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

.devcontainer/Dockerfile

@@ -1,8 +1,13 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
 RUN pip install ipython jupyter jupyterlab
 
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
 USER batman
 
 RUN cd $HOME && \

.devcontainer/container_post_create.sh

@@ -3,17 +3,34 @@
 TARGET_USER=batman
 source .devcontainer/.host/.env
 
-# override display flag for mac
+# override display flag for mac hosts
 if [[ $HOST_OS == darwin ]]; then
   echo "Setting up DISPLAY override for macOS..."
   cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}')
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
   export DISPLAY=host.docker.internal:\$DISPLAY_NUM
 fi
 EOF
 fi
 
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
 # These lines are temporary, to remain backwards compatible with old devcontainers
 # that were running as root and therefore had their caches written as root
 sudo chown -R $TARGET_USER: /tmp/scons_cache

.devcontainer/container_post_start.sh

@@ -1,7 +1,15 @@
 #!/usr/bin/env bash
 
+source .devcontainer/.host/.env
+
 # setup safe directories for submodules
 SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
 for DIR in $SUBMODULE_DIRS; do 
   git config --global --add safe.directory "$PWD/$DIR"
 done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi

.devcontainer/host_setup.sh

@@ -2,6 +2,7 @@
 
 # pull base image
 if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
   docker pull ghcr.io/commaai/openpilot-base:latest
 fi
 
@@ -27,3 +28,20 @@ fi
 HOST_INFO_FILE=".devcontainer/.host/.env"
 SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
 echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi

selfdrive/car/toyota/values.py

@@ -1653,6 +1653,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x700, None): [
       b'\x01896634A88100\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',

tools/sim/bridge/common.py

@@ -109,6 +109,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       throttle_op = steer_op = brake_op = 0.0
 
       self.simulator_state.cruise_button = 0
+      self.simulator_state.left_blinker = False
+      self.simulator_state.right_blinker = False
 
       throttle_manual = steer_manual = brake_manual = 0.
 
@@ -131,6 +133,11 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
             self.simulator_state.cruise_button = CruiseButtons.CANCEL
           elif m[1] == "main":
             self.simulator_state.cruise_button = CruiseButtons.MAIN
+        elif m[0] == "blinker":
+          if m[1] == "left":
+            self.simulator_state.left_blinker = True
+          elif m[1] == "right":
+            self.simulator_state.right_blinker = True
         elif m[0] == "ignition":
           self.simulator_state.ignition = not self.simulator_state.ignition
         elif m[0] == "reset":
@@ -140,6 +147,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
 
       self.simulator_state.user_brake = brake_manual
       self.simulator_state.user_gas = throttle_manual
+      self.simulator_state.user_torque = steer_manual * 10000
 
       steer_manual = steer_manual * -40
 

tools/sim/lib/common.py

@@ -49,9 +49,13 @@ class SimulatorState:
 
     self.user_gas: float = 0
     self.user_brake: float = 0
+    self.user_torque: float = 0
 
     self.cruise_button = 0
 
+    self.left_blinker = False
+    self.right_blinker = False
+
   @property
   def speed(self):
     return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)

tools/sim/lib/keyboard_ctrl.py

@@ -67,6 +67,10 @@ def keyboard_poll_thread(q: 'Queue[str]'):
       q.put("brake_%f" % 1.0)
     elif c == 'd':
       q.put("steer_%f" % -0.15)
+    elif c == 'z':
+      q.put("blinker_left")
+    elif c == 'x':
+      q.put("blinker_right")
     elif c == 'i':
       q.put("ignition")
     elif c == 'r':

tools/sim/lib/simulated_car.py

@@ -59,7 +59,7 @@ class SimulatedCar:
     msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
     msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
     msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
-    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
     msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle}))
     msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0}))
@@ -68,7 +68,12 @@ class SimulatedCar:
     msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
-    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
+    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
+                                    {
+                                      "MAIN_ON": 1,
+                                      "LEFT_BLINKER": simulator_state.left_blinker,
+                                      "RIGHT_BLINKER": simulator_state.right_blinker
+                                    }))
     msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0,
                                     {
                                     "ACC_STATUS": int(simulator_state.is_engaged),