IQ.Pilot Release Commit @ f82ff4d

selfdrive/car/car_specific.py

@@ -1,8 +1,8 @@
 from cereal import car, log
-from opendbc.car import DT_CTRL, structs
-from opendbc.car.car_helpers import interfaces
-from opendbc.car.interfaces import MAX_CTRL_SPEED
-from opendbc.car.toyota.values import ToyotaFlags
+from iqdbc.car import DT_CTRL, structs
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.interfaces import MAX_CTRL_SPEED
+from iqdbc.car.toyota.values import ToyotaFlags
 
 from openpilot.selfdrive.selfdrived.events import Events
 

selfdrive/car/card.py

@@ -15,12 +15,12 @@ from openpilot.common.params import Params, UnknownKeyName
 from openpilot.common.realtime import config_realtime_process, lock_memory, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from opendbc.car import DT_CTRL, structs
-from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
-from opendbc.car.carlog import carlog
-from opendbc.car.fw_versions import ObdCallback
-from opendbc.car.car_helpers import get_car, interfaces
-from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
+from iqdbc.car import DT_CTRL, structs
+from iqdbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
+from iqdbc.car.carlog import carlog
+from iqdbc.car.fw_versions import ObdCallback
+from iqdbc.car.car_helpers import get_car, interfaces
+from iqdbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.helpers import convert_iq_car_control_compact, convert_to_capnp

selfdrive/car/cruise.py

@@ -4,7 +4,7 @@ import numpy as np
 from cereal import car
 from openpilot.common.constants import CV
 from cereal import car, custom
-from opendbc.car import structs
+from iqdbc.car import structs
 from openpilot.common.params import Params
 from openpilot.iqpilot.selfdrive.car.long_increments import LongIncrementConfig, read_long_increment_config, resolve_button_step
 
@@ -44,15 +44,16 @@ def get_minimum_set_speed_kph(_is_metric: bool) -> float:
 
 
 def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None:
-  # increment timer for buttons still pressed
-  for k in button_timers:
-    if button_timers[k] > 0:
-      button_timers[k] += 1
+  # age any button that's currently held (nonzero timer)
+  for btn, held_frames in button_timers.items():
+    if held_frames > 0:
+      button_timers[btn] = held_frames + 1
 
-  for b in CS.buttonEvents:
-    if b.type.raw in button_timers:
-      # Start/end timer and store current state on change of button pressed
-      button_timers[b.type.raw] = 1 if b.pressed else 0
+  # a press/release edge (re)starts the timer at 1 or clears it to 0
+  for event in CS.buttonEvents:
+    raw = event.type.raw
+    if raw in button_timers:
+      button_timers[raw] = 1 if event.pressed else 0
 
 
 class VCruiseHelperIQ:
@@ -136,20 +137,21 @@ class VCruiseHelperIQ:
     self.v_cruise_min = get_minimum_set_speed_kph(is_metric)
 
   def update_enabled_state(self, CS: car.CarState, enabled: bool) -> bool:
-    # special enabled state for non pcmCruiseSpeed, unchanged for non pcmCruise
-    if not self.CP_IQ.pcmCruiseSpeed:
-      update_manual_button_timers(CS, self.enable_button_timers)
-      button_pressed = any(self.enable_button_timers[k] > 0 for k in self.enable_button_timers)
+    # pcmCruiseSpeed cars keep the stock enabled flag; others gate engagement on button release
+    if self.CP_IQ.pcmCruiseSpeed:
+      return enabled
 
-      if enabled and not self.enabled_prev:
-        self.enabled_prev = not button_pressed
-        enabled = False
-      elif not enabled:
-        self.enabled_prev = enabled
+    update_manual_button_timers(CS, self.enable_button_timers)
+    button_pressed = any(t > 0 for t in self.enable_button_timers.values())
 
-      return enabled and self.enabled_prev
+    if enabled and not self.enabled_prev:
+      # first engage frame while the button is still down: hold off until it's let go
+      self.enabled_prev = not button_pressed
+      return False
+    if not enabled:
+      self.enabled_prev = False
 
-    return enabled
+    return enabled and self.enabled_prev
 
   def update_speed_limit_assist(self, is_metric, LP_IQ: custom.IQPlan) -> None:
     resolver = LP_IQ.speedLimit.resolver
@@ -162,7 +164,9 @@ class VCruiseHelperIQ:
 
   @property
   def update_speed_limit_final_last_changed(self) -> bool:
-    return self.has_speed_limit and bool(self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph)
+    if not self.has_speed_limit:
+      return False
+    return self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph
 
   def update_speed_limit_assist_v_cruise_non_pcm(self) -> None:
     if self.set_speed_to_limit and \

selfdrive/car/docs.py

@@ -3,7 +3,7 @@ import argparse
 import os
 
 from openpilot.common.basedir import BASEDIR
-from opendbc.car.docs import get_all_car_docs, generate_cars_md
+from iqdbc.car.docs import get_all_car_docs, generate_cars_md
 
 CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")

selfdrive/car/helpers.py

@@ -2,7 +2,7 @@ import capnp
 from typing import Any
 
 from cereal import custom
-from opendbc.car import structs
+from iqdbc.car import structs
 
 _FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
 

selfdrive/car/tests/test_car_interfaces.py

@@ -5,11 +5,11 @@ from parameterized import parameterized
 from types import SimpleNamespace
 
 from cereal import car, custom
-from opendbc.car import DT_CTRL
-from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
-from opendbc.car.mock.values import CAR as MOCK
-from opendbc.car.values import PLATFORMS
+from iqdbc.car import DT_CTRL
+from iqdbc.car.structs import CarParams
+from iqdbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
+from iqdbc.car.mock.values import CAR as MOCK
+from iqdbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.card import run_optional_pre_init
 from openpilot.selfdrive.car.helpers import convert_iq_car_control, convert_iq_car_control_compact
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle

selfdrive/car/tests/test_car_specific_events.py

@@ -1,7 +1,7 @@
 from types import SimpleNamespace
 
 from cereal import log
-from opendbc.car import structs
+from iqdbc.car import structs
 
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 

selfdrive/car/tests/test_cruise_speed.py

@@ -41,7 +41,7 @@ class TestCruiseSpeed:
     cruise_speed = float(self.speed)
 
     simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
-    assert simulation_steady_state == pytest.approx(cruise_speed, abs=1.5), f'Did not reach {self.speed} m/s'
+    assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
 # TODO: test pcmCruise and pcmCruiseSpeed

selfdrive/car/tests/test_docs.py

@@ -1,7 +1,7 @@
 import os
 
 from openpilot.common.basedir import BASEDIR
-from opendbc.car.docs import generate_cars_md, get_all_car_docs
+from iqdbc.car.docs import generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
 from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE

selfdrive/car/tests/test_models.py

@@ -9,15 +9,15 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
 
-from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
-from opendbc.car.structs import car
-from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from opendbc.car.values import Platform, PLATFORMS
-from opendbc.safety.tests.libsafety import libsafety_py
+from iqdbc.car import DT_CTRL, gen_empty_fingerprint, structs
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+from iqdbc.car.fingerprints import MIGRATION
+from iqdbc.car.honda.values import CAR as HONDA, HondaFlags
+from iqdbc.car.structs import car
+from iqdbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from iqdbc.car.values import Platform, PLATFORMS
+from iqdbc.safety.tests.libsafety import libsafety_py
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list