WIP: ubuntu 22.04 support

Pipfile

@@ -4,116 +4,90 @@ url = "https://pypi.org/simple"
 verify_ssl = true
 
 [dev-packages]
-opencv-python= "*"
-ipython = "*"
-networkx = "~=2.3"
-azure-core = "*"
-azure-common = "*"
-azure-nspkg = "~=3.0"
+av = "*"
 azure-storage-blob = "~=2.1"
-azure-storage-common = "~=2.1"
-azure-storage-nspkg = "~=3.1"
-boto = "*"
-"boto3" = "*"
 control = "*"
-datadog = "*"
-elasticsearch = "*"
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-imageio = "*"
-ipykernel = "*"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-"mpld3" = "*"
-msgpack-python = "*"
-numpy = "*"
-osmium = "*"
-pycurl = "*"
-git-pylint-commit-hook = "*"
-pymongo = "*"
-"pynmea2" = "*"
-python-logstash = "*"
-redis = "*"
-"s2sphere" = "*"
-"subprocess32" = "*"
-tenacity = "*"
-keras_applications = "*"
-PyMySQL = "~=0.9"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Pygments = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "*"
-scipy = "*"
+coverage = "*"
+dictdiffer = "*"
 fastcluster = "*"
-simplejson = "*"
-seaborn = "*"
-pyproj = "*"
-mock = "*"
+hexdump = "*"
+hypothesis = "==6.46.7"
+inputs = "*"
+lru-dict = "*"
+markdown-it-py = "*"
 matplotlib = "*"
-dictdiffer = "*"
-aenum = "*"
-coverage = "*"
-azure-cli-core = "*"
+mypy = "*"
+myst-parser = "*"
+natsort = "*"
+numpy = "*"
+opencv-python-headless = "*"
+parameterized = "*"
 paramiko = "*"
-aiohttp = "*"
-lru-dict = "*"
-scikit-image = "*"
-pygame = "==2.0.0.dev8"
 pprofile = "*"
-pyprof2calltree = "*"
 pre-commit = "*"
-mypy = "*"
-parameterized = "*"
+pycurl = "*"
+pygame = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-xdist = "*"
+reverse_geocoder = "*"
+scipy = "*"
+sphinx = "*"
+sphinx-sitemap = "*"
+sphinx-rtd-theme = "*"
+breathe = "*"
+subprocess32 = "*"
+tenacity = "*"
+mpld3 = "*"
+carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
 ft4222 = "*"
-hypothesis = "*"
+pandas = "*"
+tabulate = "*"
 
 [packages]
 atomicwrites = "*"
+casadi = {version = "*", markers="platform_system != 'Darwin'"}
 cffi = "*"
 crcmod = "*"
+cryptography = "*"
+Cython = "*"
+flake8 = "*"
+Flask = "*"
+future-fstrings = "*"  # for acados
+gunicorn = "*"
 hexdump = "*"
+Jinja2 = "*"
+json-rpc = "*"
 libusb1 = "*"
+nose = "*"
 numpy = "*"
+protobuf = "==3.20.1"
+onnx = "*"
+onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
+pillow = "*"
 psutil = "*"
-pycapnp = "==1.0.0"
-cryptography = "*"
+pycapnp = "==1.1.0"
+pycryptodome = "*"
+PyJWT = "*"
+pylint = "*"
+pyopencl = "*"
+pyserial = "*"
 python-dateutil = "*"
+PyYAML = "*"
 pyzmq = "*"
 requests = "*"
+scons = "*"
+sentry-sdk = "*"
 setproctitle = "*"
 six = "*"
 smbus2 = "*"
 sympy = "!=1.6.1"
+timezonefinder = "*"
 tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
 urllib3 = "*"
-gunicorn = "*"
 utm = "*"
-json-rpc = "*"
-Flask = "*"
-nose = "*"
-flake8 = "*"
-pylint = "*"
-pillow = "*"
-scons = "*"
-cysignals = "*"
-pycryptodome = "*"
-"Jinja2" = "*"
-PyJWT = "*"
-pyserial = "*"
-onnx = "*"
-onnxruntime = "*"
-timezonefinder = "*"
-sentry-sdk = "*"
+websocket_client = "*"
+hatanaka = "==2.4"
 
 [requires]
 python_version = "3.8"

selfdrive/boardd/boardd.cc

@@ -35,6 +35,7 @@
 #define CUTOFF_IL 200
 #define SATURATE_IL 1600
 #define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
+#define UNUSED(x) (void)x
 
 Panda * panda = nullptr;
 std::atomic<bool> safety_setter_thread_running(false);
@@ -159,6 +160,8 @@ bool usb_connect() {
   if (!connected_once) {
     tmp_panda->set_usb_power_mode(cereal::PandaState::UsbPowerMode::CDP);
   }
+#else
+  UNUSED(connected_once);
 #endif
 
   if (tmp_panda->has_rtc){

selfdrive/common/modeldata.h

@@ -3,14 +3,14 @@ const int  TRAJECTORY_SIZE = 33;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
 
-const double T_IDXS[TRAJECTORY_SIZE] = {0.        ,  0.00976562,  0.0390625 ,  0.08789062,  0.15625   ,
+const double T_IDXS[33] = {0.        ,  0.00976562,  0.0390625 ,  0.08789062,  0.15625   ,
         0.24414062,  0.3515625 ,  0.47851562,  0.625     ,  0.79101562,
         0.9765625 ,  1.18164062,  1.40625   ,  1.65039062,  1.9140625 ,
         2.19726562,  2.5       ,  2.82226562,  3.1640625 ,  3.52539062,
         3.90625   ,  4.30664062,  4.7265625 ,  5.16601562,  5.625     ,
         6.10351562,  6.6015625 ,  7.11914062,  7.65625   ,  8.21289062,
         8.7890625 ,  9.38476562, 10.};
-const double X_IDXS[TRAJECTORY_SIZE] = { 0.    ,   0.1875,   0.75  ,   1.6875,   3.    ,   4.6875,
+const double X_IDXS[33] = { 0.    ,   0.1875,   0.75  ,   1.6875,   3.    ,   4.6875,
          6.75  ,   9.1875,  12.    ,  15.1875,  18.75  ,  22.6875,
         27.    ,  31.6875,  36.75  ,  42.1875,  48.    ,  54.1875,
         60.75  ,  67.6875,  75.    ,  82.6875,  90.75  ,  99.1875,

selfdrive/common/params.h

@@ -42,15 +42,15 @@ class Params {
   inline std::string get(const std::string &key, bool block = false) {
     return get(key.c_str(), block);
   }
-
+/*
   template <class T>
   std::optional<T> get(const char *key, bool block = false) {
     std::istringstream iss(get(key, block));
     T value{};
     iss >> value;
     return iss.fail() ? std::nullopt : std::optional(value);
   }
-
+*/
   inline bool getBool(const std::string &key) {
     return getBool(key.c_str());
   }

selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c

@@ -14,6 +14,8 @@
 
 #define N           ACADO_N   /* Number of intervals in the horizon. */
 
+#define UNUSED(x) (void)x
+
 ACADOvariables acadoVariables;
 ACADOworkspace acadoWorkspace;
 
@@ -85,6 +87,7 @@ void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0
 
   double dt = 0.2;
   double t = 0.;
+  UNUSED(t);
 
   for (i = 0; i < N + 1; ++i){
     if (i > 4){

selfdrive/modeld/dmonitoringmodeld.cc

@@ -8,11 +8,14 @@
 #include "selfdrive/common/util.h"
 #include "selfdrive/modeld/models/dmonitoring.h"
 
+#define UNUSED(x) (void)x
+
 ExitHandler do_exit;
 
 void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
   PubMaster pm({"driverState"});
   double last = 0;
+  UNUSED(last);
 
   while (!do_exit) {
     VisionIpcBufExtra extra = {};

selfdrive/modeld/modeld.cc

@@ -20,6 +20,8 @@ bool live_calib_seen;
 mat3 cur_transform;
 std::mutex transform_lock;
 
+#define UNUSED(x) (void)x
+
 void calibration_thread(bool wide_camera) {
   set_thread_name("calibration");
   set_realtime_priority(50);
@@ -79,6 +81,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
 
   uint32_t frame_id = 0, last_vipc_frame_id = 0;
   double last = 0;
+  UNUSED(last);
   int desire = -1;
   uint32_t run_count = 0;
 

tools/openpilot_env.sh

@@ -1,15 +1,21 @@
 if [ -z "$OPENPILOT_ENV" ]; then
-  export PYTHONPATH="$HOME/openpilot"
+  export PATH="$HOME/.pyenv/bin:$PATH"
 
-  unamestr=`uname`
-  if [[ "$unamestr" == 'Linux' ]]; then
-    export PATH="$HOME/.pyenv/bin:$PATH"
+  # Pyenv suggests we place the below two lines in .profile before we source
+  # .bashrc, but there is no simple way to guarantee we do this correctly
+  # programmatically across heterogeneous systems. For end-user convenience,
+  # we add the lines here as a workaround.
+  # https://github.com/pyenv/pyenv/issues/1906
+  export PYENV_ROOT="$HOME/.pyenv"
+
+  if [[ "$(uname)" == 'Linux' ]]; then
     eval "$(pyenv virtualenv-init -)"
-  elif [[ "$unamestr" == 'Darwin' ]]; then
+  elif [[ "$(uname)" == 'Darwin' ]]; then
     # msgq doesn't work on mac
     export ZMQ=1
     export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES
   fi
+  eval "$(pyenv init --path)"
   eval "$(pyenv init -)"
 
   export OPENPILOT_ENV=1