Merge branch 'commaai:master' into PA-testing

.github/workflows/selfdrive_tests.yaml

@@ -19,7 +19,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
@@ -116,6 +116,8 @@ jobs:
         submodules: true
     - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: pre-commit
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
@@ -143,7 +145,7 @@ jobs:
                         $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        ./selfdrive/ui/tests/test_translations.py"
+                        pytest ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:

.pre-commit-config.yaml

@@ -86,8 +86,8 @@ repos:
     hooks:
     -   id: test_translations
         name: test translations
-        entry: selfdrive/ui/tests/test_translations.py
-        language: script
+        entry: pytest selfdrive/ui/tests/test_translations.py
+        language: system
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-poetry/poetry

common/transformations/tests/test_coordinates.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 import numpy as np
 
 import openpilot.common.transformations.coordinates as coord

common/transformations/tests/test_orientation.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 import numpy as np
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \

pyproject.toml

@@ -9,8 +9,8 @@ Homepage = "https://comma.ai"
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=selfdrive/test/process_replay/test_processes.py --ignore=selfdrive/test/process_replay/test_regen.py -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
-cpp_files = "test_*.cc"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
@@ -19,10 +19,28 @@ markers = [
   "tici: tests that are only meant to run on the C3/C3X",
 ]
 testpaths = [
-  "tools/",
-  "common/",
-  "system/",
-  "selfdrive/",
+  "common",
+  "selfdrive/boardd",
+  "selfdrive/car",
+  "selfdrive/controls",
+  "selfdrive/locationd",
+  "selfdrive/monitoring",
+  "selfdrive/navd/tests",
+  "selfdrive/test/longitudinal_maneuvers",
+  "selfdrive/test/process_replay/test_fuzzy.py",
+  "system/updated",
+  "system/thermald",
+  "system/athena",
+  "system/camerad",
+  "system/hardware/tici",
+  "system/loggerd",
+  "system/proclogd",
+  "system/tests",
+  "system/ubloxd",
+  "system/webrtc",
+  "tools/lib/tests",
+  "tools/replay",
+  "tools/cabana"
 ]
 
 [tool.mypy]
@@ -147,6 +165,7 @@ pytest-timeout = "*"
 pytest-randomly = "*"
 pytest-asyncio = "*"
 pytest-mock = "*"
+pytest-repeat = "*"
 rerun-sdk = "*"
 ruff = "*"
 sphinx = "*"
@@ -209,10 +228,6 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 "unittest".msg = "Use pytest"
 
 [tool.coverage.run]
-omit = [
-  "config.py",
-  "config-3.py"
-]
 concurrency = ["multiprocessing", "thread"]
 [tool.ruff.format]
 quote-style = "preserve"

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import copy
 import random
@@ -9,6 +8,7 @@
 
 import cereal.messaging as messaging
 from cereal import car, log
+from openpilot.common.retry import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
@@ -17,6 +17,7 @@
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
 
+@retry(attempts=3)
 def setup_boardd(num_pandas):
   params = Params()
   params.put_bool("IsOnroad", False)

selfdrive/boardd/tests/test_boardd_spi.py

@@ -1,14 +1,14 @@
-#!/usr/bin/env python3
 import os
 import time
 import numpy as np
 import pytest
+import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
-from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd
+from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd, send_random_can_messages
 
 
 @pytest.mark.tici
@@ -19,37 +19,56 @@ def setup_class(cls):
       pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
+    #os.environ['SPI_ERR_PROB'] = '-1'
     os.environ['SPI_ERR_PROB'] = '0.001'
 
   @phone_only
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
     setup_boardd(1)
 
+    sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
     time.sleep(2)
     for s in socks.values():
       messaging.drain_sock_raw(s)
 
+    total_recv_count = 0
+    total_sent_count = 0
+    sent_msgs = {bus: list() for bus in range(3)}
+
     st = time.monotonic()
     ts = {s: list() for s in socks.keys()}
     for _ in range(20):
+      # send some CAN messages
+      sent = send_random_can_messages(sendcan, random.randrange(2, 20))
+      for k, v in sent.items():
+        sent_msgs[k].extend(list(v))
+        total_sent_count += len(v)
+
       for service, sock in socks.items():
         for m in messaging.drain_sock(sock):
           ts[service].append(m.logMonoTime)
 
           # sanity check for corruption
-          assert m.valid
+          assert m.valid or (service == "can")
           if service == "can":
-            assert len(m.can) == 0
+            for msg in m.can:
+              if msg.src > 4:
+                continue
+              key = (msg.address, msg.dat)
+              assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}"
+              # TODO: enable this
+              #sent_msgs[msg.src].remove(key)
+              total_recv_count += 1
           elif service == "pandaStates":
             assert len(m.pandaStates) == 1
             ps = m.pandaStates[0]
-            assert ps.uptime < 100
+            assert ps.uptime < 1000
             assert ps.pandaType == "tres"
             assert ps.ignitionLine
             assert not ps.ignitionCan
-            assert ps.voltage < 14000
+            assert 4000 < ps.voltage < 14000
           elif service == "peripheralState":
             ps = m.peripheralState
             assert ps.pandaType == "tres"
@@ -67,6 +86,10 @@ def test_spi_corruption(self, subtests):
       with subtests.test(msg="timing check", service=service):
         edt = 1e3 / SERVICE_LIST[service].frequency
         assert edt*0.9 < np.mean(dts) < edt*1.1
-        assert np.max(dts) < edt*3
+        assert np.max(dts) < edt*20
         assert np.min(dts) < edt
         assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
+
+    with subtests.test(msg="CAN traffic"):
+      print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/total_sent_count:.2%} received")
+      assert total_recv_count > 20

selfdrive/boardd/tests/test_pandad.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import pytest
 import time

selfdrive/car/ford/tests/test_ford.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 from collections.abc import Iterable
 

selfdrive/car/gm/tests/test_gm.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from parameterized import parameterized
 
 from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS

selfdrive/car/honda/tests/test_honda.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import re
 
 from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from hypothesis import settings, given, strategies as st
 
 import pytest

selfdrive/car/tests/test_can_fingerprint.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from parameterized import parameterized
 
 from cereal import log, messaging

selfdrive/car/tests/test_car_interfaces.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import math
 import hypothesis.strategies as st

selfdrive/car/tests/test_docs.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from collections import defaultdict
 import os
 import pytest

selfdrive/car/tests/test_fingerprints.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import sys
 

selfdrive/car/tests/test_fw_fingerprint.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import random
 import time

selfdrive/car/tests/test_lateral_limits.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from collections import defaultdict
 import importlib
 from parameterized import parameterized_class

selfdrive/car/tests/test_models.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import capnp
 import os
 import importlib

selfdrive/car/tests/test_platform_configs.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 from openpilot.selfdrive.car.values import PLATFORMS
 
 

selfdrive/car/torque_data/override.toml

@@ -61,7 +61,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GMC_ACADIA" = [1.6, 1.6, 0.2]
 "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
 "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
 "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
 "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]

selfdrive/car/torque_data/params.toml

@@ -40,7 +40,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
 "JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
 "JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
-"KIA_EV6" = [3.2, 2.093457, 0.05]
+"KIA_EV6" = [3.2, 2.093457, 0.005]
 "KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
 "KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
 "KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]

selfdrive/car/toyota/tests/test_toyota.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from hypothesis import given, settings, strategies as st
 
 from cereal import car

selfdrive/car/volkswagen/tests/test_volkswagen.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 import re
 

selfdrive/controls/lib/tests/test_alertmanager.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 
 from openpilot.selfdrive.controls.lib.events import Alert, EVENTS

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from parameterized import parameterized
 
 from cereal import car, log

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import math
 

selfdrive/controls/tests/test_alerts.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import copy
 import json
 import os

selfdrive/controls/tests/test_cruise_speed.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import itertools
 import numpy as np

selfdrive/controls/tests/test_following_distance.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import itertools
 from parameterized import parameterized_class

selfdrive/controls/tests/test_leads.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import cereal.messaging as messaging
 
 from openpilot.selfdrive.test.process_replay import replay_process_with_name

selfdrive/controls/tests/test_state_machine.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 from cereal import car, log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces

selfdrive/locationd/test/test_calibrationd.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import random
 
 import numpy as np

selfdrive/locationd/test/test_locationd.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import json
 import random

selfdrive/locationd/test/test_locationd_scenarios.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import pytest
 import numpy as np
 from collections import defaultdict