Merge branch 'commaai:master' into PA-testing

docs/CARS.md

@@ -35,7 +35,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||

selfdrive/car/ford/fingerprints.py

@@ -8,16 +8,19 @@
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.ESCAPE_MK4: {

selfdrive/car/ford/values.py

@@ -86,7 +86,7 @@ def init(self):
 class CAR(Platforms):
   BRONCO_SPORT_MK1 = FordPlatformConfig(
     "FORD BRONCO SPORT 1ST GEN",
-    FordCarInfo("Ford Bronco Sport 2021-22"),
+    FordCarInfo("Ford Bronco Sport 2021-23"),
     CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
   )
   ESCAPE_MK4 = FordPlatformConfig(

selfdrive/car/honda/fingerprints.py

@@ -39,6 +39,7 @@
       b'37805-6B2-A810\x00\x00',
       b'37805-6B2-A820\x00\x00',
       b'37805-6B2-A920\x00\x00',
+      b'37805-6B2-A960\x00\x00',
       b'37805-6B2-AA10\x00\x00',
       b'37805-6B2-C520\x00\x00',
       b'37805-6B2-C540\x00\x00',

selfdrive/car/subaru/fingerprints.py

@@ -26,6 +26,7 @@
       b'\xd1,\xa0q\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\x00>\xf0\x00\x00',
       b'\x00\xfe\xf7\x00\x00',
       b'\x01\xfe\xf7\x00\x00',
       b'\x01\xfe\xf9\x00\x00',

selfdrive/car/subaru/values.py

@@ -228,6 +228,13 @@ class CAR(Platforms):
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+# The EyeSight ECU takes 10s to respond to SUBARU_VERSION_REQUEST properly,
+# log this alternate manufacturer-specific query
+SUBARU_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf100)
+SUBARU_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf100)
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     Request(
@@ -245,6 +252,20 @@ class CAR(Platforms):
       whitelist_ecus=[Ecu.fwdCamera],
       bus=0,
     ),
+    Request(
+      [SUBARU_ALT_VERSION_REQUEST],
+      [SUBARU_ALT_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
+    ),
+    Request(
+      [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
+    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,7 +263,7 @@ def fake_get_ecu_addrs(*_, timeout):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 8.4, 2: 9.3}
+    total_ref_time = {1: 8.6, 2: 9.5}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -274,7 +274,7 @@ def test_fw_query_timing(self):
         'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,
-        'subaru': 0.45,
+        'subaru': 0.65,
         'tesla': 0.3,
         'toyota': 1.6,
         'volkswagen': 0.65,

selfdrive/car/toyota/carcontroller.py

@@ -141,9 +141,9 @@ def update(self, CC, CS, now_nanos):
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
       # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
-      if self.frame % 6 == 0:
-        if CS.pcm_follow_distance_values.get(CS.pcm_follow_distance, "UNKNOWN") != "FAR" and CS.out.cruiseState.enabled and \
-          self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+      if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
+        desired_distance = 4 - hud_control.leadDistanceBars
+        if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance:
           self.distance_button = not self.distance_button
         else:
           self.distance_button = 0

selfdrive/car/toyota/carstate.py

@@ -44,7 +44,6 @@ def __init__(self, CP):
     self.distance_button = 0
 
     self.pcm_follow_distance = 0
-    self.pcm_follow_distance_values = can_define.dv['PCM_CRUISE_2']['PCM_FOLLOW_DISTANCE']
 
     self.low_speed_lockout = False
     self.acc_type = 1

selfdrive/car/toyota/fingerprints.py

@@ -639,6 +639,7 @@
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
       b'881510E01200\x00\x00\x00\x00',
+      b'881510E02200\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702100\x00\x00\x00\x00',
@@ -686,6 +687,7 @@
       b'\x01896630EB1000\x00\x00\x00\x00',
       b'\x01896630EB1100\x00\x00\x00\x00',
       b'\x01896630EB1200\x00\x00\x00\x00',
+      b'\x01896630EB1300\x00\x00\x00\x00',
       b'\x01896630EB2000\x00\x00\x00\x00',
       b'\x01896630EB2100\x00\x00\x00\x00',
       b'\x01896630EB2200\x00\x00\x00\x00',
@@ -1141,6 +1143,7 @@
       b'\x01F15264283300\x00\x00\x00\x00',
       b'\x01F152642F1000\x00\x00\x00\x00',
       b'\x01F152642F8000\x00\x00\x00\x00',
+      b'\x01F152642F8100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
@@ -1153,6 +1156,7 @@
       b'\x01896634AF0000\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
       b'\x01896634AL5000\x00\x00\x00\x00',
+      b'\x01896634AL6000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',

selfdrive/controls/controlsd.py

@@ -680,6 +680,7 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
+    hudControl.leadDistanceBars = self.sm['longitudinalPlan'].personality.raw + 1
 
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d53d44c21a89d7925d5ad16938e14794907f28b1
+653f68e6be4689dc9dce1a93cb726d37b9c588d3

selfdrive/updated/tests/test_base.py

@@ -104,9 +104,12 @@ def _test_params(self, branch, fetch_available, update_available):
     self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available)
     self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available)
 
-  def _test_update_params(self, branch, version, agnos_version, release_notes):
+  def _test_finalized_update(self, branch, version, agnos_version, release_notes):
+    from openpilot.selfdrive.updated.common import get_version, get_consistent_flag # this needs to be inline because common uses environment variables
     self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}"))
     self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"<p>{release_notes}</p>\n")
+    self.assertEqual(get_version(str(self.staging_root / "finalized")), version)
+    self.assertEqual(get_consistent_flag(), True)
 
   def wait_for_condition(self, condition, timeout=12):
     start = time.monotonic()
@@ -170,7 +173,7 @@ def test_new_release(self):
       self.wait_for_update_available()
 
       self._test_params("release3", False, True)
-      self._test_update_params("release3", *self.MOCK_RELEASES["release3"])
+      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
 
   def test_switch_branches(self):
     # Start on release3, request to switch to master manually, ensure we switched
@@ -195,7 +198,7 @@ def test_switch_branches(self):
       self.wait_for_update_available()
 
       self._test_params("master", False, True)
-      self._test_update_params("master", *self.MOCK_RELEASES["master"])
+      self._test_finalized_update("master", *self.MOCK_RELEASES["master"])
 
   def test_agnos_update(self):
     # Start on release3, push an update with an agnos change
@@ -227,4 +230,4 @@ def test_agnos_update(self):
       self.wait_for_update_available()
 
       self._test_params("release3", False, True)
-      self._test_update_params("release3", *self.MOCK_RELEASES["release3"])
+      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])

system/camerad/cameras/camera_common.cc

@@ -27,14 +27,18 @@ class Debayer {
              "-cl-fast-relaxed-math -cl-denorms-are-zero "
              "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DIS_OX=%d -DCAM_NUM=%d%s",
+             "-DIS_OX=%d -DIS_OS=%d -DIS_BGGR=%d -DCAM_NUM=%d%s",
              ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, buf_width, uv_offset,
-             ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10,
+             ci->image_sensor == cereal::FrameData::ImageSensor::OS04C10,
+             ci->image_sensor == cereal::FrameData::ImageSensor::OS04C10,
+             s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
     const char *cl_file = "cameras/real_debayer.cl";
     cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
     CL_CHECK(clReleaseProgram(prg_debayer));
+
   }
 
   void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *debayer_event) {