Merge remote-tracking branch 'upstream/master' into toyota-fuzzy-v2

.devcontainer/Dockerfile

@@ -2,5 +2,10 @@ FROM ghcr.io/commaai/openpilot-base:latest
 
 # remove gitconfig if exists, since its gonna be replaced by host one
 RUN rm -f /root/.gitconfig
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep
+
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
 RUN pip install ipython jupyter jupyterlab
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://github.com/commaai/agnos-builder/blob/master/userspace/home/.vimrc

.devcontainer/host_setup.sh

@@ -1,5 +1,8 @@
 #!/usr/bin/env bash
 
+# pull base image
+docker pull ghcr.io/commaai/openpilot-base:latest
+
 # setup .host dir
 mkdir -p .devcontainer/.host
 

.github/workflows/selfdrive_tests.yaml

@@ -78,6 +78,7 @@ jobs:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
       with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
         cache_key_prefix: scons_${{ matrix.arch }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
@@ -177,6 +178,7 @@ jobs:
         sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
 
   docker_push:
+    name: docker push
     strategy:
       matrix:
         arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
@@ -194,6 +196,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         git-lfs: false
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build and push CL Docker image
       if: matrix.arch == 'x86_64'
       run: |
@@ -280,6 +283,8 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3

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

@@ -1,6 +1,10 @@
 name: 'openpilot env setup, with retry on failure'
 
 inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
   git_lfs:
     description: 'Whether or not to pull the git lfs'
     required: false
@@ -21,6 +25,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         git_lfs: ${{ inputs.git_lfs }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
@@ -32,6 +37,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         git_lfs: ${{ inputs.git_lfs }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
@@ -42,6 +48,7 @@ runs:
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         git_lfs: ${{ inputs.git_lfs }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true

.github/workflows/setup/action.yaml

@@ -1,13 +1,17 @@
 name: 'openpilot env setup'
 
 inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
   git_lfs:
     description: 'Whether or not to pull the git lfs'
-    required: false
+    required: true
     default: 'true'
   cache_key_prefix:
     description: 'Prefix for caching key'
-    required: false
+    required: true
     default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
@@ -29,6 +33,19 @@ runs:
       if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash

common/params.cc

@@ -64,7 +64,7 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
 std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
   if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
+    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d, path=%s", errno, params_path.c_str()));
   }
   return params_path;
 }

common/params_pyx.pyx

@@ -14,7 +14,7 @@ cdef extern from "common/params.h":
     ALL
 
   cdef cppclass c_Params "Params":
-    c_Params(string) nogil
+    c_Params(string) nogil except +
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil

selfdrive/car/hyundai/values.py

@@ -141,7 +141,7 @@ class Footnote(Enum):
   CANFD = CarFootnote(
     "Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
     "for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
-    Column.MODEL, shop_footnote=True)
+    Column.MODEL, shop_footnote=False)
 
 
 @dataclass

selfdrive/car/tests/routes.py

@@ -25,6 +25,7 @@ non_tested_cars = [
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
   TOYOTA.RAV4_TSS2_2023,
+  TOYOTA.RAV4H_TSS2_2023,
   SUBARU.FORESTER_HYBRID,
 ]
 
@@ -183,7 +184,6 @@ routes = [
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
-  CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023),
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),

selfdrive/car/torque_data/override.yaml

@@ -12,6 +12,10 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan]
 SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
 SUBARU ASCENT 2023: [.nan, 3.0, .nan]
 
+# Toyota LTA also has torque
+TOYOTA RAV4 2023: [.nan, 3.0, .nan]
+TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
+
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
@@ -57,8 +61,6 @@ HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
 HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
 KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
-TOYOTA RAV4 2023: [2.5, 2.5, 0.1]
-TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/car/toyota/interface.py

@@ -27,15 +27,7 @@ class CarInterface(CarInterfaceBase):
     if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
-    # Allow angle control cars with whitelisted EPSs to use torque control (made in Japan)
+    if candidate in ANGLE_CONTROL_CAR:
-    # So far only hybrid RAV4 2023 has been seen with this FW version
-    angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw)
-    if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023):
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
-      ret.steerLimitTimer = 0.4
-    else:
       ret.dashcamOnly = True
       ret.steerControlType = SteerControlType.angle
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
@@ -43,6 +35,11 @@ class CarInterface(CarInterfaceBase):
       # LTA control can be more delayed and winds up more often
       ret.steerActuatorDelay = 0.25
       ret.steerLimitTimer = 0.8
+    else:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
+      ret.steerLimitTimer = 0.4
 
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
@@ -124,25 +121,21 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG  # Average between ICE and Hybrid
-
+      ret.lateralTuning.init('pid')
-      # Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same
+      ret.lateralTuning.pid.kiBP = [0.0]
-      # TODO: revisit this disparity if there is a divide for 2023
+      ret.lateralTuning.pid.kpBP = [0.0]
-      if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
+      ret.lateralTuning.pid.kpV = [0.6]
-        ret.lateralTuning.init('pid')
+      ret.lateralTuning.pid.kiV = [0.1]
-        ret.lateralTuning.pid.kiBP = [0.0]
+      ret.lateralTuning.pid.kf = 0.00007818594
-        ret.lateralTuning.pid.kpBP = [0.0]
+
-        ret.lateralTuning.pid.kpV = [0.6]
+      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
-        ret.lateralTuning.pid.kiV = [0.1]
+      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
-        ret.lateralTuning.pid.kf = 0.00007818594
+      for fw in car_fw:
-
+        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-        # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
+          ret.lateralTuning.pid.kpV = [0.15]
-        # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
+          ret.lateralTuning.pid.kiV = [0.05]
-        for fw in car_fw:
+          ret.lateralTuning.pid.kf = 0.00004
-          if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
+          break
-            ret.lateralTuning.pid.kpV = [0.15]
-            ret.lateralTuning.pid.kiV = [0.05]
-            ret.lateralTuning.pid.kf = 0.00004
-            break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback

selfdrive/car/toyota/values.py

@@ -2428,8 +2428,7 @@ UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
 # these cars have a radar which sends ACC messages instead of the camera
 RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
 
-# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require
+# these cars use the Lane Tracing Assist (LTA) message for lateral control
-# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected
 ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
 
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,

tools/README.md

@@ -2,55 +2,55 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
+openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
-## Setup your PC
+Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
 
-First, clone openpilot:
+## Native setup on Ubuntu 20.04
-``` bash
+
-cd ~
+**1. Clone openpilot**
-git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
-# or do a partial clone instead for a faster clone and smaller repo size
+Either do a partial clone for faster download:
+``` bash
 git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git
+```
 
-cd openpilot
+or do a full clone:
+``` bash
+git clone --recurse-submodules https://github.com/commaai/openpilot.git
 ```
 
-Then, run the setup script:
+**2. Run the setup script**
 
 ``` bash
-# for Ubuntu 20.04 LTS
+cd openpilot
 tools/ubuntu_setup.sh
-
-# for macOS
-tools/mac_setup.sh
 ```
 
 Activate a shell with the Python dependencies installed:
-
 ``` bash
-cd openpilot && poetry shell
+poetry shell
 ```
 
-Build openpilot with this command:
+**3. Build openpilot**
+
 ``` bash
 scons -u -j$(nproc)
 ```
 
-### Dev Container
+## Dev Container on any Linux or macOS
 
 openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
 
-Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers).
+Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode.
 
 #### X11 forwarding on macOS
 
 GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
 
-### Windows
+## WSL on Windows
 
-Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
+[Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
 Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 

tools/cabana/chart/chart.cc

@@ -10,7 +10,6 @@
 #include <QGraphicsDropShadowEffect>
 #include <QGraphicsItemGroup>
 #include <QGraphicsOpacityEffect>
-#include <QMenu>
 #include <QMimeData>
 #include <QOpenGLWidget>
 #include <QPropertyAnimation>
@@ -66,8 +65,8 @@ void ChartView::createToolButtons() {
   close_btn_proxy->setWidget(remove_btn);
   close_btn_proxy->setZValue(chart()->zValue() + 11);
 
+  menu = new QMenu(this);
   // series types
-  QMenu *menu = new QMenu(this);
   auto change_series_group = new QActionGroup(menu);
   change_series_group->setExclusive(true);
   QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")};
@@ -90,7 +89,9 @@ void ChartView::createToolButtons() {
   manage_btn_proxy->setWidget(manage_btn);
   manage_btn_proxy->setZValue(chart()->zValue() + 11);
 
-  QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); });
+  close_act = new QAction(tr("Close"), this);
+  QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); });
+  QObject::connect(remove_btn, &QToolButton::clicked, close_act, &QAction::triggered);
   QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
     setSeriesType((SeriesType)action->data().toInt());
   });
@@ -452,6 +453,17 @@ static QPixmap getDropPixmap(const QPixmap &src) {
   return px;
 }
 
+void ChartView::contextMenuEvent(QContextMenuEvent *event) { 
+  QMenu context_menu(this);
+  context_menu.addActions(menu->actions());
+  context_menu.addSeparator();
+  context_menu.addAction(charts_widget->undo_zoom_action);
+  context_menu.addAction(charts_widget->redo_zoom_action);
+  context_menu.addSeparator();
+  context_menu.addAction(close_act);
+  context_menu.exec(event->globalPos());
+}
+
 void ChartView::mousePressEvent(QMouseEvent *event) {
   if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
     QMimeData *mimeData = new QMimeData;

tools/cabana/chart/chart.h

@@ -3,6 +3,7 @@
 #include <tuple>
 #include <utility>
 
+#include <QMenu>
 #include <QGraphicsPixmapItem>
 #include <QGraphicsProxyWidget>
 #include <QtCharts/QChartView>
@@ -65,6 +66,7 @@ private slots:
 private:
   void createToolButtons();
   void addSeries(QXYSeries *series);
+  void contextMenuEvent(QContextMenuEvent *event) override;
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
@@ -98,7 +100,9 @@ private:
   int align_to = 0;
   QValueAxis *axis_x;
   QValueAxis *axis_y;
+  QMenu *menu;
   QAction *split_chart_act;
+  QAction *close_act;
   QGraphicsPixmapItem *move_icon;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;

tools/sim/lib/simulated_car.py

@@ -14,7 +14,7 @@ class SimulatedCar:
 
   def __init__(self):
     self.pm = messaging.PubMaster(['can', 'pandaStates'])
-    self.sm = messaging.SubMaster(['carControl', 'controlsState'])
+    self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams'])
     self.cp = self.get_car_can_parser()
     self.idx = 0
 
@@ -93,6 +93,7 @@ class SimulatedCar:
     self.pm.send('can', can_list_to_can_capnp(msg))
 
   def send_panda_state(self, simulator_state):
+    self.sm.update(0)
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True
     dat.pandaStates[0] = {
@@ -100,6 +101,7 @@ class SimulatedCar:
       'pandaType': "blackPanda",
       'controlsAllowed': True,
       'safetyModel': 'hondaNidec',
+      'alternativeExperience': self.sm["carParams"].alternativeExperience
     }
     self.pm.send('pandaStates', dat)