Merge remote-tracking branch 'origin/master' into forester-2022-PR

.github/workflows/repo.yml

@@ -0,0 +1,28 @@
+name: repo
+
+on:
+  schedule:
+    - cron: "0 15 * * 2"
+  workflow_dispatch:
+
+jobs:
+  pre-commit-autoupdate:
+    name: pre-commit autoupdate
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/opendbc:latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update pre-commit hook versions
+        title: 'pre-commit: autoupdate hooks'
+        branch: pre-commit-updates
+        base: master
+        delete-branch: true

.github/workflows/tests.yml

@@ -3,32 +3,55 @@ name: tests
 on: [push, pull_request]
 
 env:
-  RUN: docker run --shm-size 1G --rm opendbc /bin/sh -c
+  RUN: docker run -v $GITHUB_WORKSPACE:/project/opendbc -w /project/opendbc -e PYTHONWARNINGS="error,default::DeprecationWarning" --shm-size 1G --rm opendbc /bin/bash -c
   BUILD: |
       docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
       docker pull ghcr.io/commaai/opendbc:latest || true
       docker build --cache-from ghcr.io/commaai/opendbc:latest -t opendbc -f Dockerfile .
+  PYTHONWARNINGS: error
 
 jobs:
-  test:
+  unit-tests:
+    name: unit tests
     runs-on: ubuntu-20.04
+    #strategy:
+    #  fail-fast: false
+    #  matrix:
+    #    run: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
     steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Static analysis
-        run: |
-          docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
-      - name: Generator test
-        run: |
-          docker run opendbc bash -c "cd opendbc/generator && ./test_generator.py"
-      - name: Unit tests
-        run: |
-          docker run opendbc bash -c "python -m unittest discover opendbc"
-      - name: Push to dockerhub
-        if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/opendbc'
-        run: |
-          docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-          docker tag opendbc ghcr.io/commaai/opendbc:latest
-          docker push ghcr.io/commaai/opendbc:latest
+    - uses: actions/checkout@v3
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Build opendbc
+      run: ${{ env.RUN }} "cd ../ && scons -j$(nproc)"
+    - name: Unit tests
+      run: ${{ env.RUN }} "python -m unittest discover ."
 
+  static-analysis:
+    name: static analysis
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Build opendbc
+      run: ${{ env.RUN }} "cd ../ && scons -j$(nproc)"
+    - name: pre-commit
+      # TODO: a package pre-commit installs has a warning, remove the unset once that's fixed
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+    - name: Generator test
+      run: ${{ env.RUN }} "generator/test_generator.py"
+
+  docker-push:
+    name: docker push
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/opendbc'
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Push to dockerhub
+      run: |
+        docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+        docker tag opendbc ghcr.io/commaai/opendbc:latest
+        docker push ghcr.io/commaai/opendbc:latest

.gitignore

@@ -9,6 +9,7 @@
 .sconsign.dblite
 
 can/*.so
+can/*.a
 can/build/
 can/obj/
 can/packer_pyx.cpp

.pre-commit-config.yaml

@@ -1,25 +1,25 @@
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.3.0
+    rev: v4.4.0
     hooks:
     -   id: check-ast
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.1
+    rev: v2.2.5
     hooks:
     -   id: codespell
         exclude: '\.dbc$'
         args:
         - --check-hidden
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.971
+    rev: v1.4.1
     hooks:
     -   id: mypy
 -   repo: https://github.com/PyCQA/flake8
-    rev: 5.0.4
+    rev: 6.0.0
     hooks:
     -   id: flake8
         exclude: 'site_scons/'
@@ -37,6 +37,20 @@ repos:
         exclude: 'site_scons/'
         args:
         - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.15.0
+    hooks:
+    -   id: cython-lint
+    -   id: double-quote-cython-strings
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        args:
+        - --quiet
+        - --counting=detailed
+        - --linelength=240
+        - --filter=-legal,-build/include_order,-readability/casting,-whitespace/braces,-whitespace/indent,-whitespace/operators,-build/c++11,-readability/todo,-runtime/explicit,-runtime/int,-whitespace/comments,-readability/braces,-runtime/arrays,-runtime/references
 -   repo: local
     hooks:
     -   id: cppcheck

Dockerfile

@@ -34,24 +34,24 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.8.10
-RUN pyenv global 3.8.10
+RUN pyenv install 3.11.4
+RUN pyenv global 3.11.4
 RUN pyenv rehash
 
 COPY requirements.txt /tmp/
 RUN pip install --no-cache-dir -r /tmp/requirements.txt
-RUN pip install --no-cache-dir pre-commit==2.15.0 pylint==2.5.2
+RUN pip install --no-cache-dir pre-commit==2.15.0 pylint==2.17.4
 
 ENV PYTHONPATH=/project
 
+RUN git config --global --add safe.directory '*'
+
 WORKDIR /project
-# TODO: Add tag to cereal
-RUN git clone https://github.com/commaai/cereal.git /project/cereal && cd /project/cereal && git checkout d46f37c314bb92306207db44693b2f58c31f66b9
+RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
+    cd /project/cereal && \
+    git checkout 959ff79963b80829be9902d146c31fda44dbbd20 && \
+    rm -rf .git && \
+    scons -j$(nproc)
 
 COPY SConstruct .
 COPY ./site_scons /project/site_scons
-COPY . /project/opendbc
-
-RUN rm -rf /project/opendbc/.git && \
-    rm -rf /project/cereal/.git
-RUN scons -c && scons -j$(nproc)

SConstruct

@@ -11,9 +11,6 @@ cereal_dir = Dir('.')
 python_path = sysconfig.get_paths()['include']
 cpppath = [
   '#',
-  '#cereal',
-  "#cereal/messaging",
-  "#opendbc/can",
   '/usr/lib/include',
   python_path
 ]

acura_ilx_2016_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
  SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
  SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

acura_rdx_2018_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
  SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
  SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

acura_rdx_2020_can_generated.dbc

@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
  SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
  SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
  SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
  SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
  SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
  SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
  SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

bmw_e9x_e8x.dbc

@@ -42,9 +42,9 @@ BO_ 170 AccPedal: 8 DME
  SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
  SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
  SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
- SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
+ SG_ AcceleratorPedalPercentage : 16|16@1+ (0.04,0) [0|100] "" XXX
  SG_ Counter_170 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ EngineSpeed : 32|16@1- (0.25,0) [0|65535] "U/min" XXX
+ SG_ EngineSpeed : 32|16@1+ (0.25,0) [0|8000] "rpm" XXX
  SG_ Checksum_170 : 0|8@1- (1,0) [0|65535] "" XXX
 
 BO_ 404 CruiseControl: 4 SZL
@@ -98,10 +98,10 @@ BO_ 201 SteeringWheelAngle_DSC: 8 SZL
  SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "deg" DSC
 
 BO_ 206 WheelSpeeds: 8 DSC
- SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
- SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel_FL : 0|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_FR : 16|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_RL : 32|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_RR : 48|16@1- (0.0625,0) [0|255] "kph" XXX
 
 BO_ 884 WheelToleranceAdjustment: 8 DSC
 
@@ -141,6 +141,10 @@ BO_ 182 DynamicCruiseControlTorqueDemand: 8 DSC
 
 BO_ 186 TransmissionData: 8 EGS
  SG_ Counter_186 : 48|4@1+ (1,0) [0|14] "" XXX
+ SG_ Shifting : 4|1@1+ (1,0) [0|15] "" XXX
+ SG_ OutputShaftSpeed : 24|16@1- (0.125,0) [0|255] "rpm" XXX
+ SG_ GearRatio : 8|8@1+ (0.05,0) [0|255] "" XXX
+ SG_ GearTar : 0|4@1+ (1,-4) [0|255] "" XXX
  SG_ Checksum_186 : 40|8@1+ (1,0) [0|15] "" XXX
 
 BO_ 191 RequestedWheelTorqueDriveTrain: 8 LDM
@@ -198,6 +202,7 @@ BO_ 408 GearSelectorSwitch: 8 GWS
 BO_ 422 DistanceRoute: 8 DSC
 
 BO_ 436 InstrumentClusterStatus_KOMBI: 8 CCC
+ SG_ HandbrakeActive : 41|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 464 EngineData: 8 DME
  SG_ RPM_IDLG_TAR : 56|8@1+ (5,0) [0|1270] "1/min" XXX
@@ -206,7 +211,7 @@ BO_ 464 EngineData: 8 DME
  SG_ AIP_ENG : 24|8@1+ (2,598) [600|1106] "hPa" XXX
  SG_ ST_SW_WAUP : 22|2@1+ (1,0) [0|0] "" XXX
  SG_ ST_ENG_RUN : 20|2@1+ (1,0) [0|0] ""  XXX
- SG_ Counter_464 : 16|4@0+ (1,0) [0|14] "" XXX
+ SG_ Counter_464 : 16|4@1+ (1,0) [0|14] "" XXX
  SG_ TEMP_EOI : 8|8@1+ (1,-48) [0|0] "C" XXX
  SG_ TEMP_ENG : 0|8@1+ (1,-48) [0|0] "C" XXX
 
@@ -221,7 +226,7 @@ BO_ 200 SteeringWheelAngle_slow: 6 SZL
 
 BO_ 466 TransmissionDataDisplay: 8 EGS
  SG_ ShiftLeverMode : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ GearRelated_TBD : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ GearAct : 12|4@1+ (1,-4) [0|15] "" XXX
  SG_ Counter_466 : 28|4@1+ (1,0) [0|14] "" XXX
  SG_ ShiftLeverPosition : 0|4@1+ (1,0) [0|8] "" XXX
  SG_ xFF : 40|8@1+ (1,0) [0|255] "" XXX
@@ -720,6 +725,7 @@ BO_ 843 Seat_back_lock_status_FA: 8 SM_FA
 BO_ 845 Status_seat_back_lock_BF: 8 SM_BF
 
 BO_ 847 Status_contact_handbrake: 8 JBBF
+ SG_ Handbrake_push : 0|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 858 Appointment_Condition_Based_Service: 8 CCC
 
@@ -853,7 +859,6 @@ BO_ 996 Configuration_rear_view_camera_CKM: 8 CCC
 CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control: drives";
 CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
 CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
-
 CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
 CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
 CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
@@ -871,7 +876,8 @@ CM_ SG_ 169 ALIV_TORQ_2_DME "Counter TORQ_2";
 CM_ SG_ 182 TORQ_TAR_DSC "torque target DSC";
 
 CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target - unit depends on locale";
-
+CM_ SG_ 186 GearTar "Values corresponds to forward gears. TBD Add enums for park, reverse";
+CM_ SG_ 466 GearAct "TransmissionDataDisplay";
 CM_ SG_ 414 DSC_full_off "0x4 enabling, 0xA enabled. TBD";
 
 CM_ SG_ 416 YawRate "Lateral Acceleration";

can/SConscript

@@ -5,7 +5,14 @@ import os
 envDBC = env.Clone()
 dbc_file_path = '-DDBC_FILE_PATH=\'"%s"\'' % (envDBC.Dir("..").abspath)
 envDBC['CXXFLAGS'] += [dbc_file_path]
-libdbc = envDBC.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"], LIBS=[common, "capnp", "kj", "zmq"])
+src = ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]
+libs = [common, "capnp", "kj", "zmq"]
+
+# shared library for openpilot
+libdbc = envDBC.SharedLibrary('libdbc', src, LIBS=libs)
+
+# static library for tools like cabana
+envDBC.Library('libdbc_static', src, LIBS=libs)
 
 # Build packer and parser
 lenv = envCython.Clone()