fix HUD and min speed problems for Honda Nidec

SConstruct

@@ -7,6 +7,8 @@ import platform
 import numpy as np
 
 TICI = os.path.isfile('/TICI')
+JETSON = os.path.isfile('/JETSON')
+
 Decider('MD5-timestamp')
 
 AddOption('--test',
@@ -53,6 +55,10 @@ if arch == "aarch64" and TICI:
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
 
+USE_MIPI = os.getenv("USE_MIPI") is not None
+if arch == "aarch64" and JETSON:
+  arch = "jarch64"
+
 lenv = {
   "PATH": os.environ['PATH'],
 }
@@ -106,8 +112,19 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
+  rpath = []
 
-  if arch == "Darwin":
+  if arch == "jarch64":
+    libpath = [
+      "#phonelibs/libyuv/larch64/lib",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+    cflags = ["-DXNX", "-march=armv8.2-a"]
+    cxxflags = ["-DXNX", "-march=armv8.2-a"]
+    rpath += ["/usr/local/lib"]
+  elif arch == "Darwin":
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
       f"#phonelibs/libyuv/{yuv_dir}/lib",
@@ -134,8 +151,9 @@ else:
       "/usr/local/lib",
     ]
 
-  rpath = [
-    "phonelibs/snpe/x86_64-linux-clang",
+  if arch != "jarch64":
+    rpath += ["phonelibs/snpe/x86_64-linux-clang"]
+  rpath += [
     "cereal",
     "selfdrive/common"
   ]
@@ -306,7 +324,7 @@ else:
   qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
+  if arch == "larch64" or arch == "jarch64":
     qt_libs += ["GLESv2", "wayland-client"]
   elif arch != "Darwin":
     qt_libs += ["GL"]
@@ -338,7 +356,7 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY', 'USE_MIPI')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])

cereal/SConscript

@@ -8,7 +8,7 @@ messaging_dir = Dir('messaging')
 
 # Build cereal
 
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,

cereal/car.capnp

@@ -123,6 +123,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
     startupOneplusDEPRECATED @82;
+
+    #dp
+    preLaneChangeLeftALC @99;
+    preLaneChangeRightALC @100;
+    manualSteeringRequired @101;
+    manualSteeringRequiredBlinkersOn @102;
+    leadCarMoving @103;
+
+    # timebomb assist
+    timebombWarn @104;
+    timebombBypassing @105;
+    timebombBypassed @106;
   }
 }
 
@@ -189,6 +201,10 @@ struct CarState {
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
+  # dp
+  lkMode @37 :Bool;
+  stopSteering @38 :Bool; # timebomb - stopSteering
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
@@ -556,5 +572,5 @@ struct CarParams {
     gateway @1;    # Integration at vehicle's CAN gateway
   }
 
-  isPandaBlackDEPRECATED @39: Bool;
+  isPandaBlack @39: Bool;
 }

cereal/dp.capnp

@@ -0,0 +1,58 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("dp");
+
+@0xbfa7e645486440c7;
+
+# dp.capnp: a home for deprecated structs
+
+# dp
+struct DragonConf {
+  dpThermalStarted @0 :Bool;
+  dpThermalOverheat @1 :Bool;
+  dpAtl @2 :Bool;
+  dpAutoShutdown @3 :Bool;
+  dpAthenad @4 :Bool;
+  dpUploader @5 :Bool;
+  dpSteeringOnSignal @6 :Bool;
+  dpSignalOffDelay @7 :UInt8;
+  dpAssistedLcMinMph @8 :Float32;
+  dpAutoLc @9 :Bool;
+  dpAutoLcCont @10 :Bool;
+  dpAutoLcMinMph @11 :Float32;
+  dpAutoLcDelay @12 :Float32;
+  dpAllowGas @13 :Bool;
+  dpFollowingProfileCtrl @14 :Bool;
+  dpFollowingProfile @15 :UInt8;
+  dpAccelProfileCtrl @16 :Bool;
+  dpAccelProfile @17 :UInt8;
+  dpGearCheck @18 :Bool;
+  dpSpeedCheck @19 :Bool;
+  dpUiScreenOffReversing @20 :Bool;
+  dpUiSpeed @21 :Bool;
+  dpUiEvent @22 :Bool;
+  dpUiMaxSpeed @23 :Bool;
+  dpUiFace @24 :Bool;
+  dpUiLane @25 :Bool;
+  dpUiLead @26 :Bool;
+  dpUiDev @27 :Bool;
+  dpUiDevMini @28 :Bool;
+  dpUiBlinker @29 :Bool;
+  dpAppExtGps @30 :Bool;
+  dpAppTomtom @31 :Bool;
+  dpAppTomtomAuto @32 :Bool;
+  dpAppTomtomManual @33 :Int8;
+  dpAppMixplorer @34 :Bool;
+  dpAppMixplorerManual @35 :Int8;
+  dpCarDetected @36 :Text;
+  dpToyotaLdw @37 :Bool;
+  dpToyotaSng @38 :Bool;
+  dpVwPanda @39 :Bool;
+  dpVwTimebombAssist @40 :Bool;
+  dpIpAddr @41 :Text;
+  dpLocale @42 :Text;
+  dpDebug @43 :Bool;
+}

cereal/log.capnp

@@ -7,6 +7,7 @@ $Java.outerClassname("Log");
 
 using Car = import "car.capnp";
 using Legacy = import "legacy.capnp";
+using Dp = import "dp.capnp";
 
 @0xf3b1f17e25a4285b;
 
@@ -48,6 +49,7 @@ struct InitData {
     chffrIos @3;
     tici @4;
     pc @5;
+    jetson @6;
   }
 
   struct PandaInfo {
@@ -617,7 +619,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   decelForTurnDEPRECATED @47 :Bool;
   decelForModelDEPRECATED @54 :Bool;
   awarenessStatusDEPRECATED @26 :Float32;
-  angleSteersDEPRECATED @13 :Float32;
+  angleSteers @13 :Float32; # dp
   vCurvatureDEPRECATED @46 :Float32;
   mapValidDEPRECATED @49 :Bool;
   jerkFactorDEPRECATED @12 :Float32;
@@ -790,6 +792,9 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   rawCurvature @24 :Float32;
   rawCurvatureRate @25 :Float32;
 
+  # dp
+  dpALCAllowed @26 :Bool;
+
   enum Desire {
     none @0;
     turnLeft @1;
@@ -1359,5 +1364,6 @@ struct Event {
     kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
     gpsLocationDEPRECATED @21 :GpsLocationData;
     uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
+    dragonConf @79 :Dp.DragonConf;
   }
 }

cereal/services.py

@@ -68,6 +68,11 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "testModel": (False, 0.),
   "testLiveLocation": (False, 0.),
   "testJoystick": (False, 0.),
+
+  # dp
+  "thermal": (True, 2., 1),
+  "dragonConf": (False, 2.),
+
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                 idx, (name, vals) in enumerate(services.items())}

common/basedir.py

@@ -1,11 +1,11 @@
 import os
 from pathlib import Path
 
-from selfdrive.hardware import PC
+from selfdrive.hardware import PC, JETSON
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
-if PC:
+if PC or JETSON:
   PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
 else:
   PERSIST = "/persist"

common/dp_common.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3.7
+import subprocess
+from cereal import car
+from common.params import Params
+from common.realtime import sec_since_boot
+import os
+params = Params()
+PARAM_PATH = params.get_params_path() + '/d/'
+LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
+
+def is_online():
+  try:
+    return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+  except ProcessLookupError:
+    return False
+
+def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
+  if enabled:
+    if dragonconf.dpSteeringOnSignal and blinker_on:
+      steer_req = 0 if isinstance(steer_req, int) else False
+  return steer_req
+
+def common_interface_atl(ret, atl):
+  # dp
+  enable_acc = ret.cruiseState.enabled
+  if atl and ret.cruiseState.available:
+    enable_acc = True
+    if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
+      enable_acc = False
+    if ret.seatbeltUnlatched or ret.doorOpen:
+      enable_acc = False
+  return enable_acc
+
+def common_interface_get_params_lqr(ret):
+  if params.get('dp_lqr') == b'1':
+    ret.lateralTuning.init('lqr')
+    ret.lateralTuning.lqr.scale = 1500.0
+    ret.lateralTuning.lqr.ki = 0.05
+
+    ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    ret.lateralTuning.lqr.c = [1., 0.]
+    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+  return ret
+
+
+def get_last_modified(delay, old_check, old_modified):
+  new_check = sec_since_boot()
+  if old_check is None or new_check - old_check >= delay:
+    return new_check, os.stat(LAST_MODIFIED).st_mtime
+  else:
+    return old_check, old_modified
+
+def param_get_if_updated(param, type, old_val, old_modified):
+  try:
+    modified = os.stat(PARAM_PATH + param).st_mtime
+  except OSError:
+    return old_val, old_modified
+  if old_modified != modified:
+    new_val = param_get(param, type, old_val)
+    new_modified = modified
+  else:
+    new_val = old_val
+    new_modified = old_modified
+  return new_val, new_modified
+
+def param_get(param_name, type, default):
+  try:
+    val = params.get(param_name, encoding='utf8').rstrip('\x00')
+    if type == 'bool':
+      val = val == '1'
+    elif type == 'int':
+      val = int(val)
+    elif type == 'float':
+      val = float(val)
+  except (TypeError, ValueError):
+    val = default
+  return val