Merge remote-tracking branch 'upstream/master' into azera-2022-port

.github/labeler.yaml

@@ -1,42 +1,61 @@
 CI / testing:
-  - all: ['.github/**']
-  - all: ['**/test_*']
+  - all:
+    - changed-files: ['.github/**']
+  - all:
+    - changed-files: ['**/test_*']
 
 car: 
-  - all: ['selfdrive/car/**']
+  - all:
+    - changed-files: ['selfdrive/car/**']
 
 body:
-  - all: ['selfdrive/car/body/*']
+  - all:
+    - changed-files: ['selfdrive/car/body/*']
 chrysler:
-  - all: ['selfdrive/car/chrysler/*']
+  - all:
+    - changed-files: ['selfdrive/car/chrysler/*']
 ford: 
-  - all: ['selfdrive/car/ford/*']
+  - all:
+    - changed-files: ['selfdrive/car/ford/*']
 gm: 
-  - all: ['selfdrive/car/gm/*']
+  - all:
+    - changed-files: ['selfdrive/car/gm/*']
 honda: 
-  - all: ['selfdrive/car/honda/*']
+  - all:
+    - changed-files: ['selfdrive/car/honda/*']
 hyundai: 
-  - all: ['selfdrive/car/hyundai/*']
+  - all:
+    - changed-files: ['selfdrive/car/hyundai/*']
 mazda: 
-  - all: ['selfdrive/car/mazda/*']
+  - all:
+    - changed-files: ['selfdrive/car/mazda/*']
 nissan: 
-  - all: ['selfdrive/car/nissan/*']
+  - all:
+    - changed-files: ['selfdrive/car/nissan/*']
 subaru: 
-  - all: ['selfdrive/car/subaru/*']
+  - all:
+    - changed-files: ['selfdrive/car/subaru/*']
 tesla: 
-  - all: ['selfdrive/car/tesla/*']
+  - all:
+    - changed-files: ['selfdrive/car/tesla/*']
 toyota: 
-  - all: ['selfdrive/car/toyota/*']
+  - all:
+    - changed-files: ['selfdrive/car/toyota/*']
 volkswagen: 
-  - all: ['selfdrive/car/volkswagen/*']
+  - all:
+    - changed-files: ['selfdrive/car/volkswagen/*']
 
 simulation:
-  - all: ['tools/sim/**']
+  - all:
+    - changed-files: ['tools/sim/**']
 ui:
-  - all: ['selfdrive/ui/**']
+  - all:
+    - changed-files: ['selfdrive/ui/**']
 tools: 
-  - all: ['tools/**']
+  - all:
+    - changed-files: ['tools/**']
 
 multilanguage:
-  - all: ['selfdrive/ui/translations/**']
+  - all:
+    - changed-files: ['selfdrive/ui/translations/**']
 

.github/workflows/labeler.yaml

@@ -12,7 +12,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: false
-    - uses: actions/labeler@v4
+    - uses: actions/labeler@v5.0.0-alpha.1
       with:
         dot: true
         configuration-path: .github/labeler.yaml

.github/workflows/setup-with-retry/action.yaml

@@ -9,9 +9,10 @@ inputs:
     description: 'Prefix for caching key'
     required: false
     default: 'scons_x86_64'
-
-env:
-  SLEEP_TIME: 30 # Time to sleep between retries
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
 
 runs:
   using: "composite"
@@ -25,7 +26,7 @@ runs:
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
     - id: setup2
       if: steps.setup1.outcome == 'failure'
       uses: ./.github/workflows/setup
@@ -36,7 +37,7 @@ runs:
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
     - id: setup3
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup

cereal

@@ -1 +1 @@
-Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7
+Subproject commit 4b334f6f10877e4a666b23983de2d27934ebf3b1

opendbc

@@ -1 +1 @@
-Subproject commit 5ebf73ebed8d1693aadffe97bd2dd012da3b3c1c
+Subproject commit 8d2f614ce3f323c65de802b2d5f29143de9c427b

selfdrive/car/hyundai/carstate.py

@@ -105,10 +105,12 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
     else:
       ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
       ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
       ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
@@ -226,6 +228,13 @@ class CarState(CarStateBase):
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
+    # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
+    # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
+    # The car will brake, but does not respect positive acceleration commands in this mode
+    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
+    if self.CP.carFingerprint in EV_CAR:
+      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
+
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -320,6 +329,11 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if CP.carFingerprint in EV_CAR:
+      messages += [
+        ("MANUAL_SPEED_LIMIT_ASSIST", 10),
+      ]
+
     if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
       messages += [
         ("CRUISE_BUTTONS", 50)

selfdrive/controls/controlsd.py

@@ -374,19 +374,19 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
-      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
-        self.events.add(EventName.sensorDataInvalid)
-    if not self.sm['liveLocationKalman'].inputsOK and not NOSENSOR:
-      self.events.add(EventName.localizerMalfunction)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
+    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK):
+      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive sensor inputs
+        self.events.add(EventName.sensorDataInvalid)
+    if not self.sm['liveLocationKalman'].inputsOK:
+      self.events.add(EventName.locationdTemporaryError)
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      self.events.add(EventName.paramsdTemporaryError)
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM

selfdrive/controls/lib/events.py

@@ -424,19 +424,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   # ********** events only containing alerts that display while engaged **********
 
-  # openpilot tries to learn certain parameters about your car by observing
-  # how the car behaves to steering inputs from both human and openpilot driving.
-  # This includes:
-  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
-  # - tire stiffness: how much grip your tires have
-  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
-  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
-  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
-  EventName.vehicleModelInvalid: {
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
-    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"),
-  },
-
   EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
       "Steering Temporarily Unavailable",
@@ -576,9 +563,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
   },
 
-  EventName.localizerMalfunction: {
-    ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"),
-    ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"),
+  EventName.locationdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+  },
+
+  EventName.locationdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.paramsdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+  },
+
+  EventName.paramsdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
   },
 
   # ********** events that affect controls state transitions **********

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-98c21236f831ca3cff63939cb760b213460e84de
+b421ff389ce720b70a36dd2b3510af54eb484b5f

tools/cabana/chart/chart.cc

@@ -474,7 +474,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
   auto rubber = findChild<QRubberBand *>();
   if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
     rubber->hide();
-    QRectF rect = rubber->geometry().normalized();
+    auto rect = rubber->geometry().normalized();
     double min = chart()->mapToValue(rect.topLeft()).x();
     double max = chart()->mapToValue(rect.bottomRight()).x();
 
@@ -698,7 +698,10 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
     }
   }
 
-  // paint zoom range
+  drawRubberBandTimeRange(painter);
+}
+
+void ChartView::drawRubberBandTimeRange(QPainter *painter) {
   auto rubber = findChild<QRubberBand *>();
   if (rubber && rubber->isVisible() && rubber->width() > 1) {
     painter->setPen(Qt::white);

tools/cabana/chart/chart.h

@@ -84,6 +84,7 @@ private:
   void drawBackground(QPainter *painter, const QRectF &rect) override;
   void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
   void drawTimeline(QPainter *painter);
+  void drawRubberBandTimeRange(QPainter *painter);
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);

tools/cabana/chart/chartswidget.cc

@@ -219,7 +219,7 @@ void ChartsWidget::updateToolBar() {
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
   dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));

tools/cabana/chart/chartswidget.h

@@ -120,7 +120,7 @@ class ZoomCommand : public QUndoCommand {
 public:
   ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
     prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
-    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
+    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
   void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
   void redo() override { charts->setZoom(range.first, range.second); }

tools/mac_setup.sh

@@ -74,6 +74,27 @@ export PYCURL_SSL_LIBRARY=openssl
 $DIR/install_python_dependencies.sh
 echo "[ ] installed python dependencies t=$SECONDS"
 
+# brew does not link qt5 by default
+# check if qt5 can be linked, if not, prompt the user to link it
+QT_BIN_LOCATION="$(command -v lupdate || :)"
+if [ -n "$QT_BIN_LOCATION" ]; then
+  # if qt6 is linked, prompt the user to unlink it and link the right version
+  QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')"
+  if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then
+    echo
+    echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION"
+    if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then
+      echo "Run the following command to link qt5:"
+      echo "brew unlink qt@6 && brew link qt@5"
+    else
+      echo "Remove conflicting qt entries from PATH and run the following command to link qt5:"
+      echo "brew link qt@5"
+    fi
+  fi
+else
+  brew link qt@5
+fi
+
 echo
 echo "----   OPENPILOT SETUP DONE   ----"
 echo "Open a new shell or configure your active shell env by running:"