December 14th, 2024 Patch

FrogAi · Dec 9, 2024 · 4f03a74 · 4f03a74
1 parent 9751e9b
commit 4f03a74
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Showing 96 changed files with 1,671 additions and 1,993 deletions.
diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -622,6 +622,7 @@ struct RadarState @0x9a185389d6fdd05f {
   leadRight @14 :LeadData;
   leadLeftFar @15 :LeadData;
   leadRightFar @16 :LeadData;
+  leadsLead @17 :LeadData;
   cumLagMs @5 :Float32;
 
   struct LeadData {

diff --git a/common/params.cc b/common/params.cc
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
@@ -49,10 +49,18 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
 #define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
 
 // Stock longitudinal
-#define TOYOTA_COMMON_TX_MSGS                                                                                     \
-  {0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
+#define TOYOTA_BASE_TX_MSGS \
+  {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
   {0x750, 0, 8},  /* white list 0x750 for Enhanced Diagnostic Request */                                                \
 
+#define TOYOTA_COMMON_TX_MSGS \
+  TOYOTA_BASE_TX_MSGS \
+  {0x2E4, 0, 5}, \
+
+#define TOYOTA_COMMON_SECOC_TX_MSGS \
+  TOYOTA_BASE_TX_MSGS \
+  {0x2E4, 0, 8}, {0x131, 0, 8}, \
+
 #define TOYOTA_COMMON_LONG_TX_MSGS                                                                                                          \
   TOYOTA_COMMON_TX_MSGS                                                                                                                     \
   {0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8},  /* DSU bus 0 */  \
@@ -66,7 +74,7 @@ const CanMsg TOYOTA_TX_MSGS[] = {
 };
 
 const CanMsg TOYOTA_SECOC_TX_MSGS[] = {
-  TOYOTA_COMMON_TX_MSGS
+  TOYOTA_COMMON_SECOC_TX_MSGS
 };
 
 const CanMsg TOYOTA_LONG_TX_MSGS[] = {
@@ -81,9 +89,11 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                        \
   {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}},                        \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}},  \
-  {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
-  {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
-           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}},                               \
+  {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U},                                         \
+           {0x176, 0, 8, .check_checksum = true, .frequency = 32U}, { 0 }}},                                \
+  {.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U},                                        \
+           {0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
+           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}}},                                      \
 
 RxCheck toyota_lka_rx_checks[] = {
   TOYOTA_COMMON_RX_CHECKS(false)

diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
@@ -1,4 +1,5 @@
 # functions common among cars
+import logging
 from collections import namedtuple
 from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
@@ -11,6 +12,10 @@
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+# set up logging
+carlog = logging.getLogger('carlog')
+carlog.setLevel(logging.INFO)
+carlog.propagate = False
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
@@ -206,7 +206,7 @@ def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed,
   if frogpilot_toggles.block_user:
     candidate = "MOCK"
     threading.Thread(target=sentry.capture_fingerprint, args=(candidate, params, True,)).start()
-  elif not params.get_bool("FingerprintLogged"):
+  elif candidate != "MOCK" and not params.get_bool("FingerprintLogged"):
     threading.Thread(target=sentry.capture_fingerprint, args=(candidate, params,)).start()
 
   CarInterface, _, _ = interfaces[candidate]

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -295,7 +295,7 @@ def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_
       eps_firmware = str(next((fw.fwVersion for fw in car_fw if fw.ecu == "eps"), ""))
       model = get_nn_model_path(candidate, eps_firmware)
       if model is not None:
-        params.put_nonblocking("NNFFModelName", candidate.replace("_", " "))
+        params.put("NNFFModelName", candidate.replace("_", " "))
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar: