Merge branch 'master' into PA-dev

Edison-CBS · Aug 17, 2024 · 7fab7e4 · 7fab7e4
2 parents ba49cf1 + e735a7f
commit 7fab7e4
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diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
@@ -1,14 +1,11 @@
 blank_issues_enabled: false
 contact_links:
+  - name: Join the Discord
+    url: https://discord.comma.ai
+    about: The community Discord is for both openpilot development and experience discussion
   - name: Report model bugs
-    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
-    about: Provide feedback for the driving or driver monitoring models
-  - name: Discussions
-    url: https://github.com/commaai/openpilot/discussions
-    about: For questions and general discussion about openpilot
+    url: https://discord.com/channels/469524606043160576/1254834193066623017
+    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
   - name: Community Wiki
     url: https://github.com/commaai/openpilot/wiki
     about: Check out our community wiki
-  - name: Community Discord
-    url: https://discord.comma.ai
-    about: Check out our community discord
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/opcar/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
@@ -23,7 +23,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
 
         rm .gitattributes
 

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
@@ -6,33 +6,6 @@ on:
   workflow_dispatch:
 
 jobs:
-  bump_submodules:
-    name: bump_submodules
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
-        git add .
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: bump submodules
-        title: '[bot] Bump submodules'
-        branch: auto-bump-submodules
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> bump_submodules'
-        labels: bot
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
@@ -41,11 +14,18 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: true
     - name: uv lock
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
         uv lock --upgrade
+    - name: bump submodules
+      run: |
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
+        git add .
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
@@ -54,7 +54,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "python system/manager/build.py"
+        ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
       timeout-minutes: 3
       run: |
@@ -67,7 +67,7 @@ jobs:
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh --skip check_added_large_files"
+        ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
     strategy:
@@ -221,7 +221,7 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$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
@@ -291,7 +291,7 @@ jobs:
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
           sudo chown -R $USER:$USER ${{ github.workspace }}
       - uses: actions/checkout@v4
         with:
@@ -303,7 +303,7 @@ jobs:
         run: |
           cd current
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
+          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
@@ -348,7 +348,7 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            python selfdrive/ui/tests/test_ui/run.py"
+                            python3 selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
@@ -6,6 +6,7 @@ on:
       - 'master'
     paths:
       - 'selfdrive/ui/**'
+  workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
@@ -78,11 +79,10 @@ jobs:
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
               </tr>
             </table>

diff --git a/.importlinter b/.importlinter
diff --git a/Jenkinsfile b/Jenkinsfile
@@ -95,42 +95,6 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
-def pcStage(String stageName, Closure body) {
-  node {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    checkout scm
-
-    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
-
-    def openpilot_base = retryWithDelay (3, 15) {
-      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
-    }
-
-    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
-      openpilot_base.inside(dockerArgs) {
-        timeout(time: 20, unit: 'MINUTES') {
-          try {
-            retryWithDelay (3, 15) {
-              sh "git config --global --add safe.directory '*'"
-              sh "git submodule update --init --recursive"
-              sh "git lfs pull"
-            }
-            body()
-          } finally {
-              sh "rm -rf ${env.WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -196,6 +196,7 @@ struct CarState {
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
 
   # cruise state
   cruiseState @10 :CruiseState;

diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -2082,9 +2082,15 @@ struct LiveParametersData {
   stiffnessFactorStd @12 :Float32;
   steerRatioStd @13 :Float32;
   roll @14 :Float32;
-  filterState @15 :LiveLocationKalman.Measurement;
+  debugFilterState @16 :FilterState;
 
   yawRateDEPRECATED @7 :Float32;
+  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
+
+  struct FilterState {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+  }
 }
 
 struct LiveTorqueParametersData {

diff --git a/common/mock/__init__.py b/common/mock/__init__.py
@@ -8,12 +8,12 @@
 import threading
 from cereal.messaging import PubMaster
 from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.common.mock.generators import generate_livePose
 from openpilot.common.realtime import Ratekeeper
 
 
 MOCK_GENERATOR = {
-  "liveLocationKalman": generate_liveLocationKalman
+  "livePose": generate_livePose
 }
 
 

diff --git a/common/mock/generators.py b/common/mock/generators.py
@@ -1,20 +1,14 @@
 from cereal import messaging
 
 
-LOCATION1 = (32.7174, -117.16277)
-LOCATION2 = (32.7558, -117.2037)
-
-LLK_DECIMATION = 10
-RENDER_FRAMES = 15
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
-
-
-def generate_liveLocationKalman(location=LOCATION1):
-  msg = messaging.new_message('liveLocationKalman')
-  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.status = 'valid'
-  msg.liveLocationKalman.gpsOK = True
+def generate_livePose():
+  msg = messaging.new_message('livePose')
+  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
+  msg.livePose.orientationNED = meas
+  msg.livePose.velocityDevice = meas
+  msg.livePose.angularVelocityDevice = meas
+  msg.livePose.accelerationDevice = meas
+  msg.livePose.inputsOK = True
+  msg.livePose.posenetOK = True
+  msg.livePose.sensorsOK = True
   return msg
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 if [ -z "$BASEDIR" ]; then
   BASEDIR="/data/openpilot"

diff --git a/launch_env.sh b/launch_env.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 export OMP_NUM_THREADS=1
 export MKL_NUM_THREADS=1

diff --git a/launch_openpilot.sh b/launch_openpilot.sh
@@ -1,3 +1,3 @@
-#!/usr/bin/bash
+#!/usr/bin/env bash
 
 exec ./launch_chffrplus.sh
diff --git a/opendbc_repo b/opendbc_repo
diff --git a/panda b/panda