Merge remote-tracking branch 'upstream/master' into big-test-models

panda

@@ -1 +1 @@
-Subproject commit 997e328074e4b356c514e8d5e6570f151465d9e8
+Subproject commit 0ca6d9d9248f2cea4ef2292671b6980b416c3f4b

selfdrive/car/tests/routes.py

@@ -172,7 +172,8 @@ routes = [
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
   CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
-  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
+  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
+  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
   CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
   CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
   CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),

selfdrive/car/volkswagen/carstate.py

@@ -105,6 +105,7 @@ class CarState(CarStateBase):
     ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
 
     # Update ACC radar status.
+    self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
     if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
       # ACC okay and enabled, but not currently engaged
       ret.cruiseState.available = True
@@ -480,11 +481,13 @@ class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
     ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
+    ("ACC_Typ", "ACC_06"),                       # Basic vs F2S vs SNG
     ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
     ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
     ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
   ]
   fwd_radar_checks = [
+    ("ACC_06", 50),                                 # From J428 ACC radar control module
     ("ACC_10", 50),                                 # From J428 ACC radar control module
     ("ACC_02", 17),                                 # From J428 ACC radar control module
   ]

selfdrive/car/volkswagen/interface.py

@@ -32,14 +32,13 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
 
-      if 0x440 in fingerprint[0]:  # Getriebe_1
+      if 0x440 in fingerprint[0] or len(fingerprint[0]) == 0:  # Getriebe_1, or empty FP for CI/docs generation
         ret.transmissionType = TransmissionType.automatic
       else:
         ret.transmissionType = TransmissionType.manual
 
       if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
         ret.networkLocation = NetworkLocation.gateway
-        ret.experimentalLongitudinalAvailable = True
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
@@ -56,7 +55,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
-      if 0xAD in fingerprint[0]:  # Getriebe_11
+      if 0xAD in fingerprint[0] or len(fingerprint[0]) == 0:  # Getriebe_11, or empty FP for CI/docs generation
         ret.transmissionType = TransmissionType.automatic
       elif 0x187 in fingerprint[0]:  # EV_Gearshift
         ret.transmissionType = TransmissionType.direct
@@ -82,7 +81,8 @@ class CarInterface(CarInterfaceBase):
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
-    if experimental_long and candidate in PQ_CARS:
+    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway and False  # Disabled for now
+    if experimental_long and False:  # Disabled for now
       # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
       ret.openpilotLongitudinalControl = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
@@ -90,7 +90,11 @@ class CarInterface(CarInterfaceBase):
         ret.minEnableSpeed = 4.5
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
-    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
+    ret.stoppingControl = True
+    ret.startingState = True
+    ret.startAccel = 1.0
+    ret.vEgoStarting = 1.0
+    ret.vEgoStopping = 1.0
     ret.longitudinalTuning.kpV = [0.1]
     ret.longitudinalTuning.kiV = [0.0]
 

selfdrive/car/volkswagen/mqbcan.py

@@ -36,3 +36,73 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=Fa
   })
 
   return packer.make_can_msg("GRA_ACC_01", bus, values)
+
+
+def acc_control_value(main_switch_on, acc_faulted, long_active):
+  if acc_faulted:
+    acc_control = 6
+  elif long_active:
+    acc_control = 3
+  elif main_switch_on:
+    acc_control = 2
+  else:
+    acc_control = 0
+
+  return acc_control
+
+
+def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
+  # TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later
+  return acc_control_value(main_switch_on, acc_faulted, long_active)
+
+
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
+  commands = []
+
+  acc_06_values = {
+    "ACC_Typ": acc_type,
+    "ACC_Status_ACC": acc_control,
+    "ACC_StartStopp_Info": enabled,
+    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_zul_Regelabw_unten": 0.2,  # TODO: dynamic adjustment of comfort-band
+    "ACC_zul_Regelabw_oben": 0.2,  # TODO: dynamic adjustment of comfort-band
+    "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_Anfahren": starting,
+    "ACC_Anhalten": stopping,
+  }
+  commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values))
+
+  if starting:
+    acc_hold_type = 4  # hold release / startup
+  elif esp_hold:
+    acc_hold_type = 3  # hold standby
+  elif stopping:
+    acc_hold_type = 1  # hold request
+  else:
+    acc_hold_type = 0
+
+  acc_07_values = {
+    "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
+    "ACC_Freilauf_Info": 2 if enabled else 0,
+    "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
+    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_Anforderung_HMS": acc_hold_type,
+    "ACC_Anfahren": starting,
+    "ACC_Anhalten": stopping,
+  }
+  commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values))
+
+  return commands
+
+
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+  values = {
+    "ACC_Status_Anzeige": acc_hud_status,
+    "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
+    "ACC_Gesetzte_Zeitluecke": 3,
+    "ACC_Display_Prio": 3,
+    # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
+  }
+
+  return packer.make_can_msg("ACC_02", bus, values)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-fc3a044c567a8702ed1500d745170c365dd6b3d4
+dd41df756253a9e711eb0fd0c3e007284f600ee8

tools/cabana/chartswidget.cc

@@ -155,6 +155,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) {
     charts_layout->insertWidget(0, chart);
     charts.push_back(chart);
     emit chartOpened(chart->id, chart->signal);
+    updateState();
   }
   updateTitleBar();
 }

tools/cabana/messageswidget.cc

@@ -147,6 +147,11 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   return {};
 }
 
+void MessageListModel::setFilterString(const QString &string) { 
+  filter_str = string;
+  updateState(true);
+}
+
 bool MessageListModel::updateMessages(bool sort) {
   if (msgs.size() == can->can_msgs.size() && filter_str.isEmpty() && !sort)
     return false;

tools/cabana/messageswidget.h

@@ -38,7 +38,7 @@ public:
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void updateState(bool sort = false);
-  void setFilterString(const QString &string) { filter_str = string; }
+  void setFilterString(const QString &string);
 
 private:
   bool updateMessages(bool sort);

tools/sim/start_openpilot_docker.sh

@@ -20,6 +20,7 @@ else
   EXTRA_ARGS="${EXTRA_ARGS} -it"
 fi
 
+docker kill openpilot_client || true
 docker run --net=host\
   --name openpilot_client \
   --rm \