Merge branch 'commaai:master' into kona-2nd-gen-port

.github/labeler.yaml

@@ -65,4 +65,4 @@ volkswagen:
 
 fingerprint:
   - changed-files:
-    - any-glob-to-any-file: 'opendbc/car/*/fingerprints.py'
+    - any-glob-to-all-files: 'opendbc/car/*/fingerprints.py'

README.md

@@ -50,3 +50,9 @@ may end up going in openpilot.
 * Expose the state of all supported cars better: https://github.com/commaai/opendbc/issues/1144
 
 Contributions towards anything here is welcome. Join the [Discord](https://discord.comma.ai)!
+
+## FAQ
+
+* **How do I use this?** Depends on what you want to do. [openpilot](https://github.com/commaai/openpilot) is our development target, but you can also use a [panda](https://comma.ai/shop/panda) for basic control or just reading state from your car.
+* **Can I add support for my car?** Yes, most car support comes from the community. Join the [Discord](https://discord.comma.ai) and watch this [talk](https://www.youtube.com/watch?v=XxPS5TpTUnI&t=142s&pp=ygUPY29tbWFfY29uIGphc29u) to get started. (We also offer [paid bounties](https://comma.ai/bounties) on car ports.)
+* **Which cars are supported?** See the openpilot [supported cars list](https://github.com/commaai/openpilot/blob/master/docs/CARS.md) and `grep` around the codebase.

opendbc/car/CARS_template.md

@@ -0,0 +1,78 @@
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
+# Support Information for {{car_docs_with_extras | 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 column in ExtraCarsColumn %}{{car_docs.get_extra_cars_column(column)}}|{% endfor %}
+
+{% endfor %}
+
+# Types of Support
+
+**opendbc can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported!
+We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car
+support comes from users like you!
+
+## Upstream
+
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better
+experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+
+## Under Review
+
+A vehicle under review is one for which software support has been merged into upstream openpilot, but hasn't yet been
+tested for drive quality and conformance with [comma safety guidelines](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md).
+This is a normal part of the development and quality assurance process. This vehicle will not work when upstream
+openpilot is installed, but custom forks may allow their use.
+
+## Custom
+
+Vehicles in this category are not considered plug-and-play. Software support is included in upstream openpilot, but
+these vehicles might not have a harness in the comma store, or the physical install might be at an unusual or cumbersome
+location, or they might need unusual configuration after install.
+
+## Dashcam
+
+Dashcam vehicles have software support in upstream openpilot, but will go into "dashcam mode" at startup and will not
+engage. This may be due to known issues with driving safety or quality, or it may be a work in progress that isn't yet
+ready for safety and quality review.
+
+## Community
+
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community
+Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+Some notable works-in-progress:
+* Honda
+  * 2024 Acura Integra, commaai/openpilot#32056
+  * 2023-24 Honda Accord (CAN-FD), commaai/openpilot#32229
+  * 2024 Honda CR-V (CAN-FD), commaai/openpilot#32806
+  * 2024 Honda CR-V Hybrid (CAN-FD), commaai/openpilot#31527
+    * Depends on commaai/opendbc#1100
+  * 2021-25 Honda Odyssey, commaai/opendbc#1330
+  * 2023-24 Honda Pilot (CAN-FD), commaai/openpilot#30324
+  * Camera ACC stability improvements, commaai/openpilot#31022
+    * Depends on commaai/panda#1814
+    * Depends on commaai/opendbc#998
+    * These are being reworked for full-time proxy through openpilot
+  * Manual transmission support (Civic, Integra)
+    * Depends on commaai/opendbc#1034 (merged)
+    * Car port support PR not yet filed
+
+## Incompatible
+
+### CAN Bus Security
+
+Vehicles with CAN security measures, such as AUTOSAR Secure Onboard Communication (SecOC) are not usable with openpilot
+unless the owner can recover the message signing key and implement CAN message signing. Examples include certain newer
+Toyota, and the GM Global B platform.
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
+CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
+manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
+may one day be supported, but we have no immediate plans to support FlexRay.

opendbc/car/__init__.py

@@ -1,14 +1,14 @@
 # functions common among cars
 import logging
 from collections import namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
 
 from panda import uds
 from opendbc.car import structs
 from opendbc.car.can_definitions import CanData
-from opendbc.car.docs_definitions import CarDocs
+from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs
 from opendbc.car.common.numpy_fast import clip, interp
 
 # set up logging
@@ -270,8 +270,8 @@ def __setattr__(self, *args, **kwargs):
 
 
 @dataclass(order=True)
-class PlatformConfig(Freezable):
-  car_docs: list[CarDocs]
+class PlatformConfigBase(Freezable):
+  car_docs: list[CarDocs] | list[ExtraCarDocs]
   specs: CarSpecs
 
   dbc_dict: DbcDict
@@ -293,6 +293,20 @@ def __post_init__(self):
     self.init()
 
 
+@dataclass(order=True)
+class PlatformConfig(PlatformConfigBase):
+  car_docs: list[CarDocs]
+  specs: CarSpecs
+  dbc_dict: DbcDict
+
+
+@dataclass(order=True)
+class ExtraPlatformConfig(PlatformConfigBase):
+  car_docs: list[ExtraCarDocs]
+  specs: CarSpecs = CarSpecs(mass=0., wheelbase=0., steerRatio=0.)
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('unknown', None))
+
+
 class PlatformsType(EnumType):
   def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
     for key in classdict._member_names.keys():
@@ -303,7 +317,7 @@ def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **k
 
 
 class Platforms(str, ReprEnum, metaclass=PlatformsType):
-  config: PlatformConfig
+  config: PlatformConfigBase
 
   def __new__(cls, platform_config: PlatformConfig):
     member = str.__new__(cls, platform_config.platform_str)

opendbc/car/body/carcontroller.py

@@ -1,71 +1,12 @@
-import copy
 import numpy as np
-from numbers import Number
 
 from opendbc.can.packer import CANPacker
 from opendbc.car import DT_CTRL
-from opendbc.car.common.numpy_fast import clip, interp
+from opendbc.car.common.pid import PIDController
 from opendbc.car.body import bodycan
 from opendbc.car.body.values import SPEED_FROM_RPM
 from opendbc.car.interfaces import CarControllerBase
 
-
-class PIController:
-  def __init__(self, k_p, k_i, pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
-    self.i_unwind_rate = 0.3 / rate
-    self.i_rate = 1.0 / rate
-    self.speed = 0.0
-
-    self.reset()
-
-  @property
-  def k_p(self):
-    return 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])
-
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
-  def reset(self):
-    self.p = 0.0
-    self.i = 0.0
-    self.control = 0
-
-  def update(self, error, speed=0.0, freeze_integrator=False):
-    self.speed = speed
-
-    self.p = float(error) * self.k_p
-
-    i = self.i + error * self.k_i * self.i_rate
-    control = self.p + i
-
-    # Update when changing i will move the control away from the limits
-    # or when i will move towards the sign of the error
-    if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-        (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-       not freeze_integrator:
-      self.i = i
-
-    control = self.p + self.i
-
-    self.control = clip(control, self.neg_limit, self.pos_limit)
-    return self.control
-
-
 MAX_TORQUE = 500
 MAX_TORQUE_RATE = 50
 MAX_ANGLE_ERROR = np.radians(7)
@@ -79,8 +20,8 @@ def __init__(self, dbc_name, CP):
     self.packer = CANPacker(dbc_name)
 
     # PIDs
-    self.turn_pid = PIController(110, k_i=11.5, rate=1/DT_CTRL)
-    self.wheeled_speed_pid = PIController(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.
@@ -132,7 +73,7 @@ def update(self, CC, CS, now_nanos):
     can_sends = []
     can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
-    new_actuators = copy.copy(CC.actuators)
+    new_actuators = CC.actuators.as_builder()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
     new_actuators.steerOutputCan = torque_r