Update to T.O.P v0.9.4 Release (NN Torque Control)

C3 version with NN Torque Controller Synced with openpilot master 2023.07.28 commits & Non-Inflatable Model. T.O.P function update ．Display IP address of WIFI connection ．New Vision Turn Control ．Navigate on T.O.P NNFF Support list (122 cars)： ACURA RDX 2020 AUDI A3 3RD GEN AUDI Q3 2ND GEN BUICK LACROSSE 2017 CHEVROLET BOLT EUV 2022 CHEVROLET BOLT EV NO ACC CHEVROLET SILVERADO 1500 2020 CHEVROLET SUBURBAN PREMIER 2019 CHEVROLET VOLT PREMIER 2017 CHRYSLER PACIFICA 2018 CHRYSLER PACIFICA 2020 CHRYSLER PACIFICA HYBRID 2017 CHRYSLER PACIFICA HYBRID 2018 CHRYSLER PACIFICA HYBRID 2019 GENESIS (DH) GENESIS G70 2018 GENESIS G80 2017 GENESIS GV60 ELECTRIC 1ST GEN GMC ACADIA DENALI 2018 HONDA ACCORD 2018 HONDA ACCORD HYBRID 2018 HONDA CIVIC (BOSCH) 2019 HONDA CIVIC 2016 HONDA CIVIC 2022 HONDA CR-V 2017 HONDA CR-V HYBRID 2019 HONDA HRV 2019 HONDA INSIGHT 2019 HONDA ODYSSEY 2018 HONDA PILOT 2017 HONDA RIDGELINE 2017 HYUNDAI ELANTRA 2021 HYUNDAI ELANTRA HYBRID 2021 HYUNDAI IONIQ 5 2022 HYUNDAI IONIQ ELECTRIC LIMITED 2019 HYUNDAI IONIQ PHEV 2020 HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA ELECTRIC 2022 HYUNDAI KONA HYBRID 2020 HYUNDAI PALISADE 2020 HYUNDAI SANTA FE 2019 HYUNDAI SANTA FE 2022 HYUNDAI SANTA FE HYBRID 2022 HYUNDAI SANTA FE PlUG-IN HYBRID 2022 HYUNDAI SONATA 2020 HYUNDAI SONATA HYBRID 2021 HYUNDAI TUCSON 4TH GEN HYUNDAI TUCSON HYBRID 4TH GEN JEEP GRAND CHEROKEE 2019 JEEP GRAND CHEROKEE V6 2018 KIA CEED INTRO ED 2019 KIA EV6 2022 KIA K5 2021 KIA NIRO EV 2020 KIA NIRO HYBRID 2ND GEN KIA NIRO HYBRID 2019 KIA SELTOS 2021 KIA SORENTO 4TH GEN KIA SORENTO PLUG-IN HYBRID 4TH GEN KIA SPORTAGE 5TH GEN KIA SPORTAGE HYBRID 5TH GEN KIA STINGER 2022 KIA STINGER GT2 2018 LEXUS ES 2019 LEXUS ES HYBRID 2019 LEXUS IS 2018 LEXUS NX 2018 LEXUS NX 2020 LEXUS NX HYBRID 2018 LEXUS RX 2016 LEXUS RX 2020 LEXUS RX HYBRID 2017 MAZDA CX-5 2022 MAZDA CX-9 2021 MAZDA CX-9 RAM 1500 5TH GEN RAM HD 5TH GEN SKODA KAROQ 1ST GEN SKODA KODIAQ 1ST GEN SKODA OCTAVIA 3RD GEN SKODA SUPERB 3RD GEN SUBARU ASCENT LIMITED 2019 SUBARU FORESTER 2019 SUBARU IMPREZA LIMITED 2019 SUBARU LEGACY 7TH GEN SUBARU LEGACY 2015 - 2018 SUBARU OUTBACK 6TH GEN TOYOTA AVALON 2016 TOYOTA AVALON 2019 TOYOTA AVALON 2022 TOYOTA AVALON HYBRID 2019 TOYOTA AVALON HYBRID 2022 TOYOTA CAMRY 2018 TOYOTA CAMRY 2021 TOYOTA CAMRY HYBRID 2018 TOYOTA CAMRY HYBRID 2021 TOYOTA C-HR 2018 TOYOTA C-HR HYBRID 2022 TOYOTA COROLLA 2017 TOYOTA COROLLA HYBRID TSS2 2019 TOYOTA COROLLA TSS2 2019 TOYOTA HIGHLANDER 2017 TOYOTA HIGHLANDER 2020 TOYOTA HIGHLANDER HYBRID 2018 TOYOTA HIGHLANDER HYBRID 2020 TOYOTA MIRAI 2021 TOYOTA PRIUS 2017 TOYOTA PRIUS TSS2 2021 TOYOTA PRIUS v 2017 TOYOTA RAV4 2017 TOYOTA RAV4 2019 TOYOTA RAV4 HYBRID 2017 TOYOTA RAV4 HYBRID 2019 TOYOTA RAV4 HYBRID 2022 TOYOTA SIENNA 2018 VOLKSWAGEN ARTEON 1ST GEN VOLKSWAGEN ATLAS 1ST GEN VOLKSWAGEN GOLF 7TH GEN VOLKSWAGEN JETTA 7TH GEN VOLKSWAGEN PASSAT 8TH GEN VOLKSWAGEN PASSAT NMS VOLKSWAGEN TIGUAN 2ND GEN
CT921 · Aug 2, 2023 · 7d13198 · 7d13198
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diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
@@ -196,6 +196,7 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -208,6 +209,7 @@ jobs:
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -225,6 +227,7 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ubuntu-20.04
+    timeout-minutes: 60
     steps:
     - uses: actions/checkout@v3
       with:
@@ -250,6 +253,7 @@ jobs:
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST system/hardware/tici && \
+                        $UNIT_TEST selfdrive/mapd && \
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -267,47 +271,48 @@ jobs:
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
-  process_replay:
-    name: process replay
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v3
-      with:
-        path: /tmp/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      run: |
-        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        coverage xml"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v2
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
-      run: |
-        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+  #process_replay:
+  #  name: process replay
+  #  runs-on: ubuntu-20.04
+  #  steps:
+  #  - uses: actions/checkout@v3
+  #    with:
+  #      submodules: true
+  #  - uses: ./.github/workflows/setup
+  #  - name: Cache test routes
+  #    id: dependency-cache
+  #    uses: actions/cache@v3
+  #    with:
+  #      path: /tmp/comma_download_cache
+  #      key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+  #  - name: Build openpilot
+  #    run: |
+  #      ${{ env.RUN }} "scons -j$(nproc)"
+  #  - name: Run replay
+  #    run: |
+  #      ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+  #                      coverage xml"
+  #  - name: Print diff
+  #    id: print-diff
+  #    if: always()
+  #    run: cat selfdrive/test/process_replay/diff.txt
+  #  - uses: actions/upload-artifact@v2
+  #    if: always()
+  #    continue-on-error: true
+  #    with:
+  #      name: process_replay_diff.txt
+  #      path: selfdrive/test/process_replay/diff.txt
+  #  - name: Upload reference logs
+  #    if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+  #    run: |
+  #      ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+  #  - name: "Upload coverage to Codecov"
+  #    uses: codecov/codecov-action@v3
 
   test_modeld:
     name: model tests
     runs-on: ubuntu-20.04
+    timeout-minutes: 35
     steps:
     - uses: actions/checkout@v3
       with:
@@ -335,6 +340,7 @@ jobs:
   test_longitudinal:
     name: longitudinal
     runs-on: ubuntu-20.04
+    timeout-minutes: 35
     steps:
     - uses: actions/checkout@v3
       with:
@@ -361,6 +367,7 @@ jobs:
   test_cars:
     name: cars
     runs-on: ubuntu-20.04
+    timeout-minutes: 50
     strategy:
       fail-fast: false
       matrix:

diff --git a/.gitmodules b/.gitmodules
@@ -1,15 +1,15 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  url = ../../CT921/panda.git
 [submodule "opendbc"]
   path = opendbc
-  url = ../../commaai/opendbc.git
+  url = ../../CT921/opendbc.git
 [submodule "laika_repo"]
   path = laika_repo
   url = ../../commaai/laika.git
 [submodule "cereal"]
   path = cereal
-  url = ../../commaai/cereal.git
+  url = ../../CT921/cereal.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = ../../commaai/rednose.git

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,85 +1,4 @@
 repos:
--   repo: meta
-    hooks:
-    -   id: check-hooks-apply
-    -   id: check-useless-excludes
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: check-ast
-        exclude: '^(third_party)/'
-    -   id: check-json
-    -   id: check-toml
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-added-large-files
-        args: ['--maxkb=100']
--   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
-    hooks:
-    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
-        args:
-        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
-        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
--   repo: local
-    hooks:
-    -   id: mypy
-        name: mypy
-        entry: mypy
-        language: system
-        types: [python]
-        args: ['--explicit-package-bases']
-        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
--   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
-    hooks:
-    -   id: flake8
-        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
-        additional_dependencies: ['flake8-no-implicit-concat']
-        args:
-        - --indent-size=2
-        - --enable-extensions=NIC
-        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --statistics
-        - -j4
--   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
-        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
-        args:
-        - -j0
-        - -rn
-        - -sn
-        - --rcfile=.pylintrc
--   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
--   repo: local
-    hooks:
-    -   id: test_translations
-        name: test translations
-        entry: selfdrive/ui/tests/test_translations.py
-        language: script
-        pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
     rev: '1.5.0'
     hooks:

diff --git a/cereal b/cereal
diff --git a/common/params.cc b/common/params.cc
@@ -206,6 +206,41 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
     {"WheeledBody", PERSISTENT},
+
+    // TOP
+    {"CarModel", PERSISTENT},
+    {"dp_atl", PERSISTENT},
+    {"dp_jetson", PERSISTENT},
+    {"DrivingPersonalitiesUIWheel", PERSISTENT},
+    {"dynamic_lane", PERSISTENT},
+    {"e2e_link", PERSISTENT},
+    {"EnableTorqueController", PERSISTENT},
+    {"LateralAllowed", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"LiveTorque", PERSISTENT},
+    {"NudgelessLaneChange", PERSISTENT},
+    {"OnroadScreenOff", PERSISTENT},
+    {"PrimeAd", PERSISTENT},
+    {"ReverseAccChange", PERSISTENT},
+    {"TimSignals", PERSISTENT},
+    {"TogglesUpdated", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"topsng", PERSISTENT},
+    {"toyotaautolock", PERSISTENT},
+    {"toyotaautounlock", PERSISTENT},
+    {"toyota_bsm", PERSISTENT},
+    {"TurnVisionControl", PERSISTENT},
+    {"QuietDrive", PERSISTENT},
+
+    {"dp_nav", PERSISTENT},
+    {"dp_otisserv", PERSISTENT},
+    {"dp_nav_mapbox_token_pk", PERSISTENT},
+    {"dp_nav_mapbox_token_sk", PERSISTENT},
+    {"dp_nav_gmap_enable", PERSISTENT},
+    {"dp_nav_gmap_key", PERSISTENT},
+    {"dp_nav_amap_enable", PERSISTENT},
+    {"dp_nav_amap_key", PERSISTENT},
+    {"dp_nav_amap_key_2", PERSISTENT},
+    {"dp_gpxd", PERSISTENT},
+    {"dp_mapd", PERSISTENT},
 };
 
 } // namespace

diff --git a/common/params.h b/common/params.h
@@ -32,6 +32,10 @@ class Params {
   inline bool getBool(const std::string &key, bool block = false) {
     return get(key, block) == "1";
   }
+  inline int getInt(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0 : std::stoi(value);
+  }
   std::map<std::string, std::string> readAll();
 
   // helpers for writing values
@@ -42,6 +46,9 @@ class Params {
   inline int putBool(const std::string &key, bool val) {
     return put(key.c_str(), val ? "1" : "0", 1);
   }
+  inline int putInt(const std::string &key, int val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
 
 private:
   std::string params_path;

diff --git a/common/params.py b/common/params.py
@@ -1,9 +1,10 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking, put_int_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
 assert put_bool_nonblocking
+assert put_int_nonblocking
 
 if __name__ == "__main__":
   import sys

diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
@@ -17,9 +17,11 @@ cdef extern from "common/params.h":
     c_Params(string) nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
+    int getInt(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
     int putBool(string, bool) nogil
+    int putInt(string, int) nogil
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
@@ -75,6 +77,13 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def get_int(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef int r
+    with nogil:
+      r = self.p.getInt(k, block)
+    return r
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -92,6 +101,11 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
+  def put_int(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putInt(k, val)
+
   def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:
@@ -109,3 +123,6 @@ def put_nonblocking(key, val, d=""):
 
 def put_bool_nonblocking(key, bool val, d=""):
   threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()
+
+def put_int_nonblocking(key, int val, d=""):
+  threading.Thread(target=lambda: Params(d).put_int(key, val)).start()
diff --git a/common/version.h b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.4"
+#define COMMA_VERSION "0.9.4 Release - 2023.07.28"
diff --git a/force_car_recognition.py b/force_car_recognition.py
@@ -0,0 +1,8 @@
+filenames = ['/data/openpilot/selfdrive/car/top_tmp/HondaCars', '/data/openpilot/selfdrive/car/top_tmp/HyundaiCars', '/data/openpilot/selfdrive/car/top_tmp/SubaruCars',
+             '/data/openpilot/selfdrive/car/top_tmp/ToyotaCars', '/data/openpilot/selfdrive/car/top_tmp/VolkswagenCars']
+
+with open('/data/openpilot/selfdrive/car/top_tmp/Cars', 'w') as outfile:
+  for names in filenames:
+    with open(names) as infile:
+      outfile.write(infile.read())
+    outfile.write("\n")
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
@@ -82,9 +82,18 @@ function launch {
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
+  python ./selfdrive/car/honda/values.py > /data/openpilot/selfdrive/car/top_tmp/HondaCars
+  python ./selfdrive/car/hyundai/values.py > /data/openpilot/selfdrive/car/top_tmp/HyundaiCars
+  python ./selfdrive/car/subaru/values.py > /data/openpilot/selfdrive/car/top_tmp/SubaruCars
+  python ./selfdrive/car/toyota/values.py > /data/openpilot/selfdrive/car/top_tmp/ToyotaCars
+  python ./selfdrive/car/volkswagen/values.py > /data/openpilot/selfdrive/car/top_tmp/VolkswagenCars
+
+  python ./force_car_recognition.py
+
   # start manager
   cd selfdrive/manager
-  ./build.py && ./manager.py
+  chmod 775 custom_dep.py
+  ./custom_dep.py && ./build.py && ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done

diff --git a/opendbc b/opendbc