Update SA-master to 6aeb542 (#532)

Merge remote-tracking branch 'upstream/master' into SA-master
sshane · Dec 22, 2021 · 0761c4c · 0761c4c
2 parents b9a5dc5 + 6aeb542
commit 0761c4c
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Showing 13 changed files with 24 additions and 174 deletions.
diff --git a/cereal b/cereal
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
@@ -54,6 +54,7 @@ class Buttons:
       b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -66,6 +67,7 @@ class Buttons:
       b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x760, None): [
       b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -81,6 +83,7 @@ class Buttons:
       b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -94,6 +97,7 @@ class Buttons:
       b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -267,6 +267,8 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
 
   EventName.stockFcw: {},
 
+  EventName.lkasDisabled: {},
+
   # ********** events only containing alerts displayed in all states **********
 
   'modelLongAlert': {

diff --git a/selfdrive/debug/internal/rt/atrace.sh b/selfdrive/debug/internal/rt/atrace.sh
diff --git a/selfdrive/debug/internal/rt/record_trace.sh b/selfdrive/debug/internal/rt/record_trace.sh
diff --git a/selfdrive/debug/internal/rt/waste3.c b/selfdrive/debug/internal/rt/waste3.c
diff --git a/selfdrive/debug/internal/sounds/set_volume.sh b/selfdrive/debug/internal/sounds/set_volume.sh
diff --git a/selfdrive/debug/internal/sounds/test_sound_stability.py b/selfdrive/debug/internal/sounds/test_sound_stability.py
diff --git a/selfdrive/debug/internal/sounds/test_sounds.py b/selfdrive/debug/internal/sounds/test_sounds.py
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
@@ -158,7 +158,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(roamingToggle);
 
   // APN settings
-  ButtonControl *editApnButton = new ButtonControl("APN settings", "EDIT");
+  ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT");
   connect(editApnButton, &ButtonControl::clicked, [=]() {
     const bool roamingEnabled = params.getBool("GsmRoaming");
     const QString cur_apn = QString::fromStdString(params.get("GsmApn"));

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
@@ -87,6 +87,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
     if (map == nullptr && (uiState()->has_prime || !MAPBOX_TOKEN.isEmpty())) {
       MapWindow * m = new MapWindow(get_mapbox_settings());
       m->setFixedWidth(topWidget(this)->width() / 2);
+      m->offroadTransition(offroad);
       QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
       split->addWidget(m, 0, Qt::AlignRight);
       map = m;

diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h
@@ -17,7 +17,7 @@ const std::tuple<AudibleAlert, QString, int> sound_list[] = {
   {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite},
 
   {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite},
-  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", 10},
+  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite},
 };
 
 class Sound : public QObject {

diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
@@ -32,29 +32,38 @@ struct Alert {
   QString type;
   cereal::ControlsState::AlertSize size;
   AudibleAlert sound;
+
   bool equal(const Alert &a2) {
     return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound;
   }
 
   static Alert get(const SubMaster &sm, uint64_t started_frame) {
+    const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
     if (sm.updated("controlsState")) {
-      const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
       return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
               cs.getAlertType().cStr(), cs.getAlertSize(),
               cs.getAlertSound()};
     } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
       const int CONTROLS_TIMEOUT = 5;
+      const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
+
       // Handle controls timeout
       if (sm.rcv_frame("controlsState") < started_frame) {
         // car is started, but controlsState hasn't been seen at all
         return {"openpilot Unavailable", "Waiting for controls to start",
                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
                 AudibleAlert::NONE};
-      } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
+      } else if (controls_missing > CONTROLS_TIMEOUT) {
         // car is started, but controls is lagging or died
-        return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
-                "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-                AudibleAlert::WARNING_IMMEDIATE};
+        if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
+          return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
+                  "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+                  AudibleAlert::WARNING_IMMEDIATE};
+        } else {
+          return {"Controls Unresponsive", "Reboot Device",
+                  "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
+                  AudibleAlert::NONE};
+        }
       }
     }
     return {};