From 6688d7b91c2ee6fad93d292edc0661a4522e9b10 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jun 2024 02:04:10 +0800 Subject: [PATCH 01/18] cabana: fix potential dangling pointer Issue (#32672) Fix Potential Dangling Pointer Issue --- tools/cabana/videowidget.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index cd412f72713e9e..7fca45c3936dea 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -151,7 +151,7 @@ QWidget *VideoWidget::createCameraWidget() { setMaximumTime(can->totalSeconds()); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); }); QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection); - QObject::connect(can, &AbstractStream::eventsMerged, [this]() { slider->update(); }); + QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); }); QObject::connect(static_cast(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated); From 3f84fe3557099ba74895241e8f4059b1001cd6ec Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jun 2024 02:04:21 +0800 Subject: [PATCH 02/18] replay: add stop() function (#32673) add stop() func --- tools/cabana/streams/replaystream.cc | 4 +++- tools/replay/replay.cc | 6 +++++- tools/replay/replay.h | 1 + 3 files changed, 9 insertions(+), 2 deletions(-) diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index b1768fcdce8019..5fda6b04870f6c 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -65,7 +65,9 @@ void ReplayStream::start() { } void ReplayStream::stop() { - replay.reset(nullptr); + if (replay) { + replay->stop(); + } } bool ReplayStream::eventFilter(const Event *event) { diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index f477e327ee643b..8616437188afa0 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -46,11 +46,15 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s } Replay::~Replay() { + stop(); +} + +void Replay::stop() { if (!stream_thread_ && segments_.empty()) return; rInfo("shutdown: in progress..."); if (stream_thread_ != nullptr) { - exit_ =true; + exit_ = true; paused_ = true; stream_cv_.notify_one(); stream_thread_->quit(); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e3f321e1d71596..4adbc14df8558d 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -54,6 +54,7 @@ class Replay : public QObject { ~Replay(); bool load(); void start(int seconds = 0); + void stop(); void pause(bool pause); void seekToFlag(FindFlag flag); void seekTo(double seconds, bool relative); From 2cfb4df82c973fd93bc6750227e5628f1eb9bf2d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 9 Jun 2024 11:18:47 -0700 Subject: [PATCH 03/18] bump version to 0.9.8 --- RELEASES.md | 4 ++++ common/version.h | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 31fdd1561b77a9..aa0ab182ec815c 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,7 @@ +Version 0.9.8 (2024-XX-XX) +======================== +* Always on driver monitoring toggle + Version 0.9.7 (2024-06-11) ======================== * New driving model diff --git a/common/version.h b/common/version.h index 177882e31d48da..1f651fb3926dd6 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.7" +#define COMMA_VERSION "0.9.8" From da1cb2276bf28ee906e61a717da2e2699bdba34d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 9 Jun 2024 11:51:43 -0700 Subject: [PATCH 04/18] tici: improve power save test (#32674) * tici: improve power save test * Update system/hardware/tici/tests/test_hardware.py --- system/hardware/tici/tests/test_hardware.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py index 30eed7e0d75536..75f53e7cdb8efc 100644 --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -11,12 +11,16 @@ class TestHardware: def test_power_save_time(self): - ts = [] + ts = {True: [], False: []} for _ in range(5): for on in (True, False): st = time.monotonic() HARDWARE.set_power_save(on) - ts.append(time.monotonic() - st) + ts[on].append(time.monotonic() - st) - assert 0.1 < np.mean(ts) < 0.25 - assert max(ts) < 0.3 + # disabling power save is the main time-critical one + assert 0.1 < np.mean(ts[False]) < 0.15 + assert max(ts[False]) < 0.2 + + assert 0.1 < np.mean(ts[True]) < 0.35 + assert max(ts[True]) < 0.4 From 43a97c590723f61cf049cd95f2edd9aea8f2c346 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 9 Jun 2024 12:02:55 -0700 Subject: [PATCH 05/18] CI: move build_release to a namespace runner (#32675) --- .github/workflows/selfdrive_tests.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0ccf1844d9e0bd..417fe204493c09 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -26,7 +26,9 @@ env: jobs: build_release: name: build release - runs-on: ubuntu-latest + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} env: STRIPPED_DIR: /tmp/releasepilot steps: From b573a4cc48e4508a37f01a800b09b1fa8895d367 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 9 Jun 2024 14:49:20 -0700 Subject: [PATCH 06/18] Sim: don't need nvidia docker anymore (#32676) Dont need nvidia docker anymore --- tools/sim/Dockerfile.sim_nvidia | 21 --------------------- 1 file changed, 21 deletions(-) delete mode 100644 tools/sim/Dockerfile.sim_nvidia diff --git a/tools/sim/Dockerfile.sim_nvidia b/tools/sim/Dockerfile.sim_nvidia deleted file mode 100644 index 5e5dd263da9c2b..00000000000000 --- a/tools/sim/Dockerfile.sim_nvidia +++ /dev/null @@ -1,21 +0,0 @@ -FROM ubuntu:20.04 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && \ - apt-get install -y --no-install-recommends \ - apt-utils \ - sudo \ - ssh \ - curl \ - ca-certificates \ - git \ - git-lfs && \ - rm -rf /var/lib/apt/lists/* - -RUN curl -fsSL https://get.docker.com -o get-docker.sh && \ - sudo sh get-docker.sh && \ - distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && \ - curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && \ - curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && \ - sudo apt-get update && \ - sudo apt-get install -y nvidia-docker2 From e70dc90a452e7c045d9a207f3680d846406ef789 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 9 Jun 2024 17:44:34 -0700 Subject: [PATCH 07/18] Restructure msgq (#32652) * Update ref * Compiles * compiles * Refactor rest of libs * import all * small fiex * cleanup import * Need msgq simlink too * Add to openpilot docker too * try repo * Updates * Fix lint * fix docs * Try blank slate * Revert "Try blank slate" This reverts commit f078ce04acacfe115c19e23e86038b01e2b84a6d. * Maybe scons needs this to clear cache * fix tests * Disable test for now * Update SConstruct Co-authored-by: Adeeb Shihadeh * Fix whitespace * Write skip normal * small fixes * add test path * Revert repo * linting * whitespace * Bump msgq --------- Co-authored-by: Adeeb Shihadeh --- .gitmodules | 2 +- Dockerfile.openpilot | 1 + SConstruct | 8 +- cereal/SConscript | 6 +- cereal/messaging/__init__.py | 60 +----- cereal/messaging/bridge.cc | 4 +- cereal/messaging/messaging.h | 2 +- cereal/messaging/tests/test_fake.py | 193 ------------------ cereal/messaging/tests/test_messaging.py | 54 +---- cereal/messaging/tests/test_poller.py | 142 ------------- docs/c_docs.rst | 4 +- msgq | 2 +- msgq_repo | 1 + pyproject.toml | 3 +- .../controls/lib/lateral_mpc_lib/SConscript | 4 +- .../lib/longitudinal_mpc_lib/SConscript | 4 +- selfdrive/locationd/SConscript | 4 +- selfdrive/navd/SConscript | 6 +- selfdrive/pandad/SConscript | 4 +- selfdrive/ui/SConscript | 12 +- system/camerad/SConscript | 4 +- system/logcatd/SConscript | 4 +- system/loggerd/SConscript | 9 +- system/proclogd/SConscript | 4 +- system/sensord/SConscript | 4 +- system/ubloxd/SConscript | 4 +- system/webrtc/tests/test_stream_session.py | 4 +- system/webrtc/tests/test_webrtcd.py | 1 + tools/cabana/SConscript | 4 +- tools/replay/SConscript | 6 +- tools/sim/Dockerfile.sim | 39 ++++ 31 files changed, 103 insertions(+), 496 deletions(-) delete mode 100644 cereal/messaging/tests/test_fake.py delete mode 100644 cereal/messaging/tests/test_poller.py mode change 160000 => 120000 msgq create mode 160000 msgq_repo create mode 100644 tools/sim/Dockerfile.sim diff --git a/.gitmodules b/.gitmodules index 4952fcbeae168d..e33902db52e476 100644 --- a/.gitmodules +++ b/.gitmodules @@ -5,7 +5,7 @@ path = opendbc url = ../../commaai/opendbc.git [submodule "msgq"] - path = msgq + path = msgq_repo url = ../../commaai/msgq.git [submodule "rednose_repo"] path = rednose_repo diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 9aa1aa8b74105d..5d8f958c48017d 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -20,6 +20,7 @@ COPY ./release ${OPENPILOT_PATH}/release 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 diff --git a/SConstruct b/SConstruct index e827d6641364ed..1b6b9464c8dffb 100644 --- a/SConstruct +++ b/SConstruct @@ -358,9 +358,13 @@ gpucommon = [_gpucommon] Export('common', 'gpucommon') -# Build cereal and messaging -SConscript(['msgq/SConscript']) +# Build messaging (cereal + msgq + socketmaster + their dependencies) +SConscript(['msgq_repo/SConscript']) SConscript(['cereal/SConscript']) +Import('socketmaster', 'msgq') +messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',] +Export('messaging') + # Build other submodules SConscript([ diff --git a/cereal/SConscript b/cereal/SConscript index 5a71abbb81fb16..be5f161dea03a4 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -1,10 +1,10 @@ -Import('env', 'envCython', 'arch', 'common', 'messaging') +Import('env', 'envCython', 'arch', 'common', 'msgq') import shutil cereal_dir = Dir('.') gen_dir = Dir('gen') -other_dir = Dir('#msgq/messaging') +other_dir = Dir('#msgq') # Build cereal schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] @@ -22,7 +22,7 @@ env.SharedLibrary('cereal_shared', cereal_objects) # Build messaging services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') -env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging, 'zmq', common]) +env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common]) socketmaster = env.SharedObject(['messaging/socketmaster.cc']) diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index d8115d18189063..4ba55cf7b9432f 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -1,7 +1,8 @@ # must be built with scons -from msgq.messaging.messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ +from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event -from msgq.messaging.messaging_pyx import MultiplePublishersError, MessagingError +from msgq.ipc_pyx import MultiplePublishersError, IpcError +from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context import os import capnp @@ -13,27 +14,8 @@ from cereal import log from cereal.services import SERVICE_LIST -assert MultiplePublishersError -assert MessagingError -assert toggle_fake_events -assert set_fake_prefix -assert get_fake_prefix -assert delete_fake_prefix -assert wait_for_one_event - NO_TRAVERSAL_LIMIT = 2**64-1 -context = Context() - - -def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle: - identifier = identifier or get_fake_prefix() - handle = SocketEventHandle(endpoint, identifier, override) - if override: - handle.enabled = enable - - return handle - def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader: with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg: @@ -55,42 +37,6 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> return dat -def pub_sock(endpoint: str) -> PubSocket: - sock = PubSocket() - sock.connect(context, endpoint) - return sock - - -def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1", - conflate: bool = False, timeout: Optional[int] = None) -> SubSocket: - sock = SubSocket() - sock.connect(context, endpoint, addr.encode('utf8'), conflate) - - if timeout is not None: - sock.setTimeout(timeout) - - if poller is not None: - poller.registerSocket(sock) - return sock - - -def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]: - """Receive all message currently available on the queue""" - ret: List[bytes] = [] - while 1: - if wait_for_one and len(ret) == 0: - dat = sock.receive() - else: - dat = sock.receive(non_blocking=True) - - if dat is None: - break - - ret.append(dat) - - return ret - - def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]: """Receive all message currently available on the queue""" msgs = drain_sock_raw(sock, wait_for_one=wait_for_one) diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc index b16548314b5148..8619c1e22640bb 100644 --- a/cereal/messaging/bridge.cc +++ b/cereal/messaging/bridge.cc @@ -8,8 +8,8 @@ typedef void (*sighandler_t)(int sig); #include "cereal/services.h" -#include "msgq/messaging/impl_msgq.h" -#include "msgq/messaging/impl_zmq.h" +#include "msgq/impl_msgq.h" +#include "msgq/impl_zmq.h" std::atomic do_exit = false; static void set_do_exit(int sig) { diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h index b0f8b5535565c3..f3850130e655e2 100644 --- a/cereal/messaging/messaging.h +++ b/cereal/messaging/messaging.h @@ -10,7 +10,7 @@ #include #include "cereal/gen/cpp/log.capnp.h" -#include "msgq/messaging/messaging.h" +#include "msgq/ipc.h" #ifdef __APPLE__ #define CLOCK_BOOTTIME CLOCK_MONOTONIC diff --git a/cereal/messaging/tests/test_fake.py b/cereal/messaging/tests/test_fake.py deleted file mode 100644 index 1d3521745d0399..00000000000000 --- a/cereal/messaging/tests/test_fake.py +++ /dev/null @@ -1,193 +0,0 @@ -import os -import unittest -import multiprocessing -import platform -from parameterized import parameterized_class -from typing import Optional - -import cereal.messaging as messaging - -WAIT_TIMEOUT = 5 - - -@unittest.skipIf(platform.system() == "Darwin", "Events not supported on macOS") -class TestEvents(unittest.TestCase): - - def test_mutation(self): - handle = messaging.fake_event_handle("carState") - event = handle.recv_called_event - - self.assertFalse(event.peek()) - event.set() - self.assertTrue(event.peek()) - event.clear() - self.assertFalse(event.peek()) - - del event - - def test_wait(self): - handle = messaging.fake_event_handle("carState") - event = handle.recv_called_event - - event.set() - try: - event.wait(WAIT_TIMEOUT) - self.assertTrue(event.peek()) - except RuntimeError: - self.fail("event.wait() timed out") - - def test_wait_multiprocess(self): - handle = messaging.fake_event_handle("carState") - event = handle.recv_called_event - - def set_event_run(): - event.set() - - try: - p = multiprocessing.Process(target=set_event_run) - p.start() - event.wait(WAIT_TIMEOUT) - self.assertTrue(event.peek()) - except RuntimeError: - self.fail("event.wait() timed out") - - p.kill() - - def test_wait_zero_timeout(self): - handle = messaging.fake_event_handle("carState") - event = handle.recv_called_event - - try: - event.wait(0) - self.fail("event.wait() did not time out") - except RuntimeError: - self.assertFalse(event.peek()) - - -@unittest.skipIf(platform.system() == "Darwin", "FakeSockets not supported on macOS") -@unittest.skipIf("ZMQ" in os.environ, "FakeSockets not supported on ZMQ") -@parameterized_class([{"prefix": None}, {"prefix": "test"}]) -class TestFakeSockets(unittest.TestCase): - prefix: Optional[str] = None - - def setUp(self): - messaging.toggle_fake_events(True) - if self.prefix is not None: - messaging.set_fake_prefix(self.prefix) - else: - messaging.delete_fake_prefix() - - def tearDown(self): - messaging.toggle_fake_events(False) - messaging.delete_fake_prefix() - - def test_event_handle_init(self): - handle = messaging.fake_event_handle("controlsState", override=True) - - self.assertFalse(handle.enabled) - self.assertGreaterEqual(handle.recv_called_event.fd, 0) - self.assertGreaterEqual(handle.recv_ready_event.fd, 0) - - def test_non_managed_socket_state(self): - # non managed socket should have zero state - _ = messaging.pub_sock("ubloxGnss") - - handle = messaging.fake_event_handle("ubloxGnss", override=False) - - self.assertFalse(handle.enabled) - self.assertEqual(handle.recv_called_event.fd, 0) - self.assertEqual(handle.recv_ready_event.fd, 0) - - def test_managed_socket_state(self): - # managed socket should not change anything about the state - handle = messaging.fake_event_handle("ubloxGnss") - handle.enabled = True - - expected_enabled = handle.enabled - expected_recv_called_fd = handle.recv_called_event.fd - expected_recv_ready_fd = handle.recv_ready_event.fd - - _ = messaging.pub_sock("ubloxGnss") - - self.assertEqual(handle.enabled, expected_enabled) - self.assertEqual(handle.recv_called_event.fd, expected_recv_called_fd) - self.assertEqual(handle.recv_ready_event.fd, expected_recv_ready_fd) - - def test_sockets_enable_disable(self): - carState_handle = messaging.fake_event_handle("ubloxGnss", enable=True) - recv_called = carState_handle.recv_called_event - recv_ready = carState_handle.recv_ready_event - - pub_sock = messaging.pub_sock("ubloxGnss") - sub_sock = messaging.sub_sock("ubloxGnss") - - try: - carState_handle.enabled = True - recv_ready.set() - pub_sock.send(b"test") - _ = sub_sock.receive() - self.assertTrue(recv_called.peek()) - recv_called.clear() - - carState_handle.enabled = False - recv_ready.set() - pub_sock.send(b"test") - _ = sub_sock.receive() - self.assertFalse(recv_called.peek()) - except RuntimeError: - self.fail("event.wait() timed out") - - def test_synced_pub_sub(self): - def daemon_repub_process_run(): - pub_sock = messaging.pub_sock("ubloxGnss") - sub_sock = messaging.sub_sock("carState") - - frame = -1 - while True: - frame += 1 - msg = sub_sock.receive(non_blocking=True) - if msg is None: - print("none received") - continue - - bts = frame.to_bytes(8, 'little') - pub_sock.send(bts) - - carState_handle = messaging.fake_event_handle("carState", enable=True) - recv_called = carState_handle.recv_called_event - recv_ready = carState_handle.recv_ready_event - - p = multiprocessing.Process(target=daemon_repub_process_run) - p.start() - - pub_sock = messaging.pub_sock("carState") - sub_sock = messaging.sub_sock("ubloxGnss") - - try: - for i in range(10): - recv_called.wait(WAIT_TIMEOUT) - recv_called.clear() - - if i == 0: - sub_sock.receive(non_blocking=True) - - bts = i.to_bytes(8, 'little') - pub_sock.send(bts) - - recv_ready.set() - recv_called.wait(WAIT_TIMEOUT) - - msg = sub_sock.receive(non_blocking=True) - self.assertIsNotNone(msg) - self.assertEqual(len(msg), 8) - - frame = int.from_bytes(msg, 'little') - self.assertEqual(frame, i) - except RuntimeError: - self.fail("event.wait() timed out") - finally: - p.kill() - - -if __name__ == "__main__": - unittest.main() diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py index 381cec03ff1a95..429c2d3c53eb74 100755 --- a/cereal/messaging/tests/test_messaging.py +++ b/cereal/messaging/tests/test_messaging.py @@ -34,6 +34,7 @@ def zmq_expected_failure(func): else: return func + # TODO: this should take any capnp struct and returrn a msg with random populated data def random_carstate(): fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"] @@ -56,61 +57,8 @@ def send_func(): sock.send(dat) threading.Timer(delay, send_func).start() -class TestPubSubSockets(unittest.TestCase): - - def setUp(self): - # ZMQ pub socket takes too long to die - # sleep to prevent multiple publishers error between tests - zmq_sleep() - - def test_pub_sub(self): - sock = random_sock() - pub_sock = messaging.pub_sock(sock) - sub_sock = messaging.sub_sock(sock, conflate=False, timeout=None) - zmq_sleep(3) - - for _ in range(1000): - msg = random_bytes() - pub_sock.send(msg) - recvd = sub_sock.receive() - self.assertEqual(msg, recvd) - - def test_conflate(self): - sock = random_sock() - pub_sock = messaging.pub_sock(sock) - for conflate in [True, False]: - for _ in range(10): - num_msgs = random.randint(3, 10) - sub_sock = messaging.sub_sock(sock, conflate=conflate, timeout=None) - zmq_sleep() - - sent_msgs = [] - for __ in range(num_msgs): - msg = random_bytes() - pub_sock.send(msg) - sent_msgs.append(msg) - time.sleep(0.1) - recvd_msgs = messaging.drain_sock_raw(sub_sock) - if conflate: - self.assertEqual(len(recvd_msgs), 1) - else: - # TODO: compare actual data - self.assertEqual(len(recvd_msgs), len(sent_msgs)) - - def test_receive_timeout(self): - sock = random_sock() - for _ in range(10): - timeout = random.randrange(200) - sub_sock = messaging.sub_sock(sock, timeout=timeout) - zmq_sleep() - - start_time = time.monotonic() - recvd = sub_sock.receive() - self.assertLess(time.monotonic() - start_time, 0.2) - assert recvd is None class TestMessaging(unittest.TestCase): - def setUp(self): # TODO: ZMQ tests are too slow; all sleeps will need to be # replaced with logic to block on the necessary condition diff --git a/cereal/messaging/tests/test_poller.py b/cereal/messaging/tests/test_poller.py deleted file mode 100644 index bcff5e40caebcf..00000000000000 --- a/cereal/messaging/tests/test_poller.py +++ /dev/null @@ -1,142 +0,0 @@ -import unittest -import time -import cereal.messaging as messaging - -import concurrent.futures - - -def poller(): - context = messaging.Context() - - p = messaging.Poller() - - sub = messaging.SubSocket() - sub.connect(context, 'controlsState') - p.registerSocket(sub) - - socks = p.poll(10000) - r = [s.receive(non_blocking=True) for s in socks] - - return r - - -class TestPoller(unittest.TestCase): - def test_poll_once(self): - context = messaging.Context() - - pub = messaging.PubSocket() - pub.connect(context, 'controlsState') - - with concurrent.futures.ThreadPoolExecutor() as e: - poll = e.submit(poller) - - time.sleep(0.1) # Slow joiner syndrome - - # Send message - pub.send(b"a") - - # Wait for poll result - result = poll.result() - - del pub - context.term() - - self.assertEqual(result, [b"a"]) - - def test_poll_and_create_many_subscribers(self): - context = messaging.Context() - - pub = messaging.PubSocket() - pub.connect(context, 'controlsState') - - with concurrent.futures.ThreadPoolExecutor() as e: - poll = e.submit(poller) - - time.sleep(0.1) # Slow joiner syndrome - c = messaging.Context() - for _ in range(10): - messaging.SubSocket().connect(c, 'controlsState') - - time.sleep(0.1) - - # Send message - pub.send(b"a") - - # Wait for poll result - result = poll.result() - - del pub - context.term() - - self.assertEqual(result, [b"a"]) - - def test_multiple_publishers_exception(self): - context = messaging.Context() - - with self.assertRaises(messaging.MultiplePublishersError): - pub1 = messaging.PubSocket() - pub1.connect(context, 'controlsState') - - pub2 = messaging.PubSocket() - pub2.connect(context, 'controlsState') - - pub1.send(b"a") - - del pub1 - del pub2 - context.term() - - def test_multiple_messages(self): - context = messaging.Context() - - pub = messaging.PubSocket() - pub.connect(context, 'controlsState') - - sub = messaging.SubSocket() - sub.connect(context, 'controlsState') - - time.sleep(0.1) # Slow joiner - - for i in range(1, 100): - pub.send(b'a'*i) - - msg_seen = False - i = 1 - while True: - r = sub.receive(non_blocking=True) - - if r is not None: - self.assertEqual(b'a'*i, r) - - msg_seen = True - i += 1 - - if r is None and msg_seen: # ZMQ sometimes receives nothing on the first receive - break - - del pub - del sub - context.term() - - def test_conflate(self): - context = messaging.Context() - - pub = messaging.PubSocket() - pub.connect(context, 'controlsState') - - sub = messaging.SubSocket() - sub.connect(context, 'controlsState', conflate=True) - - time.sleep(0.1) # Slow joiner - pub.send(b'a') - pub.send(b'b') - - self.assertEqual(b'b', sub.receive()) - - del pub - del sub - context.term() - - -if __name__ == "__main__": - unittest.main() diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 1027bac1be49a1..3b89fe98747200 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -14,12 +14,12 @@ cereal messaging ^^^^^^^^^ .. autodoxygenindex:: - :project: msgq_messaging + :project: msgq_repo_msgq visionipc ^^^^^^^^^ .. autodoxygenindex:: - :project: msgq_visionipc + :project: msgq_repo_msgq_visionipc selfdrive diff --git a/msgq b/msgq deleted file mode 160000 index 615aea9b5519d2..00000000000000 --- a/msgq +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 615aea9b5519d2a3631fce4753bed29287fc4f9b diff --git a/msgq b/msgq new file mode 120000 index 00000000000000..df09146f62ea88 --- /dev/null +++ b/msgq @@ -0,0 +1 @@ +msgq_repo/msgq \ No newline at end of file diff --git a/msgq_repo b/msgq_repo new file mode 160000 index 00000000000000..381fc3d9dfe7d2 --- /dev/null +++ b/msgq_repo @@ -0,0 +1 @@ +Subproject commit 381fc3d9dfe7d2ff40a075ff8c1f980ae2a62d19 diff --git a/pyproject.toml b/pyproject.toml index 4ac01f65829e5e..6bc567921cf71f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -39,7 +39,8 @@ testpaths = [ "system/webrtc", "tools/lib/tests", "tools/replay", - "tools/cabana" + "tools/cabana", + "cereal/messaging/tests", ] [tool.mypy] diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index b6603e69fc185d..630f873341ad7b 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_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python') gen = "c_generated_code" @@ -60,7 +60,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_lat = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 lat_mpc.py") -lenv.Depends(generated_lat, [messaging_python, common_python, opendbc_python]) +lenv.Depends(generated_lat, [msgq_python, common_python, opendbc_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index c00d5cb5a726f2..852631c5abdebc 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_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'messaging', 'msgq_python', 'common_python', 'opendbc_python') gen = "c_generated_code" @@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, [messaging_python, common_python, opendbc_python]) +lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index d3cfeb2c3a430e..27cd4d5b40bcae 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,6 +1,6 @@ -Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations', 'socketmaster') +Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations') -loc_libs = [cereal, socketmaster, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl'] +loc_libs = [messaging, common, 'pthread', 'dl'] # build ekf models rednose_gen_dir = 'models/generated' diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 7f5d948b77557d..295e8127dbc7f6 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -1,8 +1,8 @@ -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations', 'socketmaster') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') map_env = qt_env.Clone() -libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, socketmaster, messaging, cereal, visionipc, transformations, - 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] +libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations, + 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] if arch == 'larch64': libs.append(':libEGL_mesa.so.0') diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript index 48187c43250583..63a2c1e650d539 100644 --- a/selfdrive/pandad/SConscript +++ b/selfdrive/pandad/SConscript @@ -1,6 +1,6 @@ -Import('env', 'envCython', 'common', 'cereal', 'messaging', 'socketmaster') +Import('env', 'envCython', 'common', 'messaging') -libs = ['usb-1.0', common, cereal, messaging, socketmaster, 'pthread', 'zmq', 'capnp', 'kj'] +libs = ['usb-1.0', common, messaging, 'pthread'] panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 5bd33f35f034e6..f59da1bce35034 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,10 +1,9 @@ import os import json -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', - 'cereal', 'transformations', 'socketmaster') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') -base_libs = [common, socketmaster, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +base_libs = [common, messaging, visionipc, transformations, + 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == 'larch64': base_libs.append('EGL') @@ -126,5 +125,6 @@ if GetOption('extras') and arch != "Darwin": assert f[0].get_size() < 350*1e3 # build watch3 -if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) +#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']) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 67530c57e400c5..511664c275c3f9 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ -Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'socketmaster') +Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, socketmaster, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] +libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', messaging, visionipc, gpucommon, 'atomic'] camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript index cd34e395664179..ac2a79a1f2e017 100644 --- a/system/logcatd/SConscript +++ b/system/logcatd/SConscript @@ -1,3 +1,3 @@ -Import('env', 'cereal', 'messaging', 'common', 'socketmaster') +Import('env', 'messaging', 'common') -env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, socketmaster, messaging, common, 'zmq', 'capnp', 'kj', 'systemd', 'json11']) +env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd', 'json11']) diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index bcf941655aa17a..196d18476a3157 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -1,9 +1,8 @@ -Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'socketmaster') +Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, cereal, socketmaster, messaging, visionipc, - 'zmq', 'capnp', 'kj', 'z', - 'avformat', 'avcodec', 'swscale', 'avutil', - 'yuv', 'OpenCL', 'pthread'] +libs = [common, messaging, visionipc, + 'z', 'avformat', 'avcodec', 'swscale', + 'avutil', 'yuv', 'OpenCL', 'pthread'] src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] if arch != "larch64": diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript index 05cdb73c65934e..9ca8e73542f5dc 100644 --- a/system/proclogd/SConscript +++ b/system/proclogd/SConscript @@ -1,5 +1,5 @@ -Import('env', 'cereal', 'messaging', 'common', 'socketmaster') -libs = [cereal, socketmaster, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11'] +Import('env', 'messaging', 'common') +libs = [messaging, 'pthread', 'common', 'zmq', 'json11'] env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) if GetOption('extras'): diff --git a/system/sensord/SConscript b/system/sensord/SConscript index 1808a315415278..e2dfb522c61897 100644 --- a/system/sensord/SConscript +++ b/system/sensord/SConscript @@ -1,4 +1,4 @@ -Import('env', 'arch', 'common', 'cereal', 'messaging', 'socketmaster') +Import('env', 'arch', 'common', 'messaging') sensors = [ 'sensors/i2c_sensor.cc', @@ -11,7 +11,7 @@ sensors = [ 'sensors/lsm6ds3_temp.cc', 'sensors/mmc5603nj_magn.cc', ] -libs = [common, socketmaster, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread'] +libs = [common, messaging, 'pthread'] if arch == "larch64": libs.append('i2c') env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs) diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript index d6bea572386492..ce09e235e622e4 100644 --- a/system/ubloxd/SConscript +++ b/system/ubloxd/SConscript @@ -1,6 +1,6 @@ -Import('env', 'common', 'cereal', 'messaging', 'socketmaster') +Import('env', 'common', 'messaging') -loc_libs = [cereal, messaging, socketmaster, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] +loc_libs = [messaging, common, 'kaitai', 'pthread'] if GetOption('kaitai'): generated = Dir('generated').srcnode().abspath diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py index fa22915dbc06ed..bcc9d64927865f 100644 --- a/system/webrtc/tests/test_stream_session.py +++ b/system/webrtc/tests/test_stream_session.py @@ -8,7 +8,7 @@ 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 @@ -68,6 +68,8 @@ 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") diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py index 309058fb75b57b..d4b659a3aa0e5d 100644 --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -61,3 +61,4 @@ async def connect(offer): assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test" _, session = mock_request.app["streams"].__setitem__.call_args.args await self.assertCompletesWithTimeout(session.post_run_cleanup()) + diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 4ce4c27a05ecf3..ba4a1424510c27 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,7 +1,7 @@ -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets', 'socketmaster') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, messaging, cereal, visionipc, socketmaster, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 813f7808f36d61..cf9d74a894018b 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -1,8 +1,8 @@ -Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'socketmaster') +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, socketmaster, messaging, cereal, visionipc, 'zmq', - 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, + 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim new file mode 100644 index 00000000000000..e0d38596ca4e6d --- /dev/null +++ b/tools/sim/Dockerfile.sim @@ -0,0 +1,39 @@ +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 19e0fa3094ca407f0c6023b0e26aebb7068db3fa Mon Sep 17 00:00:00 2001 From: Metalbird1997 <45519048+Metalbird1997@users.noreply.github.com> Date: Mon, 10 Jun 2024 09:22:34 +0200 Subject: [PATCH 08/18] Update fingerprints.py for 2024 MAN TGE (#32657) * Update fingerprints.py for 2024 MAN TGE * add TGE chassis codes * unsure about the others --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/fingerprints.py | 2 ++ selfdrive/car/volkswagen/values.py | 4 ++-- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c79206f84c656d..c0070f18fa4ec4 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -186,7 +186,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index fdc375fc8d9949..68f6d8f6accaea 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -119,6 +119,7 @@ b'\xf1\x8704L906056BP\xf1\x894729', b'\xf1\x8704L906056EK\xf1\x896391', b'\xf1\x8705L906023BC\xf1\x892688', + b'\xf1\x8705L906023MH\xf1\x892588', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', @@ -128,6 +129,7 @@ (Ecu.eps, 0x712, None): [ b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909143H \xf1\x897045\xf1\x82\x05263AZ309A2', b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', ], (Ecu.fwdRadar, 0x757, None): [ diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 4d317176bee590..51346e072727bf 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -247,11 +247,11 @@ class CAR(Platforms): VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"), VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), ], VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), - chassis_codes={"SY", "SZ"}, + chassis_codes={"SY", "SZ", "UY", "UZ"}, wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN}, ) VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig( From 43ebf367ef37d949952301f2e240359b451a7043 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Jun 2024 00:28:43 -0700 Subject: [PATCH 09/18] fix hypothesis warning (#32678) fix --- selfdrive/test/fuzzy_generation.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 0dc2e44eee90dd..94eb0dfaa62a75 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -16,7 +16,7 @@ def __init__(self, draw: DrawType, real_floats: bool): def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]: value_func = self.native_type_map.get(field) - if value_func: + if value_func is not None: return value_func else: raise NotImplementedError(f'Invalid type: {field}') 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 10/18] 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 11/18] [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 12/18] 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 13/18] [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 14/18] 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 15/18] 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 16/18] [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 17/18] 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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"jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] +test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "e2473a1aa0d28b72f8a0816bb3335a2e48e526e39f038387194948965fffd72e" +content-hash = "a09744c1ac37507bef4de0c210f7321722a2852798ca366d04dfec9329190202" diff --git a/pyproject.toml b/pyproject.toml index 6bc567921cf71f..007245540f8890 100644 --- a/pyproject.toml +++ b/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 = "*" From e3f18b9f95fc4de2a71127d87bc262ee698ae0a0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Jun 2024 16:23:20 -0700 Subject: [PATCH 18/18] VW: bump model year of all CRAFTER_MK2 models --- docs/CARS.md | 8 ++++---- selfdrive/car/volkswagen/values.py | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c0070f18fa4ec4..3b163dcee3da69 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -185,7 +185,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -269,8 +269,8 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -279,7 +279,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 51346e072727bf..8b58769b3fd87a 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -244,11 +244,11 @@ class CAR(Platforms): ) VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig( [ - VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen Crafter 2017-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen e-Crafter 2018-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen Grand California 2019-24", video_link="https://youtu.be/4100gLeabmo"), VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN eTGE 2020-24", video_link="https://youtu.be/4100gLeabmo"), ], VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), chassis_codes={"SY", "SZ", "UY", "UZ"},