From 6d8534758f545660cd68665a7c36678f1f874826 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Mar 2024 00:39:30 -0500 Subject: [PATCH 001/113] Honda: allow fingerprinting without comma power for some platforms (#31933) * pending * notes * these are ready! * do odyssey * Freed * ACURA_RDX_3G * HONDA_HRV * new lines * sort * clean up * comment new line comment new line --- selfdrive/car/honda/values.py | 24 ++++++++++++++---------- 1 file changed, 14 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 533e01e9b4..d0df8e2da4 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -307,16 +307,20 @@ FW_QUERY_CONFIG = FwQueryConfig( # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present non_essential_ecus={ - Ecu.programmedFuelInjection: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.transmission: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.srs: [CAR.HONDA_ACCORD], - Ecu.eps: [CAR.HONDA_ACCORD], - Ecu.vsa: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.combinationMeter: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.gateway: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.electricBrakeBooster: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.shiftByWire: [CAR.HONDA_ACCORD], # existence correlates with transmission type for ICE - Ecu.hud: [CAR.HONDA_ACCORD], # existence correlates with trim level + Ecu.programmedFuelInjection: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], + Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], + Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD], + Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD], + Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], + Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, + CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_ODYSSEY_CHN], + Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FREED, + CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_ODYSSEY_CHN], + Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], + # existence correlates with transmission type for Accord ICE + Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD], + # existence correlates with trim level + Ecu.hud: [CAR.HONDA_ACCORD], }, extra_ecus=[ # The only other ECU on PT bus accessible by camera on radarless Civic From 1b930ae616ac31d0fc7aa63eeb1f96866f6bf1ac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Mar 2024 00:47:08 -0500 Subject: [PATCH 002/113] Honda E: allow fingerprinting without comma power (#31934) HONDA_E --- selfdrive/car/honda/values.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index d0df8e2da4..32846f87a2 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -309,16 +309,16 @@ FW_QUERY_CONFIG = FwQueryConfig( non_essential_ecus={ Ecu.programmedFuelInjection: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD], - Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD], - Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], + Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], + Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], + Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_E], Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, - CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_ODYSSEY_CHN], + CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FREED, - CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_ODYSSEY_CHN], + CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], # existence correlates with transmission type for Accord ICE - Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD], + Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], # existence correlates with trim level Ecu.hud: [CAR.HONDA_ACCORD], }, From 23e8ad73979735479131dfb303e249b861829468 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Mar 2024 10:35:33 -0700 Subject: [PATCH 003/113] cleanup pedal crc --- selfdrive/car/__init__.py | 14 -------------- tools/sim/lib/simulated_car.py | 3 --- 2 files changed, 17 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index f7d6140640..3898d46534 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -165,20 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra return above_limit_frames, request -def crc8_pedal(data): - crc = 0xFF # standard init value - poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 - size = len(data) - for i in range(size - 1, -1, -1): - crc ^= data[i] - for _ in range(8): - if ((crc & 0x80) != 0): - crc = ((crc << 1) ^ poly) & 0xFF - else: - crc <<= 1 - return crc - - def make_can_msg(addr, dat, bus): return [addr, 0, dat, bus] diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 9148d0ddb2..746886ba43 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -4,7 +4,6 @@ from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser from openpilot.common.params import Params from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp -from openpilot.selfdrive.car import crc8_pedal from openpilot.tools.sim.lib.common import SimulatorState @@ -55,8 +54,6 @@ class SimulatedCar: "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12, "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12, } - checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1]) - values["CHECKSUM_PEDAL"] = checksum msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values)) msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8})) From 90ff0dd04728c55237a71ec99ece7adcd03c1e21 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 20 Mar 2024 17:57:28 +0000 Subject: [PATCH 004/113] test_models: migrate fingerprint (#31936) --- selfdrive/car/tests/test_models.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index f561fa2ad8..69220ae2b9 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -15,7 +15,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute @@ -95,7 +95,8 @@ class TestCarModelBase(unittest.TestCase): if msg.carParams.openpilotLongitudinalControl: experimental_long = True if cls.platform is None and not cls.ci: - cls.platform = msg.carParams.carFingerprint + live_fingerprint = msg.carParams.carFingerprint + cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint) # Log which can frame the panda safety mode left ELM327, for CAN validity checks elif msg.which() == 'pandaStates': From 1f424bf7dcbe13a6a60212816cfd3057da6f5a1f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 20 Mar 2024 13:57:41 -0400 Subject: [PATCH 005/113] cabana: migrate dbc map (#31920) * fix cabana * within platform map --- selfdrive/car/fingerprints.py | 14 ++++++++++++++ selfdrive/car/values.py | 8 +------- tools/cabana/dbc/generate_dbc_json.py | 2 +- 3 files changed, 16 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 977df6bc9f..e25b5486a0 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,3 +1,4 @@ +from typing import Any, Callable from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.body.values import CAR as BODY from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER @@ -10,6 +11,7 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN from openpilot.selfdrive.car.subaru.values import CAR as SUBARU from openpilot.selfdrive.car.tesla.values import CAR as TESLA from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.values import PLATFORMS, Platform from openpilot.selfdrive.car.volkswagen.values import CAR as VW FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) @@ -336,3 +338,15 @@ MIGRATION = { "SKODA SCALA 1ST GEN": VW.SKODA_SCALA_MK1, "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3, } + + +MapFunc = Callable[[Platform], Any] + + +def create_platform_map(func: MapFunc): + ret = {str(platform): func(platform) for platform in PLATFORMS.values() if func(platform) is not None} + + for m in MIGRATION: + ret[m] = ret[MIGRATION[m]] + + return ret diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py index 0c8249838b..dfbcf3b74f 100644 --- a/selfdrive/car/values.py +++ b/selfdrive/car/values.py @@ -1,4 +1,4 @@ -from typing import Any, Callable, cast +from typing import cast from openpilot.selfdrive.car.body.values import CAR as BODY from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER from openpilot.selfdrive.car.ford.values import CAR as FORD @@ -17,9 +17,3 @@ Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, MOCK, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN] PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)} - -MapFunc = Callable[[Platform], Any] - - -def create_platform_map(func: MapFunc): - return {str(platform): func(platform) for platform in PLATFORMS.values() if func(platform) is not None} diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index dec1766a7e..deda0909c4 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -2,7 +2,7 @@ import argparse import json -from openpilot.selfdrive.car.values import create_platform_map +from openpilot.selfdrive.car.fingerprints import create_platform_map def generate_dbc_json() -> str: From d75c32eaaaf4c7e1858a3b31238ffb35e7a67b5e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 20 Mar 2024 17:59:31 +0000 Subject: [PATCH 006/113] and juggler --- tools/plotjuggler/juggle.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 0caf5a18ff..fd26020bf9 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -11,6 +11,7 @@ import argparse from functools import partial from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.tools.lib.helpers import save_log from openpilot.tools.lib.logreader import LogReader, ReadMode @@ -82,7 +83,7 @@ def juggle_route(route_or_segment_name, can, layout, dbc=None): for cp in [m for m in all_data if m.which() == 'carParams']: try: DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC - dbc = DBC[cp.carParams.carFingerprint]['pt'] + dbc = DBC[MIGRATION.get(cp.carParams.carFingerprint, cp.carParams.carFingerprint)]['pt'] except Exception: pass break From b489550b7ff8866bda726b97283efe7dfa00f0e3 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 20 Mar 2024 18:03:04 +0000 Subject: [PATCH 007/113] Revert "and juggler" This reverts commit d75c32eaaaf4c7e1858a3b31238ffb35e7a67b5e. --- tools/plotjuggler/juggle.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index fd26020bf9..0caf5a18ff 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -11,7 +11,6 @@ import argparse from functools import partial from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.tools.lib.helpers import save_log from openpilot.tools.lib.logreader import LogReader, ReadMode @@ -83,7 +82,7 @@ def juggle_route(route_or_segment_name, can, layout, dbc=None): for cp in [m for m in all_data if m.which() == 'carParams']: try: DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC - dbc = DBC[MIGRATION.get(cp.carParams.carFingerprint, cp.carParams.carFingerprint)]['pt'] + dbc = DBC[cp.carParams.carFingerprint]['pt'] except Exception: pass break From a0b589eda9c749c697fa4db80b6129b2545e8fee Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Mar 2024 17:35:19 -0500 Subject: [PATCH 008/113] Honda: allow fingerprinting without comma power for more platforms (#31935) * 4 more platforms * only the first is missing srs?! * vsa didn't respond on these 8 routes * acura is good! * do CRV Hybrid * CRV is already done * new line * Revert "new line" This reverts commit 411c92c77b695d3df716f84b6f302fa0f791d555. --- selfdrive/car/honda/values.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 32846f87a2..a050cf8e2a 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -311,14 +311,14 @@ FW_QUERY_CONFIG = FwQueryConfig( Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], - Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_E], - Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, - CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], - Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FREED, - CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], + Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E], + Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, + CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], + Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_FREED, + CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], # existence correlates with transmission type for Accord ICE - Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], + Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E], # existence correlates with trim level Ecu.hud: [CAR.HONDA_ACCORD], }, From 1a03da9df336c136c7bf0e93cb2d2f3731f89555 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Mar 2024 18:19:18 -0500 Subject: [PATCH 009/113] Honda Ridgeline and Insight: allow fingerprinting without comma power (#31938) * Ridgeline and Insight * ridgeline * Insight --- selfdrive/car/honda/values.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index a050cf8e2a..7a8c4314ac 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -311,14 +311,15 @@ FW_QUERY_CONFIG = FwQueryConfig( Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], - Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E], + Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, + CAR.HONDA_E, CAR.HONDA_INSIGHT], Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, - CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], + CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_CHN], Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_FREED, - CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN], + CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_CHN], Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], # existence correlates with transmission type for Accord ICE - Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E], + Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT], # existence correlates with trim level Ecu.hud: [CAR.HONDA_ACCORD], }, From 38d03b997958effea805a6c3860d2c5edaf2ae65 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 20 Mar 2024 19:43:58 -0400 Subject: [PATCH 010/113] add get_build_metadata function (#31923) * version * Get build metadata * two lines * channel * cwd * default to unknown * dataclass --- common/git.py | 16 ++++++++-------- common/run.py | 8 ++++---- system/version.py | 42 +++++++++++++++++++++++++++++++++++++++++- 3 files changed, 53 insertions(+), 13 deletions(-) diff --git a/common/git.py b/common/git.py index e15a5051d2..1ab8b87099 100644 --- a/common/git.py +++ b/common/git.py @@ -4,23 +4,23 @@ from openpilot.common.run import run_cmd, run_cmd_default @cache -def get_commit(branch: str = "HEAD") -> str: - return run_cmd_default(["git", "rev-parse", branch]) +def get_commit(cwd: str = None, branch: str = "HEAD") -> str: + return run_cmd_default(["git", "rev-parse", branch], cwd=cwd) @cache -def get_commit_date(commit: str = "HEAD") -> str: - return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit]) +def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str: + return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd) @cache -def get_short_branch() -> str: - return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) +def get_short_branch(cwd: str = None) -> str: + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd) @cache -def get_branch() -> str: - return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) +def get_branch(cwd: str = None) -> str: + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd) @cache diff --git a/common/run.py b/common/run.py index 25abe98c41..c1a36bf041 100644 --- a/common/run.py +++ b/common/run.py @@ -1,13 +1,13 @@ import subprocess -def run_cmd(cmd: list[str]) -> str: - return subprocess.check_output(cmd, encoding='utf8').strip() +def run_cmd(cmd: list[str], cwd=None) -> str: + return subprocess.check_output(cmd, encoding='utf8', cwd=cwd).strip() -def run_cmd_default(cmd: list[str], default: str = "") -> str: +def run_cmd_default(cmd: list[str], default: str = "", cwd=None) -> str: try: - return run_cmd(cmd) + return run_cmd(cmd, cwd=cwd) except subprocess.CalledProcessError: return default diff --git a/system/version.py b/system/version.py index 7ae8313089..8866026152 100755 --- a/system/version.py +++ b/system/version.py @@ -1,17 +1,22 @@ #!/usr/bin/env python3 +from dataclasses import dataclass +import json import os +import pathlib import subprocess from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.common.utils import cache -from openpilot.common.git import get_origin, get_branch, get_short_branch, get_normalized_origin, get_commit_date +from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_normalized_origin, get_commit_date RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] +BUILD_METADATA_FILENAME = "build.json" + training_version: bytes = b"0.2.0" terms_version: bytes = b"2" @@ -75,6 +80,41 @@ def is_dirty() -> bool: return dirty +@dataclass(frozen=True) +class OpenpilotMetadata: + version: str + release_notes: str + git_commit: str + + +@dataclass(frozen=True) +class BuildMetadata: + channel: str + openpilot: OpenpilotMetadata + + + +def get_build_metadata(path: str = BASEDIR) -> BuildMetadata | None: + build_metadata_path = pathlib.Path(path) / BUILD_METADATA_FILENAME + + if build_metadata_path.exists(): + build_metadata = json.loads(build_metadata_path.read_text()) + openpilot_metadata = build_metadata.get("openpilot", {}) + + channel = build_metadata.get("channel", "unknown") + version = openpilot_metadata.get("version", "unknown") + release_notes = openpilot_metadata.get("release_notes", "unknown") + git_commit = openpilot_metadata.get("git_commit", "unknown") + return BuildMetadata(channel, OpenpilotMetadata(version, release_notes, git_commit)) + + git_folder = pathlib.Path(path) / ".git" + + if git_folder.exists(): + return BuildMetadata(get_short_branch(path), OpenpilotMetadata(get_version(path), get_release_notes(path), get_commit(path))) + + return None + + if __name__ == "__main__": from openpilot.common.params import Params From 0a30af327d3de444dfb69e5180626a1dde80bd99 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Mar 2024 22:08:12 -0500 Subject: [PATCH 011/113] Honda Pilot: allow fingerprinting without comma power (#31945) * pilot * pilot * clean up --- selfdrive/car/honda/values.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 7a8c4314ac..cf0aef8ce3 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -307,8 +307,8 @@ FW_QUERY_CONFIG = FwQueryConfig( # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present non_essential_ecus={ - Ecu.programmedFuelInjection: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], - Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], + Ecu.programmedFuelInjection: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_PILOT], + Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_PILOT], Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, @@ -316,10 +316,11 @@ FW_QUERY_CONFIG = FwQueryConfig( Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_CHN], Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_FREED, - CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_CHN], + CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, + CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_PILOT], Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], # existence correlates with transmission type for Accord ICE - Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT], + Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_PILOT], # existence correlates with trim level Ecu.hud: [CAR.HONDA_ACCORD], }, From 2be012aa39a84e475d1c098220948e527cc4f842 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Mar 2024 23:31:53 -0500 Subject: [PATCH 012/113] Honda: allow fingerprinting without comma power (#31926) * pending * acura ilx * do odyssey * clean up --- selfdrive/car/honda/values.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index cf0aef8ce3..1f59bd24d0 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -313,10 +313,10 @@ FW_QUERY_CONFIG = FwQueryConfig( Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT], - Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, + Ecu.combinationMeter: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_CHN], - Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_FREED, - CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, + Ecu.gateway: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_FREED, + CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_PILOT], Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], # existence correlates with transmission type for Accord ICE From 35b31df7f716d4d5de045d6dd5305572c20d01f9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 21 Mar 2024 12:34:09 +0800 Subject: [PATCH 013/113] util/timeAgo: add missing translation (#31944) * add missing translation * update languages --- selfdrive/ui/qt/util.cc | 2 +- selfdrive/ui/translations/main_ar.ts | 4 ++++ selfdrive/ui/translations/main_de.ts | 4 ++++ selfdrive/ui/translations/main_fr.ts | 4 ++++ selfdrive/ui/translations/main_ja.ts | 4 ++++ selfdrive/ui/translations/main_ko.ts | 4 ++++ selfdrive/ui/translations/main_pt-BR.ts | 4 ++++ selfdrive/ui/translations/main_th.ts | 4 ++++ selfdrive/ui/translations/main_tr.ts | 4 ++++ selfdrive/ui/translations/main_zh-CHS.ts | 4 ++++ selfdrive/ui/translations/main_zh-CHT.ts | 4 ++++ 11 files changed, 41 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index bc3c494fa7..9138f8bca5 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -61,7 +61,7 @@ QString timeAgo(const QDateTime &date) { QString s; if (diff < 60) { - s = "now"; + s = QObject::tr("now"); } else if (diff < 60 * 60) { int minutes = diff / 60; s = QObject::tr("%n minute(s) ago", "", minutes); diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 10c87d87bd..64cb8d9812 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -615,6 +615,10 @@ ft قدم + + now + + Reset diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index cdcea24778..e8bd89db9a 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -598,6 +598,10 @@ ft fuß + + now + + Reset diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index b1c39db18e..340ab694ff 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -599,6 +599,10 @@ ft ft + + now + + Reset diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 5360c352d1..332b443ddd 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -594,6 +594,10 @@ ft ﾌｨｰﾄ + + now + + Reset diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index ed751912a6..48ccb1a712 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -595,6 +595,10 @@ ft ft + + now + + Reset diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index c32aeacaa3..fed4077667 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -599,6 +599,10 @@ ft pés + + now + + Reset diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 25a8aaeebd..ff74ba66c6 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -595,6 +595,10 @@ ft ฟุต + + now + + Reset diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index dfe4b3670b..69946fa318 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -594,6 +594,10 @@ ft ft + + now + + Reset diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index d985945f02..4a314c94bd 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -595,6 +595,10 @@ ft ft + + now + + Reset diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e64134f253..b013890956 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -595,6 +595,10 @@ ft ft + + now + + Reset From 806f743e126b4bfcccec0b0b8458b5473da9c1b4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 12:47:26 -0400 Subject: [PATCH 014/113] git commands: more parameterization on path (#31942) * more cwd * here top * and here * basedir --- common/git.py | 14 +++++++------- system/version.py | 16 ++++++++-------- 2 files changed, 15 insertions(+), 15 deletions(-) diff --git a/common/git.py b/common/git.py index 1ab8b87099..bfb18ce25d 100644 --- a/common/git.py +++ b/common/git.py @@ -24,18 +24,18 @@ def get_branch(cwd: str = None) -> str: @cache -def get_origin() -> str: +def get_origin(cwd: str = None) -> str: try: - local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"]) - tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"]) - return run_cmd(["git", "config", "remote." + tracking_remote + ".url"]) + local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd) + tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd) + return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd) except subprocess.CalledProcessError: # Not on a branch, fallback - return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) + return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd) @cache -def get_normalized_origin() -> str: - return get_origin() \ +def get_normalized_origin(cwd: str = None) -> str: + return get_origin(cwd) \ .replace("git@", "", 1) \ .replace(".git", "", 1) \ .replace("https://", "", 1) \ diff --git a/system/version.py b/system/version.py index 8866026152..7b3ea940f4 100755 --- a/system/version.py +++ b/system/version.py @@ -37,8 +37,8 @@ def get_short_version() -> str: return get_version().split('-')[0] @cache -def is_prebuilt() -> bool: - return os.path.exists(os.path.join(BASEDIR, 'prebuilt')) +def is_prebuilt(path: str = BASEDIR) -> bool: + return os.path.exists(os.path.join(path, 'prebuilt')) @cache @@ -56,23 +56,23 @@ def is_release_branch() -> bool: return get_short_branch() in RELEASE_BRANCHES @cache -def is_dirty() -> bool: - origin = get_origin() - branch = get_branch() +def is_dirty(cwd: str = BASEDIR) -> bool: + origin = get_origin(cwd) + branch = get_branch(cwd) if not origin or not branch: return True dirty = False try: # Actually check dirty files - if not is_prebuilt(): + if not is_prebuilt(cwd): # This is needed otherwise touched files might show up as modified try: - subprocess.check_call(["git", "update-index", "--refresh"]) + subprocess.check_call(["git", "update-index", "--refresh"], cwd=cwd) except subprocess.CalledProcessError: pass - dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0) + dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"], cwd=cwd)) != 0 except subprocess.CalledProcessError: cloudlog.exception("git subprocess failed while checking dirty") dirty = True From effee900c4e9f3950b88a43b08da40bdbc47aed0 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 13:15:29 -0400 Subject: [PATCH 015/113] use build_metadata everywhere we used to use get_version, get_commit, etc (#31941) * use build_metadata * fix normailzed * also normalized * and here * fix diff * and that one * cleanup --- selfdrive/athena/athenad.py | 12 ++-- selfdrive/athena/manage_athenad.py | 15 ++--- selfdrive/car/car_helpers.py | 5 +- selfdrive/manager/build.py | 5 +- selfdrive/manager/manager.py | 41 +++++++------- selfdrive/sentry.py | 18 +++--- selfdrive/statsd.py | 12 ++-- selfdrive/tombstoned.py | 6 +- selfdrive/updated/updated.py | 5 +- system/version.py | 88 ++++++++++++++++++------------ 10 files changed, 118 insertions(+), 89 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index d228af572c..989e284e74 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -32,13 +32,12 @@ from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.api import Api from openpilot.common.file_helpers import CallbackReader -from openpilot.common.git import get_commit, get_normalized_origin, get_short_branch from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import HARDWARE, PC from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog -from openpilot.system.version import get_version +from openpilot.system.version import get_build_metadata from openpilot.system.hardware.hw import Paths @@ -320,11 +319,12 @@ def getMessage(service: str, timeout: int = 1000) -> dict: @dispatcher.add_method def getVersion() -> dict[str, str]: + build_metadata = get_build_metadata() return { - "version": get_version(), - "remote": get_normalized_origin(), - "branch": get_short_branch(), - "commit": get_commit(), + "version": build_metadata.openpilot.version, + "remote": build_metadata.openpilot.git_normalized_origin, + "branch": build_metadata.channel, + "commit": build_metadata.openpilot.git_commit, } diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 3065bed5c7..2ec92cc3e0 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -7,8 +7,7 @@ from openpilot.common.params import Params from openpilot.selfdrive.manager.process import launcher from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -from openpilot.common.git import get_commit, get_normalized_origin, get_short_branch -from openpilot.system.version import get_version, is_dirty +from openpilot.system.version import get_build_metadata ATHENA_MGR_PID_PARAM = "AthenadPid" @@ -16,12 +15,14 @@ ATHENA_MGR_PID_PARAM = "AthenadPid" def main(): params = Params() dongle_id = params.get("DongleId").decode('utf-8') + build_metadata = get_build_metadata() + cloudlog.bind_global(dongle_id=dongle_id, - version=get_version(), - origin=get_normalized_origin(), - branch=get_short_branch(), - commit=get_commit(), - dirty=is_dirty(), + version=build_metadata.openpilot.version, + origin=build_metadata.openpilot.git_normalized_origin, + branch=build_metadata.channel, + commit=build_metadata.openpilot.git_commit, + dirty=build_metadata.openpilot.is_dirty, device=HARDWARE.get_device_type()) try: diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index fd8ecc5020..0e2443d330 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -4,7 +4,6 @@ from collections.abc import Callable from cereal import car from openpilot.common.params import Params -from openpilot.system.version import is_comma_remote, is_tested_branch from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN @@ -13,6 +12,7 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK from openpilot.common.swaglog import cloudlog import cereal.messaging as messaging from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.system.version import get_build_metadata FRAME_FINGERPRINT = 100 # 1s @@ -20,7 +20,8 @@ EventName = car.CarEvent.EventName def get_startup_event(car_recognized, controller_available, fw_seen): - if is_comma_remote() and is_tested_branch(): + build_metadata = get_build_metadata() + if build_metadata.openpilot.comma_remote and build_metadata.tested_channel: event = EventName.startup else: event = EventName.startupMaster diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 067e1b5a1e..859d0920c3 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -9,7 +9,7 @@ from openpilot.common.spinner import Spinner from openpilot.common.text_window import TextWindow from openpilot.system.hardware import AGNOS from openpilot.common.swaglog import cloudlog, add_file_handler -from openpilot.system.version import is_dirty +from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") @@ -86,4 +86,5 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: if __name__ == "__main__": spinner = Spinner() spinner.update_progress(0, 100) - build(spinner, is_dirty(), minimal = AGNOS) + build_metadata = get_build_metadata() + build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index f30b81861a..512320a8db 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -16,21 +16,20 @@ from openpilot.selfdrive.manager.process import ensure_running from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from openpilot.common.swaglog import cloudlog, add_file_handler -from openpilot.common.git import get_commit, get_origin, get_short_branch, get_commit_date -from openpilot.system.version import is_dirty, get_version, \ - get_normalized_origin, terms_version, training_version, \ - is_tested_branch, is_release_branch +from openpilot.system.version import get_build_metadata, terms_version, training_version def manager_init() -> None: save_bootlog() + build_metadata = get_build_metadata() + params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) - if is_release_branch(): + if build_metadata.release_channel: params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) default_params: list[tuple[str, str | bytes]] = [ @@ -62,15 +61,15 @@ def manager_init() -> None: print("WARNING: failed to make /dev/shm") # set version params - params.put("Version", get_version()) + params.put("Version", build_metadata.openpilot.version) params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) - params.put("GitCommit", get_commit()) - params.put("GitCommitDate", get_commit_date()) - params.put("GitBranch", get_short_branch()) - params.put("GitRemote", get_origin()) - params.put_bool("IsTestedBranch", is_tested_branch()) - params.put_bool("IsReleaseBranch", is_release_branch()) + params.put("GitCommit", build_metadata.openpilot.git_commit) + params.put("GitCommitDate", build_metadata.openpilot.git_commit_date) + params.put("GitBranch", build_metadata.channel) + params.put("GitRemote", build_metadata.openpilot.git_origin) + params.put_bool("IsTestedBranch", build_metadata.tested_channel) + params.put_bool("IsReleaseBranch", build_metadata.release_channel) # set dongle id reg_res = register(show_spinner=True) @@ -80,21 +79,21 @@ def manager_init() -> None: serial = params.get("HardwareSerial") raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog - os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog - os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog - os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog + os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog + os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog + os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog - if not is_dirty(): + if not build_metadata.openpilot.is_dirty: os.environ['CLEAN'] = '1' # init logging sentry.init(sentry.SentryProject.SELFDRIVE) cloudlog.bind_global(dongle_id=dongle_id, - version=get_version(), - origin=get_normalized_origin(), - branch=get_short_branch(), - commit=get_commit(), - dirty=is_dirty(), + version=build_metadata.openpilot.version, + origin=build_metadata.openpilot.git_normalized_origin, + branch=build_metadata.channel, + commit=build_metadata.openpilot.git_commit, + dirty=build_metadata.openpilot.is_dirty, device=HARDWARE.get_device_type()) # preimport all processes diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 889178610f..204d9cab09 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -6,9 +6,8 @@ from sentry_sdk.integrations.threading import ThreadingIntegration from openpilot.common.params import Params from openpilot.selfdrive.athena.registration import is_registered_device from openpilot.system.hardware import HARDWARE, PC -from openpilot.common.git import get_commit, get_branch, get_origin from openpilot.common.swaglog import cloudlog -from openpilot.system.version import get_version, is_comma_remote, is_dirty, is_tested_branch +from openpilot.system.version import get_build_metadata, get_version class SentryProject(Enum): @@ -43,12 +42,13 @@ def set_tag(key: str, value: str) -> None: def init(project: SentryProject) -> bool: + build_metadata = get_build_metadata() # forks like to mess with this, so double check - comma_remote = is_comma_remote() and "commaai" in get_origin() + comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin if not comma_remote or not is_registered_device() or PC: return False - env = "release" if is_tested_branch() else "master" + env = "release" if build_metadata.tested_channel else "master" dongle_id = Params().get("DongleId", encoding='utf-8') integrations = [] @@ -63,11 +63,13 @@ def init(project: SentryProject) -> bool: max_value_length=8192, environment=env) + build_metadata = get_build_metadata() + sentry_sdk.set_user({"id": dongle_id}) - sentry_sdk.set_tag("dirty", is_dirty()) - sentry_sdk.set_tag("origin", get_origin()) - sentry_sdk.set_tag("branch", get_branch()) - sentry_sdk.set_tag("commit", get_commit()) + sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty) + sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin) + sentry_sdk.set_tag("branch", build_metadata.channel) + sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit) sentry_sdk.set_tag("device", HARDWARE.get_device_type()) if project == SentryProject.SELFDRIVE: diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 299aa295d7..2f9149b096 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -13,7 +13,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE from openpilot.common.file_helpers import atomic_write_in_dir -from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty +from openpilot.system.version import get_build_metadata from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S @@ -86,13 +86,15 @@ def main() -> NoReturn: # initialize stats directory Path(STATS_DIR).mkdir(parents=True, exist_ok=True) + build_metadata = get_build_metadata() + # initialize tags tags = { 'started': False, - 'version': get_short_version(), - 'branch': get_short_branch(), - 'dirty': is_dirty(), - 'origin': get_normalized_origin(), + 'version': build_metadata.openpilot.version, + 'branch': build_metadata.channel, + 'dirty': build_metadata.openpilot.is_dirty, + 'origin': build_metadata.openpilot.git_normalized_origin, 'deviceType': HARDWARE.get_device_type(), } diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index f1b8c88083..2c99c7eafe 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -11,8 +11,8 @@ from typing import NoReturn import openpilot.selfdrive.sentry as sentry from openpilot.system.hardware.hw import Paths -from openpilot.common.git import get_commit from openpilot.common.swaglog import cloudlog +from openpilot.system.version import get_build_metadata MAX_SIZE = 1_000_000 * 100 # allow up to 100M MAX_TOMBSTONE_FN_LEN = 62 # 85 - 23 ("/crash/") @@ -124,7 +124,9 @@ def report_tombstone_apport(fn): clean_path = path.replace('/', '_') date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S") - new_fn = f"{date}_{(get_commit() or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] + build_metadata = get_build_metadata() + + new_fn = f"{date}_{(build_metadata.openpilot.git_commit or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] crashlog_dir = os.path.join(Paths.log_root(), "crash") os.makedirs(crashlog_dir, exist_ok=True) diff --git a/selfdrive/updated/updated.py b/selfdrive/updated/updated.py index b6b395f254..3a710ba02f 100755 --- a/selfdrive/updated/updated.py +++ b/selfdrive/updated/updated.py @@ -19,7 +19,7 @@ from openpilot.common.time import system_time_valid from openpilot.system.hardware import AGNOS, HARDWARE from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert -from openpilot.system.version import is_tested_branch +from openpilot.system.version import get_build_metadata LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") @@ -325,8 +325,9 @@ class Updater: now = datetime.datetime.utcnow() dt = now - last_update + build_metadata = get_build_metadata() if failed_count > 15 and exception is not None and self.has_internet: - if is_tested_branch(): + if build_metadata.tested_channel: extra_text = "Ensure the software is correctly installed. Uninstall and re-install if this error persists." else: extra_text = exception diff --git a/system/version.py b/system/version.py index 7b3ea940f4..f370beb4ae 100755 --- a/system/version.py +++ b/system/version.py @@ -9,7 +9,7 @@ import subprocess from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.common.utils import cache -from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_normalized_origin, get_commit_date +from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] @@ -32,33 +32,15 @@ def get_release_notes(path: str = BASEDIR) -> str: return f.read().split('\n\n', 1)[0] -@cache -def get_short_version() -> str: - return get_version().split('-')[0] - @cache def is_prebuilt(path: str = BASEDIR) -> bool: return os.path.exists(os.path.join(path, 'prebuilt')) -@cache -def is_comma_remote() -> bool: - # note to fork maintainers, this is used for release metrics. please do not - # touch this to get rid of the orange startup alert. there's better ways to do that - return get_normalized_origin() == "github.com/commaai/openpilot" - -@cache -def is_tested_branch() -> bool: - return get_short_branch() in TESTED_BRANCHES - -@cache -def is_release_branch() -> bool: - return get_short_branch() in RELEASE_BRANCHES - @cache def is_dirty(cwd: str = BASEDIR) -> bool: - origin = get_origin(cwd) - branch = get_branch(cwd) + origin = get_origin() + branch = get_branch() if not origin or not branch: return True @@ -85,6 +67,27 @@ class OpenpilotMetadata: version: str release_notes: str git_commit: str + git_origin: str + git_commit_date: str + is_dirty: bool # whether there are local changes + + @property + def short_version(self) -> str: + return self.version.split('-')[0] + + @property + def comma_remote(self) -> bool: + # note to fork maintainers, this is used for release metrics. please do not + # touch this to get rid of the orange startup alert. there's better ways to do that + return self.git_normalized_origin == "github.com/commaai/openpilot" + + @property + def git_normalized_origin(self) -> str: + return self.git_origin \ + .replace("git@", "", 1) \ + .replace(".git", "", 1) \ + .replace("https://", "", 1) \ + .replace(":", "/", 1) @dataclass(frozen=True) @@ -92,9 +95,17 @@ class BuildMetadata: channel: str openpilot: OpenpilotMetadata + @property + def tested_channel(self) -> bool: + return self.channel in TESTED_BRANCHES + + @property + def release_channel(self) -> bool: + return self.channel in RELEASE_BRANCHES + -def get_build_metadata(path: str = BASEDIR) -> BuildMetadata | None: +def get_build_metadata(path: str = BASEDIR) -> BuildMetadata: build_metadata_path = pathlib.Path(path) / BUILD_METADATA_FILENAME if build_metadata_path.exists(): @@ -105,14 +116,31 @@ def get_build_metadata(path: str = BASEDIR) -> BuildMetadata | None: version = openpilot_metadata.get("version", "unknown") release_notes = openpilot_metadata.get("release_notes", "unknown") git_commit = openpilot_metadata.get("git_commit", "unknown") - return BuildMetadata(channel, OpenpilotMetadata(version, release_notes, git_commit)) + git_origin = openpilot_metadata.get("git_origin", "unknown") + git_commit_date = openpilot_metadata.get("git_commit_date", "unknown") + return BuildMetadata(channel, + OpenpilotMetadata( + version=version, + release_notes=release_notes, + git_commit=git_commit, + git_origin=git_origin, + git_commit_date=git_commit_date, + is_dirty=False)) git_folder = pathlib.Path(path) / ".git" if git_folder.exists(): - return BuildMetadata(get_short_branch(path), OpenpilotMetadata(get_version(path), get_release_notes(path), get_commit(path))) + return BuildMetadata(get_short_branch(path), + OpenpilotMetadata( + version=get_version(path), + release_notes=get_release_notes(path), + git_commit=get_commit(path), + git_origin=get_origin(path), + git_commit_date=get_commit_date(path), + is_dirty=is_dirty(path))) - return None + cloudlog.exception("unable to get build metadata") + raise Exception("invalid build metadata") if __name__ == "__main__": @@ -122,12 +150,4 @@ if __name__ == "__main__": params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) - print(f"Dirty: {is_dirty()}") - print(f"Version: {get_version()}") - print(f"Short version: {get_short_version()}") - print(f"Origin: {get_origin()}") - print(f"Normalized origin: {get_normalized_origin()}") - print(f"Branch: {get_branch()}") - print(f"Short branch: {get_short_branch()}") - print(f"Prebuilt: {is_prebuilt()}") - print(f"Commit date: {get_commit_date()}") + print(get_build_metadata()) From e28edf874b4caa68a47326a98018a0e21fe22f58 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 22 Mar 2024 01:58:05 +0800 Subject: [PATCH 016/113] ui/sidebar: do not send the `userFlag` while offroad (#31952) --- selfdrive/ui/qt/sidebar.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index e952940056..75b966c9aa 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -55,7 +55,7 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) { flag_pressed = settings_pressed = false; update(); } - if (home_btn.contains(event->pos())) { + if (onroad && home_btn.contains(event->pos())) { MessageBuilder msg; msg.initEvent().initUserFlag(); pm->send("userFlag", msg); From 27d2a6066d944255608d953c9a8fc7c8cb79f828 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 21 Mar 2024 17:58:35 +0000 Subject: [PATCH 017/113] tools: remove unused timestamp_to_datetime (#31950) --- tools/lib/helpers.py | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index 653eb3d7e0..e9b4b85e70 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -1,7 +1,4 @@ import bz2 -import datetime - -TIME_FMT = "%Y-%m-%d--%H-%M-%S" # regex patterns @@ -23,13 +20,6 @@ class RE: OP_SEGMENT_DIR = fr'^(?P{SEGMENT_NAME})$' -def timestamp_to_datetime(t: str) -> datetime.datetime: - """ - Convert an openpilot route timestamp to a python datetime - """ - return datetime.datetime.strptime(t, TIME_FMT) - - def save_log(dest, log_msgs, compress=True): dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) From 028f6938b2e28d79054e9c11f1b95eba150bfcad Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 22 Mar 2024 01:58:48 +0800 Subject: [PATCH 018/113] ui.py: quit if the "X"(exit) button is clicked (#31949) --- tools/replay/ui.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/tools/replay/ui.py b/tools/replay/ui.py index aa03ae193c..31e4fff74d 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -101,8 +101,11 @@ def ui_thread(addr): draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles) vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) - while 1: - list(pygame.event.get()) + while True: + for event in pygame.event.get(): + if event.type == pygame.QUIT: + pygame.quit() + sys.exit() screen.fill((64, 64, 64)) lid_overlay = lid_overlay_blank.copy() From 0201c786e85c22aea6e79d873a367b274016648e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 22 Mar 2024 02:02:26 +0800 Subject: [PATCH 019/113] ui: pairing device in settings (#31947) --- selfdrive/ui/qt/offroad/settings.cc | 21 +++++++++++++++- selfdrive/ui/qt/offroad/settings.h | 3 +++ selfdrive/ui/qt/onroad.cc | 31 ++++++++++++++---------- selfdrive/ui/qt/onroad.h | 1 + selfdrive/ui/translations/main_ar.ts | 12 +++++++++ selfdrive/ui/translations/main_de.ts | 12 +++++++++ selfdrive/ui/translations/main_fr.ts | 12 +++++++++ selfdrive/ui/translations/main_ja.ts | 12 +++++++++ selfdrive/ui/translations/main_ko.ts | 12 +++++++++ selfdrive/ui/translations/main_pt-BR.ts | 12 +++++++++ selfdrive/ui/translations/main_th.ts | 12 +++++++++ selfdrive/ui/translations/main_tr.ts | 12 +++++++++ selfdrive/ui/translations/main_zh-CHS.ts | 12 +++++++++ selfdrive/ui/translations/main_zh-CHT.ts | 12 +++++++++ 14 files changed, 162 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index bc7989b773..185d5457e3 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -16,6 +16,7 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/input.h" +#include "selfdrive/ui/qt/widgets/prime.h" #include "selfdrive/ui/qt/widgets/scrollview.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/toggle.h" @@ -215,6 +216,14 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A")))); addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str())); + pair_device = new ButtonControl(tr("Pair Device"), tr("Pair"), + tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); + connect(pair_device, &ButtonControl::clicked, [=]() { + PairingPopup popup(this); + popup.exec(); + }); + addItem(pair_device); + // offroad-only buttons auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"), @@ -262,9 +271,14 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(translateBtn); + QObject::connect(uiState(), &UIState::primeChanged, [this] (bool prime) { + pair_device->setVisible(!prime); + }); QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { for (auto btn : findChildren()) { - btn->setEnabled(offroad); + if (btn != pair_device) { + btn->setEnabled(offroad); + } } }); @@ -345,6 +359,11 @@ void DevicePanel::poweroff() { } } +void DevicePanel::showEvent(QShowEvent *event) { + pair_device->setVisible(!uiState()->primeType()); + ListWidget::showEvent(event); +} + void SettingsWindow::showEvent(QShowEvent *event) { setCurrentPanel(0); } diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 581fc098f4..f9e1648447 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -43,6 +43,8 @@ class DevicePanel : public ListWidget { Q_OBJECT public: explicit DevicePanel(SettingsWindow *parent); + void showEvent(QShowEvent *event) override; + signals: void reviewTrainingGuide(); void showDriverView(); @@ -54,6 +56,7 @@ private slots: private: Params params; + ButtonControl *pair_device; }; class TogglesPanel : public ListWidget { diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 01750eaf2f..40ae436c65 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -105,26 +105,29 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) { QWidget::mousePressEvent(e); } +void OnroadWindow::createMapWidget() { +#ifdef ENABLE_MAPS + auto m = new MapPanel(get_mapbox_settings()); + map = m; + QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested); + QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings); + nvg->map_settings_btn->setEnabled(true); + + m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE); + split->insertWidget(0, m); + // hidden by default, made visible when navRoute is published + m->setVisible(false); +#endif +} + void OnroadWindow::offroadTransition(bool offroad) { #ifdef ENABLE_MAPS if (!offroad) { if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) { - auto m = new MapPanel(get_mapbox_settings()); - map = m; - - QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested); - QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings); - nvg->map_settings_btn->setEnabled(true); - - m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE); - split->insertWidget(0, m); - - // hidden by default, made visible when navRoute is published - m->setVisible(false); + createMapWidget(); } } #endif - alerts->updateAlert({}); } @@ -135,6 +138,8 @@ void OnroadWindow::primeChanged(bool prime) { nvg->map_settings_btn->setVisible(false); map->deleteLater(); map = nullptr; + } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) { + createMapWidget(); } #endif } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index b3ba411453..c72d1225e6 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -127,6 +127,7 @@ signals: void mapPanelRequested(); private: + void createMapWidget(); void paintEvent(QPaintEvent *event); void mousePressEvent(QMouseEvent* e) override; OnroadAlerts *alerts; diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 64cb8d9812..024ca0d4f6 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -293,6 +293,18 @@ Review مراجعة + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime. + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index e8bd89db9a..d849b27103 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -293,6 +293,18 @@ Review Überprüfen + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 340ab694ff..2294ba7af9 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -293,6 +293,18 @@ Disengage to Power Off Désengager pour éteindre + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l'offre comma prime. + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 332b443ddd..7b07866efc 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -293,6 +293,18 @@ Review 確認 + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。 + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 48ccb1a712..e8fcb44228 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -293,6 +293,18 @@ Review 다시보기 + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요. + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index fed4077667..a61f3a9949 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -293,6 +293,18 @@ Review Revisar + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime. + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index ff74ba66c6..eae564d645 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -293,6 +293,18 @@ Review ทบทวน + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 69946fa318..33773af16b 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -293,6 +293,18 @@ Review + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın. + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 4a314c94bd..fa858b8a8c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -293,6 +293,18 @@ Review 预览 + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。 + + + Pair Device + + + + Pair + + DriverViewWindow diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index b013890956..12ae9fbe13 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -293,6 +293,18 @@ Review 回顧 + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + + + Pair Device + + + + Pair + + DriverViewWindow From 77bbeb442ebeb66bcb00289df66084ee0475196e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 22 Mar 2024 02:40:01 +0800 Subject: [PATCH 020/113] ui/cameraview: fix accessing uninitialized variable (#31951) --- selfdrive/ui/qt/widgets/cameraview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 7818da8669..e4f1396268 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -98,7 +98,7 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : - stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { + stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); qRegisterMetaType>("availableStreams"); QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); From 9feb027de53d4ea7bcd8bee2177ef9df37340426 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Mar 2024 11:41:08 -0700 Subject: [PATCH 021/113] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 567dbfe6d8..86348b431f 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 567dbfe6d86ddda6d803da371942603c6dbe36c8 +Subproject commit 86348b431f78b58dfaafd78460aa70ff9b9a1c5d From c3bbc58a85f515c834e6f4eb92c2d0ec45c9317e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 14:55:54 -0400 Subject: [PATCH 022/113] build nightly casync build in jenkins (#31880) * casync in jenkins * rename some stuff, add a readme * slightly better names * clean * more cleanup * cleaner * release3 staging too * always rm the signed version * cleanups * in build dir * better name * simpler * more * divider * built * build * and contains * add channel description * and git branches * and build required * move this up * these are terms * updates * 3/3x * bullets * wording * version metadata * git type * more channel -> release * more build * just release * more channel to release * also fix jenkins * use build_metadata * fix normailzed * also normalized * and here * use build_metadata * dont commit that * don't touch the git stuff * branch * don't need that * or that * improved names * build_metadata * use this instead * fix * build * test nightly build again * fix * fixes * Revert "test nightly build again" This reverts commit be5e7aa7089bfc0947c9b2b484d0277c109ee089. --- Jenkinsfile | 25 +++++++++++---- release/README.md | 44 ++++++++++++++++++++++++++ release/copy_build_files.sh | 15 +++++++++ release/create_casync_build.sh | 21 +++++++++++++ release/create_casync_release.py | 25 +++++++++++++++ release/create_prebuilt.sh | 34 ++++++++++++++++++++ release/upload_casync_release.sh | 9 ++++++ system/updated/casync/common.py | 53 ++++++++++++++++++++++++++++++++ 8 files changed, 220 insertions(+), 6 deletions(-) create mode 100644 release/README.md create mode 100755 release/copy_build_files.sh create mode 100755 release/create_casync_build.sh create mode 100755 release/create_casync_release.py create mode 100755 release/create_prebuilt.sh create mode 100755 release/upload_casync_release.sh create mode 100644 system/updated/casync/common.py diff --git a/Jenkinsfile b/Jenkinsfile index 4afb3964f7..efe598c275 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -142,6 +142,23 @@ def setupCredentials() { } +def build_release(String channel_name) { + return parallel ( + "${channel_name} (git)": { + deviceStage("build git", "tici-needs-can", [], [ + ["build ${channel_name}", "RELEASE_BRANCH=${channel_name} $SOURCE_DIR/release/build_release.sh"], + ]) + }, + "${channel_name} (casync)": { + deviceStage("build casync", "tici-needs-can", [], [ + ["build ${channel_name}", "RELEASE=1 OPENPILOT_CHANNEL=${channel_name} BUILD_DIR=/data/openpilot_build CASYNC_DIR=/data/casync $SOURCE_DIR/release/create_casync_build.sh"], + //["upload ${channel_name}", "OPENPILOT_CHANNEL=${channel_name} $SOURCE_DIR/release/upload_casync_release.sh"], + ]) + } + ) +} + + node { env.CI = "1" env.PYTHONWARNINGS = "error" @@ -164,15 +181,11 @@ node { try { if (env.BRANCH_NAME == 'devel-staging') { - deviceStage("build release3-staging", "tici-needs-can", [], [ - ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"], - ]) + build_release("release3-staging") } if (env.BRANCH_NAME == 'master-ci') { - deviceStage("build nightly", "tici-needs-can", [], [ - ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"], - ]) + build_release("nightly") } if (!env.BRANCH_NAME.matches(excludeRegex)) { diff --git a/release/README.md b/release/README.md new file mode 100644 index 0000000000..77cd15ad69 --- /dev/null +++ b/release/README.md @@ -0,0 +1,44 @@ +# openpilot releases + + +## terms + +- `channel` - a named version of openpilot (git branch, casync caidx) which receives updates +- `build` - a release which is already built for the comma 3/3x and contains only required files for running openpilot and identifying the release + +- `build_style` - type of build, either `debug` or `release` + - `debug` - build with `ALLOW_DEBUG=true`, can test experimental features like longitudinal on alpha cars + - `release` - build with `ALLOW_DEBUG=false`, experimental features disabled + + +## openpilot channels + +| channel | build_style | description | +| ----------- | ----------- | ---------- | +| release | `release` | stable release of openpilot | +| staging | `release` | release candidate of openpilot for final verification | +| nightly | `release` | generated nightly from last commit passing CI tests | +| master | `debug` | current master commit with experimental features enabled | +| git branches | `debug` | installed manually, experimental features enabled, build required | + + +## creating casync build + +`create_casync_build.sh` - creates a casync openpilot build, ready to upload to `openpilot-releases` + +```bash +# run on a tici, within the directory you want to create the build from. +# creates a prebuilt version of openpilot into BUILD_DIR and outputs the caidx +# and other casync files into CASYNC_DIR for uploading to openpilot-releases. +BUILD_DIR=/data/openpilot_build \ +CASYNC_DIR=/data/casync \ +OPENPILOT_CHANNEL=nightly \ +release/create_casync_build.sh +``` + +`upload_casync_release.sh` - helper for uploading a casync build to `openpilot-releases` + + +## release builds + +to create a release build, set `RELEASE=1` environment variable when running the build script diff --git a/release/copy_build_files.sh b/release/copy_build_files.sh new file mode 100755 index 0000000000..31fd8af778 --- /dev/null +++ b/release/copy_build_files.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +SOURCE_DIR=$1 +TARGET_DIR=$2 + +if [ -f /TICI ]; then + FILES_SRC="release/files_tici" +else + echo "no release files set" + exit 1 +fi + +cd $SOURCE_DIR +cp -pR --parents $(cat release/files_common) $BUILD_DIR/ +cp -pR --parents $(cat $FILES_SRC) $TARGET_DIR/ diff --git a/release/create_casync_build.sh b/release/create_casync_build.sh new file mode 100755 index 0000000000..d41909a6ab --- /dev/null +++ b/release/create_casync_build.sh @@ -0,0 +1,21 @@ +#!/usr/bin/bash + +set -ex + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +CASYNC_DIR="${CASYNC_DIR:=/tmp/casync}" +SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)" +BUILD_DIR="${BUILD_DIR:=$(mktemp -d)}" + +echo "Creating casync release from $SOURCE_DIR to $CASYNC_DIR" + +mkdir -p $CASYNC_DIR +rm -rf $BUILD_DIR +mkdir -p $BUILD_DIR + +release/copy_build_files.sh $SOURCE_DIR $BUILD_DIR +release/create_prebuilt.sh $BUILD_DIR + +cd $SOURCE_DIR +release/create_casync_release.py $BUILD_DIR $CASYNC_DIR $OPENPILOT_CHANNEL diff --git a/release/create_casync_release.py b/release/create_casync_release.py new file mode 100755 index 0000000000..8977e09abc --- /dev/null +++ b/release/create_casync_release.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python + +import argparse +import pathlib + +from openpilot.system.updated.casync.common import create_caexclude_file, create_casync_release, create_build_metadata_file +from openpilot.system.version import get_build_metadata + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="creates a casync release") + parser.add_argument("target_dir", type=str, help="target directory to build channel from") + parser.add_argument("output_dir", type=str, help="output directory for the channel") + parser.add_argument("channel", type=str, help="what channel this build is") + args = parser.parse_args() + + target_dir = pathlib.Path(args.target_dir) + output_dir = pathlib.Path(args.output_dir) + + create_build_metadata_file(target_dir, get_build_metadata(), args.channel) + create_caexclude_file(target_dir) + + digest, caidx = create_casync_release(target_dir, output_dir, args.channel) + + print(f"Created casync release from {target_dir} to {caidx} with digest {digest}") diff --git a/release/create_prebuilt.sh b/release/create_prebuilt.sh new file mode 100755 index 0000000000..6d3768c536 --- /dev/null +++ b/release/create_prebuilt.sh @@ -0,0 +1,34 @@ +#!/usr/bin/bash -e + +# runs on tici to create a prebuilt version of a release + +set -ex + +BUILD_DIR=$1 + +cd $BUILD_DIR + +# Build +export PYTHONPATH="$BUILD_DIR" + +rm -f panda/board/obj/panda.bin.signed +rm -f panda/board/obj/panda_h7.bin.signed + +if [ -n "$RELEASE" ]; then + export CERT=/data/pandaextra/certs/release +fi + +scons -j$(nproc) + +# Cleanup +find . -name '*.a' -delete +find . -name '*.o' -delete +find . -name '*.os' -delete +find . -name '*.pyc' -delete +find . -name 'moc_*' -delete +find . -name '__pycache__' -delete +rm -rf .sconsign.dblite Jenkinsfile release/ +rm selfdrive/modeld/models/supercombo.onnx + +# Mark as prebuilt release +touch prebuilt diff --git a/release/upload_casync_release.sh b/release/upload_casync_release.sh new file mode 100755 index 0000000000..02ced8338e --- /dev/null +++ b/release/upload_casync_release.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +CASYNC_DIR="${CASYNC_DIR:=/tmp/casync}" + +OPENPILOT_RELEASES="https://commadist.blob.core.windows.net/openpilot-releases/" + +SAS="$(python -c 'from tools.lib.azure_container import get_container_sas;print(get_container_sas("commadist","openpilot-releases"))')" + +azcopy cp "$CASYNC_DIR*" "$OPENPILOT_RELEASES?$SAS" --recursive diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py new file mode 100644 index 0000000000..1703c74a76 --- /dev/null +++ b/system/updated/casync/common.py @@ -0,0 +1,53 @@ +import dataclasses +import json +import pathlib +import subprocess + +from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata + + +CASYNC_ARGS = ["--with=symlinks", "--with=permissions"] +CASYNC_FILES = [BUILD_METADATA_FILENAME, ".caexclude"] + + +def run(cmd): + return subprocess.check_output(cmd) + + +def get_exclude_set(path) -> set[str]: + exclude_set = set(CASYNC_FILES) + + for file in path.rglob("*"): + if file.is_file() or file.is_symlink(): + + while file.resolve() != path.resolve(): + exclude_set.add(str(file.relative_to(path))) + + file = file.parent + + return exclude_set + + +def create_caexclude_file(path: pathlib.Path): + with open(path / ".caexclude", "w") as f: + # exclude everything except the paths already in the release + f.write("*\n") + f.write(".*\n") + + for file in sorted(get_exclude_set(path)): + f.write(f"!{file}\n") + + +def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata, channel: str): + with open(path / BUILD_METADATA_FILENAME, "w") as f: + build_metadata_dict = dataclasses.asdict(build_metadata) + build_metadata_dict["channel"] = channel + build_metadata_dict["openpilot"].pop("is_dirty") # this is determined at runtime + f.write(json.dumps(build_metadata_dict)) + + +def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, channel: str): + caidx_file = output_dir / f"{channel}.caidx" + run(["casync", "make", *CASYNC_ARGS, caidx_file, target_dir]) + digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip() + return digest, caidx_file From efc32c2930a7d85fbdd308e1d9110ff270e4667d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 15:58:16 -0400 Subject: [PATCH 023/113] common/run: add environment variable argument (#31957) run add environment argument --- common/run.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/common/run.py b/common/run.py index c1a36bf041..06deb6388d 100644 --- a/common/run.py +++ b/common/run.py @@ -1,13 +1,13 @@ import subprocess -def run_cmd(cmd: list[str], cwd=None) -> str: - return subprocess.check_output(cmd, encoding='utf8', cwd=cwd).strip() +def run_cmd(cmd: list[str], cwd=None, env=None) -> str: + return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip() -def run_cmd_default(cmd: list[str], default: str = "", cwd=None) -> str: +def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str: try: - return run_cmd(cmd, cwd=cwd) + return run_cmd(cmd, cwd=cwd, env=env) except subprocess.CalledProcessError: return default From c197b3f52c6c3698a0c917fe24caf4766b1f96a8 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 16:00:30 -0400 Subject: [PATCH 024/113] add helper for creating build_metadata from a dict (#31958) helper --- system/version.py | 34 ++++++++++++++++++---------------- 1 file changed, 18 insertions(+), 16 deletions(-) diff --git a/system/version.py b/system/version.py index f370beb4ae..ab8082dce2 100755 --- a/system/version.py +++ b/system/version.py @@ -104,28 +104,30 @@ class BuildMetadata: return self.channel in RELEASE_BRANCHES +def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata: + channel = build_metadata.get("channel", "unknown") + openpilot_metadata = build_metadata.get("openpilot", {}) + version = openpilot_metadata.get("version", "unknown") + release_notes = openpilot_metadata.get("release_notes", "unknown") + git_commit = openpilot_metadata.get("git_commit", "unknown") + git_origin = openpilot_metadata.get("git_origin", "unknown") + git_commit_date = openpilot_metadata.get("git_commit_date", "unknown") + return BuildMetadata(channel, + OpenpilotMetadata( + version=version, + release_notes=release_notes, + git_commit=git_commit, + git_origin=git_origin, + git_commit_date=git_commit_date, + is_dirty=False)) + def get_build_metadata(path: str = BASEDIR) -> BuildMetadata: build_metadata_path = pathlib.Path(path) / BUILD_METADATA_FILENAME if build_metadata_path.exists(): build_metadata = json.loads(build_metadata_path.read_text()) - openpilot_metadata = build_metadata.get("openpilot", {}) - - channel = build_metadata.get("channel", "unknown") - version = openpilot_metadata.get("version", "unknown") - release_notes = openpilot_metadata.get("release_notes", "unknown") - git_commit = openpilot_metadata.get("git_commit", "unknown") - git_origin = openpilot_metadata.get("git_origin", "unknown") - git_commit_date = openpilot_metadata.get("git_commit_date", "unknown") - return BuildMetadata(channel, - OpenpilotMetadata( - version=version, - release_notes=release_notes, - git_commit=git_commit, - git_origin=git_origin, - git_commit_date=git_commit_date, - is_dirty=False)) + return build_metadata_from_dict(build_metadata) git_folder = pathlib.Path(path) / ".git" From db9aec2a3b79ae24c6cc7c2b657ba4bf4a8cb620 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Mar 2024 14:00:45 -0700 Subject: [PATCH 025/113] remove rest of GMLAN (#31960) --- cereal | 2 +- panda | 2 +- selfdrive/boardd/boardd.cc | 1 - 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 430535068a..6bfd39a506 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 430535068ac3bb94d3e117a3cfbc348ef37eb72d +Subproject commit 6bfd39a506c5123949ecf58831bfe48f938e6143 diff --git a/panda b/panda index 86348b431f..de061e4f73 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 86348b431f78b58dfaafd78460aa70ff9b9a1c5d +Subproject commit de061e4f7317dbacc206ef5f038d35a17e8ef0e7 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index c4db1eab40..22747d0918 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -316,7 +316,6 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setControlsAllowed(health.controls_allowed_pkt); ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); - ps.setGmlanSendErrs(health.gmlan_send_errs_pkt); ps.setPandaType(panda->hw_type); ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt)); ps.setSafetyParam(health.safety_param_pkt); From d9c2928e730febcf1ddb866a92cb38094dce74d2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Mar 2024 14:32:13 -0700 Subject: [PATCH 026/113] boardd: keep same offset for now --- selfdrive/boardd/boardd.cc | 2 +- selfdrive/boardd/panda.cc | 2 +- selfdrive/boardd/panda.h | 2 ++ selfdrive/boardd/tests/test_boardd_usbprotocol.cc | 2 +- 4 files changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 22747d0918..fcbf58999e 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -144,7 +144,7 @@ bool safety_setter_thread(std::vector pandas) { Panda *connect(std::string serial="", uint32_t index=0) { std::unique_ptr panda; try { - panda = std::make_unique(serial, (index * PANDA_BUS_CNT)); + panda = std::make_unique(serial, (index * PANDA_BUS_OFFSET)); } catch (std::exception &e) { return nullptr; } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 95cfe04efd..a2e5574090 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -172,7 +172,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data for (auto cmsg : can_data_list) { // check if the message is intended for this panda uint8_t bus = cmsg.getSrc(); - if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) { + if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) { continue; } auto can_data = cmsg.getDat(); diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index f46150dd95..3002afeba9 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -23,6 +23,8 @@ #define CAN_REJECTED_BUS_OFFSET 0xC0U #define CAN_RETURNED_BUS_OFFSET 0x80U +#define PANDA_BUS_OFFSET 4 + struct __attribute__((packed)) can_header { uint8_t reserved : 1; uint8_t bus : 3; diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index 86476d05cd..aa67e8cf8c 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -40,7 +40,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1); const std::string &dat = test_data[dlc_to_len[id]]; can.setAddress(i); - can.setSrc(util::random_int(0, 3) + bus_offset); + can.setSrc(util::random_int(0, 2) + bus_offset); can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); total_pakets_size += sizeof(can_header) + dat.size(); } From b59ae50961244de60b7bc426e5566c24278adc85 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 21 Mar 2024 23:19:59 +0000 Subject: [PATCH 027/113] Ford: handle metric cruise speed (v2) (#31463) * Ford: handle metric cruise speed (v2) **Description** I found a signal which appears to match the IPC "Show km/h" setting. Requires https://github.com/commaai/opendbc/pull/1010. **Verification** - [ ] Test in car and confirm that toggling the "Show km/h" setting does not result in the cruise speed shown in openpilot being incorrect. - [ ] Test in a non-English (metric) car. * not present on Q4 * fix freq * test * Revert "test" This reverts commit 5e3a9f6df126d51685157de1e52bd6695db40fac. * Update ref_commit --------- Co-authored-by: Shane Smiskol --- selfdrive/car/ford/carstate.py | 7 ++++++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index b3ee6a4649..78f48ec5c4 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -57,7 +57,8 @@ class CarState(CarStateBase): ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3) # cruise state - ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS + is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False + ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS) ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5) ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0 @@ -131,6 +132,10 @@ class CarState(CarStateBase): messages += [ ("Lane_Assist_Data3_FD1", 33), ] + else: + messages += [ + ("INSTRUMENT_PANEL", 1), + ] if CP.transmissionType == TransmissionType.automatic: messages += [ diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7defed3f68..4bb8cd01e9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4e5e37be9d70450154f8b100ed88151bb3612331 \ No newline at end of file +f77699bfd783ab0c9a419f2af883b36aed20cc68 \ No newline at end of file From 33f9193c94d3afb9120369e6557ddcd71133c5ee Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 19:41:40 -0400 Subject: [PATCH 028/113] casync build: caidx filename is canonical representation of build (#31964) * canonical * short commit * channel * cleanup * let's do 9 characters * fixes * set the build style during release creation * as a property --- release/copy_build_files.sh | 2 +- release/create_casync_release.py | 8 ++++++-- system/updated/casync/common.py | 4 ++-- system/version.py | 12 ++++++++++-- 4 files changed, 19 insertions(+), 7 deletions(-) diff --git a/release/copy_build_files.sh b/release/copy_build_files.sh index 31fd8af778..b40bd4b763 100755 --- a/release/copy_build_files.sh +++ b/release/copy_build_files.sh @@ -11,5 +11,5 @@ else fi cd $SOURCE_DIR -cp -pR --parents $(cat release/files_common) $BUILD_DIR/ +cp -pR --parents $(cat release/files_common) $TARGET_DIR/ cp -pR --parents $(cat $FILES_SRC) $TARGET_DIR/ diff --git a/release/create_casync_release.py b/release/create_casync_release.py index 8977e09abc..9aa75eca5d 100755 --- a/release/create_casync_release.py +++ b/release/create_casync_release.py @@ -1,6 +1,7 @@ #!/usr/bin/env python import argparse +import os import pathlib from openpilot.system.updated.casync.common import create_caexclude_file, create_casync_release, create_build_metadata_file @@ -17,9 +18,12 @@ if __name__ == "__main__": target_dir = pathlib.Path(args.target_dir) output_dir = pathlib.Path(args.output_dir) - create_build_metadata_file(target_dir, get_build_metadata(), args.channel) + build_metadata = get_build_metadata() + build_metadata.openpilot.build_style = "release" if os.environ.get("RELEASE", None) is not None else "debug" + + create_build_metadata_file(target_dir, build_metadata, args.channel) create_caexclude_file(target_dir) - digest, caidx = create_casync_release(target_dir, output_dir, args.channel) + digest, caidx = create_casync_release(target_dir, output_dir, build_metadata.canonical) print(f"Created casync release from {target_dir} to {caidx} with digest {digest}") diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py index 1703c74a76..7061689c66 100644 --- a/system/updated/casync/common.py +++ b/system/updated/casync/common.py @@ -46,8 +46,8 @@ def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata f.write(json.dumps(build_metadata_dict)) -def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, channel: str): - caidx_file = output_dir / f"{channel}.caidx" +def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caidx_name: str): + caidx_file = output_dir / f"{caidx_name}.caidx" run(["casync", "make", *CASYNC_ARGS, caidx_file, target_dir]) digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip() return digest, caidx_file diff --git a/system/version.py b/system/version.py index ab8082dce2..902f013469 100755 --- a/system/version.py +++ b/system/version.py @@ -62,13 +62,14 @@ def is_dirty(cwd: str = BASEDIR) -> bool: return dirty -@dataclass(frozen=True) +@dataclass class OpenpilotMetadata: version: str release_notes: str git_commit: str git_origin: str git_commit_date: str + build_style: str is_dirty: bool # whether there are local changes @property @@ -90,7 +91,7 @@ class OpenpilotMetadata: .replace(":", "/", 1) -@dataclass(frozen=True) +@dataclass class BuildMetadata: channel: str openpilot: OpenpilotMetadata @@ -103,6 +104,10 @@ class BuildMetadata: def release_channel(self) -> bool: return self.channel in RELEASE_BRANCHES + @property + def canonical(self) -> str: + return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}" + def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata: channel = build_metadata.get("channel", "unknown") @@ -112,6 +117,7 @@ def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata: git_commit = openpilot_metadata.get("git_commit", "unknown") git_origin = openpilot_metadata.get("git_origin", "unknown") git_commit_date = openpilot_metadata.get("git_commit_date", "unknown") + build_style = openpilot_metadata.get("build_style", "unknown") return BuildMetadata(channel, OpenpilotMetadata( version=version, @@ -119,6 +125,7 @@ def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata: git_commit=git_commit, git_origin=git_origin, git_commit_date=git_commit_date, + build_style=build_style, is_dirty=False)) @@ -139,6 +146,7 @@ def get_build_metadata(path: str = BASEDIR) -> BuildMetadata: git_commit=get_commit(path), git_origin=get_origin(path), git_commit_date=get_commit_date(path), + build_style="unknown", is_dirty=is_dirty(path))) cloudlog.exception("unable to get build metadata") From 0cca1bb91a214ea2005d3e22b98df9714450770b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 20:21:36 -0400 Subject: [PATCH 029/113] add system/updated to release (#31966) * add updated * all --- release/files_common | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/release/files_common b/release/files_common index 94af70eff2..b00f99906b 100644 --- a/release/files_common +++ b/release/files_common @@ -55,7 +55,7 @@ selfdrive/sentry.py selfdrive/tombstoned.py selfdrive/statsd.py -selfdrive/updated/* +selfdrive/updated/** system/logmessaged.py system/micd.py @@ -187,6 +187,8 @@ system/ubloxd/generated/* system/ubloxd/*.h system/ubloxd/*.cc +system/updated/* + selfdrive/locationd/__init__.py selfdrive/locationd/SConscript selfdrive/locationd/.gitignore From 4ecbaa41fae93d13fd0de805e216b670541a0084 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 21 Mar 2024 21:31:22 -0400 Subject: [PATCH 030/113] controlsd: fix steer saturation premature warning (#31909) fix last actuators --- selfdrive/controls/controlsd.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index e6f91130b9..72f1514d88 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -143,6 +143,7 @@ class Controls: self.logged_comm_issue = None self.not_running_prev = None self.steer_limited = False + self.last_actuators = car.CarControl.Actuators.new_message() self.desired_curvature = 0.0 self.experimental_mode = False self.personality = self.read_personality_param() @@ -620,7 +621,7 @@ class Controls: undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 turning = abs(lac_log.desiredLateralAccel) > 1.0 good_speed = CS.vEgo > 5 - max_torque = abs(actuators.steer) > 0.99 + max_torque = abs(self.last_actuators.steer) > 0.99 if undershooting and turning and good_speed and max_torque: lac_log.active and self.events.add(EventName.steerSaturated) elif lac_log.saturated: @@ -727,6 +728,7 @@ class Controls: if not self.CP.passive and self.initialized: self.card.controls_update(CC) + self.last_actuators = CO.actuatorsOutput if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ STEER_ANGLE_SATURATION_THRESHOLD From 108e033af32f37bfd78471a15584a051e666742e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 21 Mar 2024 21:39:05 -0400 Subject: [PATCH 031/113] PlotJuggler: Update controls mismatch layout (#31965) * PlotJuggler: Update controls mismatch layout * Revert "PlotJuggler: Update controls mismatch layout" This reverts commit 665e6451f1f68bd300ad306a5bd7c8e6e2e61954. * minimize diff --- tools/plotjuggler/layouts/controls_mismatch_debug.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml index 54586d6e7b..7f9def379c 100644 --- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml +++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml @@ -24,6 +24,7 @@ + From d5cd457f827d698a1f4298d8efdda9800a87c018 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Mar 2024 18:49:18 -0700 Subject: [PATCH 032/113] Honda Civic 2022: fix spotty camera query (#31963) * no extra ecu * cmt * documentation * update refs * nice * for testing * byebye * Update launch_openpilot.sh --- selfdrive/car/honda/values.py | 22 +++++++++------------- selfdrive/car/tests/test_fw_fingerprint.py | 4 ++-- 2 files changed, 11 insertions(+), 15 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 1f59bd24d0..ceb1d4f27e 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -261,9 +261,9 @@ class CAR(Platforms): ) -HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ +HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xF112) -HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ +HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ p16(0xF112) FW_QUERY_CONFIG = FwQueryConfig( @@ -276,17 +276,10 @@ FW_QUERY_CONFIG = FwQueryConfig( ), # Data collection requests: - # Attempt to get the radarless Civic 2022+ camera FW + # Log manufacturer-specific identifier for current ECUs Request( - [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], - [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], - bus=0, - logging=True - ), - # Log extra identifiers for current ECUs - Request( - [HONDA_VERSION_REQUEST], - [HONDA_VERSION_RESPONSE], + [HONDA_ALT_VERSION_REQUEST], + [HONDA_ALT_VERSION_RESPONSE], bus=1, logging=True, ), @@ -326,7 +319,10 @@ FW_QUERY_CONFIG = FwQueryConfig( }, extra_ecus=[ # The only other ECU on PT bus accessible by camera on radarless Civic - (Ecu.unknown, 0x18DAB3F1, None), + # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1 + # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda' + # TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond + # (Ecu.unknown, 0x18DAB3F1, None), ], ) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index d9bea3b965..17ffc358f1 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,14 +263,14 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 8.6, 2: 9.5} + total_ref_time = {1: 8.5, 2: 9.4} brand_ref_times = { 1: { 'gm': 1.0, 'body': 0.1, 'chrysler': 0.3, 'ford': 1.5, - 'honda': 0.55, + 'honda': 0.45, 'hyundai': 1.05, 'mazda': 0.1, 'nissan': 0.8, From 3ca113162e52928681d996380b607d9b19ece270 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Mar 2024 19:32:11 -0700 Subject: [PATCH 033/113] speedup panda startup + test (#31955) * faster panda startup * 10hz signal * more iters * nothing * comment * usb is slow :/ --------- Co-authored-by: Comma Device --- selfdrive/boardd/pandad.py | 5 +--- selfdrive/boardd/tests/test_pandad.py | 37 +++++++++++++++++++-------- 2 files changed, 27 insertions(+), 15 deletions(-) diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index cf9938ec1d..9158a51469 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -155,10 +155,7 @@ def main() -> NoReturn: if first_run: # reset panda to ensure we're in a good state cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") - if panda.is_internal(): - HARDWARE.reset_internal_panda() - else: - panda.reset(reconnect=False) + panda.reset(reconnect=False) for p in pandas: p.close() diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 21cc0b5f37..9d7d0063f1 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -23,23 +23,28 @@ class TestPandad(unittest.TestCase): if len(Panda.list()) == 0: self._run_test(60) + self.spi = HARDWARE.get_device_type() != 'tici' + def tearDown(self): managed_processes['pandad'].stop() - def _run_test(self, timeout=30): - managed_processes['pandad'].start() + def _run_test(self, timeout=30) -> float: + st = time.monotonic() + sm = messaging.SubMaster(['pandaStates']) - sm = messaging.SubMaster(['peripheralState']) - for _ in range(timeout*10): + managed_processes['pandad'].start() + while (time.monotonic() - st) < timeout: sm.update(100) - if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: + if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown: break - + dt = time.monotonic() - st managed_processes['pandad'].stop() - if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: + if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown: raise Exception("boardd failed to start") + return dt + def _go_to_dfu(self): HARDWARE.recover_internal_panda() assert Panda.wait_for_dfu(None, 10) @@ -88,14 +93,24 @@ class TestPandad(unittest.TestCase): assert any(Panda(s).is_internal() for s in Panda.list()) def test_best_case_startup_time(self): - # run once so we're setup + # run once so we're up to date self._run_test(60) - # should be fast this time - self._run_test(8) + ts = [] + for _ in range(10): + # should be nearly instant this time + dt = self._run_test(5) + ts.append(dt) + + # 2s for SPI, 5s for USB (due to enumeration) + # 0.2s pandad -> boardd + # 1.1s panda boot time (FIXME: it's all the drivers/harness.h init) + # plus some buffer + assert 1.0 < (sum(ts)/len(ts)) < (2.0 if self.spi else 5.0) + print("startup times", ts, sum(ts) / len(ts)) def test_protocol_version_check(self): - if HARDWARE.get_device_type() == 'tici': + if not self.spi: raise unittest.SkipTest("SPI test") # flash old fw fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") From ceaff0d96370a5cb0f15de27ae6e3a8bd9764c72 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Mar 2024 20:00:15 -0700 Subject: [PATCH 034/113] Honda Civic 2022: allow fingerprinting without comma power (#31967) * do civic 2022 * new lines --- selfdrive/car/honda/values.py | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index ceb1d4f27e..36cdbc8732 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -300,17 +300,18 @@ FW_QUERY_CONFIG = FwQueryConfig( # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present non_essential_ecus={ - Ecu.programmedFuelInjection: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_PILOT], - Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_PILOT], - Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], - Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E], - Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, + Ecu.programmedFuelInjection: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, + CAR.HONDA_PILOT], + Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_PILOT], + Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E], + Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E], + Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT], - Ecu.combinationMeter: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, + Ecu.combinationMeter: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_FIT, CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_CHN], - Ecu.gateway: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FIT, CAR.HONDA_FREED, - CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY, - CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_PILOT], + Ecu.gateway: [CAR.ACURA_ILX, CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_FIT, + CAR.HONDA_FREED, CAR.HONDA_HRV, CAR.HONDA_RIDGELINE, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, + CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_PILOT], Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G], # existence correlates with transmission type for Accord ICE Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CRV_HYBRID, CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_PILOT], From 9315d0e7a5698a7fbcbdd23ce96450c7629f88fc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 22 Mar 2024 11:10:29 +0800 Subject: [PATCH 035/113] ui/map_eta: round remaining km/mi to one decimal place (#31968) round distance --- selfdrive/ui/qt/maps/map_helpers.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 3907ff7b05..16923f7a43 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -137,17 +137,17 @@ std::optional coordinate_from_param(const std::string &pa // return {distance, unit} std::pair map_format_distance(float d, bool is_metric) { - auto round_distance = [](float d) -> float { - return (d > 10) ? std::nearbyint(d) : std::nearbyint(d * 10) / 10.0; + auto round_distance = [](float d) -> QString { + return (d > 10) ? QString::number(std::nearbyint(d)) : QString::number(std::nearbyint(d * 10) / 10.0, 'f', 1); }; d = std::max(d, 0.0f); if (is_metric) { - return (d > 500) ? std::pair{QString::number(round_distance(d / 1000)), QObject::tr("km")} + return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")} : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")}; } else { float feet = d * METER_TO_FOOT; - return (feet > 500) ? std::pair{QString::number(round_distance(d * METER_TO_MILE)), QObject::tr("mi")} + return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")} : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")}; } } From 695fb1b5bf334db470ed4bde95ca0ef364a07b59 Mon Sep 17 00:00:00 2001 From: Marius David Date: Fri, 22 Mar 2024 05:48:04 +0200 Subject: [PATCH 036/113] VW: Octavia Scout 2018 fingerprint (#31094) Update all submodules to latest Co-authored-by: Shane Smiskol --- docs/CARS.md | 3 ++- selfdrive/car/volkswagen/fingerprints.py | 3 +++ selfdrive/car/volkswagen/values.py | 1 + 3 files changed, 6 insertions(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index 35a77fd78f..570c373f33 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 289 Supported Cars +# 290 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -215,6 +215,7 @@ A supported vehicle is one that just works when you install a comma device. All |Škoda|Kodiaq 2017-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Škoda|Octavia 2015-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Octavia RS 2016[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Scala 2020-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| |Škoda|Superb 2015-22[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index 71aee67815..96d721bd56 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -1069,6 +1069,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026BS\xf1\x891541', b'\xf1\x875G0906259C \xf1\x890002', + b'\xf1\x8704L906026BT\xf1\x897612', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041L \xf1\x891601', @@ -1080,6 +1081,7 @@ FW_VERSIONS = { b'\xf1\x870D9300041H \xf1\x895220', b'\xf1\x870D9300041J \xf1\x894902', b'\xf1\x870D9300041P \xf1\x894507', + b'\xf1\x870D9300014T \xf1\x895221', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', @@ -1099,6 +1101,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00603A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907567P \xf1\x890100\xf1\x82\x0101', diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index ab4008d643..86b0dbd7aa 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -334,6 +334,7 @@ class CAR(Platforms): [ VWCarDocs("Škoda Octavia 2015-19"), VWCarDocs("Škoda Octavia RS 2016"), + VWCarDocs("Škoda Octavia Scout 2017-19"), ], VolkswagenCarSpecs(mass=1388, wheelbase=2.68), ) From a785a71190c7846577e45b7787dde4a3faf974e5 Mon Sep 17 00:00:00 2001 From: Pedro Nascimento de Lima Date: Fri, 22 Mar 2024 15:58:56 -0400 Subject: [PATCH 037/113] Mazda CX-5 2024 fingerprint (#31974) mazda cx5 2024 fingerprint --- selfdrive/car/mazda/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py index e7396d566e..f30bc1b5cd 100644 --- a/selfdrive/car/mazda/fingerprints.py +++ b/selfdrive/car/mazda/fingerprints.py @@ -10,6 +10,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -38,6 +39,7 @@ FW_VERSIONS = { b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, From 7cbf3a54f11c1b33627bb30eed3de38640b77fe2 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 22 Mar 2024 16:20:11 -0400 Subject: [PATCH 038/113] casync: use xz compression (#31977) use xz compression --- system/updated/casync/common.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py index 7061689c66..b5fb4d5802 100644 --- a/system/updated/casync/common.py +++ b/system/updated/casync/common.py @@ -6,7 +6,7 @@ import subprocess from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata -CASYNC_ARGS = ["--with=symlinks", "--with=permissions"] +CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz"] CASYNC_FILES = [BUILD_METADATA_FILENAME, ".caexclude"] From a2a372d3147d14f7cb688458c659331a52951cae Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Fri, 22 Mar 2024 14:09:23 -0700 Subject: [PATCH 039/113] Cleanup settings imports (#31979) --- selfdrive/ui/qt/offroad/settings.cc | 15 +++------------ selfdrive/ui/qt/offroad/settings.h | 1 - 2 files changed, 3 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 185d5457e3..af32a9b10b 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -1,5 +1,3 @@ -#include "selfdrive/ui/qt/offroad/settings.h" - #include #include #include @@ -8,21 +6,14 @@ #include -#include "selfdrive/ui/qt/network/networking.h" - -#include "common/params.h" #include "common/watchdog.h" #include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/widgets/input.h" +#include "selfdrive/ui/qt/network/networking.h" +#include "selfdrive/ui/qt/offroad/settings.h" +#include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/widgets/prime.h" #include "selfdrive/ui/qt/widgets/scrollview.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" -#include "selfdrive/ui/qt/widgets/toggle.h" -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index f9e1648447..35a044bdd2 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -10,7 +10,6 @@ #include #include - #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" From b4fdfeec6216bd57f03c560ead15bd16c5e54cf6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Mar 2024 14:12:23 -0700 Subject: [PATCH 040/113] why did panda have a boot time (#31978) * why did panda have a boot time * update test --- panda | 2 +- selfdrive/boardd/tests/test_pandad.py | 9 ++++----- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/panda b/panda index de061e4f73..dd82382d5f 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit de061e4f7317dbacc206ef5f038d35a17e8ef0e7 +Subproject commit dd82382d5f9fcfbf9958238ee33739693fd3f6fa diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 9d7d0063f1..3434be3fe4 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -102,11 +102,10 @@ class TestPandad(unittest.TestCase): dt = self._run_test(5) ts.append(dt) - # 2s for SPI, 5s for USB (due to enumeration) - # 0.2s pandad -> boardd - # 1.1s panda boot time (FIXME: it's all the drivers/harness.h init) - # plus some buffer - assert 1.0 < (sum(ts)/len(ts)) < (2.0 if self.spi else 5.0) + # 5s for USB (due to enumeration) + # - 0.2s pandad -> boardd + # - plus some buffer + assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0) print("startup times", ts, sum(ts) / len(ts)) def test_protocol_version_check(self): From 10e3652f286d9a2caf82ee168d7e760221bd61fb Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 22 Mar 2024 18:36:32 -0300 Subject: [PATCH 041/113] Multilang: update pt-BR translations (#31980) update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a61f3a9949..adab93eff9 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -299,11 +299,11 @@ Pair Device - + Parear Dispositivo Pair - + PAREAR @@ -613,7 +613,7 @@ now - + agora From 6e60fed737114099834faea8fcde1669fe44a3ad Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 22 Mar 2024 15:05:38 -0700 Subject: [PATCH 042/113] Hyundai CAN: allow fingerprinting without comma power for many platforms (#31969) * only including master data since eps and other ecus were only added in last 60 days * CAR.HYUNDAI_SANTA_FE_2022 * CAR.GENESIS_G70 * CAR.KIA_K5_2021 * CAR.HYUNDAI_SONATA_HYBRID * CAR.HYUNDAI_ELANTRA_2021 * CAR.HYUNDAI_ELANTRA_HEV_2021 * CAR.HYUNDAI_SANTA_FE * CAR.KIA_STINGER * CAR.KIA_NIRO_PHEV_2022 * slightly more data * data from forks now * CAR.GENESIS_G70_2020 * CAR.KIA_NIRO_HEV_2021 * CAR.KIA_FORTE * CAR.HYUNDAI_IONIQ_PHEV * CAR.HYUNDAI_KONA_EV_2022 * CAR.KIA_STINGER_2022 * HYUNDAI_KONA_EV * CAR.KIA_OPTIMA_H_G4_FL * clean up --- selfdrive/car/hyundai/values.py | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f1a3c3ebc6..37d18d2427 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -743,9 +743,16 @@ FW_QUERY_CONFIG = FwQueryConfig( # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present non_essential_ecus={ - Ecu.transmission: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA], - Ecu.engine: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA], - Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA], + Ecu.transmission: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, + CAR.GENESIS_G70, CAR.KIA_K5_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_ELANTRA_HEV_2021, + CAR.HYUNDAI_SANTA_FE, CAR.KIA_STINGER, CAR.KIA_NIRO_PHEV_2022, CAR.GENESIS_G70_2020, CAR.KIA_NIRO_HEV_2021, + CAR.KIA_FORTE, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_STINGER_2022, CAR.GENESIS_G90], + Ecu.engine: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, + CAR.GENESIS_G70, CAR.KIA_K5_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_ELANTRA_HEV_2021, + CAR.HYUNDAI_SANTA_FE, CAR.KIA_STINGER, CAR.KIA_NIRO_PHEV_2022, CAR.GENESIS_G70_2020, CAR.KIA_NIRO_HEV_2021, CAR.KIA_FORTE, + CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_STINGER_2022, CAR.GENESIS_G90, CAR.KIA_OPTIMA_H_G4_FL], + Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021, + CAR.HYUNDAI_SANTA_FE, CAR.KIA_FORTE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV], }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms From c0a96d27470eee9b8f4bedf1a9e050e5e2e77df3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Mar 2024 15:57:36 -0700 Subject: [PATCH 043/113] thermald: publish immediately after ignition (#31981) * thermald: publish immediately after ignition * fix --- selfdrive/thermald/thermald.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index bfc50c4478..f5fc949637 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -207,17 +207,10 @@ def thermald_thread(end_event, hw_queue) -> None: while not end_event.is_set(): sm.update(PANDA_STATES_TIMEOUT) - # Run at 2Hz - if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0: - continue - pandaStates = sm['pandaStates'] peripheralState = sm['peripheralState'] peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown - msg = read_thermal(thermal_config) - msg.deviceState.deviceType = HARDWARE.get_device_type() - if sm.updated['pandaStates'] and len(pandaStates) > 0: # Set ignition based on any panda connected @@ -237,6 +230,14 @@ def thermald_thread(end_event, hw_queue) -> None: onroad_conditions["ignition"] = False cloudlog.error("panda timed out onroad") + # Run at 2Hz, plus rising edge of ignition + ign_edge = started_ts is None and onroad_conditions["ignition"] + if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge: + continue + + msg = read_thermal(thermal_config) + msg.deviceState.deviceType = HARDWARE.get_device_type() + try: last_hw_state = hw_queue.get_nowait() except queue.Empty: From 82a07afb2111b4367742b97ef7073b441d371891 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 23 Mar 2024 04:30:55 -0700 Subject: [PATCH 044/113] HKG: remove engine and transmission ECUs (#31985) * remove engine and transmission * remove engine and transmission * also here --- selfdrive/car/hyundai/fingerprints.py | 574 -------------------- selfdrive/car/hyundai/tests/test_hyundai.py | 2 +- selfdrive/car/hyundai/values.py | 16 +- 3 files changed, 5 insertions(+), 587 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index b7f9cb3384..68598b65ff 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -54,12 +54,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_AZERA_HEV_6TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ @@ -77,14 +71,6 @@ FW_VERSIONS = { b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ', b'\xf1\x00IGhe SCC FHCUP 1.00 1.02 99110-M9000 ', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7', - b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_GENESIS: { (Ecu.fwdCamera, 0x7c4, None): [ @@ -103,12 +89,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_IONIQ_PHEV_2019: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -120,13 +100,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', - ], }, CAR.HYUNDAI_IONIQ_PHEV: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -148,19 +121,6 @@ FW_VERSIONS = { b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', - b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x82zT\xd2', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_IONIQ_EV_2020: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -210,13 +170,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_SONATA: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -242,28 +195,6 @@ FW_VERSIONS = { b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', ], - (Ecu.engine, 0x7e0, None): [ - b'HM6M1_0a0_F00', - b'HM6M1_0a0_G20', - b'HM6M2_0a0_BD0', - b'\xf1\x81HM6M1_0a0_F00', - b'\xf1\x81HM6M1_0a0_G20', - b'\xf1\x82DNBVN5GMCCXXXDCA', - b'\xf1\x82DNBVN5GMCCXXXG2F', - b'\xf1\x82DNBWN5TMDCXXXG2E', - b'\xf1\x82DNCVN5GMCCXXXF0A', - b'\xf1\x82DNCVN5GMCCXXXG2B', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', - b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', - b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', - b'\xf1\x87391162M003', - b'\xf1\x87391162M010', - b'\xf1\x87391162M013', - b'\xf1\x87391162M023', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', @@ -294,72 +225,6 @@ FW_VERSIONS = { b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', - b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', - b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', - b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSA\xb9\x13\xf9p', - b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - 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b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', - b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', - b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - ], }, CAR.HYUNDAI_SONATA_LF: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -369,43 +234,20 @@ FW_VERSIONS = { b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', - b'\xf1\x006T6H0_C2\x00\x006T6B7051\x00\x00TLF0G24SL4;\x08\x12i', - b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', - b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', - b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', - ], }, CAR.HYUNDAI_TUCSON: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', - ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', - b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', - ], }, CAR.HYUNDAI_SANTA_FE: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -426,11 +268,6 @@ FW_VERSIONS = { b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', @@ -441,34 +278,6 @@ FW_VERSIONS = { b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - b'\xf1\x00bcsh8p54 U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1', - b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91', - b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00', - b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', - b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', - b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00', - b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n', - b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', - b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', - b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00', - b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', - b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', - b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', - b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', - b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', - b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', - b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', - b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_SANTA_FE_2022: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -488,20 +297,6 @@ FW_VERSIONS = { b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81HM6M1_0a0_G20', - b'\xf1\x81HM6M1_0a0_H00', - b'\xf1\x81HM6M2_0a0_G00', - b'\xf1\x82TACVN5GMI3XXXH0A', - b'\xf1\x82TACVN5GSI3XXXH0A', - b'\xf1\x82TMBZN5TMD3XXXG2E', - b'\xf1\x82TMCFD5MMCXXXXG0A', - b'\xf1\x87 \xf1\x81 ', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', - b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', @@ -515,22 +310,6 @@ FW_VERSIONS = { b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', - b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', - b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', - b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_SANTA_FE_HEV_2022: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -552,18 +331,6 @@ FW_VERSIONS = { b'\xf1\x00TMH MFC AT USA LHD 1.00 1.05 99211-S1500 220126', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16KA1\xc6\x15Q\x1e', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', - 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\x87391312MTA0', - b'\xf1\x87391312MTC1', - b'\xf1\x87391312MTE0', - b'\xf1\x87391312MTL0', - ], }, CAR.HYUNDAI_SANTA_FE_PHEV_2022: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -580,16 +347,6 @@ FW_VERSIONS = { b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MTF0', - b'\xf1\x87391312MTF1', - ], }, CAR.HYUNDAI_CUSTIN_1ST_GEN: { (Ecu.abs, 0x7d1, None): [ @@ -604,12 +361,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391212MEC0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M', - ], }, CAR.KIA_STINGER: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -618,14 +369,6 @@ FW_VERSIONS = { b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', ], - (Ecu.engine, 0x7e0, None): [ - b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', - b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', - b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', @@ -639,20 +382,6 @@ FW_VERSIONS = { b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc', - b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', - b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', - b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', - b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', - ], }, CAR.KIA_STINGER_2022: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -661,11 +390,6 @@ FW_VERSIONS = { b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', b'\xf1\x00CK__ SCC FHCUP 1.00 1.01 99110-J5100 ', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81HM6M1_0a0_H00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', @@ -678,12 +402,6 @@ FW_VERSIONS = { b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 99211-J5000 201209', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3', - b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', - ], }, CAR.HYUNDAI_PALISADE: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -712,11 +430,6 @@ FW_VERSIONS = { b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', @@ -737,60 +450,6 @@ FW_VERSIONS = { b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', - b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX2G38NB5X\xfa\xe88', - b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde', - b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', - b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", - b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', - b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', - b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', - b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', - b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', - b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', - b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', - b'\xf1\x87LDKVBN540766KF37\x87wgv\x87w\x87xx\x99\x97\x89v\x88\x97h\x88\x88\x88\x88x\x7f\xf6\xffvUo\xff\xd3\x01\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', - b'\xf1\x87LDLVAA4225634HH1\x98\x88\x88\x88eUeVx\x88\x87\x88g\x88\x86xx\x88\x87\x88\x86o\xf9\xff\x87w\x7f\xff\xf2\xf7\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x87LDLVAA4777834HH1\x98\x88x\x87\x87wwwx\x88\x87\x88x\x99\x97\x89x\x88\x97\x88\x86o\xfa\xff\x86fO\xff\x1d9\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x87LDLVAA5194534HH1ffvguUUUx\x88\xa7\x88h\x99\x96\x89x\x88\x97\x88ro\xf9\xff\x98wo\xff\xaaM\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x87LDLVAA5949924HH1\xa9\x99y\x97\x87wwwx\x99\x97\x89x\x99\xa7\x89x\x99\xa7\x89\x87_\xfa\xffeD?\xff\xf1\xfd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', - b'\xf1\x87LDLVBN560098KF26\x86fff\x87vgfg\x88\x96xfw\x86gfw\x86g\x95\xf6\xffeU_\xff\x92c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', - b'\xf1\x87LDLVBN602045KF26\xb9\x99\x89\x98\x97vwgy\xaa\xb7\x9af\x88\x96hw\x99\xa7y\xa9\x7f\xf5\xff\x99w\x7f\xff,\xd3\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN628911KF26\xa9\x99\x89\x98\x98\x88\x88\x88y\x99\xa7\x99fw\x86gw\x88\x87x\x83\x7f\xf6\xff\x98wo\xff2\xda\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN645817KF37\x87www\x98\x87xwx\x99\x97\x89\x99\x99\x99\x99g\x88\x96x\xb6_\xf7\xff\x98fo\xff\xe2\x86\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN662115KF37\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\x97\x89x\x99\xa7\x89\x88\x99\xa8\x89\x88\x7f\xf7\xfffD_\xff\xdc\x84\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN667933KF37\xb9\x99\x89\x98\xb9\x99\x99\x99x\x88\x87\x88w\x88\x87x\x88\x88\x98\x88\xcbo\xf7\xffe3/\xffQ!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN673087KF37\x97www\x86fvgx\x99\x97\x89\x99\xaa\xa9\x9ag\x88\x86x\xe9_\xf8\xff\x98w\x7f\xff"\xad\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN673841KF37\x98\x88x\x87\x86g\x86xy\x99\xa7\x99\x88\x99\xa8\x89w\x88\x97xdo\xf5\xff\x98\x88\x8f\xffT\xec\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN681363KF37\x98\x88\x88\x88\x97x\x87\x88y\xaa\xa7\x9a\x88\x88\x98\x88\x88\x88\x88\x88vo\xf6\xffvD\x7f\xff%v\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN713782KF37\x99\x99y\x97\x98\x88\x88\x88x\x88\x97\x88\x88\x99\x98\x89\x88\x99\xa8\x89\x87o\xf7\xffeU?\xff7,\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN713890KF26\xb9\x99\x89\x98\xa9\x99\x99\x99x\x99\x97\x89\x88\x99\xa8\x89\x88\x99\xb8\x89Do\xf7\xff\xa9\x88o\xffs\r\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN733215KF37\x99\x98y\x87\x97wwwi\x99\xa6\x99x\x99\xa7\x89V\x88\x95h\x86o\xf7\xffeDO\xff\x12\xe7\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN750044KF37\xca\xa9\x8a\x98\xa7wwwy\xaa\xb7\x9ag\x88\x96x\x88\x99\xa8\x89\xb9\x7f\xf6\xff\xa8w\x7f\xff\xbe\xde\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN752612KF37\xba\xaa\x8a\xa8\x87w\x87xy\xaa\xa7\x9a\x88\x99\x98\x89x\x88\x97\x88\x96o\xf6\xffvU_\xffh\x1b\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN755553KF37\x87xw\x87\x97w\x87xy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95gwo\xf6\xffwUO\xff\xb5T\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', - b'\xf1\x87LDLVBN757883KF37\x98\x87xw\x98\x87\x88xy\xaa\xb7\x9ag\x88\x96x\x89\x99\xa8\x99e\x7f\xf6\xff\xa9\x88o\xff5\x15\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6', - b'\xf1\x87LDMVBN778156KF37\x87vWe\xa9\x99\x99\x99y\x99\xb7\x99\x99\x99\x99\x99x\x99\x97\x89\xa8\x7f\xf8\xffwf\x7f\xff\x82_\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6', - b'\xf1\x87LDMVBN780576KF37\x98\x87hv\x97x\x97\x89x\x99\xa7\x89\x88\x99\x98\x89w\x88\x97x\x98\x7f\xf7\xff\xba\x88\x8f\xff\x1e0\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6', - b'\xf1\x87LDMVBN783485KF37\x87www\x87vwgy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95g\x89_\xf6\xff\xa9w_\xff\xc5\xd6\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6', - b'\xf1\x87LDMVBN811844KF37\x87vwgvfffx\x99\xa7\x89Vw\x95gg\x88\xa6xe\x8f\xf6\xff\x97wO\xff\t\x80\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6', - b'\xf1\x87LDMVBN830601KF37\xa7www\xa8\x87xwx\x99\xa7\x89Uw\x85Ww\x88\x97x\x88o\xf6\xff\x8a\xaa\x7f\xff\xe2:\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6', - b'\xf1\x87LDMVBN848789KF37\x87w\x87x\x87w\x87xy\x99\xb7\x99\x87\x88\x98x\x88\x99\xa8\x89\x87\x7f\xf6\xfffUo\xff\xe3!\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN851595KF37\x97wgvvfffx\x99\xb7\x89\x88\x99\x98\x89\x87\x88\x98x\x99\x7f\xf7\xff\x97w\x7f\xff@\xf3\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN873175KF26\xa8\x88\x88\x88vfVex\x99\xb7\x89\x88\x99\x98\x89x\x88\x97\x88f\x7f\xf7\xff\xbb\xaa\x8f\xff,\x04\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN879401KF26veVU\xa8\x88\x88\x88g\x88\xa6xVw\x95gx\x88\xa7\x88v\x8f\xf9\xff\xdd\xbb\xbf\xff\xb3\x99\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN881314KF37\xa8\x88h\x86\x97www\x89\x99\xa8\x99w\x88\x97xx\x99\xa7\x89\xca\x7f\xf8\xff\xba\x99\x8f\xff\xd8v\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN888651KF37\xa9\x99\x89\x98vfff\x88\x99\x98\x89w\x99\xa7y\x88\x88\x98\x88D\x8f\xf9\xff\xcb\x99\x8f\xff\xa5\x1e\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN889419KF37\xa9\x99y\x97\x87w\x87xx\x88\x97\x88w\x88\x97x\x88\x99\x98\x89e\x9f\xf9\xffeUo\xff\x901\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', - ], }, CAR.HYUNDAI_VELOSTER: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -801,11 +460,6 @@ FW_VERSIONS = { b'\xf1\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TJS-JDK06F200H0A', - b'\x01TJS-JNU06F200H0A', - b'391282BJF5 ', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ], @@ -813,30 +467,18 @@ FW_VERSIONS = { b'\xf1\x00JS LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33', b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\x0e\xba\x1e\xa2', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', - ], }, CAR.GENESIS_G70: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', - b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\x7f\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): [ @@ -846,14 +488,6 @@ FW_VERSIONS = { b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', b'\xf1\x00IK MDPS R 1.00 5.09 57700-G9520 4I4VL509', ], - (Ecu.transmission, 0x7e1, None): [ - b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SIK0T33NH0\x0f\xa3Y*', - b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', - b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', - b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\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', @@ -865,12 +499,6 @@ FW_VERSIONS = { b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', b'\xf1\x00IK MFC AT USA LHD 1.00 1.04 99211-G9000 220401', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.GENESIS_G80: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -885,26 +513,8 @@ FW_VERSIONS = { b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', b'\xf1\x00DH LKAS AT USA LHD 1.01 1.04 95895-B1500 181213', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH3\xaf\x1a7\xe2', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', - b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.GENESIS_G90: { - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SHI0G50NH0\xff\x80\xc2*', - b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', - b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', - b'\xf1\x87VDHMD16446682DD3WwwxxvGw\x88\x88\x87\x88\x88whxx\x87\x87\x87\x85fUfwu_\xffT\xf8\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', - ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ', b'\xf1\x00HI__ SCC FHCUP 1.00 1.02 99110-D2100 ', @@ -914,9 +524,6 @@ FW_VERSIONS = { b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2030 170208', b'\xf1\x00HI MFC AT USA LHD 1.00 1.03 99211-D2000 190831', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x810000000000\x00', - ], }, CAR.HYUNDAI_KONA: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -925,18 +532,12 @@ FW_VERSIONS = { (Ecu.abs, 0x7d1, None): [ b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'"\x01TOS-0NU06F301J02', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', - ], }, CAR.KIA_CEED: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -948,13 +549,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TCD-JECU4F202H0K', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1\x00\x00\x00\x00', - b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', - ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350', ], @@ -975,22 +569,11 @@ FW_VERSIONS = { b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TBDM1NU06F200H01', - b'391182B945\x00', - b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', - b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x90@\xc6\xae', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', - b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", - ], }, CAR.KIA_K5_2021: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -1025,23 +608,6 @@ FW_VERSIONS = { b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81HM6M2_0a0_DQ0', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B', - b'\xf1\x87391212MKT0', - b'\xf1\x87391212MKT3', - b'\xf1\x87391212MKV0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', - b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', - b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', - b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', - b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', - ], }, CAR.KIA_K5_HEV_2020: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -1055,13 +621,6 @@ FW_VERSIONS = { b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391162JLA0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', - ], }, CAR.HYUNDAI_KONA_EV: { (Ecu.abs, 0x7d1, None): [ @@ -1167,20 +726,6 @@ FW_VERSIONS = { ], }, CAR.KIA_NIRO_PHEV: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6D0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U3H0_C2\x00\x006U3G0051\x00\x00HDE0G16NS2\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', - b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', @@ -1197,14 +742,6 @@ FW_VERSIONS = { ], }, CAR.KIA_NIRO_PHEV_2022: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', ], @@ -1217,13 +754,6 @@ FW_VERSIONS = { ], }, CAR.KIA_NIRO_HEV_2021: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', ], @@ -1243,12 +773,6 @@ FW_VERSIONS = { b'\xf1\x8758910-Q5450\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', b'\xf1\x8758910-Q5450\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450', ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TSP2KNL06F100J0K', - b'\x01TSP2KNL06F200J0K', - b'\xf1\x81616D2051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81616D5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200 ', b'\xf1\x00SP2 MDPS C 1.01 1.05 56300Q5200 ', @@ -1257,11 +781,6 @@ FW_VERSIONS = { b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', - b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C2051\x00\x00CSP4N20NS3\x00\x00\x00\x00', - ], }, CAR.KIA_OPTIMA_G4: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -1273,9 +792,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', - ], }, CAR.KIA_OPTIMA_G4_FL: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -1289,17 +805,6 @@ FW_VERSIONS = { b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', - ], }, CAR.KIA_OPTIMA_H: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -1316,28 +821,12 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_ELANTRA: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a', - b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87', - b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00', - b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', @@ -1353,12 +842,6 @@ FW_VERSIONS = { b'\xf1\x00PD LKAS AT USA LHD 1.00 1.02 95740-G3000 A51', b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', - b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\x00\x00\x00\x00', - b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\xda\x7f\xd6\xa7', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', b'\xf1\x00PD MDPS C 1.00 1.03 56310/G3300 4PDDC103', @@ -1400,22 +883,6 @@ FW_VERSIONS = { b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa', - b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\x7f\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81HM6M2_0a0_FF0', - b'\xf1\x82CNCVD0AMFCXCSFFB', - b'\xf1\x82CNCWD0AMFCXCSFFA', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', - ], }, CAR.HYUNDAI_ELANTRA_HEV_2021: { (Ecu.fwdCamera, 0x7c4, None): [ @@ -1435,18 +902,6 @@ FW_VERSIONS = { b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', - b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', - b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', - b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', - b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_KONA_HEV: { (Ecu.abs, 0x7d1, None): [ @@ -1461,12 +916,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.HYUNDAI_SONATA_HYBRID: { (Ecu.fwdRadar, 0x7d0, None): [ @@ -1491,22 +940,6 @@ FW_VERSIONS = { b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2314 E07\x00\x00\x00\x00\x00\x00\x00TDN2H20KA5\xba\x82\xc7\xc3', - b'\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', - b'\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', - b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', - 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\x00TDN2H20SA6N\xc2\xeeW', - b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391062J002', - b'\xf1\x87391162J011', - b'\xf1\x87391162J012', - b'\xf1\x87391162J013', - b'\xf1\x87391162J014', - ], }, CAR.KIA_SORENTO: { (Ecu.fwdCamera, 0x7c4, None): [ @@ -1520,13 +953,6 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ', ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U834\x00\x00\x00\x00\x00\x00TUM2G33NL7K\xae\xdd\x1d', - b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.KIA_EV6: { (Ecu.fwdRadar, 0x7d0, None): [ diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index c9ec972313..30cc598a09 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -85,7 +85,7 @@ class TestHyundaiFingerprint(unittest.TestCase): for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model.value): for ecu, fws in ecus.items(): - # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission + # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps if ecu[0] in (Ecu.fwdCamera,): self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws), f"FW from unexpected request in database: {(ecu, fws)}") diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 37d18d2427..57ec0a31cc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -647,8 +647,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] # TODO: there are date codes in the ABS firmware versions in hex DATE_FW_ECUS = [Ecu.fwdCamera] -ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, - Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter] +ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.parkingAdas, + Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter] FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -657,12 +657,12 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], + whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], ), Request( [HYUNDAI_VERSION_REQUEST_MULTI], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], + whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), # CAN-FD queries (from camera) @@ -743,14 +743,6 @@ FW_QUERY_CONFIG = FwQueryConfig( # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present non_essential_ecus={ - Ecu.transmission: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, - CAR.GENESIS_G70, CAR.KIA_K5_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_ELANTRA_HEV_2021, - CAR.HYUNDAI_SANTA_FE, CAR.KIA_STINGER, CAR.KIA_NIRO_PHEV_2022, CAR.GENESIS_G70_2020, CAR.KIA_NIRO_HEV_2021, - CAR.KIA_FORTE, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_STINGER_2022, CAR.GENESIS_G90], - Ecu.engine: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, - CAR.GENESIS_G70, CAR.KIA_K5_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_ELANTRA_HEV_2021, - CAR.HYUNDAI_SANTA_FE, CAR.KIA_STINGER, CAR.KIA_NIRO_PHEV_2022, CAR.GENESIS_G70_2020, CAR.KIA_NIRO_HEV_2021, CAR.KIA_FORTE, - CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_STINGER_2022, CAR.GENESIS_G90, CAR.KIA_OPTIMA_H_G4_FL], Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_SANTA_FE, CAR.KIA_FORTE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV], }, From 14de326e95d7cc201c6864cef97fbbf76e176c04 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 25 Mar 2024 01:48:23 +0800 Subject: [PATCH 045/113] =?UTF-8?q?ui/settings:=20uppercase=20=E2=80=9CPai?= =?UTF-8?q?r"=20(#31991)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit uppercase Pair --- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/translations/main_ar.ts | 2 +- selfdrive/ui/translations/main_de.ts | 2 +- selfdrive/ui/translations/main_fr.ts | 2 +- selfdrive/ui/translations/main_ja.ts | 2 +- selfdrive/ui/translations/main_ko.ts | 2 +- selfdrive/ui/translations/main_pt-BR.ts | 2 +- selfdrive/ui/translations/main_th.ts | 2 +- selfdrive/ui/translations/main_tr.ts | 2 +- selfdrive/ui/translations/main_zh-CHS.ts | 2 +- selfdrive/ui/translations/main_zh-CHT.ts | 2 +- 11 files changed, 11 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index af32a9b10b..1c4e144468 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -207,7 +207,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A")))); addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str())); - pair_device = new ButtonControl(tr("Pair Device"), tr("Pair"), + pair_device = new ButtonControl(tr("Pair Device"), tr("PAIR"), tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); connect(pair_device, &ButtonControl::clicked, [=]() { PairingPopup popup(this); diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 024ca0d4f6..79e31c7552 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index d849b27103..b3fa645217 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 2294ba7af9..cc9c95acd4 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 7b07866efc..13c2083bce 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index e8fcb44228..a3fd82f610 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index adab93eff9..27231a9dc4 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -302,7 +302,7 @@ Parear Dispositivo - Pair + PAIR PAREAR diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index eae564d645..1451e3b419 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 33773af16b..cb20532b47 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index fa858b8a8c..5625c73b97 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -302,7 +302,7 @@ - Pair + PAIR diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 12ae9fbe13..b5e36620ab 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -302,7 +302,7 @@ - Pair + PAIR From 61b38bd4ff78ce0e84ebb15b74242363c16ec255 Mon Sep 17 00:00:00 2001 From: royjr Date: Mon, 25 Mar 2024 11:59:24 -0400 Subject: [PATCH 046/113] ui: update arabic translations (#31994) --- selfdrive/ui/translations/main_ar.ts | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 79e31c7552..4f83dc18de 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -299,11 +299,11 @@ Pair Device - + إقران الجهاز PAIR - + إقران @@ -629,7 +629,7 @@ now - + الآن @@ -670,7 +670,7 @@ This may take up to a minute. System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - + تم تفعيل إعادة ضبط النظام. اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لاستئناف التمهيد. @@ -780,15 +780,15 @@ This may take up to a minute. Choose Software to Install - + اختر البرنامج للتثبيت openpilot - openpilot + openpilot Custom Software - + البرمجيات المخصصة @@ -1033,7 +1033,7 @@ This may take up to a minute. TogglesPanel Enable openpilot - تمكين + تمكين 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. @@ -1165,7 +1165,7 @@ This may take up to a minute. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - + يوصى بالمعيار. في الوضع العدواني، سيتبع الطيار المفتوح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين والفرامل. في الوضع المريح، سيبقى openpilot بعيدًا عن السيارات الرائدة. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات باستخدام زر مسافة عجلة القيادة. From de8df59748505799aceb8c822697c93c59b0922e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Mar 2024 08:59:56 -0700 Subject: [PATCH 047/113] [bot] Update Python packages and pre-commit hooks (#31998) Update Python packages and pre-commit hooks Co-authored-by: jnewb1 --- .pre-commit-config.yaml | 2 +- poetry.lock | 89 +++++++++++++++++++++-------------------- 2 files changed, 46 insertions(+), 45 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 1d152fee2a..d5e958371b 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -33,7 +33,7 @@ repos: - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.3.3 + rev: v0.3.4 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' diff --git a/poetry.lock b/poetry.lock index c2e0baad9c..e7f0429253 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1611,13 +1611,13 @@ files = [ [[package]] name = "importlib-metadata" -version = "7.0.2" +version = "7.1.0" description = "Read metadata from Python packages" optional = false python-versions = ">=3.8" files = [ - {file = "importlib_metadata-7.0.2-py3-none-any.whl", hash = "sha256:f4bc4c0c070c490abf4ce96d715f68e95923320370efb66143df00199bb6c100"}, - {file = "importlib_metadata-7.0.2.tar.gz", hash = "sha256:198f568f3230878cb1b44fbd7975f87906c22336dba2e4a7f05278c281fbd792"}, + {file = "importlib_metadata-7.1.0-py3-none-any.whl", hash = "sha256:30962b96c0c223483ed6cc7280e7f0199feb01a0e40cfae4d4450fc6fab1f570"}, + {file = "importlib_metadata-7.1.0.tar.gz", hash = "sha256:b78938b926ee8d5f020fc4772d487045805a55ddbad2ecf21c6d60938dc7fcd2"}, ] [package.dependencies] @@ -1626,7 +1626,7 @@ zipp = ">=0.5" [package.extras] docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] perf = ["ipython"] -testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"] +testing = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"] [[package]] name = "iniconfig" @@ -2282,13 +2282,13 @@ tests = ["pytest (>=4.6)"] [[package]] name = "msal" -version = "1.27.0" +version = "1.28.0" description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect." optional = false -python-versions = ">=2.7" +python-versions = ">=3.7" files = [ - {file = "msal-1.27.0-py2.py3-none-any.whl", hash = "sha256:572d07149b83e7343a85a3bcef8e581167b4ac76befcbbb6eef0c0e19643cdc0"}, - {file = "msal-1.27.0.tar.gz", hash = "sha256:3109503c038ba6b307152b0e8d34f98113f2e7a78986e28d0baf5b5303afda52"}, + {file = "msal-1.28.0-py3-none-any.whl", hash = "sha256:3064f80221a21cd535ad8c3fafbb3a3582cd9c7e9af0bb789ae14f726a0ca99b"}, + {file = "msal-1.28.0.tar.gz", hash = "sha256:80bbabe34567cb734efd2ec1869b2d98195c927455369d8077b3c542088c5c9d"}, ] [package.dependencies] @@ -2827,13 +2827,13 @@ panda3d-simplepbr = ">=0.6" [[package]] name = "panda3d-simplepbr" -version = "0.11.2" -description = "A simple, lightweight PBR render pipeline for Panda3D" +version = "0.12.0" +description = "A straight-forward, easy-to-use, drop-in, PBR replacement for Panda3D's builtin auto shader" optional = false python-versions = ">=3.8" files = [ - {file = "panda3d-simplepbr-0.11.2.tar.gz", hash = "sha256:89469f9be0e15fd8888a277f60ba08eb31b90354dcba80fc5aa7ccccee56be2a"}, - {file = "panda3d_simplepbr-0.11.2-py3-none-any.whl", hash = "sha256:eca198004ed4a6635ac9180695440390d52c73eec0b6e02c317d000e1e4d1518"}, + {file = "panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5"}, + {file = "panda3d_simplepbr-0.12.0-py3-none-any.whl", hash = "sha256:6c43d1990ff07840cf1c557561d6122fd1250d8e76aacf227b61c3789149bcf9"}, ] [package.dependencies] @@ -3087,13 +3087,13 @@ files = [ [[package]] name = "pre-commit" -version = "3.6.2" +version = "3.7.0" description = "A framework for managing and maintaining multi-language pre-commit hooks." optional = false python-versions = ">=3.9" files = [ - {file = "pre_commit-3.6.2-py2.py3-none-any.whl", hash = "sha256:ba637c2d7a670c10daedc059f5c49b5bd0aadbccfcd7ec15592cf9665117532c"}, - {file = "pre_commit-3.6.2.tar.gz", hash = "sha256:c3ef34f463045c88658c5b99f38c1e297abdcc0ff13f98d3370055fbbfabc67e"}, + {file = "pre_commit-3.7.0-py2.py3-none-any.whl", hash = "sha256:5eae9e10c2b5ac51577c3452ec0a490455c45a0533f7960f993a0d01e59decab"}, + {file = "pre_commit-3.7.0.tar.gz", hash = "sha256:e209d61b8acdcf742404408531f0c37d49d2c734fd7cff2d6076083d191cb060"}, ] [package.dependencies] @@ -6511,13 +6511,13 @@ testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygm [[package]] name = "pytest-cov" -version = "4.1.0" +version = "5.0.0" description = "Pytest plugin for measuring coverage." optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - 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It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo - exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale + exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} From 245cbe97c758f86c21e28d8edd6390b8c9da29db Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Mon, 25 Mar 2024 18:26:19 +0200 Subject: [PATCH 050/113] third_party: build scripts for libyuv and maplibre-native-qt (#31988) * updated maplibre build.sh * refactored libyuv build.sh --- third_party/libyuv/.gitignore | 1 + third_party/libyuv/build.sh | 33 ++++++++++++++++++++++--- third_party/maplibre-native-qt/build.sh | 12 ++++----- tools/install_ubuntu_dependencies.sh | 1 + 4 files changed, 37 insertions(+), 10 deletions(-) create mode 100644 third_party/libyuv/.gitignore diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore new file mode 100644 index 0000000000..450712e47d --- /dev/null +++ b/third_party/libyuv/.gitignore @@ -0,0 +1 @@ +libyuv/ diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh index e044312d05..b960f60ef5 100755 --- a/third_party/libyuv/build.sh +++ b/third_party/libyuv/build.sh @@ -1,12 +1,39 @@ #!/usr/bin/env bash set -e -git clone https://chromium.googlesource.com/libyuv/libyuv +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +ARCHNAME=$(uname -m) +if [ -f /TICI ]; then + ARCHNAME="larch64" +fi + +if [[ "$OSTYPE" == "darwin"* ]]; then + ARCHNAME="Darwin" +fi + +cd $DIR +if [ ! -d libyuv ]; then + git clone --single-branch https://chromium.googlesource.com/libyuv/libyuv +fi + cd libyuv -git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2 +git checkout 4a14cb2e81235ecd656e799aecaaf139db8ce4a2 + +# build cmake . +make -j$(nproc) + +INSTALL_DIR="$DIR/$ARCHNAME" +rm -rf $INSTALL_DIR +mkdir -p $INSTALL_DIR + +rm -rf $DIR/include +mkdir -p $INSTALL_DIR/lib +cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib +cp -r $DIR/libyuv/include $DIR ## To create universal binary on Darwin: ## ``` ## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a -## ``` \ No newline at end of file +## ``` diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh index c64f0fc649..a368026f0f 100755 --- a/third_party/maplibre-native-qt/build.sh +++ b/third_party/maplibre-native-qt/build.sh @@ -3,35 +3,33 @@ set -e DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -ARCHNAME="x86_64" +ARCHNAME=$(uname -m) MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF" -if [ -f /AGNOS ]; then +if [ -f /TICI ]; then ARCHNAME="larch64" #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a" fi cd $DIR if [ ! -d maplibre ]; then - git clone git@github.com:maplibre/maplibre-native-qt.git $DIR/maplibre + git clone --single-branch https://github.com/maplibre/maplibre-native-qt.git $DIR/maplibre fi cd maplibre -git fetch --all git checkout 3726266e127c1f94ad64837c9dbe03d238255816 git submodule update --depth=1 --recursive --init # build mkdir -p build cd build -set -x cmake $MAPLIBRE_FLAGS $DIR/maplibre -make -j$(nproc) || make -j2 || make -j1 +make -j$(nproc) INSTALL_DIR="$DIR/$ARCHNAME" rm -rf $INSTALL_DIR mkdir -p $INSTALL_DIR -rm -rf $INSTALL_DIR/lib $DIR/include +rm -rf $DIR/include mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 78a01f2b75..28e6bf8ccf 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -75,6 +75,7 @@ function install_ubuntu_common_requirements() { libqt5charts5-dev \ libqt5serialbus5-dev \ libqt5x11extras5-dev \ + libqt5opengl5-dev \ libreadline-dev \ libdw1 \ valgrind From 484f50725e2794211a0c76702abcc8ed5e8e4022 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Mar 2024 14:11:26 -0700 Subject: [PATCH 051/113] [bot] Fingerprints: add missing FW versions from new users (#32001) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + selfdrive/car/mazda/fingerprints.py | 2 +- selfdrive/car/toyota/fingerprints.py | 1 + selfdrive/car/volkswagen/fingerprints.py | 6 +++--- 4 files changed, 6 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 81533e6629..8f48a45a53 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -81,6 +81,7 @@ FW_VERSIONS = { b'68277370AJ', b'68277370AM', b'68277372AD', + b'68277372AE', b'68277372AN', b'68277374AA', b'68277374AB', diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py index f30bc1b5cd..75d6884e73 100644 --- a/selfdrive/car/mazda/fingerprints.py +++ b/selfdrive/car/mazda/fingerprints.py @@ -10,8 +10,8 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 1803b00255..2be153dea0 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -727,6 +727,7 @@ FW_VERSIONS = { b'\x018966353M7000\x00\x00\x00\x00', b'\x018966353M7100\x00\x00\x00\x00', b'\x018966353Q2000\x00\x00\x00\x00', + b'\x018966353Q2100\x00\x00\x00\x00', b'\x018966353Q2300\x00\x00\x00\x00', b'\x018966353Q4000\x00\x00\x00\x00', b'\x018966353R1100\x00\x00\x00\x00', diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index 96d721bd56..aa7affda76 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -1068,8 +1068,8 @@ FW_VERSIONS = { b'\xf1\x8704L906021ER\xf1\x898361', b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026BS\xf1\x891541', - b'\xf1\x875G0906259C \xf1\x890002', b'\xf1\x8704L906026BT\xf1\x897612', + b'\xf1\x875G0906259C \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041L \xf1\x891601', @@ -1077,11 +1077,11 @@ FW_VERSIONS = { b'\xf1\x870CW300043B \xf1\x891601', b'\xf1\x870CW300043P \xf1\x891605', b'\xf1\x870D9300012H \xf1\x894518', + b'\xf1\x870D9300014T \xf1\x895221', b'\xf1\x870D9300041C \xf1\x894936', b'\xf1\x870D9300041H \xf1\x895220', b'\xf1\x870D9300041J \xf1\x894902', b'\xf1\x870D9300041P \xf1\x894507', - b'\xf1\x870D9300014T \xf1\x895221', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', @@ -1098,10 +1098,10 @@ FW_VERSIONS = { b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00603A1', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00603A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907567P \xf1\x890100\xf1\x82\x0101', From 0a8fa9921cd1442ad9d06a5f5e331350e77ec8ac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Mar 2024 15:11:54 -0700 Subject: [PATCH 052/113] [bot] Fingerprints: add missing FW versions from new users (#32002) Export fingerprints --- selfdrive/car/honda/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 8068c63308..c1714fe810 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -576,6 +576,7 @@ FW_VERSIONS = { b'37805-5PA-AB10\x00\x00', b'37805-5PA-AD10\x00\x00', b'37805-5PA-AF20\x00\x00', + b'37805-5PA-AF30\x00\x00', b'37805-5PA-AH20\x00\x00', b'37805-5PA-BF10\x00\x00', b'37805-5PA-C680\x00\x00', @@ -1030,6 +1031,7 @@ FW_VERSIONS = { b'78109-TG7-AS20\x00\x00', b'78109-TG7-AT20\x00\x00', b'78109-TG7-AU20\x00\x00', + b'78109-TG7-AW20\x00\x00', b'78109-TG7-AX20\x00\x00', b'78109-TG7-D020\x00\x00', b'78109-TG7-DJ10\x00\x00', From 50ae0350b28b871bac47ceb12c7a14edbf61a7b7 Mon Sep 17 00:00:00 2001 From: ggeer8 Date: Mon, 25 Mar 2024 18:43:05 -0400 Subject: [PATCH 053/113] Add missing fwdRadar for 2023 Kia Sportage Hybrid SX Prestige #31993 (#32000) * Update fingerprints.py Added missing ECUs and fingerprints for 2023 Kia Sportage Hybrid SX Prestige * remove logging ecus * logging too --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 68598b65ff..4440e9acfc 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1043,6 +1043,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-CH000 ', b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', ], From 5fcb54f71357617f69a755836add21be6657c7fd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Mar 2024 16:11:28 -0700 Subject: [PATCH 054/113] lowercase stale (#32004) --- .github/workflows/stale.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index 157cab69d1..46649a9d5f 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -19,6 +19,7 @@ jobs: # pull request config stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' + stale-pr-label: stale delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} From b88be7981453078ebc81420de1c71fd63de3fa03 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Mar 2024 19:23:56 -0700 Subject: [PATCH 055/113] VW: simplify cruiseState (#32003) * simplify * simplify * jyoung suggestion * acc ready --- selfdrive/car/volkswagen/carstate.py | 20 +++++++------------- 1 file changed, 7 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 9107d41eb3..8139fbbf21 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -114,21 +114,15 @@ class CarState(CarStateBase): # Update ACC radar status. self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"] - if pt_cp.vl["TSK_06"]["TSK_Status"] == 2: - # ACC okay and enabled, but not currently engaged - ret.cruiseState.available = True - ret.cruiseState.enabled = False - elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5): - # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5) - ret.cruiseState.available = True - ret.cruiseState.enabled = True - else: - # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7) - ret.cruiseState.available = False - ret.cruiseState.enabled = False + + # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7) + # currently regulating speed (3), driver accel override (4), brake only (5) + ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5) + ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5) + ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) + self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation - ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) # Update ACC setpoint. When the setpoint is zero or there's an error, the # radar sends a set-speed of ~90.69 m/s / 203mph. From 62a5b0671e927ec93641e36c33b4d314f9c30ad7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Mar 2024 19:44:03 -0700 Subject: [PATCH 056/113] Hyundai: remove bad abs responses (#32007) rm bad abs --- selfdrive/car/hyundai/fingerprints.py | 12 ------------ selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 1 insertion(+), 13 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 4440e9acfc..306a7e75ec 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -456,10 +456,6 @@ FW_VERSIONS = { b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ], @@ -529,9 +525,6 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ], @@ -569,11 +562,6 @@ FW_VERSIONS = { b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.KIA_K5_2021: { (Ecu.fwdRadar, 0x7d0, None): [ diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 57ec0a31cc..75bb98aba8 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -744,7 +744,7 @@ FW_QUERY_CONFIG = FwQueryConfig( # Note that we still attempt to match with them when they are present non_essential_ecus={ Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021, - CAR.HYUNDAI_SANTA_FE, CAR.KIA_FORTE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV], + CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV], }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms From bbd08baacd4898f1f78cdd7e72709cae7fce73cc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Mar 2024 22:43:48 -0700 Subject: [PATCH 057/113] Hyundai: remove outdated abs FW (#32008) * rm from ed882557605319f9 * rm from ffce4a1d578827ee * rm from 700d37ccd12315cf * can't find, but probably same * rm from 15755effe9d073b1 * rm from 5b7caafa7ec1a5cf * rm from ec07911a91f863f3 * rm from 7627c16a16a6f69b * rm from 007d5e4ad9f86d13 * rm from 06a3b9e474ce581d * rm from 22203eb8892a6f28 * rm from ff973b941a69366f * rm from 3ea622c3c0ec3055 * rm from https://github.com/commaai/openpilot/pull/23517 * rm from b0e1cdf87262c7ad * old format FW version * rm from 54f0bbcb6527012e & 4cbcc16b655c1591 * test abs * format --- selfdrive/car/hyundai/fingerprints.py | 28 ++++++--------------- selfdrive/car/hyundai/tests/test_hyundai.py | 4 +-- 2 files changed, 10 insertions(+), 22 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 306a7e75ec..a95ddab5d2 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -190,10 +190,6 @@ FW_VERSIONS = { b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', @@ -291,11 +287,8 @@ FW_VERSIONS = { b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', - b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', - b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', @@ -592,9 +585,7 @@ FW_VERSIONS = { b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200', b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', - b'\xf1\x8758910-L3200\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', - b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', - b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', + b'\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', ], }, CAR.KIA_K5_HEV_2020: { @@ -641,11 +632,9 @@ FW_VERSIONS = { CAR.HYUNDAI_KONA_EV_2022: { (Ecu.abs, 0x7d1, None): [ b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', - b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', @@ -758,8 +747,8 @@ FW_VERSIONS = { b'\xf1\x8799110Q5100\xf1\x00SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ', ], (Ecu.abs, 0x7d1, None): [ - b'\xf1\x8758910-Q5450\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', - b'\xf1\x8758910-Q5450\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450', + b'\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', + b'\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200 ', @@ -867,9 +856,8 @@ FW_VERSIONS = { ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', - b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', - b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', - b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', + b'\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', + b'\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', ], }, CAR.HYUNDAI_ELANTRA_HEV_2021: { @@ -1030,8 +1018,8 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', - b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', b'\xf1\x00NQ5__ 1.00 1.03 99110-CH000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', ], diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 30cc598a09..000cb14a6d 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -85,8 +85,8 @@ class TestHyundaiFingerprint(unittest.TestCase): for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model.value): for ecu, fws in ecus.items(): - # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps - if ecu[0] in (Ecu.fwdCamera,): + # TODO: enable for Ecu.fwdRadar, Ecu.eps + if ecu[0] in (Ecu.fwdCamera, Ecu.abs): self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws), f"FW from unexpected request in database: {(ecu, fws)}") From d05c19b9f4b70b3ef1c5c39734cf5175c8c5c020 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 27 Mar 2024 01:56:02 +0800 Subject: [PATCH 058/113] util: safer `ends_with` (#31943) * safer ends_with * improve --- common/util.cc | 5 +++-- common/util.h | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/common/util.cc b/common/util.cc index 8af9f5884c..b6097bf28f 100644 --- a/common/util.cc +++ b/common/util.cc @@ -256,8 +256,9 @@ bool starts_with(const std::string &s1, const std::string &s2) { return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0; } -bool ends_with(const std::string &s1, const std::string &s2) { - return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0; +bool ends_with(const std::string& s, const std::string& suffix) { + return s.size() >= suffix.size() && + strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0; } std::string check_output(const std::string& command) { diff --git a/common/util.h b/common/util.h index 0cbad5bd31..3bf5a690a6 100644 --- a/common/util.h +++ b/common/util.h @@ -77,7 +77,7 @@ float getenv(const char* key, float default_val); std::string hexdump(const uint8_t* in, const size_t size); std::string dir_name(std::string const& path); bool starts_with(const std::string &s1, const std::string &s2); -bool ends_with(const std::string &s1, const std::string &s2); +bool ends_with(const std::string &s, const std::string &suffix); // ***** random helpers ***** int random_int(int min, int max); From 81fae3d8077e7efd29c837a303421595b0e3d906 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Mar 2024 16:43:09 -0700 Subject: [PATCH 059/113] More fingerprint migration fixes (#32018) * fix migration * another --- selfdrive/debug/cycle_alerts.py | 2 +- tools/sim/launch_openpilot.sh | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index db845ed58f..d66f83ad5d 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -52,7 +52,7 @@ def cycle_alerts(duration=200, is_metric=False): cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState'] CS = car.CarState.new_message() - CP = CarInterface.get_non_essential_params("CIVIC") + CP = CarInterface.get_non_essential_params("HONDA_CIVIC") sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState'] + cameras) diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index 06984b690b..a2d7841e7b 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -4,7 +4,7 @@ export PASSIVE="0" export NOBOARD="1" export SIMULATION="1" export SKIP_FW_QUERY="1" -export FINGERPRINT="CIVIC" +export FINGERPRINT="HONDA_CIVIC" export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged" if [[ "$CI" ]]; then From 76c5c58d540db580d7b09c2489a6e3ff7ae3c2cc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 26 Mar 2024 17:04:05 -0700 Subject: [PATCH 060/113] navd: generate new JWT for each request (#32017) * navd: generate new JWT for each request * no api with token --- selfdrive/navd/navd.py | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 2be703cdb2..8cfc495f27 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -48,15 +48,14 @@ class RouteEngine: self.reroute_counter = 0 + + self.api = None + self.mapbox_token = None if "MAPBOX_TOKEN" in os.environ: self.mapbox_token = os.environ["MAPBOX_TOKEN"] self.mapbox_host = "https://api.mapbox.com" else: - try: - self.mapbox_token = Api(self.params.get("DongleId", encoding='utf8')).get_token(expiry_hours=4 * 7 * 24) - except FileNotFoundError: - cloudlog.exception("Failed to generate mapbox token due to missing private key. Ensure device is registered.") - self.mapbox_token = "" + self.api = Api(self.params.get("DongleId", encoding='utf8')) self.mapbox_host = "https://maps.comma.ai" def update(self): @@ -122,8 +121,12 @@ class RouteEngine: if lang is not None: lang = lang.replace('main_', '') + token = self.mapbox_token + if token is None: + token = self.api.get_token() + params = { - 'access_token': self.mapbox_token, + 'access_token': token, 'annotations': 'maxspeed', 'geometries': 'geojson', 'overview': 'full', From 6b710a5d893f621062842737efda8df97b69cd06 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Mar 2024 17:49:14 -0700 Subject: [PATCH 061/113] Hyundai: remove outdated fwdRadar FW (#32019) * rm from e8421f268ea89d79 * rm from 9d4fa1c83653b90b * rm from 3f77febac29e35d5 * rm from 979eb0f6c3682a58 * rm from 077309a26bf98013 * rm from ef8d357a38dc4cf2 * these are probably fine * rm from 54f0bbcb6527012e * rm from 051378e6086bc3ef * rm from 561e5f3991916e4b * rm from 3fd9853538e1bca9 * rm from c8f86b163152d2c5 * rm from 40725113b3e20872 * rm from 3c8bfd637f561f13 * rm from 129db7c75bce8445 * format and test radar * eps! --- selfdrive/car/hyundai/fingerprints.py | 23 +++++++-------------- selfdrive/car/hyundai/tests/test_hyundai.py | 4 ++-- 2 files changed, 9 insertions(+), 18 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index a95ddab5d2..14143be7e3 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -328,8 +328,8 @@ FW_VERSIONS = { CAR.HYUNDAI_SANTA_FE_PHEV_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TMhe SCC F-CUP 1.00 1.00 99110-CL500 ', + b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', - 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', @@ -562,9 +562,6 @@ FW_VERSIONS = { b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', - b'\xf1\x8799110L2000\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', @@ -667,16 +664,15 @@ FW_VERSIONS = { CAR.KIA_NIRO_EV: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', + b'\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', - b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', - b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', - b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', @@ -744,7 +740,7 @@ FW_VERSIONS = { }, CAR.KIA_SELTOS: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x8799110Q5100\xf1\x00SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ', + b'\xf1\x00SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', @@ -840,8 +836,6 @@ FW_VERSIONS = { b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', - b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', @@ -870,7 +864,6 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', - b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', @@ -898,8 +891,6 @@ FW_VERSIONS = { b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', b'\xf1\x00DNhe SCC FHCUP 1.00 1.00 99110-L5000 ', b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101', diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 000cb14a6d..baa4408b6b 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -85,8 +85,8 @@ class TestHyundaiFingerprint(unittest.TestCase): for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model.value): for ecu, fws in ecus.items(): - # TODO: enable for Ecu.fwdRadar, Ecu.eps - if ecu[0] in (Ecu.fwdCamera, Ecu.abs): + # TODO: enable for Ecu.eps + if ecu[0] in (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.abs): self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws), f"FW from unexpected request in database: {(ecu, fws)}") From ae6761f508aa6f9735be330eda57b7ab7bffb97f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Mar 2024 18:12:35 -0700 Subject: [PATCH 062/113] Hyundai: remove outdated eps FW (#32020) * rm from ed882557605319f9 * rm from 310cf131d28b30d8 * rm from e6dd11f4969e1f74 * rm from 145908dabb729ad9 * rm from b938870bef07f799 * rm from b0af2fff166d80fe * unknown about these, but safe to do this * rm from 077309a26bf98013 * rm from 01d4ba35f8288743 * rm from b5374bdeea21f5ce * rm from 979eb0f6c3682a58 * rm from eb5a50f9e98f50b9 * rm from 786fc028c014be71 * rm from 3f77febac29e35d5 * these also unknown, but should be safe * format! * test all ecus --- selfdrive/car/hyundai/fingerprints.py | 28 ++++++++------------- selfdrive/car/hyundai/tests/test_hyundai.py | 6 ++--- 2 files changed, 13 insertions(+), 21 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 14143be7e3..ed9a500148 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -194,21 +194,17 @@ FW_VERSIONS = { (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', - b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', - b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', - b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', - b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', - b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', - b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', @@ -564,12 +560,11 @@ FW_VERSIONS = { b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', ], (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102', - b'\xf1\x8756310-L3110\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', - b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', - b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', + b'\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527', @@ -866,10 +861,10 @@ FW_VERSIONS = { b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', ], (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', - b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', - b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', ], }, CAR.HYUNDAI_KONA_HEV: { @@ -894,11 +889,10 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101', + b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', + b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', - b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', - b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', - b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', - b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8HMFC AT KOR LHD 1.00 1.03 99211-L1000 190705', diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index baa4408b6b..2bd17232ea 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -85,10 +85,8 @@ class TestHyundaiFingerprint(unittest.TestCase): for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model.value): for ecu, fws in ecus.items(): - # TODO: enable for Ecu.eps - if ecu[0] in (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.abs): - self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws), - f"FW from unexpected request in database: {(ecu, fws)}") + self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws), + f"FW from unexpected request in database: {(ecu, fws)}") @settings(max_examples=100) @given(data=st.data()) From 8b07dc5c9c7e0c5e04e745733a2a16ebad4084b8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Mar 2024 18:29:50 -0700 Subject: [PATCH 063/113] Hyundai: update G70 2022+ harness (#32021) * fix * update docs --- docs/CARS.md | 5 +++-- selfdrive/car/hyundai/values.py | 7 ++++++- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 570c373f33..93c5f5fa46 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 290 Supported Cars +# 291 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -51,7 +51,8 @@ A supported vehicle is one that just works when you install a comma device. All |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2020-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 75bb98aba8..a76be305bc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -508,7 +508,12 @@ class CAR(Platforms): flags=HyundaiFlags.LEGACY, ) GENESIS_G70_2020 = HyundaiPlatformConfig( - [HyundaiCarDocs("Genesis G70 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))], + [ + # TODO: 2021 MY harness is unknown + HyundaiCarDocs("Genesis G70 2020-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown + HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + ], CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), flags=HyundaiFlags.MANDO_RADAR, ) From 1306edd0859886b741ac718deefeae363c60f9b9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Mar 2024 20:49:08 -0700 Subject: [PATCH 064/113] Hyundai: clean up FW queries (#32022) * mark MULTI as logging * rm whitelists * rm MULTI * major clean up :D * faster refs :D * wow this was a broken test (can fd can be without aux, and this allowed eps) * expected * only for camera (needs test change) * Revert "only for camera (needs test change)" This reverts commit 6156bcd674f856e9a6476277d2b14b14b659f597. * better msg * yes we do --- selfdrive/car/hyundai/tests/test_hyundai.py | 12 ++--- selfdrive/car/hyundai/values.py | 53 ++------------------- selfdrive/car/tests/test_fw_fingerprint.py | 6 +-- 3 files changed, 12 insertions(+), 59 deletions(-) diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 2bd17232ea..2e4edcffc6 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -36,6 +36,8 @@ NO_DATES_PLATFORMS = { CAR.HYUNDAI_VELOSTER, } +CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar} + class TestHyundaiFingerprint(unittest.TestCase): def test_can_features(self): @@ -51,16 +53,14 @@ class TestHyundaiFingerprint(unittest.TestCase): self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV") self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported") - def test_auxiliary_request_ecu_whitelist(self): - # Asserts only auxiliary Ecus can exist in database for CAN-FD cars - whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary} - + def test_canfd_ecu_whitelist(self): + # Asserts only expected Ecus can exist in database for CAN-FD cars for car_model in CANFD_CAR: ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} - ecus_not_in_whitelist = ecus - whitelisted_ecus + ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist]) self.assertEqual(len(ecus_not_in_whitelist), 0, - f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}") + f"{car_model}: Car model has unexpected ECUs: {ecu_strings}") def test_blacklisted_parts(self): # Asserts no ECUs known to be shared across platforms exist in the database. diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index a76be305bc..1477f1b3af 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -624,11 +624,6 @@ HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf110) # Alt long description -HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ - p16(0xf100) - HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE) @@ -652,37 +647,25 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] # TODO: there are date codes in the ABS firmware versions in hex DATE_FW_ECUS = [Ecu.fwdCamera] -ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.parkingAdas, - Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter] - FW_QUERY_CONFIG = FwQueryConfig( requests=[ - # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD + # TODO: add back whitelists # CAN queries (OBD-II port) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], - ), - Request( - [HYUNDAI_VERSION_REQUEST_MULTI], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries (from camera) - # TODO: combine shared whitelists with CAN requests + # CAN & CAN-FD queries (from camera) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac, Ecu.eps], bus=0, auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac], bus=1, auxiliary=True, obd_multiplexing=False, @@ -693,44 +676,15 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_ECU_MANUFACTURING_DATE], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera], - bus=0, - auxiliary=True, - logging=True, - ), - - # CAN & CAN FD logging queries (from camera) - Request( - [HYUNDAI_VERSION_REQUEST_LONG], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=ALL_HYUNDAI_ECUS, bus=0, auxiliary=True, logging=True, ), - Request( - [HYUNDAI_VERSION_REQUEST_MULTI], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=ALL_HYUNDAI_ECUS, - bus=0, - auxiliary=True, - logging=True, - ), - Request( - [HYUNDAI_VERSION_REQUEST_LONG], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=ALL_HYUNDAI_ECUS, - bus=1, - auxiliary=True, - obd_multiplexing=False, - logging=True, - ), - # CAN-FD alt request logging queries + # CAN-FD alt request logging queries for hvac and parkingAdas Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=0, auxiliary=True, logging=True, @@ -738,7 +692,6 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=1, auxiliary=True, logging=True, diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 17ffc358f1..eaef1677e7 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 8.5, 2: 9.4} + total_ref_time = {1: 8.1, 2: 8.7} brand_ref_times = { 1: { 'gm': 1.0, @@ -271,7 +271,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'chrysler': 0.3, 'ford': 1.5, 'honda': 0.45, - 'hyundai': 1.05, + 'hyundai': 0.65, 'mazda': 0.1, 'nissan': 0.8, 'subaru': 0.65, @@ -281,7 +281,7 @@ class TestFwFingerprintTiming(unittest.TestCase): }, 2: { 'ford': 1.6, - 'hyundai': 1.85, + 'hyundai': 1.15, 'tesla': 0.3, } } From 89f1483ac910c438719ca27fbff6b684e9922185 Mon Sep 17 00:00:00 2001 From: steilz Date: Wed, 27 Mar 2024 05:18:10 +0100 Subject: [PATCH 065/113] Added my VW Passat B8 2018 Fingerprint (#31939) * Added Fingerprint for my Passat MK8 * removed duplicated entry --- selfdrive/car/volkswagen/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index aa7affda76..95441b13b1 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -391,6 +391,7 @@ FW_VERSIONS = { b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264 \xf1\x890004', + b'\xf1\x8704L906026GK\xf1\x899971', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300042H \xf1\x891601', @@ -408,6 +409,7 @@ FW_VERSIONS = { b'\xf1\x870GC300042H \xf1\x891404', b'\xf1\x870GC300043 \xf1\x892301', b'\xf1\x870GC300046P \xf1\x892805', + b'\xf1\x870CW300041E \xf1\x891006', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', @@ -438,6 +440,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00703A1', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572A \xf1\x890126', From 0a2a3dfab7106e40a3934e1e80bc6573223276d8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 28 Mar 2024 00:47:18 +0800 Subject: [PATCH 066/113] replay/cabana : support segment range (#32026) * support segment range * include --- tools/replay/replay.cc | 2 +- tools/replay/route.cc | 55 ++++++++++++++++++++++++++++++------------ tools/replay/route.h | 3 ++- 3 files changed, 42 insertions(+), 18 deletions(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 7c8c1ad43f..3d5d3219c6 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -81,7 +81,7 @@ bool Replay::load() { } void Replay::start(int seconds) { - seekTo(route_->identifier().segment_id * 60 + seconds, false); + seekTo(route_->identifier().begin_segment * 60 + seconds, false); } void Replay::updateEvents(const std::function &lambda) { diff --git a/tools/replay/route.cc b/tools/replay/route.cc index d5847a94b8..0a57ee7d4a 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -4,7 +4,7 @@ #include #include #include -#include +#include #include #include @@ -18,11 +18,24 @@ Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir } RouteIdentifier Route::parseRoute(const QString &str) { - QRegExp rx(R"(^(?:([a-z0-9]{16})([|_/]))?(.{20})(?:(--|/)(\d*))?$)"); - if (rx.indexIn(str) == -1) return {}; - - const QStringList list = rx.capturedTexts(); - return {.dongle_id = list[1], .timestamp = list[3], .segment_id = list[5].toInt(), .str = list[1] + "|" + list[3]}; + RouteIdentifier identifier = {}; + QRegularExpression rx(R"(^((?[a-z0-9]{16})[|_/])?(?.{20})((?--|/)(?((-?\d+(:(-?\d+)?)?)|(:-?\d+))))?$)"); + if (auto match = rx.match(str); match.hasMatch()) { + identifier.dongle_id = match.captured("dongle_id"); + identifier.timestamp = match.captured("timestamp"); + identifier.str = identifier.dongle_id + "|" + identifier.timestamp; + auto range_str = match.captured("range"); + if (auto separator = match.captured("separator"); separator == "/" && !range_str.isEmpty()) { + auto range = range_str.split(":"); + identifier.begin_segment = identifier.end_segment = range[0].toInt(); + if (range.size() == 2) { + identifier.end_segment = range[1].isEmpty() ? -1 : range[1].toInt(); + } + } else if (separator == "--") { + identifier.begin_segment = range_str.toInt(); + } + } + return identifier; } bool Route::load() { @@ -31,7 +44,19 @@ bool Route::load() { return false; } date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss"); - return data_dir_.isEmpty() ? loadFromServer() : loadFromLocal(); + bool ret = data_dir_.isEmpty() ? loadFromServer() : loadFromLocal(); + if (ret) { + if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first; + if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first; + for (auto it = segments_.begin(); it != segments_.end(); /**/) { + if (it->first < route_.begin_segment || it->first > route_.end_segment) { + it = segments_.erase(it); + } else { + ++it; + } + } + } + return !segments_.empty(); } bool Route::loadFromServer() { @@ -62,15 +87,13 @@ bool Route::loadFromJson(const QString &json) { } bool Route::loadFromLocal() { - QDir log_dir(data_dir_); - for (const auto &folder : log_dir.entryList(QDir::Dirs | QDir::NoDot | QDir::NoDotDot, QDir::NoSort)) { - int pos = folder.lastIndexOf("--"); - if (pos != -1 && folder.left(pos) == route_.timestamp) { - const int seg_num = folder.mid(pos + 2).toInt(); - QDir segment_dir(log_dir.filePath(folder)); - for (const auto &f : segment_dir.entryList(QDir::Files)) { - addFileToSegment(seg_num, segment_dir.absoluteFilePath(f)); - } + QDirIterator it(data_dir_, {QString("%1--*").arg(route_.timestamp)}, QDir::Dirs | QDir::NoDotAndDotDot); + while (it.hasNext()) { + QString segment = it.next(); + const int seg_num = segment.mid(segment.lastIndexOf("--") + 2).toInt(); + QDir segment_dir(segment); + for (const auto &f : segment_dir.entryList(QDir::Files)) { + addFileToSegment(seg_num, segment_dir.absoluteFilePath(f)); } } return !segments_.empty(); diff --git a/tools/replay/route.h b/tools/replay/route.h index 4dad7a1f37..33e5bcb1ba 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -14,7 +14,8 @@ struct RouteIdentifier { QString dongle_id; QString timestamp; - int segment_id; + int begin_segment = 0; + int end_segment = -1; QString str; }; From 1637265ad3953cc2307b6f7422aeb5c64d9d9635 Mon Sep 17 00:00:00 2001 From: Michel Le Bihan Date: Wed, 27 Mar 2024 17:47:29 +0100 Subject: [PATCH 067/113] simulator: Remove comma pedal sensor (#32030) --- tools/sim/lib/simulated_car.py | 7 ------- 1 file changed, 7 deletions(-) diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 746886ba43..1d56189728 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -49,13 +49,6 @@ class SimulatedCar: msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button})) - values = { - "COUNTER_PEDAL": self.idx & 0xF, - "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12, - "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12, - } - msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values)) - 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})) From fad9edf344ad27775716a087580e78230ad5e6dd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 28 Mar 2024 06:34:38 +0800 Subject: [PATCH 068/113] ui: move struct Alert into OnroadAlerts (#32024) * move Alert into OnroadAlerts * multi-lang --- selfdrive/ui/qt/onroad.cc | 53 ++++++++++++++++++--- selfdrive/ui/qt/onroad.h | 23 ++++++++- selfdrive/ui/translations/main_ar.ts | 23 +++++++++ selfdrive/ui/translations/main_de.ts | 23 +++++++++ selfdrive/ui/translations/main_fr.ts | 23 +++++++++ selfdrive/ui/translations/main_ja.ts | 23 +++++++++ selfdrive/ui/translations/main_ko.ts | 23 +++++++++ selfdrive/ui/translations/main_pt-BR.ts | 23 +++++++++ selfdrive/ui/translations/main_th.ts | 23 +++++++++ selfdrive/ui/translations/main_tr.ts | 23 +++++++++ selfdrive/ui/translations/main_zh-CHS.ts | 23 +++++++++ selfdrive/ui/translations/main_zh-CHT.ts | 23 +++++++++ selfdrive/ui/ui.h | 60 ------------------------ 13 files changed, 298 insertions(+), 68 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 40ae436c65..5d562d6e23 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -73,18 +73,16 @@ void OnroadWindow::updateState(const UIState &s) { return; } - QColor bgColor = bg_colors[s.status]; - Alert alert = Alert::get(*(s.sm), s.scene.started_frame); - alerts->updateAlert(alert); - if (s.scene.map_on_left) { split->setDirection(QBoxLayout::LeftToRight); } else { split->setDirection(QBoxLayout::RightToLeft); } + alerts->updateState(s); nvg->updateState(s); + QColor bgColor = bg_colors[s.status]; if (bg != bgColor) { // repaint border bg = bgColor; @@ -128,7 +126,7 @@ void OnroadWindow::offroadTransition(bool offroad) { } } #endif - alerts->updateAlert({}); + alerts->clear(); } void OnroadWindow::primeChanged(bool prime) { @@ -152,13 +150,56 @@ void OnroadWindow::paintEvent(QPaintEvent *event) { // ***** onroad widgets ***** // OnroadAlerts -void OnroadAlerts::updateAlert(const Alert &a) { + +void OnroadAlerts::updateState(const UIState &s) { + Alert a = getAlert(*(s.sm), s.scene.started_frame); if (!alert.equal(a)) { alert = a; update(); } } +void OnroadAlerts::clear() { + alert = {}; + update(); +} + +OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) { + const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); + const uint64_t controls_frame = sm.rcv_frame("controlsState"); + + Alert a = {}; + if (controls_frame >= started_frame) { // Don't get old alert. + a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), + cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()}; + } + + if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) { + const int CONTROLS_TIMEOUT = 5; + const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9; + + // Handle controls timeout + if (controls_frame < started_frame) { + // car is started, but controlsState hasn't been seen at all + a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"), + "controlsWaiting", cereal::ControlsState::AlertSize::MID, + cereal::ControlsState::AlertStatus::NORMAL}; + } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) { + // car is started, but controls is lagging or died + if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { + a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"), + "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, + cereal::ControlsState::AlertStatus::CRITICAL}; + } else { + a = {tr("Controls Unresponsive"), tr("Reboot Device"), + "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID, + cereal::ControlsState::AlertStatus::NORMAL}; + } + } + } + return a; +} + void OnroadAlerts::paintEvent(QPaintEvent *event) { if (alert.size == cereal::ControlsState::AlertSize::NONE) { return; diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index c72d1225e6..c2c2c326db 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -21,12 +21,31 @@ class OnroadAlerts : public QWidget { public: OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {} - void updateAlert(const Alert &a); + void updateState(const UIState &s); + void clear(); protected: + struct Alert { + QString text1; + QString text2; + QString type; + cereal::ControlsState::AlertSize size; + cereal::ControlsState::AlertStatus status; + + bool equal(const Alert &other) const { + return text1 == other.text1 && other.text2 == other.text2 && type == other.type; + } + }; + + const QMap alert_colors = { + {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)}, + {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)}, + {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)}, + }; + void paintEvent(QPaintEvent*) override; + OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame); -private: QColor bg; Alert alert = {}; }; diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 4f83dc18de..3acbba0c9d 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -492,6 +492,29 @@ تنبيه + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index b3fa645217..bc2d685c4d 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -487,6 +487,29 @@ HINWEIS + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index cc9c95acd4..55cb1b29aa 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -488,6 +488,29 @@ ALERTE + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 13c2083bce..92238d6beb 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -486,6 +486,29 @@ 警告 + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index a3fd82f610..e2f4b4c7bb 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -487,6 +487,29 @@ 알림 + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 27231a9dc4..e5a0c23f40 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -488,6 +488,29 @@ ALERTA + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 1451e3b419..14fb40d21f 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -487,6 +487,29 @@ การแจ้งเตือน + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index cb20532b47..9fce4793ca 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -486,6 +486,29 @@ UYARI + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 5625c73b97..6b040dac26 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -487,6 +487,29 @@ 警报 + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index b5e36620ab..dd3f600254 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -487,6 +487,29 @@ 提醒 + + OnroadAlerts + + openpilot Unavailable + + + + Waiting for controls to start + + + + TAKE CONTROL IMMEDIATELY + + + + Controls Unresponsive + + + + Reboot Device + + + PairingPopup diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 6efb72af9a..d639d85eeb 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -1,6 +1,5 @@ #pragma once -#include #include #include @@ -22,7 +21,6 @@ const int UI_HEADER_HEIGHT = 420; const int UI_FREQ = 20; // Hz const int BACKLIGHT_OFFROAD = 50; -typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; const float MIN_DRAW_DISTANCE = 10.0; const float MAX_DRAW_DISTANCE = 100.0; @@ -47,59 +45,6 @@ constexpr vec3 default_face_kpts_3d[] = { {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00}, }; -struct Alert { - QString text1; - QString text2; - QString type; - cereal::ControlsState::AlertSize size; - cereal::ControlsState::AlertStatus status; - AudibleAlert sound; - - bool equal(const Alert &a2) { - return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound; - } - - static Alert get(const SubMaster &sm, uint64_t started_frame) { - const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); - const uint64_t controls_frame = sm.rcv_frame("controlsState"); - - Alert alert = {}; - if (controls_frame >= started_frame) { // Don't get old alert. - alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), - cs.getAlertType().cStr(), cs.getAlertSize(), - cs.getAlertStatus(), - cs.getAlertSound()}; - } - - if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) { - const int CONTROLS_TIMEOUT = 5; - const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9; - - // Handle controls timeout - if (controls_frame < started_frame) { - // car is started, but controlsState hasn't been seen at all - alert = {"openpilot Unavailable", "Waiting for controls to start", - "controlsWaiting", cereal::ControlsState::AlertSize::MID, - cereal::ControlsState::AlertStatus::NORMAL, - AudibleAlert::NONE}; - } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) { - // car is started, but controls is lagging or died - if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { - alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", - "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, - cereal::ControlsState::AlertStatus::CRITICAL, - AudibleAlert::WARNING_IMMEDIATE}; - } else { - alert = {"Controls Unresponsive", "Reboot Device", - "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID, - cereal::ControlsState::AlertStatus::NORMAL, - AudibleAlert::NONE}; - } - } - } - return alert; - } -}; typedef enum UIStatus { STATUS_DISENGAGED, @@ -123,11 +68,6 @@ const QColor bg_colors [] = { [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1), }; -static std::map alert_colors = { - {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)}, - {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)}, - {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)}, -}; typedef struct UIScene { bool calibration_valid = false; From bd7b72e861bafb71d0ec15d4efa15abb2f696c25 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 28 Mar 2024 06:35:28 +0800 Subject: [PATCH 069/113] ui/initApp(): remove temporary QApplication object (#32011) remove temporary QApplication object --- selfdrive/ui/qt/util.cc | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 9138f8bca5..0bf5f2865e 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -105,20 +105,21 @@ void initApp(int argc, char *argv[], bool disable_hidpi) { std::signal(SIGINT, sigTermHandler); std::signal(SIGTERM, sigTermHandler); - if (disable_hidpi) { + QString app_dir; #ifdef __APPLE__ - // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering - QApplication tmp(argc, argv); - qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio() ).toLocal8Bit()); -#endif + // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering + QApplication tmp(argc, argv); + app_dir = QCoreApplication::applicationDirPath(); + if (disable_hidpi) { + qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit()); } +#else + app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path(); +#endif qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150)); - // ensure the current dir matches the exectuable's directory - QApplication tmp(argc, argv); - QString appDir = QCoreApplication::applicationDirPath(); - QDir::setCurrent(appDir); + QDir::setCurrent(app_dir); setQtSurfaceFormat(); } From fa77d57e7cd3393f5910013d0bc9c1c326647d44 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 29 Mar 2024 02:37:08 +0900 Subject: [PATCH 070/113] Multilang: kor translation update (#32036) --- selfdrive/ui/translations/main_ko.ts | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index e2f4b4c7bb..21f8f39fb1 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -299,11 +299,11 @@ Pair Device - + 장치 동기화 PAIR - + 동기화 @@ -491,30 +491,30 @@ OnroadAlerts openpilot Unavailable - + 오픈파일럿을 사용할수없습니다 Waiting for controls to start - + 프로세스가 준비중입니다 TAKE CONTROL IMMEDIATELY - + 핸들을 잡아주세요 Controls Unresponsive - + 프로세스가 응답하지않습니다 Reboot Device - + 장치를 재부팅하세요 PairingPopup Pair your device to your comma account - 장치를 comma 계정에 페어링합니다 + 장치를 comma 계정에 동기화합니다 Go to https://connect.comma.ai on your phone @@ -632,7 +632,7 @@ now - + now From d6d8e459319bfc2ce10d8dabf82b44c5401fbf2f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 28 Mar 2024 16:26:16 -0700 Subject: [PATCH 071/113] Simplify cabana dbc dict (#32041) * so needlessly complex! * inside generate_dbc_json * this is good * clean up! * spaces * so much clean up --- selfdrive/car/fingerprints.py | 14 -------------- tools/cabana/dbc/generate_dbc_json.py | 9 +++++++-- 2 files changed, 7 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index e25b5486a0..977df6bc9f 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,4 +1,3 @@ -from typing import Any, Callable from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.body.values import CAR as BODY from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER @@ -11,7 +10,6 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN from openpilot.selfdrive.car.subaru.values import CAR as SUBARU from openpilot.selfdrive.car.tesla.values import CAR as TESLA from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -from openpilot.selfdrive.car.values import PLATFORMS, Platform from openpilot.selfdrive.car.volkswagen.values import CAR as VW FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) @@ -338,15 +336,3 @@ MIGRATION = { "SKODA SCALA 1ST GEN": VW.SKODA_SCALA_MK1, "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3, } - - -MapFunc = Callable[[Platform], Any] - - -def create_platform_map(func: MapFunc): - ret = {str(platform): func(platform) for platform in PLATFORMS.values() if func(platform) is not None} - - for m in MIGRATION: - ret[m] = ret[MIGRATION[m]] - - return ret diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index deda0909c4..dfb96bad7a 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -2,11 +2,16 @@ import argparse import json -from openpilot.selfdrive.car.fingerprints import create_platform_map +from openpilot.selfdrive.car.fingerprints import MIGRATION +from openpilot.selfdrive.car.values import PLATFORMS def generate_dbc_json() -> str: - dbc_map = create_platform_map(lambda platform: platform.config.dbc_dict["pt"] if platform != "MOCK" else None) + dbc_map = {platform.name: platform.config.dbc_dict['pt'] for platform in PLATFORMS.values() if platform != "MOCK"} + + for m in MIGRATION: + dbc_map[m] = dbc_map[MIGRATION[m]] + return json.dumps(dict(sorted(dbc_map.items())), indent=2) From 903cc225ebac1742517068b787f7dff91f7f7823 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 28 Mar 2024 16:40:31 -0700 Subject: [PATCH 072/113] juggle.py: migrate platform name (#32042) * fix formatting! * migrate plotjuggler platform for dbc * test with can * temp * Revert "temp" This reverts commit 9d740bf3bddc8a7833ca8c293a6fb4b692a30bb8. Revert "test with can" This reverts commit d6cf2304895d00f83e737f3f749089ce9c5f836e. * fix test --- .github/workflows/tools_tests.yaml | 4 ++-- tools/plotjuggler/juggle.py | 12 ++++++++---- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index a051cb1241..ff0e29e9e2 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -31,7 +31,7 @@ jobs: - uses: ./.github/workflows/setup-with-retry - name: Build openpilot timeout-minutes: 5 - run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal" + run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal" - name: Test PlotJuggler timeout-minutes: 2 run: | @@ -99,4 +99,4 @@ jobs: - name: Test notebooks timeout-minutes: 3 run: | - ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/" \ No newline at end of file + ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/" diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 0caf5a18ff..1d1612a1cd 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -11,19 +11,20 @@ import argparse from functools import partial from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.tools.lib.helpers import save_log - from openpilot.tools.lib.logreader import LogReader, ReadMode juggle_dir = os.path.dirname(os.path.realpath(__file__)) DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" -RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest" +RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest" INSTALL_DIR = os.path.join(juggle_dir, "bin") PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler") MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2) MAX_STREAMING_BUFFER_SIZE = 1000 + def install(): m = f"{platform.system()}-{platform.machine()}" supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64") @@ -38,7 +39,7 @@ def install(): with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp: r.raise_for_status() with open(tmp.name, 'wb') as tmpf: - for chunk in r.iter_content(chunk_size=1024*1024): + for chunk in r.iter_content(chunk_size=1024 * 1024): tmpf.write(chunk) with tarfile.open(tmp.name) as tar: @@ -69,9 +70,11 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}' subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) + def process(can, lr): return [d for d in lr if can or d.which() not in ['can', 'sendcan']] + def juggle_route(route_or_segment_name, can, layout, dbc=None): sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE) @@ -82,7 +85,8 @@ def juggle_route(route_or_segment_name, can, layout, dbc=None): for cp in [m for m in all_data if m.which() == 'carParams']: try: DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC - dbc = DBC[cp.carParams.carFingerprint]['pt'] + fingerprint = cp.carParams.carFingerprint + dbc = DBC[MIGRATION.get(fingerprint, fingerprint)]['pt'] except Exception: pass break From 2637294ff266b531c1f5bb801e8650b0559cdf1b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 28 Mar 2024 20:09:26 -0700 Subject: [PATCH 073/113] [bot] Fingerprints: add missing FW versions from new users (#32039) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 5 +++++ selfdrive/car/toyota/fingerprints.py | 1 + selfdrive/car/volkswagen/fingerprints.py | 6 +++--- 3 files changed, 9 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 8f48a45a53..e761e18c33 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -100,6 +100,7 @@ FW_VERSIONS = { b'68436250AE', b'68529067AA', b'68594993AB', + b'68594994AB', ], (Ecu.srs, 0x744, None): [ b'68405565AB', @@ -123,6 +124,7 @@ FW_VERSIONS = { b'68540436AC', b'68540436AD', b'68598670AB', + b'68598670AC', ], (Ecu.eps, 0x75a, None): [ b'68416742AA', @@ -132,6 +134,7 @@ FW_VERSIONS = { b'68524936AA', b'68524936AB', b'68525338AB', + b'68594337AB', b'68594340AB', ], (Ecu.engine, 0x7e0, None): [ @@ -148,6 +151,7 @@ FW_VERSIONS = { b'68526752AE ', b'68526754AE ', b'68536264AE ', + b'68700304AB ', b'68700306AB ', ], (Ecu.transmission, 0x7e1, None): [ @@ -161,6 +165,7 @@ FW_VERSIONS = { b'68527221AB', b'68527223AB', b'68586231AD', + b'68586233AD', ], }, CAR.CHRYSLER_PACIFICA_2018_HYBRID: { diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 2be153dea0..b55316f2e9 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -377,6 +377,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821FF410200\x00\x00\x00\x00', b'\x018821FF410300\x00\x00\x00\x00', + b'\x018821FF410400\x00\x00\x00\x00', b'\x018821FF410500\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index 95441b13b1..39fc910ae9 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -386,14 +386,15 @@ FW_VERSIONS = { b'\xf1\x8704L906026ET\xf1\x891990', b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', + b'\xf1\x8704L906026GK\xf1\x899971', b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x8705L906022A \xf1\x890827', b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264 \xf1\x890004', - b'\xf1\x8704L906026GK\xf1\x899971', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300041E \xf1\x891006', b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870CW300042H \xf1\x891607', b'\xf1\x870CW300043H \xf1\x891601', @@ -409,7 +410,6 @@ FW_VERSIONS = { b'\xf1\x870GC300042H \xf1\x891404', b'\xf1\x870GC300043 \xf1\x892301', b'\xf1\x870GC300046P \xf1\x892805', - b'\xf1\x870CW300041E \xf1\x891006', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', @@ -434,13 +434,13 @@ FW_VERSIONS = { b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521B00606A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00703A1', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572A \xf1\x890126', From 677aee941fa81852c4d34cbc6653268656906a68 Mon Sep 17 00:00:00 2001 From: Josh Schroeder Date: Thu, 28 Mar 2024 23:17:50 -0400 Subject: [PATCH 074/113] Fingerprint: 2022 Kia Stinger EPS fw (#32045) +EPS fw for 2023 Kia Stinger --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index ed9a500148..9d5ac6b6d6 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -382,6 +382,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5520 4C4VL503', b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', ], From a1d538b4eb147fc2aed8f80d7664b25bcd063c56 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 28 Mar 2024 20:41:49 -0700 Subject: [PATCH 075/113] Migration dict: add missing platforms (#32046) missing platforms --- selfdrive/car/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 977df6bc9f..877957aa2f 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -134,6 +134,8 @@ MIGRATION = { "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018, "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020, "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO, + "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE, + "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019, "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN, "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN, "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1, @@ -253,6 +255,7 @@ MIGRATION = { "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022, "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL, "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF, + "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC, "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE, "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA, "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT, From c9685dd297f682cdbf877deec209f1b5c98f234b Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 29 Mar 2024 03:21:40 -0400 Subject: [PATCH 076/113] VW MQB: Speed limiter is nonAdaptive (#31954) * VW MQB: Speed limiter is nonAdaptive * revise * Update selfdrive/car/volkswagen/carstate.py * Update selfdrive/car/volkswagen/carstate.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/carstate.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 8139fbbf21..fac9de3dc7 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -119,6 +119,8 @@ class CarState(CarStateBase): # currently regulating speed (3), driver accel override (4), brake only (5) ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5) ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5) + # Speed limiter mode; ECM faults if we command ACC while not pcmCruise + ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"]) ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) From 0ba96bd1fa4382c416cc6f1c3b098210240d75ec Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 29 Mar 2024 00:24:38 -0700 Subject: [PATCH 077/113] Hyundai CAN: allow fingerprinting without comma power for more platforms (#31983) * including old data and forks * CAR.HYUNDAI_SANTA_FE_HEV_2022 * CAR.HYUNDAI_IONIQ * CAR.HYUNDAI_CUSTIN_1ST_GEN * CAR.KIA_NIRO_PHEV * CAR.HYUNDAI_IONIQ_HEV_2022 * CAR.GENESIS_G80 * CAR.KIA_SORENTO --- selfdrive/car/hyundai/values.py | 187 +++++++++++++++++++++++++++++++- 1 file changed, 186 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1477f1b3af..a0d9bd9da7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -700,9 +700,194 @@ FW_QUERY_CONFIG = FwQueryConfig( ], # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present + # KIA_NIRO_EV + # ('fwdCamera', 'fwdRadar'): routes: 540, dongles: 13 + # --- + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 482, dongles: 32 + # --- + # + # HYUNDAI_SANTA_FE + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 554, dongles: 19 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 369, dongles: 10 + # --- + # ('fwdCamera',): routes: 163, dongles: 1 + # --- + # + # HYUNDAI_ELANTRA_HEV_2021 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 435, dongles: 11 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 396, dongles: 7 + # --- + # + # HYUNDAI_PALISADE + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 2034, dongles: 54 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 594, dongles: 13 + # --- + # + # HYUNDAI_SANTA_FE_2022 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 865, dongles: 17 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 430, dongles: 9 + # --- + # + # HYUNDAI_SONATA + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 1550, dongles: 47 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 885, dongles: 22 + # --- + # ('fwdRadar',): routes: 2, dongles: 1 + # --- + # (): routes: 1, dongles: 1 + # --- + # + # HYUNDAI_SANTA_FE_PHEV_2022 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 292, dongles: 6 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 69, dongles: 2 + # --- + # + # HYUNDAI_SANTA_FE_HEV_2022 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 209, dongles: 4 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 71, dongles: 3 + # --- + # + # HYUNDAI_KONA_EV + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 242, dongles: 12 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 13, dongles: 2 + # --- + # ('eps', 'fwdCamera'): routes: 2, dongles: 1 + # --- + # + # HYUNDAI_IONIQ_EV_2020 + # ('fwdCamera', 'fwdRadar'): routes: 227, dongles: 2 + # --- + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 195, dongles: 4 + # --- + # + # HYUNDAI_ELANTRA_2021 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 257, dongles: 9 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 41, dongles: 4 + # --- + # + # HYUNDAI_SONATA_HYBRID + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 495, dongles: 19 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 182, dongles: 12 + # --- + # + # HYUNDAI_KONA_EV_2022 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 176, dongles: 6 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 173, dongles: 3 + # --- + # ('eps', 'fwdCamera'): routes: 1, dongles: 1 + # --- + # + # KIA_FORTE + # ('fwdCamera', 'fwdRadar'): routes: 193, dongles: 3 + # --- + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 24, dongles: 4 + # --- + # ('fwdCamera',): routes: 6, dongles: 2 + # --- + # ('eps', 'fwdCamera'): routes: 4, dongles: 1 + # --- + # + # GENESIS_G70 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 131, dongles: 2 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 97, dongles: 1 + # --- + # + # KIA_NIRO_PHEV_2022 + # ('fwdCamera', 'fwdRadar'): routes: 221, dongles: 1 + # --- + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 88, dongles: 1 + # --- + # + # HYUNDAI_IONIQ_PHEV + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 272, dongles: 14 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 121, dongles: 5 + # --- + # + # KIA_NIRO_HEV_2021 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 171, dongles: 4 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 2, dongles: 1 + # --- + # + # KIA_K5_2021 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 91, dongles: 7 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 61, dongles: 3 + # --- + # + # HYUNDAI_IONIQ + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 96, dongles: 3 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 13, dongles: 1 + # --- + # + # KIA_STINGER + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 184, dongles: 8 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 9, dongles: 3 + # --- + # + # GENESIS_G70_2020 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 45, dongles: 5 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 2, dongles: 1 + # --- + # + # HYUNDAI_AZERA_HEV_6TH_GEN + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 29, dongles: 2 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 11, dongles: 2 + # --- + # ('fwdRadar',): routes: 2, dongles: 1 + # --- + # + # HYUNDAI_CUSTIN_1ST_GEN + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 10, dongles: 1 + # --- + # ('fwdCamera', 'fwdRadar'): routes: 3, dongles: 1 + # --- + # ('fwdCamera',): routes: 2, dongles: 1 + # --- + # ('eps', 'fwdCamera'): routes: 1, dongles: 1 + # --- + # + # KIA_NIRO_PHEV + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 40, dongles: 1 + # --- + # + # HYUNDAI_ELANTRA_GT_I30 + # ('abs', 'eps', 'fwdCamera', 'fwdRadar', 'transmission'): routes: 34, dongles: 1 + # --- + # + # HYUNDAI_IONIQ_EV_LTD + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 14, dongles: 1 + # --- + # + # KIA_STINGER_2022 + # ('fwdCamera', 'fwdRadar'): routes: 10, dongles: 1 + # --- + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 2, dongles: 1 + # --- + # + # HYUNDAI_IONIQ_HEV_2022 + # ('eps', 'fwdCamera', 'fwdRadar'): routes: 5, dongles: 1 + # --- non_essential_ecus={ Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021, - CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV], + CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO], }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms From 05f1298044264028dcdeda463a60176889eccbef Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 29 Mar 2024 01:24:34 -0700 Subject: [PATCH 078/113] Revert "Hyundai CAN: allow fingerprinting without comma power for more platforms" (#32050) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "Hyundai CAN: allow fingerprinting without comma power for more platfo…" This reverts commit 0ba96bd1fa4382c416cc6f1c3b098210240d75ec. --- selfdrive/car/hyundai/values.py | 187 +------------------------------- 1 file changed, 1 insertion(+), 186 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index a0d9bd9da7..1477f1b3af 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -700,194 +700,9 @@ FW_QUERY_CONFIG = FwQueryConfig( ], # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present - # KIA_NIRO_EV - # ('fwdCamera', 'fwdRadar'): routes: 540, dongles: 13 - # --- - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 482, dongles: 32 - # --- - # - # HYUNDAI_SANTA_FE - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 554, dongles: 19 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 369, dongles: 10 - # --- - # ('fwdCamera',): routes: 163, dongles: 1 - # --- - # - # HYUNDAI_ELANTRA_HEV_2021 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 435, dongles: 11 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 396, dongles: 7 - # --- - # - # HYUNDAI_PALISADE - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 2034, dongles: 54 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 594, dongles: 13 - # --- - # - # HYUNDAI_SANTA_FE_2022 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 865, dongles: 17 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 430, dongles: 9 - # --- - # - # HYUNDAI_SONATA - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 1550, dongles: 47 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 885, dongles: 22 - # --- - # ('fwdRadar',): routes: 2, dongles: 1 - # --- - # (): routes: 1, dongles: 1 - # --- - # - # HYUNDAI_SANTA_FE_PHEV_2022 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 292, dongles: 6 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 69, dongles: 2 - # --- - # - # HYUNDAI_SANTA_FE_HEV_2022 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 209, dongles: 4 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 71, dongles: 3 - # --- - # - # HYUNDAI_KONA_EV - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 242, dongles: 12 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 13, dongles: 2 - # --- - # ('eps', 'fwdCamera'): routes: 2, dongles: 1 - # --- - # - # HYUNDAI_IONIQ_EV_2020 - # ('fwdCamera', 'fwdRadar'): routes: 227, dongles: 2 - # --- - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 195, dongles: 4 - # --- - # - # HYUNDAI_ELANTRA_2021 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 257, dongles: 9 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 41, dongles: 4 - # --- - # - # HYUNDAI_SONATA_HYBRID - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 495, dongles: 19 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 182, dongles: 12 - # --- - # - # HYUNDAI_KONA_EV_2022 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 176, dongles: 6 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 173, dongles: 3 - # --- - # ('eps', 'fwdCamera'): routes: 1, dongles: 1 - # --- - # - # KIA_FORTE - # ('fwdCamera', 'fwdRadar'): routes: 193, dongles: 3 - # --- - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 24, dongles: 4 - # --- - # ('fwdCamera',): routes: 6, dongles: 2 - # --- - # ('eps', 'fwdCamera'): routes: 4, dongles: 1 - # --- - # - # GENESIS_G70 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 131, dongles: 2 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 97, dongles: 1 - # --- - # - # KIA_NIRO_PHEV_2022 - # ('fwdCamera', 'fwdRadar'): routes: 221, dongles: 1 - # --- - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 88, dongles: 1 - # --- - # - # HYUNDAI_IONIQ_PHEV - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 272, dongles: 14 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 121, dongles: 5 - # --- - # - # KIA_NIRO_HEV_2021 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 171, dongles: 4 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 2, dongles: 1 - # --- - # - # KIA_K5_2021 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 91, dongles: 7 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 61, dongles: 3 - # --- - # - # HYUNDAI_IONIQ - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 96, dongles: 3 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 13, dongles: 1 - # --- - # - # KIA_STINGER - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 184, dongles: 8 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 9, dongles: 3 - # --- - # - # GENESIS_G70_2020 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 45, dongles: 5 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 2, dongles: 1 - # --- - # - # HYUNDAI_AZERA_HEV_6TH_GEN - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 29, dongles: 2 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 11, dongles: 2 - # --- - # ('fwdRadar',): routes: 2, dongles: 1 - # --- - # - # HYUNDAI_CUSTIN_1ST_GEN - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 10, dongles: 1 - # --- - # ('fwdCamera', 'fwdRadar'): routes: 3, dongles: 1 - # --- - # ('fwdCamera',): routes: 2, dongles: 1 - # --- - # ('eps', 'fwdCamera'): routes: 1, dongles: 1 - # --- - # - # KIA_NIRO_PHEV - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 40, dongles: 1 - # --- - # - # HYUNDAI_ELANTRA_GT_I30 - # ('abs', 'eps', 'fwdCamera', 'fwdRadar', 'transmission'): routes: 34, dongles: 1 - # --- - # - # HYUNDAI_IONIQ_EV_LTD - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 14, dongles: 1 - # --- - # - # KIA_STINGER_2022 - # ('fwdCamera', 'fwdRadar'): routes: 10, dongles: 1 - # --- - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 2, dongles: 1 - # --- - # - # HYUNDAI_IONIQ_HEV_2022 - # ('eps', 'fwdCamera', 'fwdRadar'): routes: 5, dongles: 1 - # --- non_essential_ecus={ Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021, - CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO], + CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV], }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms From 6f223fc1c183ed3758e879f09da05feae0ab7b8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 29 Mar 2024 01:51:56 -0700 Subject: [PATCH 079/113] Hyundai CAN: allow fingerprinting without comma power (#32051) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Revert "Revert "Hyundai CAN: allow fingerprinting without comma power for mor…" This reverts commit 05f1298044264028dcdeda463a60176889eccbef. * CAR.KIA_CEED * CAR.KIA_SELTOS * latest dump * cleaN Up --- selfdrive/car/hyundai/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1477f1b3af..67345a9da1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -702,7 +702,8 @@ FW_QUERY_CONFIG = FwQueryConfig( # Note that we still attempt to match with them when they are present non_essential_ecus={ Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021, - CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV], + CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO, + CAR.KIA_CEED, CAR.KIA_SELTOS], }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms From 178cc8747c5b365490abaa0fc594e009309c661f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 30 Mar 2024 01:17:39 +0800 Subject: [PATCH 080/113] debug/check_can_parser_performance: remove overhead of capnp conversion (#32048) --- selfdrive/debug/check_can_parser_performance.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index c4b688ce29..604a1df124 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -25,11 +25,12 @@ if __name__ == '__main__': CC = car.CarControl.new_message() ets = [] for _ in tqdm(range(N_RUNS)): + msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs] start_t = time.process_time_ns() - for msg in tm.can_msgs: + for msg in msgs: for cp in tm.CI.can_parsers: if cp is not None: - cp.update_strings((msg.as_builder().to_bytes(),)) + cp.update_strings(msg) ets.append((time.process_time_ns() - start_t) * 1e-6) print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') From 8f4a5d7700cb32ba6601ebc0093a1afa0d934a33 Mon Sep 17 00:00:00 2001 From: Hunter Jackson Date: Fri, 29 Mar 2024 17:18:53 -0400 Subject: [PATCH 081/113] Update Ford Maverick fingerprints (#32043) * update maverick fingerprints * Update selfdrive/car/ford/fingerprints.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/ford/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py index 32d331b2db..da321ec2d0 100644 --- a/selfdrive/car/ford/fingerprints.py +++ b/selfdrive/car/ford/fingerprints.py @@ -132,12 +132,14 @@ FW_VERSIONS = { CAR.FORD_MAVERICK_MK1: { (Ecu.eps, 0x730, None): [ b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From 8671e6217bce2ee87953be64d643b6fe9867f2e3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 29 Mar 2024 14:25:14 -0700 Subject: [PATCH 082/113] [bot] Fingerprints: add missing FW versions from new users (#32055) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + selfdrive/car/ford/fingerprints.py | 4 ++-- selfdrive/car/hyundai/fingerprints.py | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index e761e18c33..1386089a18 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -266,6 +266,7 @@ FW_VERSIONS = { b'68331511AC', b'68331574AC', b'68331687AC', + b'68331690AC', b'68340272AD', ], (Ecu.srs, 0x744, None): [ diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py index da321ec2d0..deba38c205 100644 --- a/selfdrive/car/ford/fingerprints.py +++ b/selfdrive/car/ford/fingerprints.py @@ -131,15 +131,15 @@ FW_VERSIONS = { }, CAR.FORD_MAVERICK_MK1: { (Ecu.eps, 0x730, None): [ - b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ + b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 9d5ac6b6d6..3c6e55a87c 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -382,8 +382,8 @@ FW_VERSIONS = { (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5520 4C4VL503', b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5520 4C4VL503', b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', ], (Ecu.fwdCamera, 0x7c4, None): [ From 4a9a82b6647f5b788d9e26fa4672805ec7d6a93c Mon Sep 17 00:00:00 2001 From: candreacchio Date: Sat, 30 Mar 2024 12:43:54 +1030 Subject: [PATCH 083/113] Updated Fingerprints for Hyundai PHEV 2019 for Australian Model (#31990) Update fingerprints.py Extended ECUs for PHEV 2019 for Australian Model --- selfdrive/car/hyundai/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 3c6e55a87c..c693e71d1c 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -92,12 +92,15 @@ FW_VERSIONS = { }, CAR.HYUNDAI_IONIQ_PHEV_2019: { (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2551 4AEHC107', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT AUS RHD 1.00 1.00 95740-G2400 180222', b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', ], }, From fb1cb01c5ae95a7223f0df0ad9caf16bbb4dd017 Mon Sep 17 00:00:00 2001 From: royjr Date: Fri, 29 Mar 2024 23:53:51 -0400 Subject: [PATCH 084/113] ui: update arabic translations (#32058) Update main_ar.ts --- selfdrive/ui/translations/main_ar.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 3acbba0c9d..2aea017c78 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -496,23 +496,23 @@ OnroadAlerts openpilot Unavailable - + openpilot غير متوفر Waiting for controls to start - + في انتظار بدء عناصر التحكم TAKE CONTROL IMMEDIATELY - + تحكم على الفور Controls Unresponsive - + الضوابط غير مستجيبة Reboot Device - + إعادة التشغيل From 493c81076b230facec12de3065e877847a671ec7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 29 Mar 2024 20:56:40 -0700 Subject: [PATCH 085/113] VW: check cruise control (#32049) * VW: check cruise control! * fix that * fix that * Update ref_commit --- selfdrive/car/volkswagen/carstate.py | 11 +++++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index fac9de3dc7..b169970fed 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -119,8 +119,15 @@ class CarState(CarStateBase): # currently regulating speed (3), driver accel override (4), brake only (5) ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5) ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5) - # Speed limiter mode; ECM faults if we command ACC while not pcmCruise - ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"]) + + if self.CP.pcmCruise: + # Cruise Control mode; check for distance UI setting from the radar. + # ECM does not manage this, so do not need to check for openpilot longitudinal + ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0 + else: + # Speed limiter mode; ECM faults if we command ACC while not pcmCruise + ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"]) + ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4bb8cd01e9..1156aefeb2 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f77699bfd783ab0c9a419f2af883b36aed20cc68 \ No newline at end of file +28001018eae89eb4906717bebf892345ad590b5a From 90a59de1440e6a58f3991578a141709ca99ec94d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 30 Mar 2024 10:16:40 -0700 Subject: [PATCH 086/113] [bot] Car docs: update model years from new users (#32060) Update car docs --- docs/CARS.md | 2 +- selfdrive/car/honda/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 93c5f5fa46..31560fffb0 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -72,7 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 36cdbc8732..4b0745a7cc 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -156,7 +156,7 @@ class CAR(Platforms): flags=HondaFlags.BOSCH_ALT_BRAKE, ) HONDA_CRV_HYBRID = HondaBoschPlatformConfig( - [HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)], + [HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)], # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), dbc_dict('honda_accord_2018_can_generated', None), From b8f5f50d39881388fa4dcf3137693b948c2cf070 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 31 Mar 2024 08:37:14 +0800 Subject: [PATCH 087/113] replay/route: adds retry on network failures (#31948) --- tools/replay/route.cc | 31 ++++++++++++++++++++----------- tools/replay/route.h | 2 +- 2 files changed, 21 insertions(+), 12 deletions(-) diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 0a57ee7d4a..db7a959595 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -59,18 +59,27 @@ bool Route::load() { return !segments_.empty(); } -bool Route::loadFromServer() { - QEventLoop loop; - HttpRequest http(nullptr, !Hardware::PC()); - QObject::connect(&http, &HttpRequest::requestDone, [&](const QString &json, bool success, QNetworkReply::NetworkError error) { - if (error == QNetworkReply::ContentAccessDenied || error == QNetworkReply::AuthenticationRequiredError) { - qWarning() << ">> Unauthorized. Authenticate with tools/lib/auth.py <<"; +bool Route::loadFromServer(int retries) { + for (int i = 1; i <= retries; ++i) { + QString result; + QEventLoop loop; + HttpRequest http(nullptr, !Hardware::PC()); + QObject::connect(&http, &HttpRequest::requestDone, [&loop, &result](const QString &json, bool success, QNetworkReply::NetworkError err) { + result = json; + loop.exit((int)err); + }); + http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files"); + auto err = (QNetworkReply::NetworkError)loop.exec(); + if (err == QNetworkReply::NoError) { + return loadFromJson(result); + } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) { + rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<"); + return false; } - - loop.exit(success ? loadFromJson(json) : 0); - }); - http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files"); - return loop.exec(); + rWarning("Retrying %d/%d", i, retries); + util::sleep_for(500); + } + return false; } bool Route::loadFromJson(const QString &json) { diff --git a/tools/replay/route.h b/tools/replay/route.h index 33e5bcb1ba..654c084ff2 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -42,7 +42,7 @@ public: protected: bool loadFromLocal(); - bool loadFromServer(); + bool loadFromServer(int retries = 3); bool loadFromJson(const QString &json); void addFileToSegment(int seg_num, const QString &file); RouteIdentifier route_ = {}; From 43832335b8e44e40683ffe6afa226a2d2de0d6ff Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 30 Mar 2024 17:47:21 -0700 Subject: [PATCH 088/113] timed: set valid flag (#32061) * timed: set valid flag * oops --- common/time.py | 13 +++++++++++-- system/timed.py | 4 +++- 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/common/time.py b/common/time.py index f2e49eb546..5379faf22a 100644 --- a/common/time.py +++ b/common/time.py @@ -1,6 +1,15 @@ import datetime +from pathlib import Path -MIN_DATE = datetime.datetime(year=2024, month=1, day=28) +_MIN_DATE = datetime.datetime(year=2024, month=3, day=30) + +def min_date(): + # on systemd systems, the default time is the systemd build time + systemd_path = Path("/lib/systemd/systemd") + if systemd_path.exists(): + d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime) + return d + datetime.timedelta(days=1) + return _MIN_DATE def system_time_valid(): - return datetime.datetime.now() > MIN_DATE + return datetime.datetime.now() > min_date() diff --git a/system/timed.py b/system/timed.py index ab82f8c72d..2b9a42c455 100755 --- a/system/timed.py +++ b/system/timed.py @@ -8,6 +8,7 @@ from typing import NoReturn from timezonefinder import TimezoneFinder import cereal.messaging as messaging +from openpilot.common.time import system_time_valid from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import AGNOS @@ -69,7 +70,8 @@ def main() -> NoReturn: while True: sm.update(1000) - msg = messaging.new_message('clocks', valid=True) + msg = messaging.new_message('clocks') + msg.valid = system_time_valid() msg.clocks.wallTimeNanos = time.time_ns() pm.send('clocks', msg) From fc9f50c90d166ce8bef7a711b2e391071fb0fe02 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 1 Apr 2024 13:01:50 -0400 Subject: [PATCH 089/113] fix logreader after `segment_numbers` api removal (#32073) fix --- tools/lib/route.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tools/lib/route.py b/tools/lib/route.py index 06a3596d69..d5fd41108b 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -4,7 +4,6 @@ from functools import cache from urllib.parse import urlparse from collections import defaultdict from itertools import chain -from typing import cast from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import CommaApi @@ -240,7 +239,9 @@ class SegmentName: def get_max_seg_number_cached(sr: 'SegmentRange') -> int: try: api = CommaApi(get_token()) - return cast(int, api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1]) + max_seg_number = api.get("/v1/route/" + sr.route_name.replace("/", "|"))["maxqlog"] + assert isinstance(max_seg_number, int) + return max_seg_number except Exception as e: raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e From c2f593f69ae558eec5d46056468e9e1a99c062d2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 1 Apr 2024 10:03:04 -0700 Subject: [PATCH 090/113] [bot] Bump submodules (#32069) bump submodules Co-authored-by: jnewb1 --- cereal | 2 +- opendbc | 2 +- panda | 2 +- teleoprtc_repo | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/cereal b/cereal index 6bfd39a506..b9871482a3 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 6bfd39a506c5123949ecf58831bfe48f938e6143 +Subproject commit b9871482a3cba70c2ab40ab80017019313dc3f31 diff --git a/opendbc b/opendbc index 3c926e88e8..5821bd94d0 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 3c926e88e87594e788ab96d32ecdd8f66cb01aed +Subproject commit 5821bd94d0cb9017d274b4499f2a0525ac317dc2 diff --git a/panda b/panda index 01c54d1199..18f0bdff4b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 01c54d11990fb82b85acc322a6e2e34a4b7ee389 +Subproject commit 18f0bdff4bfb178c5cb5613fe91f0bb424791a93 diff --git a/teleoprtc_repo b/teleoprtc_repo index ab2f09706e..3116a5053b 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit ab2f09706e8f64390e196f079ac69e67131b07f5 +Subproject commit 3116a5053bc22b912254f1f7000ab9e267916cd5 From b743e5cff588b8d80aa18758bdeb0e13c1f3e874 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 1 Apr 2024 10:03:26 -0700 Subject: [PATCH 091/113] [bot] Update Python packages and pre-commit hooks (#32071) Update Python packages and pre-commit hooks Co-authored-by: jnewb1 Co-authored-by: Justin Newberry --- .pre-commit-config.yaml | 2 +- poetry.lock | 591 +++++++++++++++++++++------------------- 2 files changed, 318 insertions(+), 275 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index d5e958371b..02af4473bd 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -98,6 +98,6 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.0 + rev: 0.28.1 hooks: - id: check-github-workflows diff --git a/poetry.lock b/poetry.lock index e7f0429253..08fd51c18d 100644 --- a/poetry.lock +++ b/poetry.lock @@ -730,19 +730,19 @@ test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"] [[package]] name = "control" -version = "0.9.4" +version = "0.10.0" description = "Python Control Systems Library" optional = false -python-versions = ">=3.8" +python-versions = ">=3.10" files = [ - {file = "control-0.9.4-py3-none-any.whl", hash = "sha256:ab68980abd8d35ae5015ffa090865cbbd926deea7e66d0b9a41cfd12577e63ff"}, - {file = "control-0.9.4.tar.gz", hash = "sha256:0fa57d2216b7ac4e9339c09eab6827660318a641779335864feee940bd19c9ce"}, + {file = "control-0.10.0-py3-none-any.whl", hash = "sha256:ed1e0eb73f1e2945fc9af9d7b9121ef328fe980e7903b2a14b149d4f1855a808"}, + {file = "control-0.10.0.tar.gz", hash = "sha256:2c18b767537f45c7fd07b2e4afe8fbe5964019499b5f52f888edb5d8560bab53"}, ] [package.dependencies] -matplotlib = "*" -numpy = "*" -scipy = ">=1.3" +matplotlib = ">=3.6" +numpy = ">=1.23" +scipy = ">=1.8" [package.extras] cvxopt = ["cvxopt (>=1.2.0)"] @@ -894,69 +894,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"] [[package]] name = "cython" -version = "3.0.9" +version = "3.0.10" description = 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Smiskol Date: Mon, 1 Apr 2024 11:43:45 -0700 Subject: [PATCH 092/113] [bot] Fingerprints: add missing FW versions from new users (#32072) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 1386089a18..29a0cb093b 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -131,6 +131,7 @@ FW_VERSIONS = { b'68460393AA', b'68460393AB', b'68494461AB', + b'68494461AC', b'68524936AA', b'68524936AB', b'68525338AB', @@ -146,6 +147,7 @@ FW_VERSIONS = { b'68443120AE ', b'68443123AC ', b'68443125AC ', + b'68496647AJ ', b'68496650AI ', b'68526752AD ', b'68526752AE ', @@ -162,6 +164,7 @@ FW_VERSIONS = { b'68443155AC', b'68443158AB', b'68501050AD', + b'68501055AD', b'68527221AB', b'68527223AB', b'68586231AD', From 3080aefa3d8395d4842749f629cab92db2e65f56 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 1 Apr 2024 18:24:23 -0400 Subject: [PATCH 093/113] plotjuggler docs remove old options (#32078) * these are no longer options * and this one * qlogs * space --- tools/plotjuggler/README.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index ca9946145d..dcf2bbbac7 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -12,7 +12,7 @@ Once you've [set up the openpilot environment](../README.md), this command will ``` $ ./juggle.py -h -usage: juggle.py [-h] [--demo] [--qlog] [--ci] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] +usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] [route_or_segment_name] [segment_count] A helper to run PlotJuggler on openpilot routes @@ -25,8 +25,6 @@ positional arguments: optional arguments: -h, --help show this help message and exit --demo Use the demo route instead of providing one (default: False) - --qlog Use qlogs (default: False) - --ci Download data from openpilot CI bucket (default: False) --can Parse CAN data (default: False) --stream Start PlotJuggler in streaming mode (default: False) --layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None) @@ -38,11 +36,13 @@ optional arguments: Examples using route name: -`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19"` +`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"` -Examples using segment name: +Examples using segment range: -`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19--1"` +`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"` + +`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs` ## Streaming From dbea6ba7bf2143d7d6cfc7e0be6eb71f8e7b9faa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 1 Apr 2024 15:25:27 -0700 Subject: [PATCH 094/113] Lexus RC: add missing fwdCamera FW (#32076) add 1e4e217ac337b4bf --- selfdrive/car/toyota/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index b55316f2e9..b8218f2665 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1420,6 +1420,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F1104200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.LEXUS_RC: { From 1c0161589b5fa183d7fc87a30692c92865d61065 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 1 Apr 2024 18:27:29 -0400 Subject: [PATCH 095/113] migrate lowercase mock (#32074) * add mock migration * fix * this --- selfdrive/car/fingerprints.py | 3 +++ tools/cabana/dbc/generate_dbc_json.py | 3 ++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 877957aa2f..978d2260d6 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -6,6 +6,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.mock.values import CAR as MOCK from openpilot.selfdrive.car.nissan.values import CAR as NISSAN from openpilot.selfdrive.car.subaru.values import CAR as SUBARU from openpilot.selfdrive.car.tesla.values import CAR as TESLA @@ -338,4 +339,6 @@ MIGRATION = { "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3, "SKODA SCALA 1ST GEN": VW.SKODA_SCALA_MK1, "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3, + + "mock": MOCK.MOCK, } diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index dfb96bad7a..2d3fbe9fc4 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -10,7 +10,8 @@ def generate_dbc_json() -> str: dbc_map = {platform.name: platform.config.dbc_dict['pt'] for platform in PLATFORMS.values() if platform != "MOCK"} for m in MIGRATION: - dbc_map[m] = dbc_map[MIGRATION[m]] + if MIGRATION[m] in dbc_map: + dbc_map[m] = dbc_map[MIGRATION[m]] return json.dumps(dict(sorted(dbc_map.items())), indent=2) From c09cf4983bd5e4b83ce58ac033661e6e79a88770 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 1 Apr 2024 20:43:22 -0400 Subject: [PATCH 096/113] pytest: don't delete logs on-device (#32080) fix log deletion --- common/prefix.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/common/prefix.py b/common/prefix.py index 4059ac09e2..3292acae86 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -4,6 +4,7 @@ import uuid from openpilot.common.params import Params +from openpilot.system.hardware import PC from openpilot.system.hardware.hw import Paths from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT @@ -45,7 +46,8 @@ class OpenpilotPrefix: shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True) os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) - shutil.rmtree(Paths.log_root(), ignore_errors=True) + if PC: + shutil.rmtree(Paths.log_root(), ignore_errors=True) if not os.environ.get("COMMA_CACHE", False): shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) shutil.rmtree(Paths.comma_home(), ignore_errors=True) From 56e716bf86478857e2bf5e58e9faea0f1c2f95a4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 1 Apr 2024 19:08:27 -0700 Subject: [PATCH 097/113] fw_versions: add OBD multiplexing to debugging view --- selfdrive/car/fw_versions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index c200528ca6..819f770eb5 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -388,7 +388,7 @@ if __name__ == "__main__": padding = max([len(fw.brand) for fw in fw_vers] or [0]) for version in fw_vers: subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") + print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") print("}") print() From fa5527fc76e9d1f48ea67fba71fcc084ee259865 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 1 Apr 2024 19:09:37 -0700 Subject: [PATCH 098/113] Volkswagen: fix PT bus query (#32081) we need whitelists! --- selfdrive/car/volkswagen/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 86b0dbd7aa..a88487f7c4 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -371,7 +371,7 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], + whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar, Ecu.fwdCamera], rx_offset=VOLKSWAGEN_RX_OFFSET, bus=bus, logging=(bus != 1 or not obd_multiplexing), @@ -380,7 +380,7 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.engine, Ecu.transmission], + whitelist_ecus=[Ecu.engine, Ecu.transmission], bus=bus, logging=(bus != 1 or not obd_multiplexing), obd_multiplexing=obd_multiplexing, From 72eb17012db150fa6aa3b7f6189d569cfc3d94e1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 1 Apr 2024 20:08:22 -0700 Subject: [PATCH 099/113] fix static analysis (#32082) fix ltl --- selfdrive/car/fw_versions.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 819f770eb5..386bbee3ac 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -388,7 +388,8 @@ if __name__ == "__main__": padding = max([len(fw.brand) for fw in fw_vers] or [0]) for version in fw_vers: subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") + print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " + + f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") print("}") print() From 44129ad0df5c31c03d78fe591183e9db50c8e6b3 Mon Sep 17 00:00:00 2001 From: Michel Le Bihan Date: Tue, 2 Apr 2024 19:28:19 +0200 Subject: [PATCH 100/113] simulator: Change car to Honda Civic 2022 (#32087) * simulator: Change car to Honda Civic 2022 * simulator: Enable experimental longitudinal control --- tools/sim/bridge/common.py | 1 + tools/sim/launch_openpilot.sh | 2 +- tools/sim/lib/simulated_car.py | 24 +++++++----------------- 3 files changed, 9 insertions(+), 18 deletions(-) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 34d11bb98c..3bd2f35772 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -28,6 +28,7 @@ class SimulatorBridge(ABC): def __init__(self, dual_camera, high_quality): set_params_enabled() self.params = Params() + self.params.put_bool("ExperimentalLongitudinalEnabled", True) self.rk = Ratekeeper(100, None) diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index a2d7841e7b..86d9607bb0 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -4,7 +4,7 @@ export PASSIVE="0" export NOBOARD="1" export SIMULATION="1" export SKIP_FW_QUERY="1" -export FINGERPRINT="HONDA_CIVIC" +export FINGERPRINT="HONDA_CIVIC_2022" export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged" if [[ "$CI" ]]; then diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 1d56189728..8c15195dcb 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -5,12 +5,12 @@ from opendbc.can.parser import CANParser from openpilot.common.params import Params from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp from openpilot.tools.sim.lib.common import SimulatorState +from panda.python import Panda class SimulatedCar: - """Simulates a honda civic 2016 (panda state + can messages) to OpenPilot""" - packer = CANPacker("honda_civic_touring_2016_can_generated") - rpacker = CANPacker("acura_ilx_2016_nidec") + """Simulates a honda civic 2022 (panda state + can messages) to OpenPilot""" + packer = CANPacker("honda_civic_ex_2022_can_generated") def __init__(self): self.pm = messaging.PubMaster(['can', 'pandaStates']) @@ -22,11 +22,8 @@ class SimulatedCar: @staticmethod def get_car_can_parser(): - dbc_f = 'honda_civic_touring_2016_can_generated' + dbc_f = 'honda_civic_ex_2022_can_generated' checks = [ - (0xe4, 100), - (0x1fa, 50), - (0x200, 50), ] return CANParser(dbc_f, checks, 0) @@ -61,6 +58,7 @@ 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("CRUISE_FAULT_STATUS", 0, {})) msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0, { "MAIN_ON": 1, @@ -73,20 +71,12 @@ class SimulatedCar: "PEDAL_GAS": simulator_state.user_gas, "BRAKE_PRESSED": simulator_state.user_brake > 0 })) - msg.append(self.packer.make_can_msg("HUD_SETTING", 0, {})) msg.append(self.packer.make_can_msg("CAR_SPEED", 0, {})) # *** cam bus *** msg.append(self.packer.make_can_msg("STEERING_CONTROL", 2, {})) msg.append(self.packer.make_can_msg("ACC_HUD", 2, {})) msg.append(self.packer.make_can_msg("LKAS_HUD", 2, {})) - msg.append(self.packer.make_can_msg("BRAKE_COMMAND", 2, {})) - - # *** radar bus *** - if self.idx % 5 == 0: - msg.append(self.rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79})) - for i in range(16): - msg.append(self.rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5})) self.pm.send('can', can_list_to_can_capnp(msg)) @@ -103,9 +93,9 @@ class SimulatedCar: 'ignitionLine': simulator_state.ignition, 'pandaType': "blackPanda", 'controlsAllowed': True, - 'safetyModel': 'hondaNidec', + 'safetyModel': 'hondaBosch', 'alternativeExperience': self.sm["carParams"].alternativeExperience, - 'safetyParam': 0, + 'safetyParam': Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG, } self.pm.send('pandaStates', dat) From 67ba1154363c8e4f841836afaa20d57319fe3095 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Apr 2024 15:25:58 -0700 Subject: [PATCH 101/113] [bot] Fingerprints: add missing FW versions from new users (#32086) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 5 +++++ selfdrive/car/toyota/fingerprints.py | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 29a0cb093b..9809fb47f1 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -396,6 +396,7 @@ FW_VERSIONS = { b'68453491AC', b'68453499AD', b'68453503AC', + b'68453503AD', b'68453505AC', b'68453505AD', b'68453511AC', @@ -422,6 +423,7 @@ FW_VERSIONS = { b'68631938AA', b'68631940AA', b'68631942AA', + b'68631943AB', ], (Ecu.srs, 0x744, None): [ b'68428609AB', @@ -496,6 +498,7 @@ FW_VERSIONS = { b'05036026AB ', b'05036065AE ', b'05036066AE ', + b'05036193AA ', b'05149368AA ', b'05149591AD ', b'05149591AE ', @@ -536,6 +539,7 @@ FW_VERSIONS = { b'68502740AF ', b'68502741AF ', b'68502742AC ', + b'68502742AF ', b'68539650AD', b'68539650AF', b'68539651AD', @@ -549,6 +553,7 @@ FW_VERSIONS = { b'05035706AD', b'05035842AB', b'05036069AA', + b'05036181AA', b'05149536AC', b'05149537AC', b'05149543AC', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index b8218f2665..d91124e257 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1419,8 +1419,8 @@ FW_VERSIONS = { b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F1104200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.LEXUS_RC: { From 346ab5ce303bb5e7158154e98a2816e190802c87 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Tue, 2 Apr 2024 20:09:04 -0300 Subject: [PATCH 102/113] Mutilang: update pt-BR translation (#32090) * update pt-BR translation * not today Satan --- selfdrive/ui/translations/main_pt-BR.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index e5a0c23f40..7bc324f29c 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -492,23 +492,23 @@ OnroadAlerts openpilot Unavailable - + openpilot Indisponível Waiting for controls to start - + Aguardando controles para iniciar TAKE CONTROL IMMEDIATELY - + ASSUMA IMEDIATAMENTE Controls Unresponsive - + Controles Não Respondem Reboot Device - + Reinicie o Dispositivo From 3f81ea2e0ebccadfe3f6499dc8f9904784f19018 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 3 Apr 2024 08:05:51 -0700 Subject: [PATCH 103/113] [bot] Fingerprints: add missing FW versions from new users (#32095) Export fingerprints --- selfdrive/car/mazda/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py index 75d6884e73..f460fe9950 100644 --- a/selfdrive/car/mazda/fingerprints.py +++ b/selfdrive/car/mazda/fingerprints.py @@ -254,6 +254,7 @@ FW_VERSIONS = { b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From d09e77d1aff2a9df096fb519345337379379d9cf Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 4 Apr 2024 03:19:55 +0100 Subject: [PATCH 104/113] cabana(DBCFile): handle escaped quotes (#31889) * cabana(DBCFile): VAL_ allow empty description Even though this doesn't make much sense, we should still be able to parse it. * cabana(DBCFile): allow escaped quotemarks in signal comment * also message comments * escape/unescape quotes * test empty val desc * test generating DBC with escaped quotes in comment * seperate test case * fix trailing space * remove empty val * trailing whitespace again --- tools/cabana/dbc/dbcfile.cc | 12 ++++++------ tools/cabana/tests/test_cabana.cc | 21 ++++++++++++++++++++- 2 files changed, 26 insertions(+), 7 deletions(-) diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index e7f7fdc6ef..bf246fd342 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -80,8 +80,8 @@ void DBCFile::parse(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); - static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\"\s*;)"); - static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\"\s*;)"); + static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)"); + static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)"); static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))"); int line_num = 0; @@ -173,7 +173,7 @@ void DBCFile::parse(const QString &content) { auto match = msg_comment_regexp.match(line); dbc_assert(match.hasMatch()); if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) { - m->comment = match.captured(2).trimmed(); + m->comment = match.captured(2).trimmed().replace("\\\"", "\""); } } else if (line.startsWith("CM_ SG_ ")) { if (!line.endsWith("\";")) { @@ -183,7 +183,7 @@ void DBCFile::parse(const QString &content) { auto match = sg_comment_regexp.match(line); dbc_assert(match.hasMatch()); if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { - s->comment = match.captured(3).trimmed(); + s->comment = match.captured(3).trimmed().replace("\\\"", "\""); } } else { seen = false; @@ -207,7 +207,7 @@ QString DBCFile::generateDBC() { const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter; dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter); if (!m.comment.isEmpty()) { - comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment); + comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\"")); } for (auto sig : m.getSignals()) { QString multiplexer_indicator; @@ -230,7 +230,7 @@ QString DBCFile::generateDBC() { .arg(sig->unit) .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name); if (!sig->comment.isEmpty()) { - comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); + comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\"")); } if (!sig->val_desc.empty()) { QStringList text; diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 98c2de12b6..d9fcae6f21 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -65,6 +65,17 @@ CM_ SG_ 160 signal_1 "signal comment"; REQUIRE(dbc.generateDBC() == content); } +TEST_CASE("DBCFile::generateDBC - escaped quotes") { + QString content = R"(BO_ 160 message_1: 8 EON + SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX + +CM_ BO_ 160 "message comment with \"escaped quotes\""; +CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\""; +)"; + DBCFile dbc("", content); + REQUIRE(dbc.generateDBC() == content); +} + TEST_CASE("parse_dbc") { QString content = R"( BO_ 160 message_1: 8 EON @@ -82,7 +93,11 @@ CM_ SG_ 160 signal_1 "signal comment"; CM_ SG_ 160 signal_2 "multiple line comment 1 2 -";)"; +"; + +CM_ BO_ 162 "message comment with \"escaped quotes\""; +CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\""; +)"; DBCFile file("", content); auto msg = file.msg(160); @@ -121,6 +136,10 @@ CM_ SG_ 160 signal_2 "multiple line comment REQUIRE(msg->sigs[1]->start_bit == 12); REQUIRE(msg->sigs[1]->size == 1); REQUIRE(msg->sigs[1]->receiver_name == "XXX"); + + // escaped quotes + REQUIRE(msg->comment == "message comment with \"escaped quotes\""); + REQUIRE(msg->sigs[0]->comment == "signal comment with \"escaped quotes\""); } TEST_CASE("parse_opendbc") { From 5892056884885b603d05c0a44d8db89cf07a094a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 4 Apr 2024 16:47:49 -0400 Subject: [PATCH 105/113] move casync build dir to /data/openpilot (#32104) move here --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index efe598c275..60e3c25008 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -151,7 +151,7 @@ def build_release(String channel_name) { }, "${channel_name} (casync)": { deviceStage("build casync", "tici-needs-can", [], [ - ["build ${channel_name}", "RELEASE=1 OPENPILOT_CHANNEL=${channel_name} BUILD_DIR=/data/openpilot_build CASYNC_DIR=/data/casync $SOURCE_DIR/release/create_casync_build.sh"], + ["build ${channel_name}", "RELEASE=1 OPENPILOT_CHANNEL=${channel_name} BUILD_DIR=/data/openpilot CASYNC_DIR=/data/casync $SOURCE_DIR/release/create_casync_build.sh"], //["upload ${channel_name}", "OPENPILOT_CHANNEL=${channel_name} $SOURCE_DIR/release/upload_casync_release.sh"], ]) } From d7ea27cbddc304c8f6d9e064017a19d26ae945a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Apr 2024 13:51:26 -0700 Subject: [PATCH 106/113] car docs: no experimental mode for alpha long cars (#32079) not alpha --- selfdrive/car/docs_definitions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index fe717d930e..bb1ca6bd42 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -340,7 +340,7 @@ class CarDocs: # experimental mode exp_link = "Experimental mode" - if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable: + if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable: sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}." return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) From 69982d43cd61e9b085fbd19f1e3ac6c747a51793 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Apr 2024 14:00:45 -0400 Subject: [PATCH 107/113] move casync release creation to use a tarball of files (#32089) * tar archive instead * fix * move this here * migrate these * fix this * update readme * fix that * try to build nightly * Revert "try to build nightly" This reverts commit 4ea680cb6a1f985c0490168724c99bcb45af9899. * caexclude is no longer required * finish up * sorted * need this * and that * context mnager * path based --- release/README.md | 6 +- release/create_casync_release.py | 7 +- release/files_common | 1 - system/hardware/tici/agnos.py | 2 +- .../tici => updated/casync}/casync.py | 50 +++++++- system/updated/casync/common.py | 32 ++--- system/updated/casync/tar.py | 38 ++++++ .../casync}/tests/test_casync.py | 116 +++++++++++++++++- 8 files changed, 221 insertions(+), 31 deletions(-) rename system/{hardware/tici => updated/casync}/casync.py (81%) create mode 100644 system/updated/casync/tar.py rename system/{hardware/tici => updated/casync}/tests/test_casync.py (56%) diff --git a/release/README.md b/release/README.md index 77cd15ad69..7a4b2cde3e 100644 --- a/release/README.md +++ b/release/README.md @@ -3,7 +3,7 @@ ## terms -- `channel` - a named version of openpilot (git branch, casync caidx) which receives updates +- `channel` - a named version of openpilot (git branch, casync caibx) which receives updates - `build` - a release which is already built for the comma 3/3x and contains only required files for running openpilot and identifying the release - `build_style` - type of build, either `debug` or `release` @@ -28,8 +28,8 @@ ```bash # run on a tici, within the directory you want to create the build from. -# creates a prebuilt version of openpilot into BUILD_DIR and outputs the caidx -# and other casync files into CASYNC_DIR for uploading to openpilot-releases. +# creates a prebuilt version of openpilot into BUILD_DIR and outputs the caibx +# of a tarball containing the full prebuilt openpilot release BUILD_DIR=/data/openpilot_build \ CASYNC_DIR=/data/casync \ OPENPILOT_CHANNEL=nightly \ diff --git a/release/create_casync_release.py b/release/create_casync_release.py index 9aa75eca5d..4c90c31909 100755 --- a/release/create_casync_release.py +++ b/release/create_casync_release.py @@ -4,7 +4,7 @@ import argparse import os import pathlib -from openpilot.system.updated.casync.common import create_caexclude_file, create_casync_release, create_build_metadata_file +from openpilot.system.updated.casync.common import create_casync_release, create_build_metadata_file from openpilot.system.version import get_build_metadata @@ -22,8 +22,7 @@ if __name__ == "__main__": build_metadata.openpilot.build_style = "release" if os.environ.get("RELEASE", None) is not None else "debug" create_build_metadata_file(target_dir, build_metadata, args.channel) - create_caexclude_file(target_dir) - digest, caidx = create_casync_release(target_dir, output_dir, build_metadata.canonical) + digest, caibx = create_casync_release(target_dir, output_dir, build_metadata.canonical) - print(f"Created casync release from {target_dir} to {caidx} with digest {digest}") + print(f"Created casync release from {target_dir} to {caibx} with digest {digest}") diff --git a/release/files_common b/release/files_common index b00f99906b..4ba9200d22 100644 --- a/release/files_common +++ b/release/files_common @@ -170,7 +170,6 @@ system/hardware/tici/hardware.h system/hardware/tici/hardware.py system/hardware/tici/pins.py system/hardware/tici/agnos.py -system/hardware/tici/casync.py system/hardware/tici/agnos.json system/hardware/tici/amplifier.py system/hardware/tici/updater diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 502295be07..8f09b30850 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -10,7 +10,7 @@ from collections.abc import Generator import requests -import openpilot.system.hardware.tici.casync as casync +import openpilot.system.updated.casync.casync as casync SPARSE_CHUNK_FMT = struct.Struct('H2xI4x') CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/" diff --git a/system/hardware/tici/casync.py b/system/updated/casync/casync.py similarity index 81% rename from system/hardware/tici/casync.py rename to system/updated/casync/casync.py index 986228c1cd..7a3303a9e9 100755 --- a/system/hardware/tici/casync.py +++ b/system/updated/casync/casync.py @@ -2,15 +2,19 @@ import io import lzma import os +import pathlib import struct import sys import time from abc import ABC, abstractmethod from collections import defaultdict, namedtuple from collections.abc import Callable +from typing import IO import requests from Crypto.Hash import SHA512 +from openpilot.system.updated.casync import tar +from openpilot.system.updated.casync.common import create_casync_tar_package CA_FORMAT_INDEX = 0x96824d9c7b129ff9 CA_FORMAT_TABLE = 0xe75b9e112f17417d @@ -37,20 +41,25 @@ class ChunkReader(ABC): ... -class FileChunkReader(ChunkReader): +class BinaryChunkReader(ChunkReader): """Reads chunks from a local file""" - def __init__(self, fn: str) -> None: + def __init__(self, file_like: IO[bytes]) -> None: super().__init__() - self.f = open(fn, 'rb') - - def __del__(self): - self.f.close() + self.f = file_like def read(self, chunk: Chunk) -> bytes: self.f.seek(chunk.offset) return self.f.read(chunk.length) +class FileChunkReader(BinaryChunkReader): + def __init__(self, path: str) -> None: + super().__init__(open(path, 'rb')) + + def __del__(self): + self.f.close() + + class RemoteChunkReader(ChunkReader): """Reads lzma compressed chunks from a remote store""" @@ -83,6 +92,20 @@ class RemoteChunkReader(ChunkReader): return decompressor.decompress(contents) +class DirectoryTarChunkReader(BinaryChunkReader): + """creates a tar archive of a directory and reads chunks from it""" + + def __init__(self, path: str, cache_file: str) -> None: + create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file)) + + self.f = open(cache_file, "rb") + return super().__init__(self.f) + + def __del__(self): + self.f.close() + os.unlink(self.f.name) + + def parse_caibx(caibx_path: str) -> list[Chunk]: """Parses the chunks from a caibx file. Can handle both local and remote files. Returns a list of chunks with hash, offset and length""" @@ -181,6 +204,21 @@ def extract(target: list[Chunk], return stats +def extract_directory(target: list[Chunk], + sources: list[tuple[str, ChunkReader, ChunkDict]], + out_path: str, + tmp_file: str, + progress: Callable[[int], None] = None): + """extract a directory stored as a casync tar archive""" + + stats = extract(target, sources, tmp_file, progress) + + with open(tmp_file, "rb") as f: + tar.extract_tar_archive(f, pathlib.Path(out_path)) + + return stats + + def print_stats(stats: dict[str, int]): total_bytes = sum(stats.values()) print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB") diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py index b5fb4d5802..b30494b2bb 100644 --- a/system/updated/casync/common.py +++ b/system/updated/casync/common.py @@ -4,10 +4,11 @@ import pathlib import subprocess from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata +from openpilot.system.updated.casync import tar CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz"] -CASYNC_FILES = [BUILD_METADATA_FILENAME, ".caexclude"] +CASYNC_FILES = [BUILD_METADATA_FILENAME] def run(cmd): @@ -28,16 +29,6 @@ def get_exclude_set(path) -> set[str]: return exclude_set -def create_caexclude_file(path: pathlib.Path): - with open(path / ".caexclude", "w") as f: - # exclude everything except the paths already in the release - f.write("*\n") - f.write(".*\n") - - for file in sorted(get_exclude_set(path)): - f.write(f"!{file}\n") - - def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata, channel: str): with open(path / BUILD_METADATA_FILENAME, "w") as f: build_metadata_dict = dataclasses.asdict(build_metadata) @@ -46,8 +37,19 @@ def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata f.write(json.dumps(build_metadata_dict)) -def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caidx_name: str): - caidx_file = output_dir / f"{caidx_name}.caidx" - run(["casync", "make", *CASYNC_ARGS, caidx_file, target_dir]) +def is_not_git(path: pathlib.Path) -> bool: + return ".git" not in path.parts + + +def create_casync_tar_package(target_dir: pathlib.Path, output_path: pathlib.Path): + tar.create_tar_archive(output_path, target_dir, is_not_git) + + +def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caibx_name: str): + tar_file = output_dir / f"{caibx_name}.tar" + create_casync_tar_package(target_dir, tar_file) + caibx_file = output_dir / f"{caibx_name}.caibx" + run(["casync", "make", *CASYNC_ARGS, caibx_file, str(tar_file)]) + tar_file.unlink() digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip() - return digest, caidx_file + return digest, caibx_file diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py new file mode 100644 index 0000000000..725ab4251d --- /dev/null +++ b/system/updated/casync/tar.py @@ -0,0 +1,38 @@ +import pathlib +import tarfile +from typing import IO, Callable + + +def include_default(_) -> bool: + return True + + +def create_tar_archive(filename: pathlib.Path, directory: pathlib.Path, include: Callable[[pathlib.Path], bool] = include_default): + """Creates a tar archive of a directory""" + + with tarfile.open(filename, 'w') as tar: + for file in sorted(directory.rglob("*"), key=lambda f: f.stat().st_size if f.is_file() else 0, reverse=True): + if not include(file): + continue + relative_path = str(file.relative_to(directory)) + if file.is_symlink(): + info = tarfile.TarInfo(relative_path) + info.type = tarfile.SYMTYPE + info.linkpath = str(file.readlink()) + tar.addfile(info) + + elif file.is_file(): + info = tarfile.TarInfo(relative_path) + info.size = file.stat().st_size + info.type = tarfile.REGTYPE + with file.open('rb') as f: + tar.addfile(info, f) + + + +def extract_tar_archive(fh: IO[bytes], directory: pathlib.Path): + """Extracts a tar archive to a directory""" + + tar = tarfile.open(fileobj=fh, mode='r') + tar.extractall(str(directory), filter=lambda info, path: info) + tar.close() diff --git a/system/hardware/tici/tests/test_casync.py b/system/updated/casync/tests/test_casync.py similarity index 56% rename from system/hardware/tici/tests/test_casync.py rename to system/updated/casync/tests/test_casync.py index 94b32a9f76..34427d5625 100755 --- a/system/hardware/tici/tests/test_casync.py +++ b/system/updated/casync/tests/test_casync.py @@ -1,10 +1,12 @@ #!/usr/bin/env python3 import os +import pathlib import unittest import tempfile import subprocess -import openpilot.system.hardware.tici.casync as casync +from openpilot.system.updated.casync import casync +from openpilot.system.updated.casync import tar # dd if=/dev/zero of=/tmp/img.raw bs=1M count=2 # sudo losetup -f /tmp/img.raw @@ -149,5 +151,117 @@ class TestCasync(unittest.TestCase): self.assertLess(stats['remote'], len(self.contents)) +class TestCasyncDirectory(unittest.TestCase): + """Tests extracting a directory stored as a casync tar archive""" + + NUM_FILES = 16 + + @classmethod + def setup_cache(cls, directory, files=None): + if files is None: + files = range(cls.NUM_FILES) + + chunk_a = [i % 256 for i in range(1024)] * 512 + chunk_b = [(256 - i) % 256 for i in range(1024)] * 512 + zeroes = [0] * (1024 * 128) + cls.contents = chunk_a + chunk_b + zeroes + chunk_a + cls.contents = bytes(cls.contents) + + for i in files: + with open(os.path.join(directory, f"file_{i}.txt"), "wb") as f: + f.write(cls.contents) + + os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt")) + + @classmethod + def setUpClass(cls): + cls.tmpdir = tempfile.TemporaryDirectory() + + # Create casync files + cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx') + cls.store_fn = os.path.join(cls.tmpdir.name, 'store') + + cls.directory_to_extract = tempfile.TemporaryDirectory() + cls.setup_cache(cls.directory_to_extract.name) + + cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.tar') + tar.create_tar_archive(cls.orig_fn, pathlib.Path(cls.directory_to_extract.name)) + + subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) + + @classmethod + def tearDownClass(cls): + cls.tmpdir.cleanup() + cls.directory_to_extract.cleanup() + + def setUp(self): + self.cache_dir = tempfile.TemporaryDirectory() + self.working_dir = tempfile.TemporaryDirectory() + self.out_dir = tempfile.TemporaryDirectory() + + def tearDown(self): + self.cache_dir.cleanup() + self.working_dir.cleanup() + self.out_dir.cleanup() + + def run_test(self): + target = casync.parse_caibx(self.manifest_fn) + + cache_filename = os.path.join(self.working_dir.name, "cache.tar") + tmp_filename = os.path.join(self.working_dir.name, "tmp.tar") + + sources = [('cache', casync.DirectoryTarChunkReader(self.cache_dir.name, cache_filename), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename) + + with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f: + self.assertEqual(f.read(), self.contents) + + with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f: + self.assertEqual(f.read(), self.contents) + self.assertEqual(os.readlink(os.path.join(self.out_dir.name, "link_0.txt")), "file_0.txt") + + return stats + + def test_no_cache(self): + self.setup_cache(self.cache_dir.name, []) + stats = self.run_test() + self.assertGreater(stats['remote'], 0) + self.assertEqual(stats['cache'], 0) + + def test_full_cache(self): + self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) + stats = self.run_test() + self.assertEqual(stats['remote'], 0) + self.assertGreater(stats['cache'], 0) + + def test_one_file_cache(self): + self.setup_cache(self.cache_dir.name, range(1)) + stats = self.run_test() + self.assertGreater(stats['remote'], 0) + self.assertGreater(stats['cache'], 0) + self.assertLess(stats['cache'], stats['remote']) + + def test_one_file_incorrect_cache(self): + self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) + with open(os.path.join(self.cache_dir.name, "file_0.txt"), "wb") as f: + f.write(b"1234") + + stats = self.run_test() + self.assertGreater(stats['remote'], 0) + self.assertGreater(stats['cache'], 0) + self.assertGreater(stats['cache'], stats['remote']) + + def test_one_file_missing_cache(self): + self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) + os.unlink(os.path.join(self.cache_dir.name, "file_12.txt")) + + stats = self.run_test() + self.assertGreater(stats['remote'], 0) + self.assertGreater(stats['cache'], 0) + self.assertGreater(stats['cache'], stats['remote']) + + if __name__ == "__main__": unittest.main() From 8a138f9be8542ef83fd42cbb030b05551af4afdb Mon Sep 17 00:00:00 2001 From: savojovic <74861870+savojovic@users.noreply.github.com> Date: Fri, 5 Apr 2024 20:03:00 +0200 Subject: [PATCH 108/113] Adding foxglove support (#31907) * Adding foxglove support, demo version * Adding image/thumbnail support * Adding foxglove map support * Adding foxglove map support * Updating title in jsonschemas according to rlog attribute names * Remove shemas folder, add dynamic schema creation * Update identation to 2 spaces, code refactored * Fix, jsonToSchema() recursion returns 0 when an empty arr found * Update, empty arrays data type set to dummy value of type string * Enable logs download * Adding foxglove install functionality * Adding, transform json lists into json obj * Adding, pip install mcap library * format it * Refactoring msg adding to mcap writer by utilizing pool of worker processes Disabling compression --------- Co-authored-by: Justin Newberry --- tools/foxglove/fox.py | 303 +++++++++++++++++++++++++++++ tools/foxglove/install_foxglove.sh | 3 + 2 files changed, 306 insertions(+) create mode 100644 tools/foxglove/fox.py create mode 100755 tools/foxglove/install_foxglove.sh diff --git a/tools/foxglove/fox.py b/tools/foxglove/fox.py new file mode 100644 index 0000000000..02ee56aa10 --- /dev/null +++ b/tools/foxglove/fox.py @@ -0,0 +1,303 @@ +import sys +import json +import base64 +import os +import subprocess +from multiprocessing import Pool +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader + +try: + from mcap.writer import Writer, CompressionType +except ImportError: + print("mcap module not found. Attempting to install...") + subprocess.run([sys.executable, "-m", "pip", "install", "mcap"]) + # Attempt to import again after installation + try: + from mcap.writer import Writer, CompressionType + except ImportError: + print("Failed to install mcap module. Exiting.") + sys.exit(1) + + +FOXGLOVE_IMAGE_SCHEME_TITLE = "foxglove.CompressedImage" +FOXGLOVE_GEOJSON_TITLE = "foxglove.GeoJSON" +FOXGLOVE_IMAGE_ENCODING = "base64" +OUT_MCAP_FILE_NAME = "json_log.mcap" +RLOG_FOLDER = "rlogs" +SCHEMAS_FOLDER = "schemas" +SCHEMA_EXTENSION = ".json" + +schemas: dict[str, int] = {} +channels: dict[str, int] = {} +writer: Writer + + +def convertBytesToString(data): + if isinstance(data, bytes): + return data.decode('latin-1') # Assuming UTF-8 encoding, adjust if needed + elif isinstance(data, list): + return [convertBytesToString(item) for item in data] + elif isinstance(data, dict): + return {key: convertBytesToString(value) for key, value in data.items()} + else: + return data + + +# Load jsonscheme for every Event +def loadSchema(schemaName): + with open(os.path.join(SCHEMAS_FOLDER, schemaName + SCHEMA_EXTENSION), "r") as file: + return json.loads(file.read()) + + +# Foxglove creates one graph of an array, and not one for each item of an array +# This can be avoided by transforming array to separate objects +def transformListsToJsonDict(json_data): + def convert_array_to_dict(array): + new_dict = {} + for index, item in enumerate(array): + if isinstance(item, dict): + new_dict[index] = transformListsToJsonDict(item) + else: + new_dict[index] = item + return new_dict + + new_data = {} + for key, value in json_data.items(): + if isinstance(value, list): + new_data[key] = convert_array_to_dict(value) + elif isinstance(value, dict): + new_data[key] = transformListsToJsonDict(value) + else: + new_data[key] = value + return new_data + + +# Transform openpilot thumbnail to foxglove compressedImage +def transformToFoxgloveSchema(jsonMsg): + bytesImgData = jsonMsg.get("thumbnail").get("thumbnail").encode('latin1') + base64ImgData = base64.b64encode(bytesImgData) + base64_string = base64ImgData.decode('utf-8') + foxMsg = { + "timestamp": {"sec": "0", "nsec": jsonMsg.get("logMonoTime")}, + "frame_id": str(jsonMsg.get("thumbnail").get("frameId")), + "data": base64_string, + "format": "jpeg", + } + return foxMsg + + +# TODO: Check if there is a tool to build GEOJson +def transformMapCoordinates(jsonMsg): + coordinates = [] + for jsonCoords in jsonMsg.get("navRoute").get("coordinates"): + coordinates.append([jsonCoords.get("longitude"), jsonCoords.get("latitude")]) + + # Define the GeoJSON + geojson_data = { + "type": "FeatureCollection", + "features": [{"type": "Feature", "geometry": {"type": "LineString", "coordinates": coordinates}, "logMonoTime": jsonMsg.get("logMonoTime")}], + } + + # Create the final JSON with the GeoJSON data encoded as a string + geoJson = {"geojson": json.dumps(geojson_data)} + + return geoJson + + +def jsonToScheme(jsonData): + zeroArray = False + schema = {"type": "object", "properties": {}, "required": []} + for key, value in jsonData.items(): + if isinstance(value, dict): + tempScheme, zeroArray = jsonToScheme(value) + if tempScheme == 0: + return 0 + schema["properties"][key] = tempScheme + schema["required"].append(key) + elif isinstance(value, list): + if all(isinstance(item, dict) for item in value) and len(value) > 0: # Handle zero value arrays + # Handle array of objects + tempScheme, zeroArray = jsonToScheme(value[0]) + schema["properties"][key] = {"type": "array", "items": tempScheme if value else {}} + schema["required"].append(key) + else: + if len(value) == 0: + zeroArray = True + # Handle array of primitive types + schema["properties"][key] = {"type": "array", "items": {"type": "string"}} + schema["required"].append(key) + else: + typeName = type(value).__name__ + if typeName == "str": + typeName = "string" + elif typeName == "bool": + typeName = "boolean" + elif typeName == "float": + typeName = "number" + elif typeName == "int": + typeName = "integer" + schema["properties"][key] = {"type": typeName} + schema["required"].append(key) + + return schema, zeroArray + + +def saveScheme(scheme, schemaFileName): + schemaFileName = schemaFileName + SCHEMA_EXTENSION + # Create the new schemas folder + os.makedirs(SCHEMAS_FOLDER, exist_ok=True) + with open(os.path.join(SCHEMAS_FOLDER, schemaFileName), 'w') as json_file: + json.dump(convertBytesToString(scheme), json_file) + + +def convertToFoxGloveFormat(jsonData, rlogTopic): + jsonData["title"] = rlogTopic + if rlogTopic == "thumbnail": + jsonData = transformToFoxgloveSchema(jsonData) + jsonData["title"] = FOXGLOVE_IMAGE_SCHEME_TITLE + elif rlogTopic == "navRoute": + jsonData = transformMapCoordinates(jsonData) + jsonData["title"] = FOXGLOVE_GEOJSON_TITLE + else: + jsonData = transformListsToJsonDict(jsonData) + return jsonData + + +def generateSchemas(): + listOfDirs = os.listdir(RLOG_FOLDER) + # Open every dir in rlogs + for directory in listOfDirs: + # List every file in every rlog dir + dirPath = os.path.join(RLOG_FOLDER, directory) + listOfFiles = os.listdir(dirPath) + lastIteration = len(listOfFiles) + for iteration, file in enumerate(listOfFiles): + # Load json data from every file until found one without empty arrays + filePath = os.path.join(dirPath, file) + with open(filePath, 'r') as jsonFile: + jsonData = json.load(jsonFile) + scheme, zerroArray = jsonToScheme(jsonData) + # If array of len 0 has been found, type of its data can not be parsed, skip to the next log + # in search for a non empty array. If there is not an non empty array in logs, put a dummy string type + if zerroArray and not iteration == lastIteration - 1: + continue + title = jsonData.get("title") + scheme["title"] = title + # Add contentEncoding type, hardcoded in foxglove format + if title == FOXGLOVE_IMAGE_SCHEME_TITLE: + scheme["properties"]["data"]["contentEncoding"] = FOXGLOVE_IMAGE_ENCODING + saveScheme(scheme, directory) + break + + +def downloadLogs(logPaths): + segment_counter = 0 + for logPath in logPaths: + segment_counter += 1 + msg_counter = 1 + print(segment_counter) + rlog = LogReader(logPath) + for msg in rlog: + jsonMsg = json.loads(json.dumps(convertBytesToString(msg.to_dict()))) + jsonMsg = convertToFoxGloveFormat(jsonMsg, msg.which()) + rlog_dir_path = os.path.join(RLOG_FOLDER, msg.which()) + if not os.path.exists(rlog_dir_path): + os.makedirs(rlog_dir_path) + file_path = os.path.join(rlog_dir_path, str(segment_counter) + "," + str(msg_counter)) + with open(file_path, 'w') as json_file: + json.dump(jsonMsg, json_file) + msg_counter += 1 + + +def getLogMonoTime(jsonMsg): + if jsonMsg.get("title") == FOXGLOVE_IMAGE_SCHEME_TITLE: + logMonoTime = jsonMsg.get("timestamp").get("nsec") + elif jsonMsg.get("title") == FOXGLOVE_GEOJSON_TITLE: + logMonoTime = json.loads(jsonMsg.get("geojson")).get("features")[0].get("logMonoTime") + else: + logMonoTime = jsonMsg.get("logMonoTime") + return logMonoTime + + +def processMsgs(args): + msgFile, rlogTopicPath, rlogTopic = args + msgFilePath = os.path.join(rlogTopicPath, msgFile) + with open(msgFilePath, "r") as file: + jsonMsg = json.load(file) + logMonoTime = getLogMonoTime(jsonMsg) + return {'channel_id': channels[rlogTopic], 'log_time': logMonoTime, 'data': json.dumps(jsonMsg).encode("utf-8"), 'publish_time': logMonoTime} + + +# Get logs from a path, and convert them into mcap +def createMcap(logPaths): + print(f"Downloading logs [{len(logPaths)}]") + downloadLogs(logPaths) + print("Creating schemas") + generateSchemas() + print("Creating mcap file") + + listOfRlogTopics = os.listdir(RLOG_FOLDER) + print(f"Registering schemas and channels [{len(listOfRlogTopics)}]") + for counter, rlogTopic in enumerate(listOfRlogTopics): + print(counter) + schema = loadSchema(rlogTopic) + schema_id = writer.register_schema(name=schema.get("title"), encoding="jsonschema", data=json.dumps(schema).encode()) + schemas[rlogTopic] = schema_id + channel_id = writer.register_channel(schema_id=schemas[rlogTopic], topic=rlogTopic, message_encoding="json") + channels[rlogTopic] = channel_id + rlogTopicPath = os.path.join(RLOG_FOLDER, rlogTopic) + msgFiles = os.listdir(rlogTopicPath) + pool = Pool() + results = pool.map(processMsgs, [(msgFile, rlogTopicPath, rlogTopic) for msgFile in msgFiles]) + pool.close() + pool.join() + for result in results: + writer.add_message(channel_id=result['channel_id'], log_time=result['log_time'], data=result['data'], publish_time=result['publish_time']) + + +def is_program_installed(program_name): + try: + # Check if the program is installed using dpkg (for traditional Debian packages) + subprocess.run(["dpkg", "-l", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) + return True + except subprocess.CalledProcessError: + # Check if the program is installed using snap + try: + subprocess.run(["snap", "list", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) + return True + except subprocess.CalledProcessError: + return False + + +if __name__ == '__main__': + # Example usage: + program_name = "foxglove-studio" # Change this to the program you want to check + if is_program_installed(program_name): + print(f"{program_name} detected.") + else: + print(f"{program_name} could not be detected.") + installFoxglove = input("Would you like to install it? YES/NO? - ") + if installFoxglove.lower() == "yes": + try: + subprocess.run(['./install_foxglove.sh'], check=True) + print("Installation completed successfully.") + except subprocess.CalledProcessError as e: + print(f"Installation failed with return code {e.returncode}.") + # Get a route + if len(sys.argv) == 1: + route_name = "a2a0ccea32023010|2023-07-27--13-01-19" + print("No route was provided, using demo route") + else: + route_name = sys.argv[1] + # Get logs for a route + print("Getting route log paths") + route = Route(route_name) + logPaths = route.log_paths() + # Start mcap writer + with open(OUT_MCAP_FILE_NAME, "wb") as stream: + writer = Writer(stream, compression=CompressionType.NONE) + writer.start() + createMcap(logPaths) + writer.finish() + print(f"File {OUT_MCAP_FILE_NAME} has been successfully created. Please import it into foxglove studio to continue.") diff --git a/tools/foxglove/install_foxglove.sh b/tools/foxglove/install_foxglove.sh new file mode 100755 index 0000000000..0f401549a2 --- /dev/null +++ b/tools/foxglove/install_foxglove.sh @@ -0,0 +1,3 @@ +#!/bin/bash +echo "Installing foxglvoe studio..." +sudo snap install foxglove-studio From 910e32270bc0e216a3443803bb177e0f4963e00b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Apr 2024 14:06:11 -0400 Subject: [PATCH 109/113] casync: larger chunk sizes and include file mode (#32110) add mode --- system/updated/casync/common.py | 2 +- system/updated/casync/tar.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py index b30494b2bb..db9b4b1e10 100644 --- a/system/updated/casync/common.py +++ b/system/updated/casync/common.py @@ -7,7 +7,7 @@ from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata from openpilot.system.updated.casync import tar -CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz"] +CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz", "--chunk-size=16M"] CASYNC_FILES = [BUILD_METADATA_FILENAME] diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py index 725ab4251d..5c547e73a2 100644 --- a/system/updated/casync/tar.py +++ b/system/updated/casync/tar.py @@ -25,11 +25,11 @@ def create_tar_archive(filename: pathlib.Path, directory: pathlib.Path, include: info = tarfile.TarInfo(relative_path) info.size = file.stat().st_size info.type = tarfile.REGTYPE + info.mode = file.stat().st_mode with file.open('rb') as f: tar.addfile(info, f) - def extract_tar_archive(fh: IO[bytes], directory: pathlib.Path): """Extracts a tar archive to a directory""" From bbb31184ab869619944fbd4ad5667f8bc4ca6d3d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Apr 2024 17:11:38 -0400 Subject: [PATCH 110/113] fix nightly casync build (#32111) fix casync build --- release/create_casync_build.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/release/create_casync_build.sh b/release/create_casync_build.sh index d41909a6ab..a851123556 100755 --- a/release/create_casync_build.sh +++ b/release/create_casync_build.sh @@ -10,6 +10,7 @@ BUILD_DIR="${BUILD_DIR:=$(mktemp -d)}" echo "Creating casync release from $SOURCE_DIR to $CASYNC_DIR" +cd $SOURCE_DIR mkdir -p $CASYNC_DIR rm -rf $BUILD_DIR mkdir -p $BUILD_DIR From ab744b73447f2b50a09d734edfa16a6a9eb04073 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Apr 2024 15:04:38 -0700 Subject: [PATCH 111/113] make fox.py executable --- tools/foxglove/fox.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 tools/foxglove/fox.py diff --git a/tools/foxglove/fox.py b/tools/foxglove/fox.py old mode 100644 new mode 100755 From 1c6924ac675baaaceb8be0b7154be15c2c45c413 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Apr 2024 15:10:14 -0700 Subject: [PATCH 112/113] missing shebang --- tools/foxglove/fox.py | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/foxglove/fox.py b/tools/foxglove/fox.py index 02ee56aa10..a1e930d893 100755 --- a/tools/foxglove/fox.py +++ b/tools/foxglove/fox.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import sys import json import base64 From 8be1a0ea360a63d8dd2120e628b3b349e1db02b8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Apr 2024 15:32:45 -0700 Subject: [PATCH 113/113] [bot] Fingerprints: add missing FW versions from new users (#32108) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 9809fb47f1..e4a4bcdfa4 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -148,6 +148,7 @@ FW_VERSIONS = { b'68443123AC ', b'68443125AC ', b'68496647AJ ', + b'68496650AH ', b'68496650AI ', b'68526752AD ', b'68526752AE ',