Merge remote-tracking branch 'upstream/master' into card

poetry.lock

@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
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@@ -6897,8 +6898,16 @@ files = [
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+    {file = "PyYAML-6.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e7d73685e87afe9f3b36c799222440d6cf362062f78be1013661b00c5c6f678b"},
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+    {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
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+    {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
+    {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
+    {file = "PyYAML-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:0d3304d8c0adc42be59c5f8a4d9e3d7379e6955ad754aa9d6ab7a398b59dd1df"},
     {file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
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@@ -6915,6 +6924,7 @@ files = [
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+    {file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
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+    {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
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     {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@@ -7976,4 +7987,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "c37bfb79c177dce06c46186b6ff04e29415d0d35c844674d79f93141693d9d91"
+content-hash = "5f0a1b6f26faa3effeaa5393b73d9188be385a72c1d3b9befb3f03df3b38c86d"

pyproject.toml

@@ -107,7 +107,6 @@ sounddevice = "*"
 spidev = { version = "*", platform = "linux" }
 sympy = "*"
 websocket_client = "*"
-sortedcontainers = "*"
 
 # acados deps
 casadi = "*"

selfdrive/car/card.py

@@ -15,11 +15,13 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
 
 EventName = car.CarEvent.EventName
+ButtonType = car.CarState.ButtonEvent.Type
 
 
 class Car:
@@ -37,6 +39,7 @@ class Car:
     self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
     self.controlsState_prev = car.CarState.new_message()
 
     self.last_actuators_output = car.CarControl.Actuators.new_message()
@@ -81,8 +84,8 @@ class Car:
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.CS_prev = car.CarState.new_message()
     self.events = Events()
+    self.v_cruise_helper = VCruiseHelper(self.CP)
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -119,6 +122,11 @@ class Car:
 
     self.events.add_from_msg(CS.events)
 
+    # Block resume if cruise never previously enabled
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
+      self.events.add(EventName.resumeBlocked)
+
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \

selfdrive/controls/controlsd.py

@@ -20,7 +20,7 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -146,7 +146,6 @@ class Controls:
     self.desired_curvature = 0.0
     self.experimental_mode = False
     self.personality = self.read_personality_param()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
     self.can_log_mono_time = 0
@@ -172,7 +171,7 @@ class Controls:
       controls_state = self.params.get("ReplayControlsState")
       if controls_state is not None:
         with log.ControlsState.from_bytes(controls_state) as controls_state:
-          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
+          self.card.v_cruise_helper.v_cruise_kph = controls_state.vCruise
 
       if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
@@ -201,11 +200,6 @@ class Controls:
     if self.CP.passive:
       return
 
-    # Block resume if cruise never previously enabled
-    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
-    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
-      self.events.add(EventName.resumeBlocked)
-
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
@@ -433,7 +427,7 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
+    self.card.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -508,7 +502,7 @@ class Controls:
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
-          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+          self.card.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -564,7 +558,7 @@ class Controls:
 
     if not self.joystick_mode:
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.card.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
       t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
@@ -667,7 +661,7 @@ class Controls:
       CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
 
     hudControl = CC.hudControl
-    hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
+    hudControl.setSpeed = float(self.card.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
@@ -750,8 +744,8 @@ class Controls:
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
-    controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
+    controlsState.vCruise = float(self.card.v_cruise_helper.v_cruise_kph)
-    controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
+    controlsState.vCruiseCluster = float(self.card.v_cruise_helper.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)

selfdrive/controls/lib/events.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
+import bisect
 import math
 import os
 from enum import IntEnum
 from collections.abc import Callable
-from sortedcontainers import SortedList
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -49,12 +49,12 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
 class Events:
   def __init__(self):
-    self.events: SortedList[int] = SortedList()
+    self.events: list[int] = []
-    self.static_events: SortedList[int] = SortedList()
+    self.static_events: list[int] = []
     self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
 
   @property
-  def names(self) -> SortedList[int]:
+  def names(self) -> list[int]:
     return self.events
 
   def __len__(self) -> int:
@@ -62,8 +62,8 @@ class Events:
 
   def add(self, event_name: int, static: bool=False) -> None:
     if static:
-      self.static_events.add(event_name)
+      bisect.insort(self.static_events, event_name)
-    self.events.add(event_name)
+    bisect.insort(self.events, event_name)
 
   def clear(self) -> None:
     self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
@@ -93,7 +93,7 @@ class Events:
 
   def add_from_msg(self, events):
     for e in events:
-      self.events.add(e.name.raw)
+      bisect.insort(self.events, e.name.raw)
 
   def to_msg(self):
     ret = []