Merge branch 'master' into PA-dev2

.github/workflows/selfdrive_tests.yaml

@@ -222,13 +222,6 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
-    - name: Run model replay with ONNX
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                        coverage combine && coverage xml"
     - name: Run regen
       timeout-minutes: 4
       run: |

.github/workflows/tools_tests.yaml

@@ -27,7 +27,9 @@ env:
 jobs:
   simulator_driving:
     name: simulator driving
-    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' }}
     timeout-minutes: 20
     steps:
     - uses: actions/checkout@v4

Jenkinsfile

@@ -25,6 +25,8 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
+export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
@@ -89,20 +91,62 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            device(device_ip, item[0], item[1])
+            if (branch != "master" && item.size() == 3 && !hasPathChanged(item[2])) {
+              println "Skipping ${item[0]}: no changes in ${item[2]}."
+              return;
+            } else {
+              device(device_ip, item[0], item[1])
+            }
           }
         }
       }
     }
   }
 }
 
+@NonCPS
+def hasPathChanged(List<String> paths) {
+  changedFiles = []
+  for (changeLogSet in currentBuild.changeSets) {
+    for (entry in changeLogSet.getItems()) {
+      for (file in entry.getAffectedFiles()) {
+        changedFiles.add(file.getPath())
+      }
+    }
+  }
+
+  env.CHANGED_FILES = changedFiles.join(" ")
+  if (currentBuild.number > 1) {
+    env.CHANGED_FILES += currentBuild.previousBuild.getBuildVariables().get("CHANGED_FILES")
+  }
+
+  for (path in paths) {
+    if (env.CHANGED_FILES.contains(path)) {
+      return true;
+    }
+  }
+
+  return false;
+}
+
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
   }
+
+  withCredentials([
+    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
+  ]) {
+    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
+  }
+
+  withCredentials([
+    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
+  ]) {
+    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
+  }
 }
 
 
@@ -155,7 +199,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
@@ -192,16 +236,16 @@ node {
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+          ["build", "cd system/manager && ./build.py", ["selfdrive/modeld/"]],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py", ["selfdrive/modeld/"]],
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           ["build openpilot", "cd system/manager && ./build.py"],
           ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
           ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],

selfdrive/car/tests/test_models.py

@@ -4,7 +4,6 @@
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
-from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -23,7 +22,7 @@
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, auto_source, internal_source, openpilotci_source, openpilotci_source_zst
+from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
@@ -68,7 +67,6 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 class TestCarModelBase(unittest.TestCase):
   platform: Platform | None = None
   test_route: CarTestRoute | None = None
-  test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
   can_msgs: list[capnp.lib.capnp._DynamicStructReader]
   fingerprint: dict[int, dict[int, int]]
@@ -126,31 +124,15 @@ def get_testing_data(cls):
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
 
-    is_internal = len(INTERNAL_SEG_LIST)
-
     for seg in test_segs:
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        source = partial(auto_source, sources=[internal_source] if is_internal else [openpilotci_source, openpilotci_source_zst])
-        lr = LogReader(segment_range, source=source)
+        lr = LogReader(segment_range)
         return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
 
-    # Route is not in CI bucket, assume either user has access (private), or it is public
-    # test_route_on_ci_bucket will fail when running in CI
-    if not is_internal:
-      cls.test_route_on_bucket = False
-
-      for seg in test_segs:
-        segment_range = f"{cls.test_route.route}/{seg}"
-        try:
-          lr = LogReader(segment_range)
-          return cls.get_testing_data_from_logreader(lr)
-        except Exception:
-          pass
-
     raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
 
 
@@ -467,11 +449,6 @@ def test_panda_safety_carstate(self):
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
-  @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
-  def test_route_on_ci_bucket(self):
-    self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
-                    "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
-
 
 @parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')

selfdrive/debug/fingerprint_from_route.py

@@ -8,10 +8,12 @@ def get_fingerprint(lr):
   # TODO: make this a nice tool for car ports. should also work with qlogs for FW
 
   fw = None
+  vin = None
   msgs = {}
   for msg in lr:
     if msg.which() == 'carParams':
       fw = msg.carParams.carFw
+      vin = msg.carParams.carVin
     elif msg.which() == 'can':
       for c in msg.can:
         # read also msgs sent by EON on CAN bus 0x80 and filter out the
@@ -32,6 +34,7 @@ def get_fingerprint(lr):
     print(f"      {f.fwVersion},")
     print("    ],")
   print()
+  print(f"VIN: {vin}")
 
 
 if __name__ == "__main__":

selfdrive/modeld/tests/test_modeld.py

@@ -19,9 +19,9 @@ class TestModeld:
 
   def setup_method(self):
     self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
     self.vipc_server.start_listener()
     Params().put("CarParams", get_demo_car_params().to_bytes())