From 1b2bd205b81bb473bbe176b58250fe038963d1f6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 10 Jun 2024 13:18:47 -0700 Subject: [PATCH 1/8] MSGQ refactor: cleanup outstanding issues (#32685) * Rm sim dockerfile from bad merge * Add watch back * Fix watch3 compilation --- SConstruct | 4 +- .../controls/lib/lateral_mpc_lib/SConscript | 2 +- .../lib/longitudinal_mpc_lib/SConscript | 2 +- selfdrive/ui/SConscript | 5 +-- tools/sim/Dockerfile.sim | 39 ------------------- 5 files changed, 5 insertions(+), 47 deletions(-) delete mode 100644 tools/sim/Dockerfile.sim diff --git a/SConstruct b/SConstruct index 1b6b9464c8dffb..944d650d742d99 100644 --- a/SConstruct +++ b/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", diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 630f873341ad7b..73242cb8f9cf36 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/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" diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 852631c5abdebc..592c1c2c2da8ec 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/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" diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index f59da1bce35034..e181cb9abdc45f 100644 --- a/selfdrive/ui/SConscript +++ b/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']) diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim deleted file mode 100644 index e0d38596ca4e6d..00000000000000 --- a/tools/sim/Dockerfile.sim +++ /dev/null @@ -1,39 +0,0 @@ -FROM ghcr.io/commaai/openpilot-base:latest - -RUN apt-get update && apt-get install -y --no-install-recommends \ - tmux \ - vim \ - && rm -rf /var/lib/apt/lists/* - -# get same tmux config used on NEOS for debugging -RUN cd $HOME && \ - curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf - -ENV OPENPILOT_PATH /tmp/openpilot -ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} - -RUN mkdir -p ${OPENPILOT_PATH} -WORKDIR ${OPENPILOT_PATH} - -COPY SConstruct ${OPENPILOT_PATH} - -COPY ./openpilot ${OPENPILOT_PATH}/openpilot -COPY ./body ${OPENPILOT_PATH}/body -COPY ./third_party ${OPENPILOT_PATH}/third_party -COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./rednose ${OPENPILOT_PATH}/rednose -COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons -COPY ./common ${OPENPILOT_PATH}/common -COPY ./opendbc ${OPENPILOT_PATH}/opendbc -COPY ./cereal ${OPENPILOT_PATH}/cereal -COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo -COPY ./msgq ${OPENPILOT_PATH}/msgq -COPY ./panda ${OPENPILOT_PATH}/panda -COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive -COPY ./system ${OPENPILOT_PATH}/system -COPY ./tools ${OPENPILOT_PATH}/tools -COPY ./release ${OPENPILOT_PATH}/release - -RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly - -RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" From a09ccd59cba03ac0824ad1b900116c364f93d591 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 10 Jun 2024 13:37:39 -0700 Subject: [PATCH 2/8] [bot] Bump submodules (#32681) bump submodules Co-authored-by: Vehicle Researcher --- teleoprtc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/teleoprtc_repo b/teleoprtc_repo index f2e5a6dd9e13a1..fdcff87aaf2b1c 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit f2e5a6dd9e13a184b2f0e95a6c8afd308ec2da89 +Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5 From a4f0f6ca3627c9a8a805ec3f20c17d68a710b7f8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 11 Jun 2024 04:37:50 +0800 Subject: [PATCH 3/8] common/ratekeeper: change frame() return type from double to uint64_t (#32679) --- common/ratekeeper.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/ratekeeper.h b/common/ratekeeper.h index b6e8ac66a6b4ba..e7323c6ec3428e 100644 --- a/common/ratekeeper.h +++ b/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: From cf100f740e07824e1367a65c74e2b99f5c3b4458 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Jun 2024 13:39:02 -0700 Subject: [PATCH 4/8] [bot] Fingerprints: add missing FW versions from new users (#32683) --- selfdrive/car/chrysler/fingerprints.py | 1 + selfdrive/car/subaru/fingerprints.py | 7 ++++++- selfdrive/car/volkswagen/fingerprints.py | 1 + 3 files changed, 8 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 01faa49bf7294a..5072aad5c02192 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -410,6 +410,7 @@ b'68453483AD', b'68453487AD', b'68453491AC', + b'68453491AD', b'68453499AD', b'68453503AC', b'68453503AD', diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index 10c713501f21af..b53ac8ac69d838 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -112,6 +112,7 @@ b'\x00\x00d\xb5\x1f@ \x0e', b'\x00\x00d\xdc\x00\x00\x00\x00', b'\x00\x00d\xdc\x1f@ \x0e', + b'\x00\x00e\x02\x00\x00\x00\x00', b'\x00\x00e\x02\x1f@ \x14', b'\x00\x00e\x1c\x00\x00\x00\x00', b'\x00\x00e\x1c\x1f@ \x14', @@ -125,6 +126,7 @@ b'\xaa!au\x07', b'\xaa!av\x07', b'\xaa!aw\x07', + b'\xaa!dp\x07', b'\xaa!dq\x07', b'\xaa!ds\x07', b'\xaa!dt\x07', @@ -179,6 +181,7 @@ b'\x00\x00eb\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00eq\x1f@ "', + b'\x00\x00e\x87\x1f@ "', b'\x00\x00e\x8f\x00\x00\x00\x00', b'\x00\x00e\x8f\x1f@ )', b'\x00\x00e\x92\x00\x00\x00\x00', @@ -196,6 +199,7 @@ b'\xcc!fp\x07', b'\xcc"f0\x07', b'\xe6!`@\x07', + b'\xe6!`p\x07', b'\xe6!fp\x07', b'\xe6"f0\x07', b'\xe6"fp\x07', @@ -319,8 +323,8 @@ ], (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', @@ -486,6 +490,7 @@ ], (Ecu.engine, 0x7e0, None): [ b'\xbc"`@\x07', + b'\xbc"`p\x07', b'\xbc"`q\x07', b'\xbc,\xa0q\x07', b'\xbc,\xa0u\x07', diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index 68f6d8f6accaea..fea530b29bdd8c 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/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', From 26e52a4aedb172999ce796bd39df5ba5594a3cf7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Jun 2024 13:42:27 -0700 Subject: [PATCH 5/8] Revert "[bot] Fingerprints: add missing FW versions from new users" (#32688) Revert "[bot] Fingerprints: add missing FW versions from new users (#32683)" This reverts commit cf100f740e07824e1367a65c74e2b99f5c3b4458. --- selfdrive/car/chrysler/fingerprints.py | 1 - selfdrive/car/subaru/fingerprints.py | 7 +------ selfdrive/car/volkswagen/fingerprints.py | 1 - 3 files changed, 1 insertion(+), 8 deletions(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 5072aad5c02192..01faa49bf7294a 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -410,7 +410,6 @@ b'68453483AD', b'68453487AD', b'68453491AC', - b'68453491AD', b'68453499AD', b'68453503AC', b'68453503AD', diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index b53ac8ac69d838..10c713501f21af 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -112,7 +112,6 @@ b'\x00\x00d\xb5\x1f@ \x0e', b'\x00\x00d\xdc\x00\x00\x00\x00', b'\x00\x00d\xdc\x1f@ \x0e', - b'\x00\x00e\x02\x00\x00\x00\x00', b'\x00\x00e\x02\x1f@ \x14', b'\x00\x00e\x1c\x00\x00\x00\x00', b'\x00\x00e\x1c\x1f@ \x14', @@ -126,7 +125,6 @@ b'\xaa!au\x07', b'\xaa!av\x07', b'\xaa!aw\x07', - b'\xaa!dp\x07', b'\xaa!dq\x07', b'\xaa!ds\x07', b'\xaa!dt\x07', @@ -181,7 +179,6 @@ b'\x00\x00eb\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00eq\x1f@ "', - b'\x00\x00e\x87\x1f@ "', b'\x00\x00e\x8f\x00\x00\x00\x00', b'\x00\x00e\x8f\x1f@ )', b'\x00\x00e\x92\x00\x00\x00\x00', @@ -199,7 +196,6 @@ b'\xcc!fp\x07', b'\xcc"f0\x07', b'\xe6!`@\x07', - b'\xe6!`p\x07', b'\xe6!fp\x07', b'\xe6"f0\x07', b'\xe6"fp\x07', @@ -323,8 +319,8 @@ ], (Ecu.transmission, 0x7e1, None): [ b'\x1a\xf6F`\x00', - b'\xda\xf2`p\x00', b'\xda\xf2`\x80\x00', + b'\xda\xf2`p\x00', b'\xda\xfd\xe0\x80\x00', b'\xdc\xf2@`\x00', b'\xdc\xf2``\x00', @@ -490,7 +486,6 @@ ], (Ecu.engine, 0x7e0, None): [ b'\xbc"`@\x07', - b'\xbc"`p\x07', b'\xbc"`q\x07', b'\xbc,\xa0q\x07', b'\xbc,\xa0u\x07', diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index fea530b29bdd8c..68f6d8f6accaea 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -591,7 +591,6 @@ 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', From 2b1ac1ffa145543ac62075479123d71806bd3f62 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 10 Jun 2024 14:22:47 -0700 Subject: [PATCH 6/8] webrtc: fix patch in tests (#32686) * Fix patch * Fix it again --- system/webrtc/tests/test_stream_session.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py index bcc9d64927865f..e89e42e440b47a 100644 --- a/system/webrtc/tests/test_stream_session.py +++ b/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") From c514ee7212f7ef43c7451d6e638dd54ec0643dcc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Jun 2024 14:36:42 -0700 Subject: [PATCH 7/8] [bot] Fingerprints: add missing FW versions from new users (#32689) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + selfdrive/car/subaru/fingerprints.py | 2 +- selfdrive/car/volkswagen/fingerprints.py | 1 + 3 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 01faa49bf7294a..5072aad5c02192 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -410,6 +410,7 @@ b'68453483AD', b'68453487AD', b'68453491AC', + b'68453491AD', b'68453499AD', b'68453503AC', b'68453503AD', diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index 10c713501f21af..7f3ae73163e418 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/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', diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index 68f6d8f6accaea..fea530b29bdd8c 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/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', From 1f7c5bcd50ae64281ea9cb1de48131b59efdeb1f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 10 Jun 2024 16:06:37 -0700 Subject: [PATCH 8/8] Pin pytools (#32684) * bump opencl * pin pytools --- poetry.lock | 178 ++++++++++++++++++++++++------------------------- pyproject.toml | 1 + 2 files changed, 90 insertions(+), 89 deletions(-) diff --git a/poetry.lock b/poetry.lock index 7d9b0acb027755..e62446c60531a6 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. [[package]] name = "aiohttp" @@ -262,13 +262,13 @@ files = [ [[package]] name = "azure-core" -version = "1.30.1" +version = "1.30.2" description = "Microsoft Azure Core Library for Python" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "azure-core-1.30.1.tar.gz", hash = "sha256:26273a254131f84269e8ea4464f3560c731f29c0c1f69ac99010845f239c1a8f"}, - {file = "azure_core-1.30.1-py3-none-any.whl", hash = "sha256:7c5ee397e48f281ec4dd773d67a0a47a0962ed6fa833036057f9ea067f688e74"}, + {file = "azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472"}, + {file = "azure_core-1.30.2-py3-none-any.whl", hash = "sha256:cf019c1ca832e96274ae85abd3d9f752397194d9fea3b41487290562ac8abe4a"}, ] [package.dependencies] @@ -837,43 +837,43 @@ files = [ [[package]] name = "cryptography" -version = "42.0.7" +version = "42.0.8" description = "cryptography is a package which provides cryptographic recipes and primitives to 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pytools pyopencl = "==2023.1.4" # 2024.1 is broken on arm64 pygame = "*" pywinctl = "*"