Merge branch 'master' of https://github.com/commaai/opendbc

Author: zhou jielei

.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

@@ -15,7 +15,7 @@ jobs:
       matrix:
         include:
           - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-          - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+          - os: macos-latest
     steps:
     - uses: commaai/timeout@v1
     - uses: actions/checkout@v4
@@ -93,6 +93,8 @@ jobs:
     name: Safety mutation tests
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     timeout-minutes: 20
+    env:
+      GIT_REF: ${{ github.event_name == 'push' && github.ref == 'refs/heads/${{ github.event.repository.default_branch }}' && github.event.before || 'origin/${{ github.event.repository.default_branch }}' }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -102,4 +104,4 @@ jobs:
         run: |
           source setup.sh
           scons -j8
-          GIT_REF=${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.event.before || 'origin/master' }} cd opendbc/safety/tests && ./mutation.sh
+          cd opendbc/safety/tests && ./mutation.sh

.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

docs/CARS.md

@@ -40,8 +40,8 @@
 |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)|
@@ -51,8 +51,8 @@
 |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)|
@@ -92,8 +92,7 @@
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Odyssey 2021-25|All|[Community](#community)|
-|Honda|Odyssey RC5 for JPN|All|[Upstream](#upstream)|
-|Honda|Passport 2019-23|All|[Upstream](#upstream)|
+|Honda|Passport 2019-25|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|
 |Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
@@ -160,7 +159,7 @@
 |Kia|Niro EV 2020|All|[Upstream](#upstream)|
 |Kia|Niro EV 2021|All|[Upstream](#upstream)|
 |Kia|Niro EV 2022|All|[Upstream](#upstream)|
-|Kia|Niro EV 2023|All|[Upstream](#upstream)|
+|Kia|Niro EV 2023-24|All|[Upstream](#upstream)|
 |Kia|Niro Hybrid 2018|All|[Upstream](#upstream)|
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -304,7 +303,7 @@
 |Toyota|RAV4 2017-18|All|[Upstream](#upstream)|
 |Toyota|RAV4 2019-21|All|[Upstream](#upstream)|
 |Toyota|RAV4 2022|All|[Upstream](#upstream)|
-|Toyota|RAV4 2023-24|All|[Upstream](#upstream)|
+|Toyota|RAV4 2023-25|All|[Upstream](#upstream)|
 |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[Upstream](#upstream)|
 |Toyota|RAV4 Hybrid 2017-18|All|[Upstream](#upstream)|
 |Toyota|RAV4 Hybrid 2019-21|All|[Upstream](#upstream)|

opendbc/can/common.pxd

@@ -80,9 +80,9 @@ cdef extern from "common.h":
   cdef cppclass CANParser:
     bool can_valid
     bool bus_timeout
-    CANParser(int, string, vector[pair[uint32_t, int]]) except +
-    set[uint32_t] update(vector[CanData]&) except +
-    MessageState *getMessageState(uint32_t address)
+    CANParser(int, string, vector[pair[uint32_t, int]]) except + nogil
+    set[uint32_t] update(vector[CanData]&) except + nogil
+    MessageState *getMessageState(uint32_t address) nogil
 
   cdef cppclass CANPacker:
    CANPacker(string)

opendbc/can/dbc.cc

@@ -57,9 +57,9 @@ ChecksumState* get_checksum(const std::string& dbc_name) {
     s = new ChecksumState({8, -1, 7, -1, false, TOYOTA_CHECKSUM, &toyota_checksum});
   } else if (startswith(dbc_name, "hyundai_canfd_generated")) {
     s = new ChecksumState({16, -1, 0, -1, true, HKG_CAN_FD_CHECKSUM, &hkg_can_fd_checksum});
-  } else if (startswith(dbc_name, {"vw_mqb_2010", "vw_mqbevo", "vw_meb"})) {
+  } else if (startswith(dbc_name, {"vw_mqb", "vw_mqbevo", "vw_meb"})) {
     s = new ChecksumState({8, 4, 0, 0, true, VOLKSWAGEN_MQB_MEB_CHECKSUM, &volkswagen_mqb_meb_checksum});
-  } else if (startswith(dbc_name, "vw_golf_mk4")) {
+  } else if (startswith(dbc_name, "vw_pq")) {
     s = new ChecksumState({8, 4, 0, -1, true, XOR_CHECKSUM, &xor_checksum});
   } else if (startswith(dbc_name, "subaru_global_")) {
     s = new ChecksumState({8, -1, 0, -1, true, SUBARU_CHECKSUM, &subaru_checksum});

opendbc/can/parser_pyx.pyx

@@ -4,7 +4,7 @@
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libc.stdint cimport uint32_t
+from libc.stdint cimport uint32_t, int
 
 from .common cimport CANParser as cpp_CANParser
 from .common cimport dbc_lookup, Msg, DBC, CanData
@@ -61,11 +61,19 @@ cdef class CANParser:
       self.ts_nanos[address] = {name: 0.0 for name in signal_names}
       self.ts_nanos[name] = self.ts_nanos[address]
 
-    self.can = new cpp_CANParser(bus, dbc_name, message_v)
+    cdef string cpp_dbc_name
+    if isinstance(dbc_name, str):
+      cpp_dbc_name = (<str>dbc_name).encode('utf-8')
+    else:
+      cpp_dbc_name = dbc_name  # Assume bytes
+    cdef int cpp_bus = bus
+    with nogil:
+      self.can = new cpp_CANParser(cpp_bus, cpp_dbc_name, message_v)
 
   def __dealloc__(self):
     if self.can:
-      del self.can
+      with nogil:
+        del self.can
 
   def update_strings(self, strings, sendcan=False):
     # input format:
@@ -95,13 +103,16 @@ cdef class CANParser:
     except TypeError:
       raise RuntimeError("invalid parameter")
 
-    updated_addrs = self.can.update(can_data_array)
+    with nogil:
+      updated_addrs = self.can.update(can_data_array)
+
     for addr in updated_addrs:
       vl = self.vl[addr]
       vl_all = self.vl_all[addr]
       ts_nanos = self.ts_nanos[addr]
 
-      state = self.can.getMessageState(addr)
+      with nogil:
+        state = self.can.getMessageState(addr)
       for i in range(state.parse_sigs.size()):
         name = <unicode>state.parse_sigs[i].name
         vl[name] = state.vals[i]
@@ -112,11 +123,17 @@ cdef class CANParser:
 
   @property
   def can_valid(self):
-    return self.can.can_valid
+    cdef bint valid
+    with nogil:
+      valid = self.can.can_valid
+    return valid
 
   @property
   def bus_timeout(self):
-    return self.can.bus_timeout
+    cdef bint timeout
+    with nogil:
+      timeout = self.can.bus_timeout
+    return timeout
 
 
 cdef class CANDefine():

opendbc/can/tests/test_checksums.py

@@ -93,7 +93,7 @@ def test_honda_checksum(self):
   def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
     """Test AUTOSAR E2E Profile 2 CRCs"""
     assert len(test_messages) == 16  # All counter values must be tested
-    self.verify_checksum(subtests, "vw_mqb_2010", msg_name, msg_addr, test_messages, counter_field=counter_field)
+    self.verify_checksum(subtests, "vw_mqb", msg_name, msg_addr, test_messages, counter_field=counter_field)
 
   def test_volkswagen_mqb_crc_lwi_01(self, subtests):
     self.verify_volkswagen_mqb_crc(subtests, "LWI_01", 0x86, [

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

@@ -98,13 +98,16 @@ class Bus(StrEnum):
   ap_party = auto()
 
 
-def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
+  # some safety modes utilize a dynamic max steer
+  if steer_max is None:
+    steer_max = LIMITS.STEER_MAX
 
   # limits due to driver torque
-  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
-  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)
+  driver_max_torque = steer_max + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  driver_min_torque = -steer_max + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  max_steer_allowed = max(min(steer_max, driver_max_torque), 0)
+  min_steer_allowed = min(max(-steer_max, driver_min_torque), 0)
   apply_torque = np.clip(apply_torque, min_steer_allowed, max_steer_allowed)
 
   # slow rate if steer torque increases in magnitude