October 2024 Update

.github/workflows/auto_pr_review.yaml

@@ -1,53 +1,45 @@
-name: "PR review"
+name: "PR Review"
+
 on:
   pull_request_target:
-    types: [opened, reopened, synchronize, edited, edited]
+    types: [opened, reopened]
 
 jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
+  pr_check:
+    name: Check PR Target Branch
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/[email protected]
+    - name: Checkout repository
+      uses: actions/checkout@v3
       with:
-        dot: true
-        configuration-path: .github/labeler.yaml
+        fetch-depth: 0
 
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/openpilot'
+    - name: Check Target Branch
+      shell: bash
       env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-    # Welcome comment
-    - name: comment
-      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
-        comment_tag: run_id
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+      run: |
+        TOKEN_USERNAME=$(gh api user -H "Authorization: token $GITHUB_TOKEN" --jq '.login')
+
+        if [[ "${{ github.actor }}" == "FrogAi" ]]; then
+          echo "PR opened or reopened by FrogAi. No action needed."
+          exit 0
+        fi
+
+        if [[ "${{ github.base_ref }}" != "MAKE-PRS-HERE" ]]; then
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -H "Authorization: token $GITHUB_TOKEN" \
+            -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
+
+          gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \
+            -X PATCH -H "Authorization: token $GITHUB_TOKEN" -f state='closed'
+
+          exit 1
+        else
+          gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
+            -H "Authorization: token $GITHUB_TOKEN" \
+            -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"
+        fi

README.md

@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**September 1st, 2024**
+**October 21st, 2024**
 
 Features
 ------

SConstruct

@@ -277,6 +277,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
+
 qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
 
 qt_libs = []

cereal/car.capnp

@@ -122,27 +122,29 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     accel35 @122;
     accel40 @123;
     blockUser @124;
-    dejaVuCurve @125;
-    firefoxSteerSaturated @126;
-    forcingStop @127;
-    goatSteerSaturated @128;
-    greenLight @129;
-    hal9000 @130;
-    holidayActive @131;
-    laneChangeBlockedLoud @132;
-    leadDeparting @133;
-    noLaneAvailable @134;
-    openpilotCrashed @135;
-    openpilotCrashedRandomEvent @136;
-    pedalInterceptorNoBrake @137;
-    speedLimitChanged @138;
-    torqueNNLoad @139;
-    trafficModeActive @140;
-    trafficModeInactive @141;
-    turningLeft @142;
-    turningRight @143;
-    vCruise69 @144;
-    yourFrogTriedToKillMe @145;
+    customStartupAlert @125;
+    dejaVuCurve @126;
+    firefoxSteerSaturated @127;
+    forcingStop @128;
+    goatSteerSaturated @129;
+    greenLight @130;
+    hal9000 @131;
+    holidayActive @132;
+    laneChangeBlockedLoud @133;
+    leadDeparting @134;
+    noLaneAvailable @135;
+    openpilotCrashed @136;
+    openpilotCrashedRandomEvent @137;
+    pedalInterceptorNoBrake @138;
+    speedLimitChanged @139;
+    torqueNNLoad @140;
+    trafficModeActive @141;
+    trafficModeInactive @142;
+    turningLeft @143;
+    turningRight @144;
+    vCruise69 @145;
+    yourFrogTriedToKillMe @146;
+    youveGotMail @147;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -440,19 +442,18 @@ struct CarControl {
       promptRepeat @7;
       promptDistracted @8;
 
-      # Random Events
+      # FrogPilot sounds
       angry @9;
       dejaVu @10;
       doc @11;
       fart @12;
       firefox @13;
-      hal9000 @14;
-      nessie @15;
-      noice @16;
-      uwu @17;
-
-      # Other
-      goat @18;
+      goat @14;
+      hal9000 @15;
+      mail @16;
+      nessie @17;
+      noice @18;
+      uwu @19;
     }
   }
 

cereal/custom.capnp

@@ -50,32 +50,31 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerk @0 :Float32;
   accelerationJerkStock @1 :Float32;
   adjustedCruise @2 :Float32;
-  alwaysOnLateralActive @3 :Bool;
-  dangerJerk @4 :Float32;
-  desiredFollowDistance @5 :Float32;
-  experimentalMode @6 :Bool;
-  forcingStop @7 :Bool;
-  frogpilotEvents @8: List(Car.CarEvent);
-  lateralCheck @9 :Bool;
-  laneWidthLeft @10 :Float32;
-  laneWidthRight @11 :Float32;
-  maxAcceleration @12 :Float32;
-  minAcceleration @13 :Float32;
-  redLight @14 :Bool;
-  safeObstacleDistance @15 :Int32;
-  safeObstacleDistanceStock @16 :Int32;
-  slcOverridden @17 :Bool;
-  slcOverriddenSpeed @18 :Float32;
-  slcSpeedLimit @19 :Float32;
-  slcSpeedLimitOffset @20 :Float32;
-  speedJerk @21 :Float32;
-  speedJerkStock @22 :Float32;
-  speedLimitChanged @23 :Bool;
-  stoppedEquivalenceFactor @24 :Int32;
-  tFollow @25 :Float32;
-  unconfirmedSlcSpeedLimit @26 :Float32;
-  vCruise @27 :Float32;
-  vtscControllingCurve @28 :Bool;
+  dangerJerk @3 :Float32;
+  desiredFollowDistance @4 :Float32;
+  experimentalMode @5 :Bool;
+  forcingStop @6 :Bool;
+  frogpilotEvents @7 :List(Car.CarEvent);
+  lateralCheck @8 :Bool;
+  laneWidthLeft @9 :Float32;
+  laneWidthRight @10 :Float32;
+  maxAcceleration @11 :Float32;
+  minAcceleration @12 :Float32;
+  redLight @13 :Bool;
+  safeObstacleDistance @14 :Int32;
+  safeObstacleDistanceStock @15 :Int32;
+  slcOverridden @16 :Bool;
+  slcOverriddenSpeed @17 :Float32;
+  slcSpeedLimit @18 :Float32;
+  slcSpeedLimitOffset @19 :Float32;
+  speedJerk @20 :Float32;
+  speedJerkStock @21 :Float32;
+  speedLimitChanged @22 :Bool;
+  stoppedEquivalenceFactor @23 :Int32;
+  tFollow @24 :Float32;
+  unconfirmedSlcSpeedLimit @25 :Float32;
+  vCruise @26 :Float32;
+  vtscControllingCurve @27 :Bool;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {

cereal/log.capnp

@@ -876,6 +876,38 @@ struct ControlsState @0x97ff69c53601abf1 {
   canErrorCounterDEPRECATED @57 :UInt32;
 }
 
+struct DrivingModelData {
+  frameId @0 :UInt32;
+  frameIdExtra @1 :UInt32;
+  frameDropPerc @6 :Float32;
+  modelExecutionTime @7 :Float32;
+
+  action @2 :ModelDataV2.Action;
+
+  laneLineMeta @3 :LaneLineMeta;
+  meta @4 :MetaData;
+
+  path @5 :PolyPath;
+
+  struct PolyPath {
+    xCoefficients @0 :List(Float32);
+    yCoefficients @1 :List(Float32);
+    zCoefficients @2 :List(Float32);
+  }
+
+  struct LaneLineMeta {
+    leftY @0 :Float32;
+    rightY @1 :Float32;
+    leftProb @2 :Float32;
+    rightProb @3 :Float32;
+  }
+
+  struct MetaData {
+    laneChangeState @0 :LaneChangeState;
+    laneChangeDirection @1 :LaneChangeDirection;
+  }
+}
+
 # All SI units and in device frame
 struct XYZTData @0xc3cbae1fd505ae80 {
   x @0 :List(Float32);
@@ -989,6 +1021,8 @@ struct ModelDataV2 {
     brake3MetersPerSecondSquaredProbs @4 :List(Float32);
     brake4MetersPerSecondSquaredProbs @5 :List(Float32);
     brake5MetersPerSecondSquaredProbs @6 :List(Float32);
+    gasPressProbs @7 :List(Float32);
+    brakePressProbs @8 :List(Float32);
   }
 
   struct Pose {
@@ -2273,6 +2307,7 @@ struct Event {
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
+    drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx

cereal/services.py

@@ -60,6 +60,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
+  "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., 40),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),