Merge remote-tracking branch 'upstream/master' into car-info

SConstruct

@@ -89,7 +89,6 @@ if arch == "aarch64" or arch == "larch64":
     "/usr/local/lib",
     "/usr/lib",
     "/system/vendor/lib64",
-    "/system/comma/usr/lib",
     f"#third_party/acados/{arch}/lib",
   ]
 
@@ -306,11 +305,11 @@ if arch == "Darwin":
   qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
   qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 elif arch == "aarch64":
-  qt_env['QTDIR'] = "/system/comma/usr"
+  qt_env['QTDIR'] = "/usr"
   qt_dirs = [
-    f"/system/comma/usr/include/qt",
+    f"/usr/include/qt",
   ]
-  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
+  qt_dirs += [f"/usr/include/qt/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]
   qt_libs += ['EGL', 'GLESv3', 'c++_shared']

cereal

@@ -1 +1 @@
-Subproject commit 9416d75c20ba59154d647a0b14f9ea1fc62c34fa
+Subproject commit 7e9837f768dd24d9f56edb450926c76f7f259aa6

opendbc

@@ -1 +1 @@
-Subproject commit 859fea7ded706516f4b963218a3c9cf543f39c2a
+Subproject commit eab58f6f8f41f255920365ab1fd9c75e312a6869

selfdrive/athena/athenad.py

@@ -163,8 +163,6 @@ def upload_handler(end_event: threading.Event) -> None:
   sm = messaging.SubMaster(['deviceState'])
   tid = threading.get_ident()
 
-  cellular_unmetered = Params().get_bool("CellularUnmetered")
-
   while not end_event.is_set():
     cur_upload_items[tid] = None
 
@@ -181,46 +179,45 @@ def upload_handler(end_event: threading.Event) -> None:
         cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True)
         continue
 
-      # Check if uploading over cell is allowed
+      # Check if uploading over metered connection is allowed
       sm.update(0)
-      cell = sm['deviceState'].networkType not in [NetworkType.wifi, NetworkType.ethernet]
+      metered = sm['deviceState'].networkMetered
-      if cell and (not cur_upload_items[tid].allow_cellular) and (not cellular_unmetered):
+      network_type = sm['deviceState'].networkType.raw
+      if metered and (not cur_upload_items[tid].allow_cellular):
         retry_upload(tid, end_event, False)
         continue
 
       try:
         def cb(sz, cur):
-          # Abort transfer if connection changed to cell after starting upload
+          # Abort transfer if connection changed to metered after starting upload
           sm.update(0)
-          cell = sm['deviceState'].networkType not in [NetworkType.wifi, NetworkType.ethernet]
+          metered = sm['deviceState'].networkMetered
-          if cell and (not cur_upload_items[tid].allow_cellular) and (not cellular_unmetered):
+          if metered and (not cur_upload_items[tid].allow_cellular):
             raise AbortTransferException
 
           cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
 
-
-        network_type = sm['deviceState'].networkType.raw
         fn = cur_upload_items[tid].path
         try:
           sz = os.path.getsize(fn)
         except OSError:
           sz = -1
 
-        cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type)
+        cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered)
         response = _do_upload(cur_upload_items[tid], cb)
 
         if response.status_code not in (200, 201, 403, 412):
-          cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type)
+          cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
           retry_upload(tid, end_event)
         else:
-          cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type)
+          cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
 
         UploadQueueCache.cache(upload_queue)
       except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError):
-        cloudlog.event("athena.upload_handler.timeout", fn=fn, sz=sz, network_type=network_type)
+        cloudlog.event("athena.upload_handler.timeout", fn=fn, sz=sz, network_type=network_type, metered=metered)
         retry_upload(tid, end_event)
       except AbortTransferException:
-        cloudlog.event("athena.upload_handler.abort", fn=fn, sz=sz, network_type=network_type)
+        cloudlog.event("athena.upload_handler.abort", fn=fn, sz=sz, network_type=network_type, metered=metered)
         retry_upload(tid, end_event, False)
 
     except queue.Empty:
@@ -459,6 +456,12 @@ def getNetworkType():
   return HARDWARE.get_network_type()
 
 
+@dispatcher.add_method
+def getNetworkMetered():
+  network_type = HARDWARE.get_network_type()
+  return HARDWARE.get_network_metered(network_type)
+
+
 @dispatcher.add_method
 def getNetworks():
   return HARDWARE.get_networks()

selfdrive/boardd/panda.cc

@@ -338,7 +338,7 @@ void Panda::set_power_saving(bool power_saving) {
   usb_write(0xe7, power_saving, 0);
 }
 
-void Panda::enable_deepsleep(void) {
+void Panda::enable_deepsleep() {
   usb_write(0xfb, 0, 0);
 }
 

selfdrive/car/ford/interface.py

@@ -25,6 +25,8 @@ class CarInterface(CarInterfaceBase):
     ret.steerRateCost = 1.0
     ret.centerToFront = ret.wheelbase * 0.44
     tire_stiffness_factor = 0.5328
+    # TODO: add minSteerSpeed
+    ret.minEnableSpeed = 12. * CV.MPH_TO_MS
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase

selfdrive/common/params.cc

@@ -91,7 +91,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"CellularUnmetered", PERSISTENT},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},

selfdrive/hardware/base.py

@@ -2,7 +2,11 @@ from abc import abstractmethod, ABC
 from collections import namedtuple
 from typing import Dict
 
+from cereal import log
+
 ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient', 'pmic'])
+NetworkType = log.DeviceState.NetworkType
+
 
 class HardwareBase(ABC):
   @staticmethod
@@ -67,6 +71,9 @@ class HardwareBase(ABC):
   def get_network_strength(self, network_type):
     pass
 
+  def get_network_metered(self, network_type) -> bool:
+    return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
+
   @staticmethod
   def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
     pass

selfdrive/hardware/tici/hardware.py

@@ -13,6 +13,7 @@ from selfdrive.hardware.tici.amplifier import Amplifier
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
+NM_DEV = NM + '.Device'
 NM_DEV_WL = NM + '.Device.Wireless'
 NM_AP = NM + '.AccessPoint'
 DBUS_PROPS = 'org.freedesktop.DBus.Properties'
@@ -37,6 +38,13 @@ class MM_MODEM_STATE(IntEnum):
        CONNECTING    = 10
        CONNECTED     = 11
 
+class NMMetered(IntEnum):
+  NM_METERED_UNKNOWN = 0
+  NM_METERED_YES = 1
+  NM_METERED_NO = 2
+  NM_METERED_GUESS_YES = 3
+  NM_METERED_GUESS_NO = 4
+
 TIMEOUT = 0.1
 
 NetworkType = log.DeviceState.NetworkType
@@ -91,11 +99,10 @@ class Tici(HardwareBase):
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
       primary_connection = self.bus.get_object(NM, primary_connection)
       primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_id = primary_connection.Get(NM_CON_ACT, 'Id', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
 
       if primary_type == '802-3-ethernet':
         return NetworkType.ethernet
-      elif primary_type == '802-11-wireless' and primary_id != 'Hotspot':
+      elif primary_type == '802-11-wireless':
         return NetworkType.wifi
       else:
         active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
@@ -218,6 +225,27 @@ class Tici(HardwareBase):
 
     return network_strength
 
+  def get_network_metered(self, network_type) -> bool:
+    try:
+      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      primary_connection = self.bus.get_object(NM, primary_connection)
+      primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+      for dev in primary_devices:
+        dev_obj = self.bus.get_object(NM, str(dev))
+        metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+        if network_type == NetworkType.wifi:
+          if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
+            return True
+        elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
+          if metered_prop == NMMetered.NM_METERED_NO:
+            return False
+    except Exception:
+      pass
+
+    return super().get_network_metered(network_type)
+
   @staticmethod
   def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
     upload_speed_kbps = int(upload_speed_kbps)  # Ensure integer value

selfdrive/loggerd/uploader.py

@@ -165,14 +165,14 @@ class Uploader():
 
     return self.last_resp
 
-  def upload(self, key, fn, network_type):
+  def upload(self, key, fn, network_type, metered):
     try:
       sz = os.path.getsize(fn)
     except OSError:
       cloudlog.exception("upload: getsize failed")
       return False
 
-    cloudlog.event("upload_start", key=key, fn=fn, sz=sz, network_type=network_type)
+    cloudlog.event("upload_start", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
 
     if sz == 0:
       try:
@@ -195,10 +195,10 @@ class Uploader():
         self.last_time = time.monotonic() - start_time
         self.last_speed = (sz / 1e6) / self.last_time
         success = True
-        cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type)
+        cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
       else:
         success = False
-        cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type)
+        cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
 
     return success
 
@@ -247,7 +247,7 @@ def uploader_fn(exit_event):
 
     key, fn = d
 
-    success = uploader.upload(key, fn, sm['deviceState'].networkType.raw)
+    success = uploader.upload(key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success:
       backoff = 0.1
     elif allow_sleep:
@@ -257,6 +257,7 @@ def uploader_fn(exit_event):
 
     pm.send("uploaderState", uploader.get_msg())
 
+
 def main():
   uploader_fn(threading.Event())
 

selfdrive/monitoring/driver_monitor.py

@@ -18,8 +18,9 @@ EventName = car.CarEvent.EventName
 class DRIVER_MONITOR_SETTINGS():
   def __init__(self, TICI=TICI, DT_DMON=DT_DMON):
     self._DT_DMON = DT_DMON
-    self._AWARENESS_TIME = 35. # passive wheeltouch total timeout
+    # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 12.
+    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
+    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
     self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
     self._DISTRACTED_TIME = 11. # active monitoring total timeout
     self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.

selfdrive/thermald/thermald.py

@@ -34,7 +34,7 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
-HardwareState = namedtuple("HardwareState", ['network_type', 'network_strength', 'network_info', 'nvme_temps', 'modem_temps'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_metered', 'network_strength', 'network_info', 'nvme_temps', 'modem_temps'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
@@ -95,6 +95,7 @@ def hw_state_thread(end_event, hw_queue):
 
         hw_state = HardwareState(
           network_type=network_type,
+          network_metered=HARDWARE.get_network_metered(network_type),
           network_strength=HARDWARE.get_network_strength(network_type),
           network_info=HARDWARE.get_network_info(),
           nvme_temps=HARDWARE.get_nvme_temperatures(),
@@ -144,6 +145,7 @@ def thermald_thread(end_event, hw_queue):
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
+    network_metered=False,
     network_strength=NetworkStrength.unknown,
     network_info=None,
     nvme_temps=[],
@@ -205,6 +207,7 @@ def thermald_thread(end_event, hw_queue):
     msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
 
     msg.deviceState.networkType = last_hw_state.network_type
+    msg.deviceState.networkMetered = last_hw_state.network_metered
     msg.deviceState.networkStrength = last_hw_state.network_strength
     if last_hw_state.network_info is not None:
       msg.deviceState.networkInfo = last_hw_state.network_info

selfdrive/ui/qt/onroad.cc

@@ -314,8 +314,8 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIScene &scene) {
   }
   // paint path
   QLinearGradient bg(0, height(), 0, height() / 4);
-  bg.setColorAt(0, scene.end_to_end ? redColor() : QColor(255, 255, 255));
+  bg.setColorAt(0, scene.end_to_end ? redColor() : whiteColor());
-  bg.setColorAt(1, scene.end_to_end ? redColor(0) : QColor(255, 255, 255, 0));
+  bg.setColorAt(1, scene.end_to_end ? redColor(0) : whiteColor(0));
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
 }

selfdrive/ui/qt/onroad.h

@@ -76,6 +76,7 @@ protected:
   void drawLaneLines(QPainter &painter, const UIScene &scene);
   void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
+  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
   double prev_draw_t = 0;
 };