd);
+
+  for (int i = 0; i < BUF_OUT_COUNT; i++) {
+    if (buf_out[i].free() != 0) {
+      LOGE("Failed to free buffer");
+    }
+  }
 }

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-93a136f91739847afe1e1a4a1e98bc7c0adb5ec8
+656daeb9de3680258527500ecae4ddff323b2e59

selfdrive/test/process_replay/test_processes.py

@@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader
 original_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),     # HYUNDAI.KIA_EV6
+  ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"),     # HYUNDAI.KIA_EV6
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
@@ -40,7 +40,7 @@ original_segments = [
 segments = [
   ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
   ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
-  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
+  ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"),
   ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
   ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
   ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),

selfdrive/test/test_onroad.py

@@ -37,7 +37,7 @@ PROCS = {
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "./_soundd": 1.0,
-  "selfdrive.monitoring.dmonitoringd": 1.90,
+  "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
   "./clocksd": 0.02,

selfdrive/ui/qt/sidebar.cc

@@ -33,7 +33,7 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
 }
 
 Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
-  home_img = loadPixmap("../assets/images/button_home.png", {180, 180});
+  home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
@@ -43,9 +43,16 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
   setFixedWidth(300);
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
+
+  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
 }
 
 void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
+  if (home_btn.contains(event->pos())) {
+    MessageBuilder msg;
+    msg.initEvent().initUserFlag();
+    pm->send("userFlag", msg);
+  }
   if (settings_btn.contains(event->pos())) {
     emit openSettings();
   }
@@ -99,7 +106,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
   p.setOpacity(0.65);
   p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
   p.setOpacity(1.0);
-  p.drawPixmap(60, 1080 - 180 - 40, home_img);
+  p.drawPixmap(home_btn.x(), home_btn.y(), home_img);
 
   // network
   int x = 58;

selfdrive/ui/qt/sidebar.h

@@ -43,6 +43,7 @@ protected:
     {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")}
   };
 
+  const QRect home_btn = QRect(60, 860, 180, 180);
   const QRect settings_btn = QRect(50, 35, 200, 117);
   const QColor good_color = QColor(255, 255, 255);
   const QColor warning_color = QColor(218, 202, 37);
@@ -52,4 +53,7 @@ protected:
   ItemStatus connect_status, panda_status, temp_status;
   QString net_type;
   int net_strength = 0;
+
+private:
+  std::unique_ptr<PubMaster> pm;
 };

selfdrive/ui/tests/test_translations.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import json
 import os
+import re
 import shutil
 import unittest
 import xml.etree.ElementTree as ET
@@ -66,6 +67,11 @@ class TestTranslations(unittest.TestCase):
                         f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them")
 
   def test_plural_translations(self):
+    """
+      Tests:
+      - that any numerus (plural) translations marked "finished" have all plural forms non-empty
+      - that the correct format specifier is used (%n)
+    """
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
         tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"))
@@ -74,13 +80,15 @@ class TestTranslations(unittest.TestCase):
           for message in context.iterfind("message"):
             if message.get("numerus") == "yes":
               translation = message.find("translation")
-              numerusform = translation.findall("numerusform")
+              numerusform = [t.text for t in translation.findall("numerusform")]
 
               # Do not assert finished translations
               if translation.get("type") == "unfinished":
                 continue
 
-              self.assertNotIn(None, [x.text for x in numerusform], "Ensure all plural translation forms are completed.")
+              self.assertNotIn(None, numerusform, "Ensure all plural translation forms are completed.")
+              self.assertTrue(all([re.search("%[0-9]+", t) is None for t in numerusform]),
+                              "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform))
 
 
 if __name__ == "__main__":

selfdrive/ui/translations/README.md

@@ -1,11 +1,6 @@
 # Multilanguage
 
-[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_en.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_en.ts)
+[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#)
-[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_pt.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_pt.ts)
-[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts)
-[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts)
-[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts)
-[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ja.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ja.ts)
 
 ## Contributing
 

selfdrive/ui/translations/create_badges.py

@@ -8,20 +8,17 @@ from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
 
 TRANSLATION_TAG = "<translation"
 UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""
-TRANSLATION_BADGE = "translation_badge_{}.svg"
+BADGE_HEIGHT = 20 + 8
-TRANSLATION_LINK = "https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/{}"
 
 if __name__ == "__main__":
   with open(LANGUAGES_FILE, "r") as f:
     translation_files = json.load(f)
 
-  print("Copy into selfdrive/ui/translations/README.md:\n")
+  badge_svg = [f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" height="{len(translation_files) * BADGE_HEIGHT}">']
-  for name, file in translation_files.items():
+  for idx, (name, file) in enumerate(translation_files.items()):
     with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"), "r") as tr_f:
       tr_file = tr_f.read()
 
-    print(f"[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/{TRANSLATION_BADGE.format(file)})]({TRANSLATION_LINK.format(file)}.ts)")
-
     total_translations = 0
     unfinished_translations = 0
     for line in tr_file.splitlines():
@@ -35,6 +32,16 @@ if __name__ == "__main__":
 
     r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}")
     assert r.status_code == 200, "Error downloading badge"
+    content_svg = r.content.decode("utf-8")
+
+    # make tag ids in each badge unique
+    for tag in ("r", "s"):
+      content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"')
+      content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"')
+
+    badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
+
+  badge_svg.append("</svg>")
 
-    with open(os.path.join(BASEDIR, TRANSLATION_BADGE.format(file)), "wb") as badge_f:
+  with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
-      badge_f.write(r.content)
+    badge_f.write("\n".join(badge_svg))

selfdrive/ui/translations/main_ja.ts

@@ -876,71 +876,71 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>接続</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>オフライン</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>ONLINE</source>
         <translation>オンライン</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>エラー</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>TEMP</source>
         <translation>温度</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
         <source>HIGH</source>
         <translation>高温</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
         <source>GOOD</source>
         <translation>最適</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>OK</source>
         <translation>OK</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>VEHICLE</source>
         <translation>車両</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>NO</source>
         <translation>NO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>SEARCH</source>
         <translation>検索</translation>
     </message>

selfdrive/ui/translations/main_ko.ts

@@ -876,71 +876,71 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>연결</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>오프라인</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>ONLINE</source>
         <translation>온라인</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>오류</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>TEMP</source>
         <translation>온도</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
         <source>HIGH</source>
         <translation>높음</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
         <source>GOOD</source>
         <translation>좋음</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>OK</source>
         <translation>경고</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>VEHICLE</source>
         <translation>차량</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>NO</source>
         <translation>NO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>SEARCH</source>
         <translation>검색중</translation>
     </message>

selfdrive/ui/translations/main_pt.ts

@@ -880,71 +880,71 @@ trabalho definido</translation>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>CONEXÃO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>DESCONEC</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>ONLINE</source>
         <translation>CONECTADO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>ERRO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>TEMP</source>
         <translation>TEMP</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
         <source>HIGH</source>
         <translation>ALTA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
         <source>GOOD</source>
         <translation>BOA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>OK</source>
         <translation>OK</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>VEHICLE</source>
         <translation>VEÍCULO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>NO</source>
         <translation>SEM</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>SEARCH</source>
         <translation>PROCURA</translation>
     </message>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -874,71 +874,71 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>CONNECT</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>离线</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>ONLINE</source>
         <translation>在线</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>连接出错</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>TEMP</source>
         <translation>设备温度</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
         <source>HIGH</source>
         <translation>过热</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
         <source>GOOD</source>
         <translation>良好</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>OK</source>
         <translation>一般</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>VEHICLE</source>
         <translation>车辆连接</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>NO</source>
         <translation>无</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>SEARCH</source>
         <translation>搜索中</translation>
     </message>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -876,71 +876,71 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>雲端服務</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>已離線</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>ONLINE</source>
         <translation>已連線</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>錯誤</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>TEMP</source>
         <translation>溫度</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="80"/>
         <source>HIGH</source>
         <translation>偏高</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
         <source>GOOD</source>
         <translation>正常</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="78"/>
+        <location filename="../qt/sidebar.cc" line="85"/>
         <source>OK</source>
         <translation>一般</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="82"/>
+        <location filename="../qt/sidebar.cc" line="89"/>
         <source>VEHICLE</source>
         <translation>車輛通訊</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>NO</source>
         <translation>未連線</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="84"/>
+        <location filename="../qt/sidebar.cc" line="91"/>
         <source>PANDA</source>
         <translation>車輛通訊</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="93"/>
         <source>SEARCH</source>
         <translation>車輛通訊</translation>
     </message>

tools/joystick/joystickd.py

@@ -41,7 +41,7 @@ class Joystick:
   def __init__(self):
     # TODO: find a way to get this from API, perhaps "inputs" doesn't support it
     self.min_axis_value = {'ABS_Y': 0., 'ABS_RZ': 0.}
-    self.max_axis_value = {'ABS_Y': 1023., 'ABS_RZ': 255.}
+    self.max_axis_value = {'ABS_Y': 255., 'ABS_RZ': 255.}
     self.cancel_button = 'BTN_TRIGGER'
     self.axes_values = {'ABS_Y': 0., 'ABS_RZ': 0.}  # gb, steer
     self.axes_order = ['ABS_Y', 'ABS_RZ']

tools/replay/consoleui.cc

@@ -18,6 +18,7 @@ const std::initializer_list<std::pair<std::string, std::string>> keyboard_shortc
     {"space", "Pause/Resume"},
     {"e", "Next Engagement"},
     {"d", "Next Disengagement"},
+    {"t", "Next User Tag"}
   },
   {
     {"enter", "Enter seek request"},
@@ -32,6 +33,7 @@ enum Color {
   Yellow,
   Green,
   Red,
+  Cyan,
   BrightWhite,
   Engaged,
   Disengaged,
@@ -70,6 +72,7 @@ ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"car
   init_pair(Color::Debug, 246, COLOR_BLACK);  // #949494
   init_pair(Color::Yellow, 184, COLOR_BLACK);
   init_pair(Color::Red, COLOR_RED, COLOR_BLACK);
+  init_pair(Color::Cyan, COLOR_CYAN, COLOR_BLACK);
   init_pair(Color::BrightWhite, 15, COLOR_BLACK);
   init_pair(Color::Disengaged, COLOR_BLUE, COLOR_BLUE);
   init_pair(Color::Engaged, 28, 28);
@@ -205,6 +208,7 @@ void ConsoleUI::displayTimelineDesc() {
       {Color::Green, " Info ", true},
       {Color::Yellow, " Warning ", true},
       {Color::Red, " Critical ", true},
+      {Color::Cyan, " User Tag ", true},
   };
   for (auto [color, name, bold] : indicators) {
     add_str(w[Win::TimelineDesc], "__", color, bold);
@@ -263,6 +267,8 @@ void ConsoleUI::updateTimeline() {
     if (type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
+    } else if (type == TimelineType::UserFlag) {
+      mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL);
     } else {
       auto color_id = Color::Green;
       if (type != TimelineType::AlertInfo) {
@@ -336,6 +342,8 @@ void ConsoleUI::handleKey(char c) {
     replay->seekToFlag(FindFlag::nextEngagement);
   } else if (c == 'd') {
     replay->seekToFlag(FindFlag::nextDisEngagement);
+  } else if (c == 't') {
+    replay->seekToFlag(FindFlag::nextUserFlag);
   } else if (c == 'm') {
     replay->seekTo(+60, true);
   } else if (c == 'M') {

tools/replay/replay.cc

@@ -149,6 +149,9 @@ void Replay::buildTimeline() {
           timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type});
           alert_begin = 0;
         }
+      } else if (e->which == cereal::Event::Which::USER_FLAG) {
+        std::lock_guard lk(timeline_lock);
+        timeline.push_back({toSeconds(e->mono_time), toSeconds(e->mono_time), TimelineType::UserFlag});
       }
     }
   }
@@ -163,6 +166,10 @@ std::optional<uint64_t> Replay::find(FindFlag flag) {
       } else if (flag == FindFlag::nextDisEngagement && end_ts > cur_ts) {
         return end_ts;
       }
+    } else if (type == TimelineType::UserFlag) {
+      if (flag == FindFlag::nextUserFlag && start_ts > cur_ts) {
+        return start_ts;
+      }
     }
   }
   return std::nullopt;

tools/replay/replay.h

@@ -24,10 +24,11 @@ enum REPLAY_FLAGS {
 
 enum class FindFlag {
   nextEngagement,
-  nextDisEngagement
+  nextDisEngagement,
+  nextUserFlag,
 };
 
-enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical };
+enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
 
 class Replay : public QObject {
   Q_OBJECT

tools/sim/bridge.py

@@ -179,7 +179,7 @@ def gps_callback(gps, vehicle_state):
   ]
 
   dat.gpsLocationExternal = {
-    "timestamp": int(time.time() * 1000),
+    "unixTimestampMillis": int(time.time() * 1000),
     "flags": 1,  # valid fix
     "accuracy": 1.0,
     "verticalAccuracy": 1.0,

update_requirements.sh

@@ -4,11 +4,26 @@ set -e
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR
 
+RC_FILE="${HOME}/.$(basename ${SHELL})rc"
+if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
+  RC_FILE="$HOME/.bash_profile"
+fi
+
 if ! command -v "pyenv" > /dev/null 2>&1; then
   echo "pyenv install ..."
   curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-  export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH
+
+  echo -e "\n. ~/.pyenvrc" >> $RC_FILE
+  cat <<EOF > "${HOME}/.pyenvrc"
+if [ -z "\$PYENV_ROOT" ]; then
+  export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH
+  export PYENV_ROOT="\$HOME/.pyenv"
+  eval "\$(pyenv init -)"
+  eval "\$(pyenv virtualenv-init -)"
+fi
+EOF
 fi
+source $RC_FILE
 
 export MAKEFLAGS="-j$(nproc)"