Sync: commaai/opendbc:master into sunnypilot/opendbc:master-new

.github/workflows/test_models_trigger.yaml

@@ -37,6 +37,7 @@ jobs:
         submodules: 'true'
 
     - name: bump opendbc
+      if: steps.check_comment.outputs.result == 'true'
       run: |
         cd opendbc_repo
         git fetch origin pull/${{ github.event.issue.number }}/head

.github/workflows/tests.yml

@@ -93,15 +93,15 @@ jobs:
   mutation:
     name: Safety mutation tests
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    timeout-minutes: 20
+    timeout-minutes: 60
     env:
       GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0  # need master to get diff
       - name: Run mutation tests
-        timeout-minutes: 10
+        timeout-minutes: 60
         run: |
           source setup.sh
           scons -j8

.gitignore

@@ -24,4 +24,7 @@ opendbc/can/packer_pyx.cpp
 opendbc/can/parser_pyx.cpp
 opendbc/can/packer_pyx.html
 opendbc/can/parser_pyx.html
-opendbc/dbc/*_generated.dbc
+opendbc/dbc/*_generated.dbc
+
+cppcheck-addon-ctu-file-list
+opendbc/safety/tests/coverage-out

.pre-commit-config.yaml

@@ -37,10 +37,3 @@ repos:
         - --counting=detailed
         - --linelength=240
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
--   repo: local
-    hooks:
-    -   id: generator
-        name: dbc generator
-        entry: opendbc/dbc/generator/test_generator.py
-        language: script
-        pass_filenames: false

docs/CARS.md

@@ -36,8 +36,8 @@
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Under review](#upstream)|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Under review](#upstream)|
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
 |Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
@@ -47,8 +47,8 @@
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
-|Ford|Mustang Mach-E 2021-23|All|[Under review](#upstream)|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Under review](#upstream)|
+|Ford|Mustang Mach-E 2021-23|All|[Upstream](#upstream)|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Genesis|G70 2018|All|[Upstream](#upstream)|
 |Genesis|G70 2019-21|All|[Upstream](#upstream)|
 |Genesis|G70 2022-23|All|[Upstream](#upstream)|

opendbc/car/CARS_template.md

@@ -1,10 +1,10 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for {{car_docs_with_extras | length}} Known Cars
+# Support Information for {{all_car_docs | length}} Known Cars
 
 |{{ExtraCarsColumn | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((ExtraCarsColumn | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_docs in car_docs_with_extras %}
+{% for car_docs in all_car_docs %}
 |{% for column in ExtraCarsColumn %}{{car_docs.get_extra_cars_column(column)}}|{% endfor %}
 
 {% endfor %}

opendbc/car/__init__.py

@@ -1,6 +1,5 @@
 # functions common among cars
 import numpy as np
-from collections import namedtuple
 from dataclasses import dataclass, field
 from enum import IntFlag, ReprEnum, StrEnum, EnumType, auto
 from dataclasses import replace
@@ -17,7 +16,13 @@
 ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
 
 ButtonType = structs.CarState.ButtonEvent.Type
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
+
+
+@dataclass
+class AngleSteeringLimits:
+  STEER_ANGLE_MAX: float
+  ANGLE_RATE_LIMIT_UP: tuple[list[float], list[float]]
+  ANGLE_RATE_LIMIT_DOWN: tuple[list[float], list[float]]
 
 
 def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
@@ -141,19 +146,20 @@ def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque
                                              LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
 
 
-def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, steering_angle, lat_active, LIMITS):
+def apply_std_steer_angle_limits(apply_angle: float, apply_angle_last: float, v_ego: float, steering_angle: float,
+                                 lat_active: bool, limits: AngleSteeringLimits) -> float:
   # pick angle rate limits based on wind up/down
   steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
-  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
+  rate_limits = limits.ANGLE_RATE_LIMIT_UP if steer_up else limits.ANGLE_RATE_LIMIT_DOWN
 
-  angle_rate_lim = np.interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
+  angle_rate_lim = np.interp(v_ego, rate_limits[0], rate_limits[1])
   new_apply_angle = np.clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
 
   # angle is current steering wheel angle when inactive on all angle cars
   if not lat_active:
     new_apply_angle = steering_angle
 
-  return float(np.clip(new_apply_angle, -LIMITS.STEER_ANGLE_MAX, LIMITS.STEER_ANGLE_MAX))
+  return float(np.clip(new_apply_angle, -limits.STEER_ANGLE_MAX, limits.STEER_ANGLE_MAX))
 
 
 def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,

opendbc/car/body/carcontroller.py

@@ -20,8 +20,8 @@ def __init__(self, dbc_names, CP, CP_SP):
     self.packer = CANPacker(dbc_names[Bus.main])
 
     # PIDs
-    self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.turn_pid = PIDController(110, k_i=11.5, rate=1 / DT_CTRL)
+    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1 / DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.

opendbc/car/car.capnp

@@ -627,6 +627,7 @@ struct CarParams {
     psa @31;
     fcaGiorgio @32;
     rivian @33;
+    volkswagenMeb @34;
   }
 
   enum SteerControlType {

opendbc/car/car_helpers.py

@@ -7,8 +7,8 @@
 from opendbc.car.structs import CarParams, CarParamsT, CarParamsSP
 from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
-from opendbc.car.interfaces import get_interface_attr
 from opendbc.car.mock.values import CAR as MOCK
+from opendbc.car.values import BRANDS
 from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 
 FRAME_FINGERPRINT = 100  # 1s
@@ -30,8 +30,9 @@ def load_interfaces(brand_names):
 def _get_interface_names() -> dict[str, list[str]]:
   # returns a dict of brand name and its respective models
   brand_names = {}
-  for brand_name, brand_models in get_interface_attr("CAR").items():
-    brand_names[brand_name] = [model.value for model in brand_models]
+  for brand in BRANDS:
+    brand_name = brand.__module__.split('.')[-2]
+    brand_names[brand_name] = [model.value for model in brand]
 
   return brand_names
 

opendbc/car/chrysler/carcontroller.py

@@ -28,7 +28,7 @@ def update(self, CC, CC_SP, CS, now_nanos):
     lkas_active = CC.latActive and self.lkas_control_bit_prev
 
     # cruise buttons
-    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
+    if (self.frame - self.last_button_frame) * DT_CTRL > 0.05:
       das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
 
       # ACC cancellation

opendbc/car/docs.py

@@ -11,26 +11,28 @@
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarDocs, Device, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType
-from opendbc.car.car_helpers import interfaces, get_interface_attr
-from opendbc.car.values import Platform, PLATFORMS
+from opendbc.car.docs_definitions import BaseCarHarness, CarDocs, Device, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType, SupportType
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.interfaces import get_interface_attr
+from opendbc.car.values import Platform
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.extra_cars import CAR as EXTRA
 
 
 EXTRA_CARS_MD_OUT = os.path.join(BASEDIR, "../", "../", "docs", "CARS.md")
 EXTRA_CARS_MD_TEMPLATE = os.path.join(BASEDIR, "CARS_template.md")
 
+# TODO: merge these platforms into normal car ports with SupportType flag
 ExtraPlatform = Platform | EXTRA
 EXTRA_BRANDS = get_args(ExtraPlatform)
 EXTRA_PLATFORMS: dict[str, ExtraPlatform] = {str(platform): platform for brand in EXTRA_BRANDS for platform in brand}
 
 
-def get_params_for_docs(model, platform) -> CarParams:
-  cp_model, cp_platform = (model, platform) if model in interfaces else ("MOCK", MOCK.MOCK)
-  CP: CarParams = interfaces[cp_model][0].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
-                                                     car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
-                                                     experimental_long=True, docs=True)
+def get_params_for_docs(platform) -> CarParams:
+  cp_platform = platform if platform in interfaces else MOCK.MOCK
+  CP: CarParams = interfaces[cp_platform][0].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
+                                                        car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
+                                                        experimental_long=True, docs=True)
   return CP
 
 
@@ -41,13 +43,13 @@ def get_all_footnotes() -> dict[Enum, int]:
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-def build_sorted_car_docs_list(platforms, footnotes=None, include_dashcam=False):
+def build_sorted_car_docs_list(platforms, footnotes=None):
   collected_car_docs: list[CarDocs | ExtraCarDocs] = []
-  for model, platform in platforms.items():
+  for platform in platforms.values():
     car_docs = platform.config.car_docs
-    CP = get_params_for_docs(model, platform)
+    CP = get_params_for_docs(platform)
 
-    if (CP.dashcamOnly and not include_dashcam) or not len(car_docs):
+    if not len(car_docs):
       continue
 
     # A platform can include multiple car models
@@ -65,12 +67,7 @@ def build_sorted_car_docs_list(platforms, footnotes=None, include_dashcam=False)
 # CAUTION: This function is imported by shop.comma.ai and comma.ai/vehicles, test changes carefully
 def get_all_car_docs() -> list[CarDocs]:
   collected_footnotes = get_all_footnotes()
-  sorted_list: list[CarDocs] = build_sorted_car_docs_list(PLATFORMS, footnotes=collected_footnotes)
-  return sorted_list
-
-
-def get_car_docs_with_extras() -> list[CarDocs | ExtraCarDocs]:
-  sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, include_dashcam=True)
+  sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, footnotes=collected_footnotes)
   return sorted_list
 
 
@@ -89,16 +86,8 @@ def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
   footnotes = [fn.value.text for fn in get_all_footnotes()]
   cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
                                  group_by_make=group_by_make, footnotes=footnotes,
-                                 Device=Device, Column=Column)
-  return cars_md
-
-
-def generate_cars_md_with_extras(car_docs_with_extras: list[CarDocs | ExtraCarDocs], template_fn: str) -> str:
-  with open(template_fn) as f:
-    template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
-
-  cars_md: str = template.render(car_docs_with_extras=car_docs_with_extras, PartType=PartType,
-                                 group_by_make=group_by_make, ExtraCarsColumn=ExtraCarsColumn)
+                                 Device=Device, Column=Column, ExtraCarsColumn=ExtraCarsColumn,
+                                 BaseCarHarness=BaseCarHarness, SupportType=SupportType)
   return cars_md
 
 
@@ -111,5 +100,5 @@ def generate_cars_md_with_extras(car_docs_with_extras: list[CarDocs | ExtraCarDo
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md_with_extras(get_car_docs_with_extras(), args.template))
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
   print(f"Generated and written to {args.out}")

opendbc/car/docs_definitions.py

@@ -98,6 +98,7 @@ class CarHarness(EnumBase):
   nidec = BaseCarHarness("Honda Nidec connector")
   bosch_a = BaseCarHarness("Honda Bosch A connector")
   bosch_b = BaseCarHarness("Honda Bosch B connector")
+  bosch_c = BaseCarHarness("Honda Bosch C connector")
   toyota_a = BaseCarHarness("Toyota A connector")
   toyota_b = BaseCarHarness("Toyota B connector")
   subaru_a = BaseCarHarness("Subaru A connector")
@@ -195,7 +196,7 @@ def all_parts(self):
 class CommonFootnote(Enum):
   EXP_LONG_AVAIL = CarFootnote(
     "openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
-    "the toggle is only available in non-release branches such as `devel` or `master-ci`.",
+    "the toggle is only available in non-release branches such as `devel` or `nightly-dev`.",
     Column.LONGITUDINAL, docs_only=True)
   EXP_LONG_DSU = CarFootnote(
     "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
@@ -380,15 +381,15 @@ def get_detail_sentence(self, CP):
         sentence_builder += " This car may not be able to take tight turns on its own."
 
       # experimental mode
-      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
+      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='highlight'>Experimental mode</a>"
       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)
 
     else:
       if CP.carFingerprint == "COMMA_BODY":
-        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
+        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com' target='_blank' class='highlight'>Learn more.</a>"
       else:
         raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
 

opendbc/car/ford/carcontroller.py

@@ -9,15 +9,32 @@
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
+# ISO 11270
+ISO_LATERAL_ACCEL = 3.0  # m/s^2  # TODO: import from test lateral limits file?
 
-def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active):
+# Limit to average banked road since safety doesn't have the roll
+EARTH_G = 9.81
+AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation
+MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (EARTH_G * AVERAGE_ROAD_ROLL)  # ~2.4 m/s^2
+
+
+def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP):
   # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
   if v_ego_raw > 9:
     apply_curvature = np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
                               current_curvature + CarControllerParams.CURVATURE_ERROR)
 
   # Curvature rate limit after driver torque limit
-  return apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, steering_angle, lat_active, CarControllerParams)
+  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, steering_angle, lat_active, CarControllerParams.ANGLE_LIMITS)
+
+  # Ford Q4/CAN FD has more torque available compared to Q3/CAN so we limit it based on lateral acceleration.
+  # Safety is not aware of the road roll so we subtract a conservative amount at all times
+  if CP.flags & FordFlags.CANFD:
+    # Limit curvature to conservative max lateral acceleration
+    curvature_accel_limit = MAX_LATERAL_ACCEL / (max(v_ego_raw, 1) ** 2)
+    apply_curvature = float(np.clip(apply_curvature, -curvature_accel_limit, curvature_accel_limit))
+
+  return apply_curvature
 
 
 def apply_creep_compensation(accel: float, v_ego: float) -> float:
@@ -71,7 +88,7 @@ def update(self, CC, CC_SP, CS, now_nanos):
       # apply rate limits, curvature error limit, and clip to signal range
       current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
       self.apply_curvature_last = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature,
-                                                              CS.out.vEgoRaw, 0., CC.latActive)
+                                                              CS.out.vEgoRaw, 0., CC.latActive, self.CP)
 
       if self.CP.flags & FordFlags.CANFD:
         # TODO: extended mode

opendbc/car/ford/fingerprints.py

@@ -105,7 +105,7 @@
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x730, None): [
-      b'RL38-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+      b'RL38-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FORD_MUSTANG_MACH_E_MK1: {

opendbc/car/ford/interface.py

@@ -1,5 +1,6 @@
 import numpy as np
 from opendbc.car import Bus, get_safety_config, structs
+from opendbc.car.carlog import carlog
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
 from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
@@ -47,17 +48,26 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
+
+      # TRON (SecOC) platforms are not supported
+      # LateralMotionControl2, ACCDATA are 16 bytes on these platforms
+      if len(fingerprint[CAN.camera]):
+        if fingerprint[CAN.camera].get(0x3d6) != 8 or fingerprint[CAN.camera].get(0x186) != 8:
+          carlog.error('dashcamOnly: SecOC is unsupported')
+          ret.dashcamOnly = True
     else:
       # Lock out if the car does not have needed lateral and longitudinal control APIs.
       # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
       pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
       if pscm_config:
         if len(pscm_config.fwVersion) != 24:
+          carlog.error('dashcamOnly: Invalid EPS FW version')
           ret.dashcamOnly = True
         else:
           config_tja = pscm_config.fwVersion[7]  # Traffic Jam Assist
           config_lca = pscm_config.fwVersion[8]  # Lane Centering Assist
           if config_tja != 0xFF or config_lca != 0xFF:
+            carlog.error('dashcamOnly: Car lacks required lateral control APIs')
             ret.dashcamOnly = True
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1