* limit max curvature with lateral accel too
* not a guideline
* roll compensation in curv clip
* improve clipping and alerting
* typo
* clean up
* no float
* get ready
* good idea
* good
* redundant
* TODO
* test
* do max curvature clip last
* flip
---------
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
* carControlSP and move MADS to outside structs
* publish it
* apply to all car controller
* migrate sunnypilotParams
* migrate madsEnabled
* tldr
* convert to capnp
* unused
* wrong module
* fix name
* cancer is right (all tests should be passing now)
* bump opendbc
* sp flags
* pass CP_SP to card and car interfaces
* CP_SP in radar interface
* bump opendbc
* use dataclass like old times
* bump opendbc
* write to params for controls
* fix test models
* fix
* need to use copy instead
* fix data type
* add service
* more
* fix
* Revert "fix"
This reverts commit 74723d7fb2.
* Revert "fix data type"
This reverts commit 02355f44df.
* missed
* more
* no more lagging
* Reapply "fix data type"
This reverts commit dbf1b8583f.
* Reapply "fix"
This reverts commit 9cbce9968a.
* Revert "Reapply "fix""
This reverts commit 1871919b63.
* Revert "Reapply "fix data type""
This reverts commit 5e95752fd5.
* no longer
* Revert "no longer"
This reverts commit 66ee1ba151.
* Reapply "Reapply "fix data type""
This reverts commit 670a384333.
* Reapply "Reapply "fix""
This reverts commit 42f09f955c.
* only for car params sp
* rename
* fix more test
* no need for process replay
* pass stock car params to sp set car params
* pass stock car params to sp set car params
* deprecate CarParams.sunnypilotFlags to CarParamsSP.flags
* missed arg
* fix tests
* tests fixed
* need to pass this too
* must generate cp_sp!
* fix typing
* must be initialized prior can comm callback!
* no more cancer (@devtekve)
* remove more cancer
* Refactor `get_non_essential_params_sp` to simplify arguments (#612)
* Refactor 'get_non_essential_params_sp' function calls in tests
In both `test_latcontrol.py` and `process_replay.py`, simplified the function calls to 'get_non_essential_params_sp'. Removed an unnecessary call to 'get_non_essential_params'. This change makes the code cleaner and more efficient by reducing redundancy in the function calls. This modification also ensures consistency across different code files.
* Refactor get_non_essential_params_sp to take car_params.
Simplify parameters by modifying `get_non_essential_params_sp` to use `car_params` as input. Adjust related calls in test files and process replay to match the updated method signature. This improves code clarity and reduces redundancy.
* bump opendbc
* Refactor parameter handling for `get_params_sp`.
Removed unnecessary reassignment of `car_params` in calls to `get_params_sp`, ensuring a cleaner and more streamlined code structure. This change improves code clarity and eliminates redundant operations. All relevant assertions and behavior remain unaffected.
* bumping opedbc
* bump opendbc
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* allow re-regage
* bump opendbc
* bump panda
* apply pause/resume fix for hyundai (should do this in a separate PR)
* bump opendbc
* fix
* rename
* Fix?
* make sure to disengage for allow always cars
* fix
* combine
* more fix
* not needed
* check if engagement is from openpilot's state machine
* Rename
* fix panda safety
* fix
* no fake lfa button for @devtekve ;)
* fix non drive gear re-engage
* fix settings
* combine
* add replace method
* use replace
* remoev already checks if it exists
* fix
* group
* add todo
* reserve events
* cleaner
* hyundai: only allow for cars with lfa button
* sunnyParams
* make sure it's car only
* Move car-specific changes to opendbc
* no need
* bump opendbc
* more fixes
* no more available
* more!
* final?
* always emit user disable
* no longer needed
* move unit test
* add sunnypilot to unit tests
* bump opendbc
* use new cereal
* bump opendbc
* static analysis
* no unittest
* no need available
* UI border update
* show MADS updates
* Add TODO
* no longer needed
* fix changed events
* fix cluster enabled
* don't add pre enable if not long
* should use enabled
* enabled <-> active
* better format
* bump opendbc
* static analysis
* static analysis
* Rename test as collector was dying
* Show our overriding
* Revert "show MADS updates"
This reverts commit daf0ad62
Revert "fix changed events"
This reverts commit 31d8c97f
* ignoring reserved events
* adjusting creation delays
* back to stock
removing allow_cancel
* should be enabled
* revert
* silent lkas disable
* no need
* user disable tests
* just warning
* MUST REMOVE test process replay
* fix no entry
* fixme
* bump opendbc
* need this check
* cleanup
* allow entering paused state if no entry from disabled
* brake hold should apply to all
* in lists
* update unit test
* simpler
* unused
* same thing
* fix
* only mads in enabled state and long in disabled state
* unify silent enable
* do this for dlob
* bump submodules
* fix
* bump submodules
* bump opendbc
* less frequent
* more events
* fix
* allow no entry to paused for non-drive gears
* fix
* use cereal
* Revert "allow no entry to paused for non-drive gears"
This reverts commit 6d64a4dd9c.
* allow in all
* Revert "allow in all"
This reverts commit 6375f14891.
* should not be all!
* rename for clarity
* silent park brake
* flipped
* bump submodules
* Bump to latest mads-new panda
* bump panda
* more nissan
* bump panda
* bump msgq
* bump panda
* bump submodules
* bump opendbc
* bump opendbc
* improving the state
* Revert "PlayStation® model (#34133)"
This reverts commit 5160bee543.
* should be none
* bump panda
* bump opendbc
* Apply suggestions from code review
* bump panda
* bump ref panda
* add todo-sp
* bump panda ref
* bump more panda
* changing refs
* nuke nuke nuke
* use sunny's newer states
* bump with new panda
* bump panda
* Parse more flags from alt exp, more tests, hyundai main cruise allowed
* Parse more flags from alt exp, more tests, hyundai main cruise allowed
* missed
* mutation for controls allowed rising edge
* ford mutation
* license
* remove
* unused
* bump submodules
* use always allowed mads button alt exp
* fix
* whitelist jason's lastname to codespell
* test_processes: update ref logs to 82c0278
* bump submodules
* bump submodules
* bump submodules
* bump panda
* add controls mismatch lateral event
* Simplify lateral disengagement logic for MADS configuration
Reversed the conditional to align the logic with the `disengage_lateral_on_brake` parameter. This ensures that lateral disengagement behavior is more intuitive and matches the expected configuration. Improves code readability and reduces potential misconfigurations.
* remove unified engagement mode in panda
* controls allow should be allowed at all times
* squash! treat MADS button as user entry
* heartbeat for mads
* heartbeat mismatch exit control
* remove always allow mads button from alt
* move to safety_mads
* remove main cruise allowed from alt
* bump panda
* heartbeat engaged mads mismatch mutation test
* bump panda
* use mads the third panda
* ignore pre enable with mads
* only force exit if actually actuating
* use brake signal instead of pedal events when dlob is active
* fix tests
* fix panda tests
* bump panda
* new events to retain long blocks
* format
* uem: do not engage mads if long is engaged
* bump submodules
* fix not allowed engaged bug
* block uem from engaging
* flipped
* use different heartbeat check if dlob
* hard code to skip heartbeat check
* remove toyota lta status for lkas, causes weird behaviors
* block tesla
* bump panda
* bump to merged panda
* bump opendbc
* bump opendbc
* bump opendbc
* bump opendbc
* Apply suggestions from code review
* code ignore spells
* needs to be in carstate
* Bump opendbc
* Update MADS toggle descriptions for clarity.
Added notes to clarify behavior of the "MadsMainCruiseAllowed" setting, particularly its impact on vehicles without LFA/LKAS buttons. This ensures users are informed about potential implications when disabling this feature.
* Updating translations + Adding spanish
* Disengage Lateral on Brake -> Pause Lateral on Brake
* test_processes: update ref logs to dd41005
* Apply suggestions from code review
* fix mads button not allowed
* bump submodules
* bump submodule
* test_processes: update ref logs to 0a0b998
* has multiple lists
* Revert "has multiple lists"
This reverts commit a37c1d26fe.
* base
* Reapply "has multiple lists"
This reverts commit d1cd8dcc81.
* migrate mads toggles to sp panel
* this is why it keeps crashing
* house keeping
* more housekeeping
* more housekeeping
* don't show description by default (yet)
* reset to main panel when clicked away
* more
* some more with interactions
* don't stretch cause it looks weird with descriptions
* simpler to handle offroad transition
* some are toggleable while onroad
* remove unused event
* slight cleanup
* default to true for HKG main cruise toggle
* append to list after
* add Customize MADS to UI preview
* simpler
* move to sp list
* how tf was this removed
* update mads settings button on show event
* test_processes: update ref logs to efa9c32
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* interfaces returns radarinterface
old-commit-hash: 9ad1f096bfca3712320f19b1b49aa9e6ac9b68e4
* bump
old-commit-hash: 20334a8b257c6037e11d02f2ba7b1f02c59f3240
* get RI from opendbc
old-commit-hash: b5f6d0c48c90927926e9dd557130075aeec5edee
* stash so far
old-commit-hash: 5aa2c842eb152316434c17a661df05bb8af61f47
* new liveTracks message (radard expects and needs RadarData)
* this should just work?
* whoops
* fix that
* rm liveTracks from radard pm
* fix proceess replay
* lol fcw diff, something's not right
* actually there's fcw in original route. it's pretty close
* no tracks!
* fix test_leads
* CPU moved across procs
* fix not engageable from onroadEvents
* bump
* fixes
* bump to master
* radard publishes w/ modelV2 now, so it will always be sent. check valid which radard sets using liveTracks avg freq
* fix that (it works!)
* combine
join
* bump
* bump
* deprecate
* why
* fix incorrect args
* remove cumLagMs from process_replay
* update refs
* Deprecate controlsState state fields
* sim works
* update refs
* one more
* these too
* update sim
old-commit-hash: 3924ac587b735d1e735af4cb77faf6ccf053f656
* Move vCruise to card
* cleanup drive_helpers
* works in sim
* update refs
* update that
* too slow :(
old-commit-hash: 2f3256ed8baa3d7a5c4d1befe9148dbfecb37246
* personality-alerts
* Update events.py
* Update car.capnp
* no AudibleAlert
* shorter
* no VisualAlert
* one liner
* smaller
* normal
* what am I doing wrong?
* it works, but is it messy?
* arg all
* lil more
* update that
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 35da93fa95
* GPS helpers
* Use GPS socket in timed
* Use helper in controlsd
* Use updated and logMonoTime
* Helper type annot
* Not updated
* Increase time threashold
old-commit-hash: cf355ecf20
* move most of /car
* move some car tests
move some car tests
* fix selfdrive/car/tests
* fix selfdrive/controls tests
* fix the rest of the selfdrive tests
* bump opendbc
* fix all tests
* few more non-test references
* remove opcar and move docs to car
fix these debugging scripts
fix docs
* bump opendbc and panda
forgot panda
old-commit-hash: e735a7f379
* remove another exception (remove mention of events from car stack)
* guess this should've been here all along
* reorganize exceptions
* fix
old-commit-hash: 06216d43bb
Revert "selfdrive/car: ban imports from external modules (#32973)"
This reverts commit c1e8ff2dbc47ccb07fb41a4e88bfb66af2669254.
old-commit-hash: 35a4a773f1
* Increase traversal_limit_in_words to Fix Traversal Limit Errors
* just use log_from_bytes
* come on pycharm
* no free lunch
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 12d729a0a0
* Simplify long control
* Seperate
* Rename
* Try new api for toyota
* rm v_pid everywhere
* No speed in reset
* 0 is better default
* unassigned variable
* Update other cars
* Update gm
* SIMPLIFY
* simplify more
* fix API boundry
* Fix stopping bug
* Small fixes
* Update ref
old-commit-hash: bc303df6a0
* format card
* standalone process
* no class member CS, there's no point
also can be confusing; what else could be using this?
* rename CoS
* Update selfdrive/controls/controlsd.py
* never works first time :D
* canRcvTimeout is bool
* hack
* add cpu
* see what testing closet comes up with
* first
* some clean up
* support passable CI, fix test models
* fix startup alert
* process replay changes
* test_fuzzy
* gate carOutput valid on carControl valid
* we should publish after we update carOutput
* controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date
* check all checks for carControl in case controlsd dies
* log more timestamps
* more generic latency logger; needs some clean up
latency_logger.py was difficult to understand and modify
* card polls on can and carControl to get latest carControl possible
* temp try to send earlier
* add log
* remove latencylogger
* no mpld3!
* old loop
* detect first event
* normal send
* revert "card polls on can and carControl to get latest carControl possible"
how it was is best
* sheesh! update should be first
* first timestamp
* temp comment ( timestamp is slow :( )
* more final ordering, and make polling on/off test repeatable
* Received can
* new plot timestamps
* clean up
* no poll
* add controllers (draft)
* Revert "add controllers (draft)"
This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3.
* fix that
* conventions
* just use CS
* consider controlsd state machine in card: not fully done
* hmm it's just becoming controlsd
* rm debugging
* Revert "hmm it's just becoming controlsd"
This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7.
* Revert "just use CS"
This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9.
* add vCruise
* migrate car state
* Revert "migrate car state"
This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b.
* Revert "add vCruise"
This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633.
* simple state machine in card (doesn't work as is)
* Revert "simple state machine in card (doesn't work as is)"
This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24.
* poll carState without conflate
* bump
* remove state transition
* fix
* update refs
* ignore cumLagMs and don't ignore valid
* fix controls mismatch; controlsd used to set alt exp
* controlsd_config_callback not needed for card
* revert ref temp
* update refs
* no poll
* not builder!
* test fix
* need to migrate initialized
* CC will be a reader
* more as_reader!
* fix None
* init after publish like before - no real difference
* controlsd clean up
* remove redundant check and check passive for init
* stash
* flip
* migrate missing carOutput for controlsd
* Update ref_commit
* bump cereal
* comment
* no class params
* no class
* Revert "no class"
This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d.
* add todo
* regen and update refs
* fix
* update refs
* and fix that
* should be controlsstate
* remove controlsState migration
CoS.initialized isn't needed yet
* fix
* flip!
* bump
* fix that
* update refs
* fix
* if canValid goes false, controlsd would still send
* bump
* rm diff
* need to be very careful with initializing
* update refs
old-commit-hash: 71f5c441fe
* regen
* regen
* update
* undo
* update refs
* fix
* real fix
* test
* test2
* test3
* stash
* Revert "stash"
This reverts commit bf6765f526b48426f49a4b29c4042097f57fc4b0.
* rk.lagging can not be trusted. BODY segment has radarFault while modelV2 is not valid, causing radarState to not be valid
* order
* update refs again
* we never logged carOutput!
* bump
* add back checks
old-commit-hash: 220fcc1675
* Revert "card: move all car events (#32427)"
This reverts commit e1918a6270257e96d68df3ac03e884603253c8e2.
* keep the event here
* oops
* Revert "oops"
This reverts commit ea99a2768fbeb7a6123dd755585157b530e7a2a1.
* Revert "keep the event here"
This reverts commit ec089b4e1afdf09b2e6b184de8f23584ef931601.
old-commit-hash: 407791113d
