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beta_v0.9.0: promote dev_v0.9.0 (the dyno as an application drives it, a firewall rule at install, a prompt for a missing value) - #420
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update_fixs.ps1 creates an inbound allow rule for the installed TrafficLayer.exe when elevated, and prints the netsh command otherwise, so a fresh app checkout no longer pops the firewall dialog mid co-sim.
…actly Transport: udp read the cell without waiting, so each tick got the answer to the PREVIOUS tick's reference: one CARLA step behind inprocess. The udp exchange now drains stale packets, sends, and blocks for this tick's reply (UDP_REPLY_TIMEOUT_S 0.1 s). A miss passes the reference through and is counted; UDP_MAX_MISSES (20) in a row stops the run with the cell's address. LocalLink now carries the same 8-byte float32 packet as the wire. With full precision the ~1e-7 rounding alone, fed back through the closed loop, grew to 2.8 m/s of ego speed within 200 s against an otherwise identical udp run. Inprocess results therefore shift slightly from before. Measured on MLK rung 5 (to 29300 s, 3999 ticks): inprocess and udp logs byte-identical, agent and bridge.
… terminal A missing or invalid value (--carla-res, --carla-res big, --peer, ...) is asked for when someone is at the terminal: type it, Enter to run without it, Q to quit. Scripts and --serve still get exit 2. import_map's package picker no longer opens a Tk window when stdin is not a terminal, and the test suite refuses any Tk window.
The block quoted a 0.73 s first-tick cost that the same change had already removed, and read as current. Three lines now.
Unelevated interactive installs now prompt Y/n and raise one UAC prompt instead of printing a line that scrolls past; the manual netsh command remains the fallback.
fixs.config.get(section) reads the run's scenario yaml, read-only, by
lowercase names (get('xil')['transport']), with ip/port taken from the
section's first VehicleSubscription.
fixs.xil.dyno() builds the inprocess dyno and returns None for udp and
tcp: an application that speaks to a rig opens its own socket, to
fixs.config.get('xil')['ip']. tcp stays accepted as a reserved value.
The udp lockstep this branch added to _Dyno and UdpLink (drain,
recv_wait, UDP_REPLY_TIMEOUT_S, UDP_MAX_MISSES) goes with it. LocalLink
still rounds through the float32 packet.
…all_rule Add TrafficLayer firewall rule at bundle install
It builds the simulated dyno the scenario describes whenever EnableXil
is on. Which dyno answers a run is the application's choice, made from
fixs.config.get('xil')['transport']; a udp application's stand-in rig
can now build the same dynosim from the same scenario.
It builds the simulated dyno from the vehicle, dyno and driver parameters
it is given. Whether a dyno is in the loop is the caller's question
(fixs.xil.enabled, fixs.config.get('xil')), so a udp application's
stand-in rig can build the same dynosim with no yaml at all.
XilSetup.Vehicle/Dyno/Driver go with it; no scenario set them.
One spelling for "no window" on both simulators. --render-offscreen and --no-sumo-gui stay as hidden aliases. --carla-res is now in --help.
run_cosim: ask for a missing option value; no file dialog without a terminal
dev_v0.9.0 -> 0.9.0. Manual dispatch backfills open and merged PRs.
…aref, dt) RobotDriver brakes while slower than stop_speed_mps and asked for less than stop_accel_mps2 -- openpilot's should_stop (0.3 m/s, 0.1 m/s^2). Both default to 0.0, which is off, so a default bench is unchanged. The acceleration command is explicit: dynosim().exchange(vref, aref, dt) takes it from the caller and hands it to the driver's hold. Nothing in the bench derives it.
CARLA's autobox starts a vehicle in neutral and does not leave it below about 15% throttle (measured on vehicle.tesla.model3: 10% never moves, 15% moves after 3.6 s). A pedal-driven ego asked to creep never moves. One control with manual_gear_shift=True, gear=1 right after spawn engages first; the autobox keeps it through later stops, and 2-5% throttle then moves the car. No creep at zero throttle. The C++ bridge (VirCarlaEnv) does not have this yet.
fixs.driver(exchange, firstGear=True) calls carla.ego.apply_control with manual_gear_shift=True, gear=1 on its first controlled step and commands nothing else that step, so the host does not overwrite it; the autobox keeps first from then on. Off by default. Replaces the bridge doing this for every ego (47a00f2).
…ine stays plain fixs.driver.set(**options) records options for every driver built after the call; fixs.driver(exchange, **options) still wins over them. The first-gear option is renamed startInGear (was firstGear), off by default.
xil: FIXS ships the simulated dyno; fixs.config.get; openpilot's hold; fixs.driver startInGear
yunlishao
approved these changes
Sep 29, 2026
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Promotes three PRs merged into
dev_v0.9.0since the last promotion (#414): #413, #417, #416. 15 commits, 22 files. It merges cleanly:beta_v0.9.0carries no content thatdev_v0.9.0lacks. The latestdev_v0.9.0push (bb211e9c) built on Linux and published the release.What is in it
fixs.config.get(section): the run's scenario yaml, read-only, by lowercase names (get('xil')['transport'], plusip/portfrom the first VehicleSubscription).fixs.xil.dynosim(vehicle=, dyno=, driver=)replacesfixs.xil.dyno(): FIXS ships the simulated dyno only, andexchange(vref, aref, dt)takes the acceleration command explicitly.Transport: udpis now the application's own rig atip/port; FIXS opens no socket.XilSetup.Vehicle/Dyno/Driverare gone (no scenario set them).stop_speed_mpsand asked for less thanstop_accel_mps2(0.3 / 0.1 in openpilot). Off by default.fixs.driver.set(startInGear=True): the ego is put in first gear on the first controlled step. CARLA's autobox leaves a spawned car in neutral below about 15% throttle, so a creeping pedal never moves it (measured onvehicle.tesla.model3). Off by default.LocalLinkrounds through the float32 packet the wire carries.update_fixs.ps1checks for an inbound firewall rule on the bundle'sTrafficLayer.exeand adds it (asking for elevation once), so the "allow access" dialog stops interrupting co-sims. The install's exit code never changes.What changes the moment this merges
beta_v0.9.0publishesv0.9.0-betawith these.fixs.xil.dyno()is removed; usefixs.xil.dynosim()andexchange(vref, aref, dt). The only caller, MLK eco-driving in FIXS_Applications, is updated in FIXS_Applications#84, which is ondevand is promoted tobetaright after this. Merge this first and letv0.9.0-betapublish: FIXS_Applicationsbetafetchesv0.9.0-beta, and its controller now needsfixs.config.get.LocalLink.Related Issues
Promotion; no new issues. Next: FIXS_Applications
dev→beta, thenbeta_v0.9.0→main.Checklist
dev_v0.9.0; the latestdev_v0.9.0push built and published.tests/Python/unit: 492 passed, 8 skipped, on xil: FIXS ships the simulated dyno; fixs.config.get; openpilot's hold; fixs.driver startInGear #416's head)