New Bolt Pedal Interceptor Tuning

.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

.github/workflows/update-pr-branch.yaml

@@ -0,0 +1,59 @@
+name: Update MAKE-PRS-HERE
+
+on:
+  push:
+    branches:
+      - FrogPilot-Staging
+
+env:
+  SOURCE_BRANCH: FrogPilot-Staging
+  TARGET_BRANCH: MAKE-PRS-HERE
+
+jobs:
+  squash-and-cherry-pick:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ env.SOURCE_BRANCH }}
+          fetch-depth: 0
+
+      - name: Set Git user name and email
+        run: |
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+      - name: Get the second to last commit hash and create a temporary branch
+        run: |
+          commit_hash=$(git rev-parse HEAD~1)
+          git checkout -b temp-branch $commit_hash
+
+      - name: Squash all commits into one with today's date in Phoenix time zone
+        run: |
+          day=$(TZ='America/Phoenix' date '+%-d')
+          suffix="th"
+          case $day in
+            1|21|31) suffix="st" ;;
+            2|22) suffix="nd" ;;
+            3|23) suffix="rd" ;;
+          esac
+          commit_message="$(TZ='America/Phoenix' date '+%B ')$day$suffix, $(TZ='America/Phoenix' date '+%Y') Update"
+          git reset --soft $(git rev-list --max-parents=0 HEAD)
+          git commit -m "$commit_message"
+
+      - name: Cherry-pick the squashed commit to target branch and push
+        run: |
+          git fetch origin
+          git checkout ${{ env.TARGET_BRANCH }}
+          git cherry-pick temp-branch -X theirs || {
+            if git status | grep -q "nothing to commit, working tree clean"; then
+              echo "Empty commit detected, skipping cherry-pick."
+              git cherry-pick --skip
+            else
+              echo "Continuing with cherry-pick."
+              git cherry-pick --continue
+            fi
+          }
+          git push origin ${{ env.TARGET_BRANCH }}

.github/workflows/update-previous-branch.yaml

@@ -0,0 +1,21 @@
+name: Update FrogPilot-Previous Branch
+
+on:
+  schedule:
+    - cron: '0 7 1 * *'
+
+jobs:
+  update-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Reset "FrogPilot-Previous" branch to match "FrogPilot"
+        run: |
+          git fetch origin
+          git checkout FrogPilot-Previous || git checkout -b FrogPilot-Previous
+          git reset --hard origin/FrogPilot
+          git push origin FrogPilot-Previous --force

.github/workflows/update-release-branch.yaml

@@ -0,0 +1,21 @@
+name: Update FrogPilot Branch
+
+on:
+  schedule:
+    - cron: '0 19 1 * *'
+
+jobs:
+  update-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Reset "FrogPilot" branch to match "FrogPilot-Staging"
+        run: |
+          git fetch origin
+          git checkout FrogPilot || git checkout -b FrogPilot
+          git reset --hard origin/FrogPilot-Staging
+          git push origin FrogPilot --force

README.md

@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**August 2nd, 2024**
+**November 23rd, 2024**
 
 Features
 ------

cereal/car.capnp

@@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
+    startupNoSecOcKey @149;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -122,27 +123,30 @@ 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;
+    thisIsFineSteerSaturated @140;
+    torqueNNLoad @141;
+    trafficModeActive @142;
+    trafficModeInactive @143;
+    turningLeft @144;
+    turningRight @145;
+    vCruise69 @146;
+    yourFrogTriedToKillMe @147;
+    youveGotMail @148;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -440,19 +444,19 @@ 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;
+      thisIsFine @19;
+      uwu @20;
     }
   }
 
@@ -545,6 +549,9 @@ struct CarParams {
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired @74 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @75 :Bool;  # Stored SecOC key loaded from params
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @3 :UInt16;
@@ -582,8 +589,8 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @6 :Float32;
-    deadzoneBPDEPRECATED @4 :List(Float32);
-    deadzoneVDEPRECATED @5 :List(Float32);
+    deadzoneBP @4 :List(Float32);
+    deadzoneV @5 :List(Float32);
   }
 
   struct LateralINDITuning {

cereal/custom.capnp

@@ -1,6 +1,8 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
+using Car = import "car.capnp";
+
 @0xb526ba661d550a59;
 
 # custom.capnp: a home for empty structs reserved for custom forks
@@ -9,9 +11,11 @@ $Cxx.namespace("cereal");
 
 # you can rename the struct, but don't change the identifier
 struct FrogPilotCarControl @0x81c2f05a394cf4af {
-  alwaysOnLateral @0 :Bool;
-  resumePressed @1 :Bool;
-  speedLimitChanged @2 :Bool;
+  alwaysOnLateralActive @0 :Bool;
+  fcwEventTriggered @1 :Bool;
+  noEntryEventTriggered @2 :Bool;
+  resumePressed @3 :Bool;
+  steerSaturatedEventTriggered @4 :Bool;
 }
 
 struct FrogPilotCarState @0xaedffd8f31e7b55d {
@@ -46,31 +50,33 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerk @0 :Float32;
   accelerationJerkStock @1 :Float32;
   adjustedCruise @2 :Float32;
-  conditionalExperimentalActive @3 :Bool;
-  dangerJerk @4 :Float32;
-  desiredFollowDistance @5 :Float32;
+  dangerJerk @3 :Float32;
+  desiredFollowDistance @4 :Int64;
+  experimentalMode @5 :Bool;
   forcingStop @6 :Bool;
-  greenLight @7 :Bool;
-  laneWidthLeft @8 :Float32;
-  laneWidthRight @9 :Float32;
-  leadDeparting @10 :Bool;
-  maxAcceleration @11 :Float32;
-  minAcceleration @12 :Float32;
-  redLight @13 :Bool;
-  safeObstacleDistance @14 :Int16;
-  safeObstacleDistanceStock @15 :Int16;
-  slcOverridden @16 :Bool;
-  slcOverriddenSpeed @17 :Float32;
-  slcSpeedLimit @18 :Float32;
-  slcSpeedLimitOffset @19 :Float32;
-  speedJerk @20 :Float32;
-  speedJerkStock @21 :Float32;
-  stoppedEquivalenceFactor @22 :Int16;
-  takingCurveQuickly @23 :Bool;
-  tFollow @24 :Float32;
-  unconfirmedSlcSpeedLimit @25 :Float32;
-  vCruise @26 :Float32;
-  vtscControllingCurve @27 :Bool;
+  forcingStopLength @7 :Float32;
+  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 :Int64;
+  safeObstacleDistanceStock @16 :Int64;
+  slcOverridden @17 :Bool;
+  slcOverriddenSpeed @18 :Float32;
+  slcSpeedLimit @19 :Float32;
+  slcSpeedLimitOffset @20 :Float32;
+  speedJerk @21 :Float32;
+  speedJerkStock @22 :Float32;
+  speedLimitChanged @23 :Bool;
+  stoppedEquivalenceFactor @24 :Int64;
+  tFollow @25 :Float32;
+  togglesUpdated @26 :Bool;
+  unconfirmedSlcSpeedLimit @27 :Float32;
+  vCruise @28 :Float32;
+  vtscControllingCurve @29 :Bool;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {