Merge branch 'master' into auto-package-updates

SConstruct

@@ -224,10 +224,8 @@ env = Environment(
   CFLAGS=["-std=gnu11"] + cflags,
   CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
-    "#cereal",
-    "#msgq",
+    "#msgq_repo",
     "#third_party",
-    "#opendbc/can",
     "#selfdrive/pandad",
     "#common",
     "#rednose/helpers",

common/ratekeeper.h

@@ -9,7 +9,7 @@ class RateKeeper {
   ~RateKeeper() {}
   bool keepTime();
   bool monitorTime();
-  inline double frame() const { return frame_; }
+  inline uint64_t frame() const { return frame_; }
   inline double remaining() const { return remaining_; }
 
 private:

pyproject.toml

@@ -166,6 +166,7 @@ pprofile = "*"
 polyline = "*"
 pre-commit = "*"
 pyautogui = "*"
+pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools
 pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
 pygame = "*"
 pywinctl = "*"

selfdrive/car/chrysler/fingerprints.py

@@ -410,6 +410,7 @@
       b'68453483AD',
       b'68453487AD',
       b'68453491AC',
+      b'68453491AD',
       b'68453499AD',
       b'68453503AC',
       b'68453503AD',

selfdrive/car/subaru/fingerprints.py

@@ -319,8 +319,8 @@
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xf6F`\x00',
-      b'\xda\xf2`\x80\x00',
       b'\xda\xf2`p\x00',
+      b'\xda\xf2`\x80\x00',
       b'\xda\xfd\xe0\x80\x00',
       b'\xdc\xf2@`\x00',
       b'\xdc\xf2``\x00',

selfdrive/car/volkswagen/fingerprints.py

@@ -591,6 +591,7 @@
       b'\xf1\x8783A907115Q \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158DS\xf1\x893699',
       b'\xf1\x8709G927158DT\xf1\x893698',
       b'\xf1\x8709G927158FM\xf1\x893757',
       b'\xf1\x8709G927158GC\xf1\x893821',

selfdrive/controls/lib/lateral_mpc_lib/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 

selfdrive/ui/SConscript

@@ -125,6 +125,5 @@ if GetOption('extras') and arch != "Darwin":
     assert f[0].get_size() < 350*1e3
 
 # build watch3
-#FIXME
-#if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-#  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'msgq'])
+if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
+  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'msgq', 'visionipc'])

system/webrtc/tests/test_stream_session.py

@@ -8,7 +8,6 @@
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
 import pyaudio
-import pytest
 from cereal import messaging, log
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
@@ -68,13 +67,11 @@ def test_incoming_proxy(self, mocker):
 
       mocked_pubmaster.reset_mock()
 
-  # FIXME, hangs for some reason
-  @pytest.mark.skip("Hangs forever")
   def test_livestream_track(self, mocker):
     fake_msg = messaging.new_message("livestreamDriverEncodeData")
 
     config = {"receive.return_value": fake_msg.to_bytes()}
-    mocker.patch("cereal.messaging.SubSocket", spec=True, **config)
+    mocker.patch("msgq.SubSocket", spec=True, **config)
     track = LiveStreamVideoStreamTrack("driver")
 
     assert track.id.startswith("driver")