Merge branch 'master' into secoc-long

docs/CARS.md

@@ -7,7 +7,7 @@
 |Acura|ILX 2016-19|AcuraWatch Plus|[Upstream](#upstream)|
 |Acura|Integra 2024|All|[Community](#community)|
 |Acura|RDX 2016-18|AcuraWatch Plus|[Upstream](#upstream)|
-|Acura|RDX 2019-22|All|[Upstream](#upstream)|
+|Acura|RDX 2019-21|All|[Upstream](#upstream)|
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|A4 2016-24|All|[Not compatible](#flexray)|
@@ -100,7 +100,7 @@
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -141,7 +141,7 @@
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
@@ -250,8 +250,8 @@
 |Škoda|Octavia Scout 2017-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Scala 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Tesla|Model 3|All|[Dashcam mode](#dashcam)|
-|Tesla|Model Y|All|[Dashcam mode](#dashcam)|
+|Tesla|Model 3 2019-24|Traffic Aware Cruise Control|[Dashcam mode](#dashcam)|
+|Tesla|Model Y 2020-24|Traffic Aware Cruise Control|[Dashcam mode](#dashcam)|
 |Toyota|Alphard 2019-20|All|[Upstream](#upstream)|
 |Toyota|Alphard Hybrid 2021|All|[Upstream](#upstream)|
 |Toyota|Avalon 2016|Toyota Safety Sense P|[Upstream](#upstream)|

opendbc/car/__init__.py

@@ -1,15 +1,14 @@
 # functions common among cars
 import logging
+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
 
-from panda import uds
-from opendbc.car import structs
+from opendbc.car import structs, uds
 from opendbc.car.can_definitions import CanData
 from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs
-from opendbc.car.common.numpy_fast import clip, interp
 
 # set up logging
 carlog = logging.getLogger('carlog')
@@ -107,14 +106,14 @@ def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_tor
   driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
   max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
   min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
-  apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
+  apply_torque = np.clip(apply_torque, min_steer_allowed, max_steer_allowed)
 
   # slow rate if steer torque increases in magnitude
   if apply_torque_last > 0:
-    apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
+    apply_torque = np.clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
                         apply_torque_last + LIMITS.STEER_DELTA_UP)
   else:
-    apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
+    apply_torque = np.clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
                         min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
 
   return int(round(float(apply_torque)))
@@ -127,15 +126,15 @@ def apply_dist_to_meas_limits(val, val_last, val_meas,
   max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
   min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
 
-  val = clip(val, min_lim, max_lim)
+  val = np.clip(val, min_lim, max_lim)
 
   # slow rate if val increases in magnitude
   if val_last > 0:
-    val = clip(val,
+    val = np.clip(val,
                max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
                val_last + STEER_DELTA_UP)
   else:
-    val = clip(val,
+    val = np.clip(val,
                val_last - STEER_DELTA_UP,
                min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
 
@@ -153,8 +152,9 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
   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
 
-  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
-  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
+  angle_rate_lim = np.interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
+  angle_rate_lim = float(angle_rate_lim)
+  return float(np.clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim))
 
 
 def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
@@ -188,12 +188,12 @@ def apply_center_deadzone(error, deadzone):
 
 
 def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
+  return float(np.clip(new_value, last_value + dw_step, last_value + up_step))
 
 
 def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
                  torque_params: structs.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
-  friction_interp = interp(
+  friction_interp = np.interp(
     apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
     [-friction_threshold, friction_threshold],
     [-torque_params.friction, torque_params.friction]

opendbc/car/car.capnp

@@ -389,13 +389,15 @@ struct CarControl {
     lanesVisible @2: Bool;
     leadVisible @3: Bool;
     visualAlert @4: VisualAlert;
-    audibleAlert @5: AudibleAlert;
     rightLaneVisible @6: Bool;
     leftLaneVisible @7: Bool;
     rightLaneDepart @8: Bool;
     leftLaneDepart @9: Bool;
     leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
 
+    # not used with the dash, TODO: separate structs for dash UI and device UI
+    audibleAlert @5: AudibleAlert;
+
     enum VisualAlert {
       # these are the choices from the Honda
       # map as good as you can for your car

opendbc/car/chrysler/fingerprints.py

@@ -253,6 +253,7 @@
       b'05185116AF',
       b'05185116AJ',
       b'05185116AK',
+      b'05185116AL',
       b'05190240AP',
       b'05190240AQ',
       b'05190240AR',
@@ -272,6 +273,7 @@
       b'68243549AG',
       b'68302211AC',
       b'68302212AD',
+      b'68302214AC',
       b'68302223AC',
       b'68302246AC',
       b'68331511AC',
@@ -414,6 +416,7 @@
       b'68434846AC',
       b'68434847AC',
       b'68434849AC',
+      b'68434850AC',
       b'68434856AC',
       b'68434858AC',
       b'68434859AC',
@@ -425,6 +428,7 @@
       b'68453491AC',
       b'68453491AD',
       b'68453499AD',
+      b'68453502AC',
       b'68453503AC',
       b'68453503AD',
       b'68453505AC',
@@ -521,6 +525,7 @@
       b'68466110AB',
       b'68466113AA',
       b'68469901AA',
+      b'68469904AA',
       b'68469907AA',
       b'68522583AA',
       b'68522583AB',
@@ -561,6 +566,7 @@
       b'05149848AA ',
       b'05149848AC ',
       b'05190341AD',
+      b'05190346AD',
       b'68378695AI ',
       b'68378695AJ ',
       b'68378696AJ ',
@@ -583,6 +589,7 @@
       b'68455111AC ',
       b'68455119AC ',
       b'68455137AC ',
+      b'68455142AC ',
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
@@ -611,6 +618,7 @@
       b'68586105AB ',
       b'68629917AC ',
       b'68629919AC ',
+      b'68629919AD ',
       b'68629922AC ',
       b'68629925AC ',
       b'68629926AC ',
@@ -648,6 +656,7 @@
       b'68484466AC',
       b'68484467AC',
       b'68484471AC',
+      b'68502994AC',
       b'68502994AD',
       b'68502996AD',
       b'68520867AE',

opendbc/car/chrysler/values.py

@@ -1,8 +1,7 @@
 from enum import IntFlag
 from dataclasses import dataclass, field
 
-from panda import uds
-from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16

opendbc/car/common/pid.py

@@ -1,9 +1,6 @@
 import numpy as np
 from numbers import Number
 
-from opendbc.car.common.numpy_fast import clip, interp
-
-
 class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
@@ -28,15 +25,15 @@ def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308,
 
   @property
   def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
+    return np.interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
+    return np.interp(self.speed, self._k_i[0], self._k_i[1])
 
   @property
   def k_d(self):
-    return interp(self.speed, self._k_d[0], self._k_d[1])
+    return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
   @property
   def error_integral(self):
@@ -64,10 +61,10 @@ def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0
 
         # Clip i to prevent exceeding control limits
         control_no_i = self.p + self.d + self.f
-        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 
-    self.control = clip(control, self.neg_limit, self.pos_limit)
+    self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

opendbc/car/ecu_addrs.py

@@ -1,7 +1,6 @@
 import time
 
-from panda import uds
-from opendbc.car import make_tester_present_msg, carlog
+from opendbc.car import make_tester_present_msg, carlog, uds
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.fw_query_definitions import EcuAddrBusType
 

opendbc/car/ford/carcontroller.py

@@ -1,9 +1,9 @@
 import math
+import numpy as np
 from opendbc.can.packer import CANPacker
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_std_steer_angle_limits, structs
 from opendbc.car.ford import fordcan
 from opendbc.car.ford.values import CarControllerParams, FordFlags
-from opendbc.car.common.numpy_fast import clip, interp
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -13,20 +13,20 @@
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
   # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
   if v_ego_raw > 9:
-    apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
+    apply_curvature = np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
                            current_curvature + CarControllerParams.CURVATURE_ERROR)
 
   # Curvature rate limit after driver torque limit
   apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
 
-  return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
+  return float(np.clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX))
 
 
 def apply_creep_compensation(accel: float, v_ego: float) -> float:
-  creep_accel = interp(v_ego, [1., 3.], [0.6, 0.])
-  creep_accel = interp(accel, [0., 0.2], [creep_accel, 0.])
+  creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
+  creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
   accel -= creep_accel
-  return accel
+  return float(accel)
 
 
 class CarController(CarControllerBase):
@@ -112,7 +112,7 @@ def update(self, CC, CS, now_nanos):
         # however even 3.5 m/s^3 causes some overshoot with a step response.
         accel = max(accel, self.accel - (3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL))
 
-      accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
 
       # Both gas and accel are in m/s^2, accel is used solely for braking
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:

opendbc/car/ford/interface.py

@@ -1,5 +1,5 @@
+import numpy as np
 from panda import Panda
-from opendbc.car.common.numpy_fast import interp
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
@@ -16,7 +16,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
     # so limit limits of pid to prevent windup
     ACCEL_MAX_VALS = [CarControllerParams.ACCEL_MAX, 0.2]
     ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .4]
-    return CarControllerParams.ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
+    return CarControllerParams.ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:

opendbc/car/ford/radar_interface.py

@@ -99,6 +99,7 @@ def __init__(self, CP):
     self.updated_messages = set()
     self.track_id = 0
     self.radar = DBC[CP.carFingerprint].get(Bus.radar)
+    self.invalid_cnt = 0
     if CP.radarUnavailable:
       self.rcp = None
     elif self.radar == RADAR.DELPHI_ESR:
@@ -177,6 +178,12 @@ def _update_delphi_mrr(self):
 
     errors = []
     if DELPHI_MRR_RADAR_RANGE_COVERAGE[headerScanIndex] != int(self.rcp.vl["MRR_Header_SensorCoverage"]["CAN_RANGE_COVERAGE"]):
+      self.invalid_cnt += 1
+    else:
+      self.invalid_cnt = 0
+
+    # Rarely MRR_Header_InformationDetections can fail to send a message. The scan index is skipped in this case
+    if self.invalid_cnt >= 5:
       errors.append("wrongConfig")
 
     for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):

opendbc/car/ford/values.py

@@ -3,8 +3,7 @@
 from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
-from panda import uds
-from opendbc.car import AngleRateLimit, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car import AngleRateLimit, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device, SupportType

opendbc/car/fw_query_definitions.py

@@ -3,8 +3,7 @@
 import struct
 from collections.abc import Callable
 
-from panda import uds
-
+from opendbc.car import uds
 from opendbc.car.structs import CarParams
 
 AddrType = tuple[int, int | None]