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

Jenkinsfile

@@ -145,10 +145,10 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-                stage('Devel Tests') {
+                stage('C2: build') {
                   steps {
                     phone_steps("eon-build", [
-                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
                       ["build openpilot", "cd selfdrive/manager && ./build.py"],
                       ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -157,7 +157,7 @@ pipeline {
                   }
                 }
 
-                stage('Replay Tests') {
+                stage('C2: replay') {
                   steps {
                     phone_steps("eon2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -166,7 +166,7 @@ pipeline {
                   }
                 }
 
-                stage('HW + Unit Tests') {
+                stage('C2: HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -201,19 +201,22 @@ pipeline {
                 }
                 */
 
-                stage('tici Build') {
+                stage('C3: build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
                   steps {
                     phone_steps("tici", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
                     ])
                   }
                 }
 
-                stage('HW + Unit Tests (tici)') {
+                stage('C3: HW + Unit Tests') {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -224,7 +227,7 @@ pipeline {
                   }
                 }
 
-                stage('EON camerad') {
+                stage('C2: camerad') {
                   steps {
                     phone_steps("eon-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -234,7 +237,7 @@ pipeline {
                   }
                 }
 
-                stage('tici camerad') {
+                stage('C3: camerad') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],

RELEASES.md

@@ -1,16 +1,16 @@
-Version 0.8.12 (202X-XX-XX)
+Version 0.8.11 (2021-11-29)
-========================
- * Volkswagen T-Roc 2021 support thanks to jyoung8607!
-
-Version 0.8.11 (2021-11-22)
 ========================
+ * Support for CAN FD on the red panda
  * Support for an external panda on the comma three
  * Navigation: Show more detailed instructions when approaching maneuver
  * Fixed occasional steering faults on GM cars thanks to jyoung8607!
  * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
  * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Genesis G70 2020 support thanks to tecandrew!
+ * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
  * Mazda CX-9 2021 support thanks to Jacar!
  * Volkswagen Polo 2020 support thanks to jyoung8607!
+ * Volkswagen T-Roc 2021 support thanks to jyoung8607!
 
 Version 0.8.10 (2021-11-01)
 ========================

cereal

@@ -1 +1 @@
-Subproject commit 5edffa0f494abfa2e907c497cda0f64223a421e7
+Subproject commit 032aca6ca38a342e26fb9cc986b7f72b91cd9b55

docs/CARS.md

@@ -93,6 +93,7 @@
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-21       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G70 2020                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
@@ -111,6 +112,7 @@
 | Hyundai   | Kona Hybrid 2020              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2021-22              | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe Hybrid 2022          | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata Hybrid 2021-22         | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Veloster 2019-20              | SCC + LKAS        | Stock            | 5mph               | 0mph         |

scripts/count_cars.py

@@ -1,10 +1,15 @@
 #!/usr/bin/env python3
 import os
+from collections import Counter
+from pprint import pprint
+
 from common.basedir import BASEDIR
 
 with open(os.path.join(BASEDIR, "docs/CARS.md")) as f:
   lines = f.readlines()
   cars = [l for l in lines if l.strip().startswith("|") and l.strip().endswith("|") and
                               "Make" not in l and any(c.isalpha() for c in l)]
-  print(''.join(cars))
+
-  print(len(cars))
+  make_count = Counter([l.split('|')[1].split('|')[0].strip() for l in cars])
+  print("\n", "*"*20, len(cars), "total", "*"*20, "\n")
+  pprint(make_count)

selfdrive/boardd/boardd.cc

@@ -185,7 +185,7 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) {
 }
 
 void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
-  LOGD("start send thread");
+  set_thread_name("boardd_can_send");
 
   AlignedBuffer aligned_buf;
   Context * context = Context::create();
@@ -229,7 +229,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 }
 
 void can_recv_thread(std::vector<Panda *> pandas) {
-  LOGD("start recv thread");
+  set_thread_name("boardd_can_recv");
 
   // can = 8006
   PubMaster pm({"can"});
@@ -334,7 +334,6 @@ bool send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool s
     }
   #endif
 
-    // TODO: do we still need this?
     if (!panda->comms_healthy) {
       evt.setValid(false);
     }
@@ -407,6 +406,8 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
 }
 
 void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
+  set_thread_name("boardd_panda_state");
+
   Params params;
   Panda *peripheral_panda = pandas[0];
   bool ignition_last = false;
@@ -424,6 +425,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
     send_peripheral_state(pm, peripheral_panda);
     ignition = send_panda_states(pm, pandas, spoofing_started);
 
+    // TODO: make this check fast, currently takes 16ms
     // check if we have new pandas and are offroad
     if (!ignition && (pandas.size() != Panda::list().size())) {
       LOGW("Reconnecting to changed amount of pandas!");
@@ -454,7 +456,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 
 
 void peripheral_control_thread(Panda *panda) {
-  LOGD("start peripheral control thread");
+  set_thread_name("boardd_peripheral_control");
+
   SubMaster sm({"deviceState", "driverCameraState"});
 
   uint64_t last_front_frame_t = 0;
@@ -552,6 +555,8 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
 }
 
 void pigeon_thread(Panda *panda) {
+  set_thread_name("boardd_pigeon");
+
   PubMaster pm({"ubloxRaw"});
   bool ignition_last = false;
 

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -4,33 +4,18 @@ import random
 import time
 import unittest
 from collections import defaultdict
-from functools import wraps
 
 import cereal.messaging as messaging
 from cereal import car
 from common.params import Params
 from common.spinner import Spinner
 from common.timeout import Timeout
-from panda import Panda
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
 from selfdrive.hardware import TICI
 from selfdrive.test.helpers import phone_only, with_processes
 
 
-def reset_pandas(f):
-  @wraps(f)
-  def wrapper(*args, **kwargs):
-    for serial in Panda.list():
-      p = Panda(serial)
-      for i in [0, 1, 2, 3, 0xFFFF]:
-        p.can_clear(i)
-      p.reset()
-      p.close()
-    f(*args, **kwargs)
-  return wrapper
-
-
 class TestBoardd(unittest.TestCase):
 
   @classmethod
@@ -44,7 +29,6 @@ class TestBoardd(unittest.TestCase):
     cls.spinner.close()
 
   @phone_only
-  @reset_pandas
   @with_processes(['pandad'])
   def test_loopback(self):
     # wait for boardd to init
@@ -75,7 +59,7 @@ class TestBoardd(unittest.TestCase):
     can = messaging.sub_sock('can', conflate=False, timeout=100)
     time.sleep(0.2)
 
-    n = 1000
+    n = 200
     for i in range(n):
       self.spinner.update(f"boardd loopback {i}/{n}")
 

selfdrive/car/__init__.py

@@ -99,7 +99,7 @@ def crc8_pedal(data):
   return crc
 
 
-def create_gas_command(packer, gas_amount, idx):
+def create_gas_interceptor_command(packer, gas_amount, idx):
   # Common gas pedal msg generator
   enable = gas_amount > 0.001
 

selfdrive/car/gm/interface.py

@@ -16,18 +16,24 @@ class CarInterface(CarInterfaceBase):
     params = CarControllerParams()
     return params.ACCEL_MIN, params.ACCEL_MAX
 
-  # Volt determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
+  # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
   @staticmethod
   def get_steer_feedforward_volt(desired_angle, v_ego):
-    # maps [-inf,inf] to [-1,1]: sigmoid(34.4 deg) = sigmoid(1) = 0.5
-    # 1 / 0.02904609 = 34.4 deg ~= 36 deg ~= 1/10 circle? Arbitrary?
     desired_angle *= 0.02904609
     sigmoid = desired_angle / (1 + fabs(desired_angle))
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
+  @staticmethod
+  def get_steer_feedforward_acadia(desired_angle, v_ego):
+    desired_angle *= 0.09760208
+    sigmoid = desired_angle / (1 + fabs(desired_angle))
+    return 0.04689655 * sigmoid * (v_ego + 10.028217)
+
   def get_steer_feedforward_function(self):
-    if self.CP.carFingerprint in [CAR.VOLT]:
+    if self.CP.carFingerprint == CAR.VOLT:
       return self.get_steer_feedforward_volt
+    elif self.CP.carFingerprint == CAR.ACADIA:
+      return self.get_steer_feedforward_acadia
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
@@ -94,6 +100,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4
+      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
 
     elif candidate == CAR.BUICK_REGAL:
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS

selfdrive/car/honda/carcontroller.py

@@ -3,7 +3,7 @@ from cereal import car
 from common.realtime import DT_CTRL
 from selfdrive.controls.lib.drive_helpers import rate_limit
 from common.numpy_fast import clip, interp
-from selfdrive.car import create_gas_command
+from selfdrive.car import create_gas_interceptor_command
 from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from opendbc.can.packer import CANPacker
@@ -236,7 +236,7 @@ class CarController():
               apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
             else:
               apply_gas = 0.0
-            can_sends.append(create_gas_command(self.packer, apply_gas, idx))
+            can_sends.append(create_gas_interceptor_command(self.packer, apply_gas, idx))
 
     hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
                   hud_lanes, fcw_display, acc_alert, steer_required)

selfdrive/car/honda/interface.py

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "honda"
 
     if candidate in HONDA_BOSCH:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBoschHarness)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarOffCan = True
 
       # Disable the radar and let openpilot control longitudinal

selfdrive/car/hyundai/carcontroller.py

@@ -104,7 +104,8 @@ class CarController():
     # 20 Hz LFA MFA message
     if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
                                                    CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
-                                                   CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]:
+                                                   CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
+                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020]:
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
     # 5 Hz ACC options

selfdrive/car/hyundai/hyundaican.py

@@ -17,8 +17,9 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
   if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
-                         CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
+                         CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]:
+                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
+                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from common.params import Params
 from selfdrive.config import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -26,7 +26,7 @@ class CarInterface(CarInterfaceBase):
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE]
+    ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and (candidate not in LEGACY_SAFETY_MODE_CAR)
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.longitudinalActuatorDelayUpperBound = 1.0 # s
 
-    if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022]:
+    if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.766
@@ -232,6 +232,13 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1640.0 + STD_CARGO_KG
       ret.wheelbase = 2.84
       ret.steerRatio = 13.56
+    elif candidate == CAR.GENESIS_G70_2020:
+      ret.lateralTuning.pid.kf = 0.
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]]
+      ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.83
+      ret.steerRatio = 12.9
     elif candidate == CAR.GENESIS_G80:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
@@ -247,10 +254,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
 
     # these cars require a special panda safety mode due to missing counters and checksums in the messages
-    if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
+    if candidate in LEGACY_SAFETY_MODE_CAR:
-                     CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER,
-                     CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022]:
-      assert not ret.openpilotLongitudinalControl  # Legacy safety mode doesn't support longitudinal
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
 
     # set appropriate safety param for gas signal

selfdrive/car/hyundai/values.py

@@ -10,9 +10,10 @@ class CarControllerParams:
   ACCEL_MAX = 2.0 # m/s
 
   def __init__(self, CP):
-    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G70_2020,
                              CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
-                             CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022]:
+                             CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
+                             CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
       self.STEER_MAX = 384
     else:
       self.STEER_MAX = 255
@@ -39,6 +40,7 @@ class CAR:
   KONA_HEV = "HYUNDAI KONA HYBRID 2020"
   SANTA_FE = "HYUNDAI SANTA FE 2019"
   SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
+  SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
   SONATA = "HYUNDAI SONATA 2020"
   SONATA_LF = "HYUNDAI SONATA 2019"
   PALISADE = "HYUNDAI PALISADE 2020"
@@ -60,6 +62,7 @@ class CAR:
 
   # Genesis
   GENESIS_G70 = "GENESIS G70 2018"
+  GENESIS_G70_2020 = "GENESIS G70 2020"
   GENESIS_G80 = "GENESIS G80 2017"
   GENESIS_G90 = "GENESIS G90 2017"
 
@@ -469,6 +472,23 @@ FW_VERSIONS = {
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
     ],
   },
+  CAR.SANTA_FE_HEV_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MTC1',
+    ],
+  },
   CAR.KIA_STINGER: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
@@ -611,6 +631,25 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
     (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
   },
+  CAR.GENESIS_G70_2020: {
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9220 4I2VL107',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00'
+      b'\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.KONA: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ', ],
     (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
@@ -912,7 +951,7 @@ FW_VERSIONS = {
 }
 
 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
@@ -920,15 +959,18 @@ FEATURES = {
   # which message has the gear
   "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
   "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022]),
+  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]),
+  "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
 }
 
-HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022])  # these cars use a different gas signal
+HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022])  # these cars use a different gas signal
 EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
 
+# these cars require a special panda safety mode due to missing counters and checksums in the messages
+LEGACY_SAFETY_MODE_CAR = set([CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022])
+
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
@@ -937,6 +979,7 @@ DBC = {
   CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
+  CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
   CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
@@ -960,6 +1003,7 @@ DBC = {
   CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
   CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
+  CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
   CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),

selfdrive/car/toyota/carcontroller.py

@@ -1,6 +1,6 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command, make_can_msg
+from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
@@ -123,7 +123,7 @@ class CarController():
     if frame % 2 == 0 and CS.CP.enableGasInterceptor:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
       # This prevents unexpected pedal range rescaling
-      can_sends.append(create_gas_command(self.packer, interceptor_gas_cmd, frame // 2))
+      can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, frame // 2))
 
     # ui mesg is at 100Hz but we send asap if:
     # - there is something to display

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.8.12"
+#define COMMA_VERSION "0.8.11"

selfdrive/debug/hyundai_enable_radar_points.py

@@ -42,7 +42,13 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.03 99110-S2000\x19\x050\x13'    ": {
     "default_config": b"\x00\x00\x00\x01\x00\x00",
     "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
-  }
+  },
+
+  # 2020 GENESIS G70
+  b'IK__ SCC F-CUP      1.00 1.02 96400-G9100\x18\x07\x06\x17\x12    ': {
+    "default config": b"\x00\x00\x00\x01\x00\x00",
+    "tracks_enabled": b"\x00\x00\x00\x01\x00\x01",
+  },
 }
 
 if __name__ == "__main__":

selfdrive/locationd/models/live_kf.py

@@ -57,8 +57,8 @@ class LiveKalman():
                         0, 0, 0])
 
   # state covariance
-  initial_P_diag = np.array([10**2, 10**2, 10**2,
+  initial_P_diag = np.array([1e3**2, 1e3**2, 1e3**2,
-                             0.01**2, 0.01**2, 0.01**2,
+                             0.5**2, 0.5**2, 0.5**2,
                              10**2, 10**2, 10**2,
                              1**2, 1**2, 1**2,
                              1**2, 1**2, 1**2,

selfdrive/loggerd/tests/test_encoder.py

@@ -102,8 +102,7 @@ class TestEncoder(unittest.TestCase):
 
         # TODO: this ffprobe call is really slow
         # check frame count
-        cmd = f"ffprobe -v error -count_frames -select_streams v:0 -show_entries stream=nb_read_frames \
+        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
-                -of default=nokey=1:noprint_wrappers=1 {file_path}"
         if TICI:
           cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
 

selfdrive/loggerd/tests/test_loggerd.py

@@ -117,15 +117,15 @@ class TestLoggerd(unittest.TestCase):
       expected_files.add("ecamera.hevc")
 
     # give camerad time to start
-    time.sleep(5)
+    time.sleep(3)
 
     for _ in range(5):
-      num_segs = random.randint(1, 10)
+      num_segs = random.randint(2, 5)
-      length = random.randint(2, 5)
+      length = random.randint(1, 3)
       os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
 
       managed_processes["loggerd"].start()
-      time.sleep((num_segs + 1) * length)
+      time.sleep(num_segs*length + 1)
       managed_processes["loggerd"].stop()
 
       route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
@@ -177,7 +177,9 @@ class TestLoggerd(unittest.TestCase):
     # sleep enough for the first poll to time out
     # TOOD: fix loggerd bug dropping the msgs from the first poll
     managed_processes["loggerd"].start()
-    time.sleep(2)
+    for s in services:
+      while not pm.all_readers_updated(s):
+        time.sleep(0.1)
 
     sent_msgs = defaultdict(list)
     for _ in range(random.randint(2, 10) * 100):
@@ -220,9 +222,11 @@ class TestLoggerd(unittest.TestCase):
     pm = messaging.PubMaster(services)
 
     # sleep enough for the first poll to time out
-    # TOOD: fix loggerd bug dropping the msgs from the first poll
+    # TODO: fix loggerd bug dropping the msgs from the first poll
     managed_processes["loggerd"].start()
-    time.sleep(2)
+    for s in services:
+      while not pm.all_readers_updated(s):
+        time.sleep(0.1)
 
     sent_msgs = defaultdict(list)
     for _ in range(random.randint(2, 10) * 100):
@@ -233,9 +237,8 @@ class TestLoggerd(unittest.TestCase):
           m = messaging.new_message(s, random.randint(2, 10))
         pm.send(s, m)
         sent_msgs[s].append(m)
-      time.sleep(0.01)
 
-    time.sleep(1)
+    time.sleep(2)
     managed_processes["loggerd"].stop()
 
     lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog.bz2")))

selfdrive/manager/test/test_manager.py

@@ -5,7 +5,7 @@ import time
 import unittest
 
 import selfdrive.manager.manager as manager
-from selfdrive.hardware import EON
+from selfdrive.hardware import EON, TICI, HARDWARE
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
 
@@ -37,8 +37,8 @@ class TestManager(unittest.TestCase):
 
   # ensure all processes exit cleanly
   def test_clean_exit(self):
+    HARDWARE.set_power_save(False)
     manager.manager_prepare()
-
     for p in ALL_PROCESSES:
       managed_processes[p].start()
 
@@ -49,7 +49,7 @@ class TestManager(unittest.TestCase):
       self.assertTrue(state.running, f"{p} not running")
 
       exit_code = managed_processes[p].stop(retry=False)
-      if (p == 'ui') or (EON and p == 'logcatd'):
+      if (TICI and p in ['ui', 'navd']) or (EON and p == 'logcatd'):
         # TODO: make Qt UI exit gracefully
         continue
 

selfdrive/modeld/models/dmonitoring.cc

@@ -13,11 +13,30 @@
 #define MODEL_HEIGHT 640
 #define FULL_W 852 // should get these numbers from camerad
 
+template <class T>
+static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
+  if (buf.size() < size) buf.resize(size);
+  return buf.data();
+}
+
+static inline void init_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
+  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
+  uint8_t *u = y + width * height;
+  uint8_t *v = u + (width / 2) * (height / 2);
+
+  // needed on comma two to make the padded border black
+  // equivalent to RGB(0,0,0) in YUV space
+  memset(y, 16, width * height);
+  memset(u, 128, (width / 2) * (height / 2));
+  memset(v, 128, (width / 2) * (height / 2));
+}
+
 void dmonitoring_init(DMonitoringModelState* s) {
   s->is_rhd = Params().getBool("IsRHD");
   for (int x = 0; x < std::size(s->tensor); ++x) {
     s->tensor[x] = (x - 128.f) * 0.0078125f;
   }
+  init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT);
 
 #ifdef USE_ONNX_MODEL
   s->m = new ONNXModel("../../models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
@@ -26,12 +45,6 @@ void dmonitoring_init(DMonitoringModelState* s) {
 #endif
 }
 
-template <class T>
-static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
-  if (buf.size() < size) buf.resize(size);
-  return buf.data();
-}
-
 static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
   uint8_t *y = get_buffer(buf, width * height * 3 / 2);
   uint8_t *u = y + width * height;

selfdrive/modeld/runners/runmodel.h

@@ -1,6 +1,7 @@
 #pragma once
 class RunModel {
 public:
+  virtual ~RunModel() {}
   virtual void addRecurrent(float *state, int state_size) {}
   virtual void addDesire(float *state, int state_size) {}
   virtual void addTrafficConvention(float *state, int state_size) {}

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-848bc88a069b182d6f50698dd785ba360915e8dc
+567866c06976f8f95fa7d1670b51d8723e663ea1

selfdrive/test/test_models.py

@@ -7,10 +7,10 @@ from collections import defaultdict, Counter
 from parameterized import parameterized_class
 
 from cereal import log, car
+from common.params import Params
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
-from selfdrive.car.honda.values import HONDA_BOSCH
+from selfdrive.car.honda.values import HONDA_BOSCH, CAR as HONDA
-from selfdrive.car.honda.values import CAR as HONDA
 from selfdrive.car.chrysler.values import CAR as CHRYSLER
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
 from selfdrive.test.test_routes import routes, non_tested_cars
@@ -60,6 +60,9 @@ class TestCarModel(unittest.TestCase):
     if lr is None:
       raise Exception("Route not found. Is it uploaded?")
 
+    params = Params()
+    params.clear_all()
+
     can_msgs = []
     fingerprint = {i: dict() for i in range(3)}
     for msg in lr:
@@ -68,15 +71,26 @@ class TestCarModel(unittest.TestCase):
           if m.src < 128:
             fingerprint[m.src][m.address] = len(m.dat)
         can_msgs.append(msg)
+      elif msg.which() == "carParams":
+        if msg.carParams.openpilotLongitudinalControl:
+          params.put_bool("DisableRadar", True)
+
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    CarInterface, CarController, CarState = interfaces[cls.car_model]
+    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
 
-    cls.CP = CarInterface.get_params(cls.car_model, fingerprint, [])
+    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [])
     assert cls.CP
 
-    cls.CI = CarInterface(cls.CP, CarController, CarState)
+  def setUp(self):
-    assert cls.CI
+    self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+    assert self.CI
+
+    # TODO: check safetyModel is in release panda build
+    self.safety = libpandasafety_py.libpandasafety
+    set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
+    self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}")
+    self.safety.init_tests()
 
   def test_car_params(self):
     if self.CP.dashcamOnly:
@@ -95,11 +109,6 @@ class TestCarModel(unittest.TestCase):
       elif tuning == 'indi':
         self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
 
-    # TODO: check safetyModel is in release panda build
-    safety = libpandasafety_py.libpandasafety
-    set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
-    self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}")
-
   def test_car_interface(self):
     # TODO: also check for checkusm and counter violations from can parser
     can_invalid_cnt = 0
@@ -132,30 +141,25 @@ class TestCarModel(unittest.TestCase):
     if self.CP.dashcamOnly:
       self.skipTest("no need to check panda safety for dashcamOnly")
 
-    safety = libpandasafety_py.libpandasafety
-    set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
-    self.assertEqual(0, set_status)
-
     failed_addrs = Counter()
     for can in self.can_msgs:
       for msg in can.can:
         if msg.src >= 128:
           continue
         to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
-        if not safety.safety_rx_hook(to_send):
+        if self.safety.safety_rx_hook(to_send) != 1:
           failed_addrs[hex(msg.address)] += 1
     self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
 
   def test_panda_safety_carstate(self):
+    """
+      Assert that panda safety matches openpilot's carState
+    """
     if self.CP.dashcamOnly:
       self.skipTest("no need to check panda safety for dashcamOnly")
     if self.car_model in ignore_carstate_check:
       self.skipTest("see comments in test_models.py")
 
-    safety = libpandasafety_py.libpandasafety
-    set_status = safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
-    self.assertEqual(0, set_status)
-
     checks = defaultdict(lambda: 0)
     CC = car.CarControl.new_message()
     for can in self.can_msgs:
@@ -163,14 +167,20 @@ class TestCarModel(unittest.TestCase):
         if msg.src >= 128:
           continue
         to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
-        safety.safety_rx_hook(to_send)
+        ret = self.safety.safety_rx_hook(to_send)
+        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
       CS = self.CI.update(CC, (can.as_builder().to_bytes(),))
 
       # TODO: check steering state
       # check that openpilot and panda safety agree on the car's state
-      checks['gasPressed'] += CS.gasPressed != safety.get_gas_pressed_prev()
+      checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      checks['brakePressed'] += CS.brakePressed != safety.get_brake_pressed_prev()
+      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
-      checks['controlsAllowed'] += not CS.cruiseState.enabled and safety.get_controls_allowed()
+      if self.CP.pcmCruise:
+        checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
+
+      # TODO: extend this to all cars
+      if self.CP.carName == "honda":
+        checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
 
     # TODO: reduce tolerance to 0
     failed_checks = {k: v for k, v in checks.items() if v > 25}

selfdrive/test/test_routes.py

@@ -71,6 +71,7 @@ routes = [
   TestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
   TestRoute("38bfd238edecbcd7|2018-08-29--22-02-15", HYUNDAI.SANTA_FE),
   TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
+  TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
   TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
   TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
@@ -97,6 +98,7 @@ routes = [
   TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
   TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
   TestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
+  TestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
 
   TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
   TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),

selfdrive/ui/qt/offroad/settings.cc

@@ -25,69 +25,88 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 
-TogglesPanel::TogglesPanel(QWidget *parent) : ListWidget(parent) {
+TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
-  auto params = Params();
+  // param, title, desc, icon
-  addItem(new ParamControl("OpenpilotEnabledToggle",
+  std::vector<std::tuple<QString, QString, QString, QString>> toggles{
-                                  "Enable openpilot",
+    {
-                                  "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
+      "OpenpilotEnabledToggle",
-                                  "../assets/offroad/icon_openpilot.png",
+      "Enable openpilot",
-                                  this));
+      "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
-  addItem(new ParamControl("IsLdwEnabled",
+      "../assets/offroad/icon_openpilot.png",
-                                  "Enable Lane Departure Warnings",
+    },
-                                  "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).",
+    {
-                                  "../assets/offroad/icon_warning.png",
+      "IsLdwEnabled",
-                                  this));
+      "Enable Lane Departure Warnings",
-  addItem(new ParamControl("IsRHD",
+      "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).",
-                                  "Enable Right-Hand Drive",
+      "../assets/offroad/icon_warning.png",
-                                  "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
+    },
-                                  "../assets/offroad/icon_openpilot_mirrored.png",
+    {
-                                  this));
+      "IsRHD",
-  addItem(new ParamControl("IsMetric",
+      "Enable Right-Hand Drive",
-                                  "Use Metric System",
+      "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
-                                  "Display speed in km/h instead of mph.",
+      "../assets/offroad/icon_openpilot_mirrored.png",
-                                  "../assets/offroad/icon_metric.png",
+    },
-                                  this));
+    {
-  addItem(new ParamControl("CommunityFeaturesToggle",
+      "IsMetric",
-                                  "Enable Community Features",
+      "Use Metric System",
-                                  "Use features, such as community supported hardware, from the open source community that are not maintained or supported by comma.ai and have not been confirmed to meet the standard safety model. Be extra cautious when using these features",
+      "Display speed in km/h instead of mph.",
-                                  "../assets/offroad/icon_shell.png",
+      "../assets/offroad/icon_metric.png",
-                                  this));
+    },
-
+    {
-  addItem(new ParamControl("UploadRaw",
+      "CommunityFeaturesToggle",
-                                  "Upload Raw Logs",
+      "Enable Community Features",
-                                  "Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.",
+      "Use features, such as community supported hardware, from the open source community that are not maintained or supported by comma.ai and have not been confirmed to meet the standard safety model. Be extra cautious when using these features",
-                                  "../assets/offroad/icon_network.png",
+      "../assets/offroad/icon_shell.png",
-                                  this));
+    },
-
+    {
-  ParamControl *record_toggle = new ParamControl("RecordFront",
+      "UploadRaw",
-                                                 "Record and Upload Driver Camera",
+      "Upload Raw Logs",
-                                                 "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+      "Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.",
-                                                 "../assets/offroad/icon_monitoring.png",
+      "../assets/offroad/icon_network.png",
-                                                 this);
+    },
-  addItem(record_toggle);
+    {
-  addItem(new ParamControl("EndToEndToggle",
+      "RecordFront",
-                                  "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
+      "Record and Upload Driver Camera",
-                                  "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
+      "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
-                                  "../assets/offroad/icon_road.png",
+      "../assets/offroad/icon_monitoring.png",
-                                  this));
+    },
+    {
+      "EndToEndToggle",
+      "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
+      "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
+      "../assets/offroad/icon_road.png",
+    },
 #ifdef ENABLE_MAPS
-  addItem(new ParamControl("NavSettingTime24h",
+    {
-                                  "Show ETA in 24h format",
+      "NavSettingTime24h",
-                                  "Use 24h format instead of am/pm",
+      "Show ETA in 24h format",
-                                  "../assets/offroad/icon_metric.png",
+      "Use 24h format instead of am/pm",
-                                  this));
+      "../assets/offroad/icon_metric.png",
+    },
 #endif
-  if (params.getBool("DisableRadar_Allow")) {
-    addItem(new ParamControl("DisableRadar",
-                             "openpilot Longitudinal Control",
-                             "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!",
-                             "../assets/offroad/icon_speed_limit.png",
-                             this));
 
+  };
+
+  Params params;
+
+  if (params.getBool("DisableRadar_Allow")) {
+    toggles.push_back({
+      "DisableRadar",
+      "openpilot Longitudinal Control",
+      "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!",
+      "../assets/offroad/icon_speed_limit.png",
+    });
   }
 
-  bool record_lock = params.getBool("RecordFrontLock");
+  for (auto &[param, title, desc, icon] : toggles) {
-  record_toggle->setEnabled(!record_lock);
+    auto toggle = new ParamControl(param, title, desc, icon, this);
+    bool locked = params.getBool((param + "Lock").toStdString());
+    toggle->setEnabled(!locked);
+    if (!locked) {
+      connect(parent, &SettingsWindow::offroadTransition, toggle, &ParamControl::setEnabled);
+    }
+    addItem(toggle);
+  }
 }
 
 DevicePanel::DevicePanel(QWidget* parent) : ListWidget(parent) {
@@ -123,8 +142,8 @@ DevicePanel::DevicePanel(QWidget* parent) : ListWidget(parent) {
           double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
           double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
           desc += QString(" Your device is pointed %1° %2 and %3° %4.")
-                                .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "up" : "down",
+                      .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "up" : "down",
-                                     QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "right" : "left");
+                           QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "right" : "left");
         }
       } catch (kj::Exception) {
         qInfo() << "invalid CalibrationParams";
@@ -358,7 +377,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   const int padding = panels.size() > 3 ? 25 : 35;
 
-  nav_btns = new QButtonGroup();
+  nav_btns = new QButtonGroup(this);
   for (auto &[name, panel] : panels) {
     QPushButton *btn = new QPushButton(name);
     btn->setCheckable(true);

selfdrive/ui/qt/offroad/settings.h

@@ -12,6 +12,28 @@
 #include "selfdrive/ui/qt/widgets/controls.h"
 
 // ********** settings window + top-level panels **********
+class SettingsWindow : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit SettingsWindow(QWidget *parent = 0);
+
+protected:
+  void hideEvent(QHideEvent *event) override;
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void closeSettings();
+  void offroadTransition(bool offroad);
+  void reviewTrainingGuide();
+  void showDriverView();
+
+private:
+  QPushButton *sidebar_alert_widget;
+  QWidget *sidebar_widget;
+  QButtonGroup *nav_btns;
+  QStackedWidget *panel_widget;
+};
 
 class DevicePanel : public ListWidget {
   Q_OBJECT
@@ -25,7 +47,7 @@ signals:
 class TogglesPanel : public ListWidget {
   Q_OBJECT
 public:
-  explicit TogglesPanel(QWidget *parent = nullptr);
+  explicit TogglesPanel(SettingsWindow *parent);
 };
 
 class SoftwarePanel : public ListWidget {
@@ -47,26 +69,3 @@ private:
   Params params;
   QFileSystemWatcher *fs_watch;
 };
-
-class SettingsWindow : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit SettingsWindow(QWidget *parent = 0);
-
-protected:
-  void hideEvent(QHideEvent *event) override;
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void closeSettings();
-  void offroadTransition(bool offroad);
-  void reviewTrainingGuide();
-  void showDriverView();
-
-private:
-  QPushButton *sidebar_alert_widget;
-  QWidget *sidebar_widget;
-  QButtonGroup *nav_btns;
-  QStackedWidget *panel_widget;
-};

selfdrive/ui/qt/offroad/wifiManager.cc

@@ -9,7 +9,7 @@
 #include "selfdrive/ui/qt/util.h"
 
 template <typename T>
-T get_response(QDBusMessage response) {
+T get_response(const QDBusMessage &response) {
   QVariant first =  response.arguments().at(0);
   QDBusVariant dbvFirst = first.value<QDBusVariant>();
   QVariant vFirst = dbvFirst.variant();

selfdrive/ui/replay/logreader.cc

@@ -36,13 +36,12 @@ LogReader::LogReader(bool local_cache, int chunk_size, int retries, size_t memor
 }
 
 LogReader::~LogReader() {
-#ifdef HAS_MEMORY_RESOURCE
-  delete mbr_;
-  ::operator delete(pool_buffer_);
-#else
   for (Event *e : events) {
     delete e;
   }
+#ifdef HAS_MEMORY_RESOURCE
+  delete mbr_;
+  ::operator delete(pool_buffer_);
 #endif
 }
 

selfdrive/ui/replay/tests/test_replay.cc

@@ -57,7 +57,7 @@ TEST_CASE("FileReader") {
 }
 
 TEST_CASE("Segment") {
-  auto flags = GENERATE(REPLAY_FLAG_NONE, REPLAY_FLAG_QCAMERA);
+  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
   Route demo_route(DEMO_ROUTE);
   REQUIRE(demo_route.load());
   REQUIRE(demo_route.segments().size() == 11);
@@ -68,21 +68,32 @@ TEST_CASE("Segment") {
     REQUIRE(segment.isLoaded() == true);
     REQUIRE(segment.log != nullptr);
     REQUIRE(segment.frames[RoadCam] != nullptr);
-    REQUIRE(segment.frames[DriverCam] == nullptr);
+    if (flags & REPLAY_FLAG_DCAM) {
-    REQUIRE(segment.frames[WideRoadCam] == nullptr);
+      REQUIRE(segment.frames[DriverCam] != nullptr);
+    }
+    if (flags & REPLAY_FLAG_ECAM) {
+      REQUIRE(segment.frames[WideRoadCam] != nullptr);
+    }
 
-    // LogReader & FrameReader
+    // test LogReader & FrameReader
     REQUIRE(segment.log->events.size() > 0);
     REQUIRE(std::is_sorted(segment.log->events.begin(), segment.log->events.end(), Event::lessThan()));
 
-    auto &fr = segment.frames[RoadCam];
+    for (auto cam : ALL_CAMERAS) {
-    REQUIRE(fr->getFrameCount() == 1200);
+      auto &fr = segment.frames[cam];
-    std::unique_ptr<uint8_t[]> rgb_buf = std::make_unique<uint8_t[]>(fr->getRGBSize());
+      if (!fr) continue;
-    std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(fr->getYUVSize());
+
-    // sequence get 50 frames
+      if (cam == RoadCam || cam == WideRoadCam) {
-    for (int i = 0; i < 50; ++i) {
+        REQUIRE(fr->getFrameCount() == 1200);
-      REQUIRE(fr->get(i, rgb_buf.get(), yuv_buf.get()));
+      }
+      std::unique_ptr<uint8_t[]> rgb_buf = std::make_unique<uint8_t[]>(fr->getRGBSize());
+      std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(fr->getYUVSize());
+      // sequence get 50 frames
+      for (int i = 0; i < 50; ++i) {
+        REQUIRE(fr->get(i, rgb_buf.get(), yuv_buf.get()));
+      }
     }
+
     loop.quit();
   });
   loop.exec();
@@ -134,7 +145,7 @@ void TestReplay::test_seek() {
   stream_thread_ = new QThread(this);
   QEventLoop loop;
   std::thread thread = std::thread([&]() {
-    for (int i = 0; i < 100; ++i) {
+    for (int i = 0; i < 50; ++i) {
       testSeekTo(random_int(0, 3 * 60));
     }
     loop.quit();

selfdrive/ui/ui.h

@@ -188,7 +188,7 @@ private:
   // auto brightness
   const float accel_samples = 5*UI_FREQ;
 
-  bool awake;
+  bool awake = false;
   int awake_timeout = 0;
   float accel_prev = 0;
   float gyro_prev = 0;

tools/README.md

@@ -1,6 +1,11 @@
 openpilot tools
 ============
 
+CTF
+============
+
+Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
+
 SSH
 ============
 

update_requirements.sh

@@ -33,7 +33,7 @@ pip install pipenv==2021.5.29
 
 echo "pip packages install ..."
 if [ -d "./xx" ]; then
-  PIPENV_PIPFILE=./xx/Pipfile pipenv install --system --dev --deploy
+  export PIPENV_PIPFILE=./xx/Pipfile
   pipenv install --system --dev --deploy
   RUN=""
 else