Merge branch 'master' into PA-dev

.importlinter

@@ -8,8 +8,14 @@ type = forbidden
 source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
+    openpilot.common
+    openpilot.selfdrive.controls
+    openpilot.selfdrive.debug
+    openpilot.selfdrive.pandad
+    openpilot.selfdrive.test
     openpilot.system
     openpilot.body
+    openpilot.tools
     openpilot.docs
     openpilot.msgq
     openpilot.panda
@@ -18,24 +24,43 @@ forbidden_modules =
     openpilot.teleoprtc
     openpilot.tinygrad
 ignore_imports =
+    # remove these
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.body.carcontroller -> openpilot.selfdrive.controls.lib.pid
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
+    openpilot.selfdrive.car.docs -> openpilot.common.basedir
+    # car interface will not filter the speed
+    openpilot.selfdrive.car.interfaces -> openpilot.common.simple_kalman
+    openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
+    openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
+    # these two will still live in openpilot, but require some modification
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
+    # requires generic CAN send/receive functions
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_fw_fingerprint -> openpilot.selfdrive.pandad
+
+    # these are okay
+    openpilot.selfdrive.car.card -> openpilot.common.swaglog
     openpilot.selfdrive.car.card -> openpilot.common.realtime
     openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
     openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
     openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+    openpilot.selfdrive.car.card -> openpilot.common.params
+    openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
+    openpilot.selfdrive.car.tests.test_models -> openpilot.common.basedir
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.dump_car_docs
+    openpilot.selfdrive.car.tests.test_docs -> openpilot.selfdrive.debug.print_docs_diff
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
 unmatched_ignore_imports_alerting = warn

README.md

@@ -61,7 +61,7 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
 
 Safety and Testing
 ----

common/params.cc

@@ -104,7 +104,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
     {"CarParamsPrevRoute", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CurrentBootlog", PERSISTENT},

common/realtime.py

@@ -4,7 +4,7 @@
 import time
 from collections import deque
 
-from openpilot.common.threadname import getthreadname
+from setproctitle import getproctitle
 
 from openpilot.system.hardware import PC
 
@@ -52,7 +52,7 @@ def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> No
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._thread_name = getthreadname()
+    self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = time.monotonic()
 
@@ -87,7 +87,7 @@ def monitor_time(self) -> bool:
     remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining

common/swaglog.py

@@ -104,6 +104,15 @@ def emit(self, record):
       pass
 
 
+class ForwardingHandler(logging.Handler):
+  def __init__(self, target_logger):
+    super().__init__()
+    self.target_logger = target_logger
+
+  def emit(self, record):
+    self.target_logger.handle(record)
+
+
 def add_file_handler(log):
   """
   Function to add the file log handler to swaglog.

docs/contributing/roadmap.md

@@ -5,6 +5,7 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
 * [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
 * [Bounties](https://comma.ai/bounties) for paid individual issues
+* [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
 ## openpilot 0.10
 

docs/how-to/turn-the-speed-blue.md

@@ -9,7 +9,7 @@ And if you have a comma 3/3X, we'll deploy the change to your device for testing
 
 Run this to clone openpilot and install all the dependencies:
 ```bash
-curl -fsSL openpilot.comma.ai | bash
+bash <(curl -fsSL openpilot.comma.ai)
 ```
 
 Navigate to openpilot folder & activate a Python virtual environment

pyproject.toml

@@ -26,7 +26,7 @@ dependencies = [
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy",
+  "numpy < 2.0.0",
 
   # body / webrtcd
   "aiohttp",
@@ -52,13 +52,13 @@ dependencies = [
   "websocket_client",
 
   # acados deps
-  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
-  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
+  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
   "future-fstrings",
 
   # these should be removed
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
+  "setproctitle",
 
   # logreader
   "zstandard",
@@ -165,11 +165,11 @@ testpaths = [
 ]
 
 [tool.codespell]
-count = true
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
-builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable"
+builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 
 [tool.mypy]
 python_version = "3.11"

scripts/lint.sh

@@ -8,3 +8,4 @@ cd $DIR/../
 # https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
 
 ruff check .
+lint-imports

scripts/waste.py

@@ -3,7 +3,7 @@
 import time
 import numpy as np
 from multiprocessing import Process
-from openpilot.common.threadname import setthreadname
+from setproctitle import setproctitle
 
 def waste(core):
   os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setthreadname("%3d: %8d" % (core, i))
+      setproctitle("%3d: %8d" % (core, i))
       lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt

selfdrive/car/__init__.py

@@ -1,4 +1,5 @@
 # functions common among cars
+import logging
 from collections import namedtuple
 from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
@@ -8,9 +9,13 @@
 
 from cereal import car
 from panda.python.uds import SERVICE_TYPE
-from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
+from openpilot.selfdrive.car.helpers import clip, interp
+
+# set up logging
+carlog = logging.getLogger('carlog')
+carlog.setLevel(logging.INFO)
+carlog.propagate = False
 
 DT_CTRL = 0.01  # car state and control loop timestep (s)
 
@@ -257,6 +262,19 @@ def override(self, **kwargs):
     return replace(self, **kwargs)
 
 
+class Freezable:
+  _frozen: bool = False
+
+  def freeze(self):
+    if not self._frozen:
+      self._frozen = True
+
+  def __setattr__(self, *args, **kwargs):
+    if self._frozen:
+      raise Exception("cannot modify frozen object")
+    super().__setattr__(*args, **kwargs)
+
+
 @dataclass(order=True)
 class PlatformConfig(Freezable):
   car_docs: list[CarDocs]

selfdrive/car/body/carcontroller.py

@@ -16,8 +16,8 @@
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
 
     # PIDs