Merge branch 'master' of https://github.com/commaai/openpilot into mqb-long

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.8.12 (202X-XX-XX)
 ========================
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
 
 Version 0.8.11 (2021-11-22)
 ========================

docs/CARS.md

@@ -162,6 +162,7 @@
 | Volkswagen| Passat 2016-18<sup>3</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Polo 2020                     | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| T-Cross 2021<sup>4</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Roc 2021<sup>4</sup>        | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Taos 2022<sup>4</sup>         | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |

panda

@@ -1 +1 @@
-Subproject commit f3bacee55ae5d7f4197c98b697d6b37113df5199
+Subproject commit ddb3698f9bf03dc6096a754c01529cddd580a976

release/files_common

@@ -616,3 +616,4 @@ opendbc/vw_mqb_2010.dbc
 
 opendbc/tesla_can.dbc
 opendbc/tesla_radar.dbc
+opendbc/tesla_powertrain.dbc

selfdrive/boardd/panda.cc

@@ -357,9 +357,9 @@ uint8_t Panda::len_to_dlc(uint8_t len) {
     return len;
   }
   if (len <= 24) {
-    return 8 + ((len - 8) / 4) + (len % 4) ? 1 : 0;
+    return 8 + ((len - 8) / 4) + ((len % 4) ? 1 : 0);
   } else {
-    return 11 + (len / 16) + (len % 16) ? 1 : 0;
+    return 11 + (len / 16) + ((len % 16) ? 1 : 0);
   }
 }
 
@@ -433,15 +433,15 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
   static uint8_t tail[CANPACKET_MAX_SIZE];
   uint8_t tail_size = 0;
   uint8_t counter = 0;
-  for (int i = 0; i < recv; i += 64) {
+  for (int i = 0; i < recv; i += USBPACKET_MAX_SIZE) {
     // Check for counter every 64 bytes (length of USB packet)
     if (counter != data[i]) {
       LOGE("CAN: MALFORMED USB RECV PACKET");
       break;
     }
     counter++;
-    uint8_t chunk_len = ((recv - i) > 64) ? 63 : (recv - i - 1); // as 1 is always reserved for counter
-    uint8_t chunk[CANPACKET_MAX_SIZE];
+    uint8_t chunk_len = ((recv - i) > USBPACKET_MAX_SIZE) ? 63 : (recv - i - 1); // as 1 is always reserved for counter
+    uint8_t chunk[USBPACKET_MAX_SIZE + CANPACKET_MAX_SIZE];
     memcpy(chunk, tail, tail_size);
     memcpy(&chunk[tail_size], &data[i+1], chunk_len);
     chunk_len += tail_size;

selfdrive/boardd/panda.h

@@ -17,6 +17,7 @@
 #define PANDA_BUS_CNT 4
 #define RECV_SIZE (0x4000U)
 #define USB_TX_SOFT_LIMIT   (0x100U)
+#define USBPACKET_MAX_SIZE  (0x40U)
 #define CANPACKET_HEAD_SIZE 5U
 #define CANPACKET_MAX_SIZE  72U
 #define CANPACKET_REJECTED  (0xC0U)

selfdrive/car/honda/carstate.py

@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_NIDEC_ALT_MAIN, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 
 TransmissionType = car.CarParams.TransmissionType
 
@@ -161,7 +161,7 @@ class CarState(CarStateBase):
       self.gearbox_msg = "GEARBOX_15T"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
-    if CP.carFingerprint in HONDA_NIDEC_ALT_MAIN:
+    if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
       self.main_on_sig_msg = "SCM_BUTTONS"
 
     self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]

selfdrive/car/honda/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from common.numpy_fast import interp
 from common.params import Params
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_MAIN, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car import STD_CARGO_KG, CivicParams, 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
@@ -299,8 +299,8 @@ class CarInterface(CarInterfaceBase):
     if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
-    # These cars use an alternate main on message
-    if candidate in HONDA_NIDEC_ALT_MAIN:
+    # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
+    if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
 
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:

selfdrive/car/honda/values.py

@@ -1365,7 +1365,7 @@ SPEED_FACTOR = {
 }
 
 HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
-HONDA_NIDEC_ALT_MAIN = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
-                            CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
+HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
+                                    CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
 HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E])
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])

selfdrive/car/tesla/carcontroller.py

@@ -1,14 +1,16 @@
 from common.numpy_fast import clip, interp
-from selfdrive.car.tesla.teslacan import TeslaCAN
 from opendbc.can.packer import CANPacker
-from selfdrive.car.tesla.values import CANBUS, CarControllerParams
+from selfdrive.car.tesla.teslacan import TeslaCAN
+from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.last_angle = 0
+    self.long_control_counter = 0
     self.packer = CANPacker(dbc_name)
-    self.tesla_can = TeslaCAN(dbc_name, self.packer)
+    self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
+    self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
   def update(self, enabled, CS, frame, actuators, cruise_cancel):
     can_sends = []
@@ -34,6 +36,16 @@ class CarController():
     self.last_angle = apply_angle
     can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, frame))
 
+    # Longitudinal control (40Hz)
+    if self.CP.openpilotLongitudinalControl and ((frame % 5) in [0, 2]):
+      target_accel = actuators.accel
+      target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
+      max_accel = 0 if target_accel < 0 else target_accel
+      min_accel = 0 if target_accel > 0 else target_accel
+
+      can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, self.long_control_counter))
+      self.long_control_counter += 1
+
     # Cancel on user steering override, since there is no steering torque blending
     if hands_on_fault:
       cruise_cancel = True
@@ -46,7 +58,7 @@ class CarController():
       # Spam every possible counter value, otherwise it might not be accepted
       for counter in range(16):
         can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.chassis, counter))
-        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.autopilot, counter))
+        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.autopilot_chassis, counter))
 
     # TODO: HUD control
 

selfdrive/car/tesla/carstate.py

@@ -16,6 +16,7 @@ class CarState(CarStateBase):
     self.msg_stw_actn_req = None
     self.hands_on_level = 0
     self.steer_warning = None
+    self.acc_state = 0
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -57,7 +58,7 @@ class CarState(CarStateBase):
     elif speed_units == "MPH":
       ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
     ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
-    ret.cruiseState.standstill = (cruise_state == "STANDSTILL")
+    ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
 
     # Gear
     ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
@@ -88,6 +89,7 @@ class CarState(CarStateBase):
 
     # Messages needed by carcontroller
     self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
+    self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
 
     return ret
 
@@ -174,8 +176,10 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     signals = [
       # sig_name, sig_address, default
+      ("DAS_accState", "DAS_control", 0),
     ]
     checks = [
       # sig_address, frequency
+      ("DAS_control", 40),
     ]
-    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot)
+    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot_chassis)

selfdrive/car/tesla/interface.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.tesla.values import CAR
+from panda import Panda
+from selfdrive.car.tesla.values import CANBUS, CAR
 from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -10,7 +11,6 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "tesla"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla)]
 
     # There is no safe way to do steer blending with user torque,
     # so the steering behaves like autopilot. This is not
@@ -18,7 +18,28 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = True
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.openpilotLongitudinalControl = False
+
+    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
+    ret.longitudinalTuning.kpBP = [0]
+    ret.longitudinalTuning.kpV = [0]
+    ret.longitudinalTuning.kiBP = [0]
+    ret.longitudinalTuning.kiV = [0]
+    ret.stopAccel = 0.0
+    ret.startAccel = 0.0
+    ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    ret.radarTimeStep = (1.0 / 8) # 8Hz
+
+    # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
+    # If so, we assume that it is connected to the longitudinal harness.
+    if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
+      ret.openpilotLongitudinalControl = True
+      ret.safetyConfigs = [
+        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
+        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
+      ]
+    else:
+      ret.openpilotLongitudinalControl = False
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
 
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.5

selfdrive/car/tesla/teslacan.py

@@ -1,13 +1,13 @@
 import copy
 import crcmod
-from opendbc.can.can_define import CANDefine
-from selfdrive.car.tesla.values import CANBUS
+from selfdrive.config import Conversions as CV
+from selfdrive.car.tesla.values import CANBUS, CarControllerParams
 
 
 class TeslaCAN:
-  def __init__(self, dbc_name, packer):
-    self.can_define = CANDefine(dbc_name)
+  def __init__(self, packer, pt_packer):
     self.packer = packer
+    self.pt_packer = pt_packer
     self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
 
   @staticmethod
@@ -39,3 +39,23 @@ class TeslaCAN:
     data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2]
     values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
     return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
+
+  def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, cnt):
+    messages = []
+    values = {
+      "DAS_setSpeed": speed * CV.MS_TO_KPH,
+      "DAS_accState": acc_state,
+      "DAS_aebEvent": 0,
+      "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
+      "DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
+      "DAS_accelMin": min_accel,
+      "DAS_accelMax": max_accel,
+      "DAS_controlCounter": (cnt % 8),
+      "DAS_controlChecksum": 0,
+    }
+
+    for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
+      data = packer.make_can_msg("DAS_control", bus, values)[2]
+      values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
+      messages.append(packer.make_can_msg("DAS_control", bus, values))
+    return messages

selfdrive/car/tesla/values.py

@@ -25,14 +25,20 @@ FINGERPRINTS = {
 }
 
 DBC = {
-  CAR.AP2_MODELS: dbc_dict(None, 'tesla_radar', chassis_dbc='tesla_can'),
-  CAR.AP1_MODELS: dbc_dict(None, 'tesla_radar', chassis_dbc='tesla_can'),
+  CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
+  CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
 }
 
 class CANBUS:
+  # Lateral harness
   chassis = 0
-  autopilot = 2
   radar = 1
+  autopilot_chassis = 2
+
+  # Longitudinal harness
+  powertrain = 4
+  private = 5
+  autopilot_powertrain = 6
 
 GEAR_MAP = {
   "DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
@@ -58,4 +64,6 @@ BUTTONS = [
 class CarControllerParams:
   RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
   RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
-
+  JERK_LIMIT_MAX = 8
+  JERK_LIMIT_MIN = -8
+  ACCEL_TO_SPEED_MULTIPLIER = 3

selfdrive/car/volkswagen/interface.py

@@ -125,6 +125,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.00  # SWB, LWB is 3.40, TBD how to detect difference
       ret.minSteerSpeed = 14.0
 
+    elif candidate == CAR.TROC_MK1:
+      ret.mass = 1413 + STD_CARGO_KG
+      ret.wheelbase = 2.63
+
     elif candidate == CAR.AUDI_A3_MK3:
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61

selfdrive/car/volkswagen/values.py

@@ -81,6 +81,7 @@ class CAR:
   TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN"          # Chassis AD/BW, Mk2 VW Tiguan and variants
   TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN"          # Chassis 1T, Mk2 VW Touran and variants
   TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1"   # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
+  TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN"             # Chassis A1, Mk1 VW VW T-Roc and variants
   AUDI_A3_MK3 = "AUDI A3 3RD GEN"                   # Chassis 8V/FF, Mk3 Audi A3 and variants
   AUDI_Q2_MK1 = "AUDI Q2 1ST GEN"                   # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
   SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"             # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
@@ -472,6 +473,23 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
+  CAR.TROC_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018AT\xf1\x899640',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300051M \xf1\x891925',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
   CAR.AUDI_A3_MK3: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906023AN\xf1\x893695',

selfdrive/controls/radard.py

@@ -18,16 +18,22 @@ from selfdrive.hardware import TICI
 class KalmanParams():
   def __init__(self, dt):
     # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library.
-    # hardcoding a lookup table to compute K for values of radar_ts between 0.1s and 1.0s
-    assert dt > .01 and dt < .1, "Radar time step must be between .01s and 0.1s"
+    # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s
+    assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s"
     self.A = [[1.0, dt], [0.0, 1.0]]
     self.C = [1.0, 0.0]
     #Q = np.matrix([[10., 0.0], [0.0, 100.]])
     #R = 1e3
     #K = np.matrix([[ 0.05705578], [ 0.03073241]])
-    dts = [dt * 0.01 for dt in range(1, 11)]
-    K0 = [0.12288, 0.14557, 0.16523, 0.18282, 0.19887, 0.21372, 0.22761, 0.24069, 0.2531, 0.26491]
-    K1 = [0.29666, 0.29331, 0.29043, 0.28787, 0.28555, 0.28342, 0.28144, 0.27958, 0.27783, 0.27617]
+    dts = [dt * 0.01 for dt in range(1, 21)]
+    K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689,  0.21372394,
+          0.22761098, 0.24069424, 0.253096,   0.26491023, 0.27621103, 0.28705801,
+          0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,
+          0.35353899, 0.36200124]
+    K1 = [0.29666309, 0.29330885, 0.29042818, 0.28787125, 0.28555364, 0.28342219,
+          0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
+          0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
+          0.26393339, 0.26278425]
     self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
 
 

selfdrive/loggerd/tests/test_uploader.py

@@ -11,6 +11,7 @@ from common.xattr import getxattr
 
 from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
+
 class TestLogHandler(logging.Handler):
   def __init__(self):
     logging.Handler.__init__(self)
@@ -22,7 +23,7 @@ class TestLogHandler(logging.Handler):
 
   def emit(self, record):
     try:
-      j = json.loads(record.message)
+      j = json.loads(record.getMessage())
       if j["event"] == "upload_success":
         self.upload_order.append(j["key"])
       if j["event"] == "upload_ignored":
@@ -33,6 +34,7 @@ class TestLogHandler(logging.Handler):
 log_handler = TestLogHandler()
 cloudlog.addHandler(log_handler)
 
+
 class TestUploader(UploaderTestCase):
   def setUp(self):
     super(TestUploader, self).setUp()

selfdrive/loggerd/uploader.py

@@ -147,7 +147,7 @@ class Uploader():
 
   def do_upload(self, key, fn):
     try:
-      url_resp = self.api.get("v1.3/"+self.dongle_id+"/upload_url/", timeout=10, path=key, access_token=self.api.get_token())
+      url_resp = self.api.get("v1.4/"+self.dongle_id+"/upload_url/", timeout=10, path=key, access_token=self.api.get_token())
       if url_resp.status_code == 412:
         self.last_resp = url_resp
         return
@@ -155,7 +155,7 @@ class Uploader():
       url_resp_json = json.loads(url_resp.text)
       url = url_resp_json['url']
       headers = url_resp_json['headers']
-      cloudlog.debug("upload_url v1.3 %s %s", url, str(headers))
+      cloudlog.debug("upload_url v1.4 %s %s", url, str(headers))
 
       if fake_upload:
         cloudlog.debug("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)

selfdrive/manager/manager.py

@@ -149,9 +149,10 @@ def manager_thread():
 
     started_prev = started
 
-    running_list = ["%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
-                    for p in managed_processes.values() if p.proc]
-    cloudlog.debug(' '.join(running_list))
+    running = ' '.join(["%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
+                       for p in managed_processes.values() if p.proc])
+    print(running)
+    cloudlog.debug(running)
 
     # send managerState
     msg = messaging.new_message('managerState')

selfdrive/swaglog.py

@@ -106,7 +106,17 @@ def add_file_handler(log):
 cloudlog = log = SwagLogger()
 log.setLevel(logging.DEBUG)
 
+
 outhandler = logging.StreamHandler()
+
+print_level = os.environ.get('LOGPRINT', 'warning')
+if print_level == 'debug':
+  outhandler.setLevel(logging.DEBUG)
+elif print_level == 'info':
+  outhandler.setLevel(logging.INFO)
+elif print_level == 'warning':
+  outhandler.setLevel(logging.WARNING)
+
 log.addHandler(outhandler)
 # logs are sent through IPC before writing to disk to prevent disk I/O blocking
 log.addHandler(UnixDomainSocketHandler(SwagFormatter(log)))

selfdrive/test/test_models.py

@@ -37,7 +37,7 @@ ignore_carstate_check = [
   CHRYSLER.PACIFICA_2017_HYBRID,
 ]
 
-@parameterized_class(('car_model'), [(car,) for i, car in enumerate(all_known_cars()) if i % NUM_JOBS == JOB_ID])
+@parameterized_class(('car_model'), [(car,) for i, car in enumerate(sorted(all_known_cars())) if i % NUM_JOBS == JOB_ID])
 class TestCarModel(unittest.TestCase):
 
   @classmethod

selfdrive/test/test_routes.py

@@ -150,6 +150,7 @@ routes = [
   TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
   TestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
   TestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
+  TestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
   TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
   TestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
   TestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),

selfdrive/thermald/thermald.py

@@ -355,10 +355,10 @@ def thermald_thread():
       set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
       set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
     elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-      remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
+      remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1)
       set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
       set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
-      set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
+      set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.")
     else:
       set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
       set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)

selfdrive/ui/qt/api.cc

@@ -90,6 +90,7 @@ void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Meth
 
   QNetworkRequest request;
   request.setUrl(QUrl(requestURL));
+  request.setRawHeader("User-Agent", getUserAgent().toUtf8());
 
   if (!token.isEmpty()) {
     request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());

selfdrive/ui/qt/maps/map.cc

@@ -4,6 +4,7 @@
 
 #include <QDebug>
 #include <QPainterPath>
+#include <QFileInfo>
 
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/ui/ui.h"
@@ -21,6 +22,8 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
+const QString ICON_SUFFIX = ".png";
+
 MapWindow::MapWindow(const QMapboxGLSettings &settings) :
   m_settings(settings), velocity_filter(0, 10, 0.05) {
   sm = new SubMaster({"liveLocationKalman", "navInstruction", "navRoute"});
@@ -324,6 +327,7 @@ void MapWindow::offroadTransition(bool offroad) {
 }
 
 MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
+  is_rhd = Params().getBool("IsRHD");
   QHBoxLayout *main_layout = new QHBoxLayout(this);
   main_layout->setContentsMargins(11, 50, 11, 11);
   {
@@ -442,10 +446,22 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
     if (!modifier.isEmpty()) {
       fn += "_" + modifier;
     }
-    fn +=  + ".png";
+    fn += ICON_SUFFIX;
     fn = fn.replace(' ', '_');
 
+    // for rhd, reflect direction and then flip
+    if (is_rhd) {
+      if (fn.contains("left")) {
+        fn.replace(QString("left"), QString("right"));
+      } else if (fn.contains("right")) {
+        fn.replace(QString("right"), QString("left"));
+      }
+    }
+
     QPixmap pix(fn);
+    if (is_rhd) {
+      pix = pix.transformed(QTransform().scale(-1, 1));
+    }
     icon_01->setPixmap(pix.scaledToWidth(200, Qt::SmoothTransformation));
     icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
     icon_01->setVisible(true);
@@ -476,7 +492,7 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
       fn += "turn_straight";
     }
 
-    QPixmap pix(fn + ".png");
+    QPixmap pix(fn + ICON_SUFFIX);
     auto icon = new QLabel;
     int wh = active ? 125 : 75;
     icon->setPixmap(pix.scaled(wh, wh, Qt::IgnoreAspectRatio, Qt::SmoothTransformation));

selfdrive/ui/qt/maps/map.h

@@ -36,6 +36,7 @@ private:
   QWidget *lane_widget;
   QHBoxLayout *lane_layout;
   bool error = false;
+  bool is_rhd = false;
 
 public:
   MapInstructions(QWidget * parent=nullptr);

selfdrive/ui/qt/util.cc

@@ -8,12 +8,21 @@
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/hardware/hw.h"
 
+QString getVersion() {
+  static QString version =  QString::fromStdString(Params().get("Version"));
+  return version;
+}
+
 QString getBrand() {
   return Params().getBool("Passive") ? "dashcam" : "openpilot";
 }
 
 QString getBrandVersion() {
-  return getBrand() + " v" + QString::fromStdString(Params().get("Version")).left(14).trimmed();
+  return getBrand() + " v" + getVersion().left(14).trimmed();
+}
+
+QString getUserAgent() {
+  return "openpilot-" + getVersion();
 }
 
 std::optional<QString> getDongleId() {

selfdrive/ui/qt/util.h

@@ -9,8 +9,10 @@
 #include <QSurfaceFormat>
 #include <QWidget>
 
+QString getVersion();
 QString getBrand();
 QString getBrandVersion();
+QString getUserAgent();
 std::optional<QString> getDongleId();
 void configFont(QPainter &p, const QString &family, int size, const QString &style);
 void clearLayout(QLayout* layout);

tools/plotjuggler/juggle.py

@@ -116,4 +116,4 @@ if __name__ == "__main__":
   if args.stream:
     start_juggler(layout=args.layout)
   else:
-    juggle_route(args.route_name, args.segment_number, args.segment_count, args.qlog, args.can, args.layout)
+    juggle_route(args.route_name.strip(), args.segment_number, args.segment_count, args.qlog, args.can, args.layout)