Squashed 'opendbc/' changes from f1e69a6cf..4c59163aa

4c59163aa two spaces before inline comment
e92e74311 whitespace after comma
5d33ec0f1 two spaces before inline comment
73685b609 fix linter complaint about whitespace around operators
b15edbc1b fix linter complaint about inline comment whitespace
4ac30725b clean up blank lines
0430bfa5c run pre commit in ci (#268)
2ade6eeba Subaru DBC update (#242)
d1185a53e Toyota ACC_CONTROL PERMIT_BRAKING and ACCEL_CMT_ALT speculated definition (#258)
e6766bbbb Update SCC ECU Messages for OP Long Dev. (#267)
b49b9ee75 Add DAW (#175)
3b5cccba0 Fixed up cell voltage readings and added more commands (#220)
8b0449327 Mazda: add missing static bits, tidy up endianness  (#263)
124719992 Add BSD_RCTA to Subaru Global (#244)
af1821f84 fix endianness in signal from new hyundai message
7ef41084b Add gas/brake message for hyundai EVs, from @TK211X
472aabb4f Subaru preglobal update (#260)
45c0d9ecc fix lta message (#262)
11343c108 Library cleanup (#261)
67d70cb86 Fix Toyota message size

git-subtree-dir: opendbc
git-subtree-split: 4c59163aa31b58436fad2f8cbadeacd564887276

.github/workflows/tests.yml

@@ -12,6 +12,9 @@ jobs:
           set -e
           docker build -t opendbc .
         name: "Build"
+      - name: Static analysis
+        run: |
+          docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
       - run: |
           docker run opendbc bash -c "python -m unittest discover opendbc"
         name: "Unit tests"

.gitignore

@@ -1,3 +1,4 @@
+.mypy_cache/
 *.pyc
 *.os
 *.tmp

.pre-commit-config.yaml

@@ -0,0 +1,27 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        args:
+        - --select=F
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        args:
+        - --disable=R,C,W

Dockerfile

@@ -1,6 +1,6 @@
 from ubuntu:16.04
 
-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
 
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
@@ -10,16 +10,16 @@ RUN pyenv rehash
 
 COPY requirements.txt /tmp/
 RUN pip install -r /tmp/requirements.txt
+RUN pip install pre-commit==2.4.0 pylint==2.5.2
 
 ENV PYTHONPATH=/project
 
+WORKDIR /project
 # TODO: Add tag to cereal
 RUN git clone https://github.com/commaai/cereal.git /project/cereal
-RUN /project/cereal/install_capnp.sh
-
-WORKDIR /project
 
 COPY SConstruct .
 COPY . /project/opendbc
 
+RUN rm -rf /project/opendbc/.git
 RUN scons -c && scons -j$(nproc)

can/can_define.py

@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error
+from opendbc.can.parser_pyx import CANDefine  # pylint: disable=no-name-in-module, import-error
 assert CANDefine

can/dbc.py

@@ -55,7 +55,7 @@ def __init__(self, fn):
 
         name = dat.group(2)
         size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
         if ids in self.msgs:
           sys.exit("Duplicate address detected %d %s" % (ids, self.name))
 
@@ -73,15 +73,15 @@ def __init__(self, fn):
           print("bad SG {0}".format(l))
 
         sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
+        start_bit = int(dat.group(go + 2))
+        signal_size = int(dat.group(go + 3))
+        is_little_endian = int(dat.group(go + 4)) == 1
+        is_signed = dat.group(go + 5) == '-'
+        factor = int_or_float(dat.group(go + 6))
+        offset = int_or_float(dat.group(go + 7))
+        tmin = int_or_float(dat.group(go + 8))
+        tmax = int_or_float(dat.group(go + 9))
+        units = dat.group(go + 10)
 
         self.msgs[ids][1].append(
           DBCSignal(sgname, start_bit, signal_size, is_little_endian,
@@ -94,15 +94,15 @@ def __init__(self, fn):
         if dat is None:
           print("bad VAL {0}".format(l))
 
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
         sgname = dat.group(2)
         defvals = dat.group(3)
 
-        defvals = defvals.replace("?",r"\?") #escape sequence in C++
+        defvals = defvals.replace("?", r"\?")  # escape sequence in C++
         defvals = defvals.split('"')[:-1]
 
         # convert strings to UPPER_CASE_WITH_UNDERSCORES
-        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
+        defvals[1::2] = [d.strip().upper().replace(" ", "_") for d in defvals[1::2]]
         defvals = '"'+"".join(str(i) for i in defvals)+'"'
 
         self.def_vals[ids].append((sgname, defvals))

can/packer_pyx_setup.py

@@ -33,7 +33,7 @@ def get_ext_filename(self, ext_name):
 
 
 sourcefiles = ['packer_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 
 if ARCH == "aarch64":
@@ -54,7 +54,7 @@ def get_ext_filename(self, ext_name):
           extra_compile_args=extra_compile_args,
           include_dirs=[
             BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
           ],
           extra_link_args=[
             os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
@@ -66,4 +66,3 @@ def get_ext_filename(self, ext_name):
 
 if platform.system() == "Darwin":
   os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
-

can/parser.py

@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANParser # pylint: disable=no-name-in-module, import-error
+from opendbc.can.parser_pyx import CANParser  # pylint: disable=no-name-in-module, import-error
 assert CANParser

can/parser_pyx_setup.py

@@ -33,7 +33,7 @@ def get_ext_filename(self, ext_name):
 
 
 sourcefiles = ['parser_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 
 if ARCH == "aarch64":
@@ -54,7 +54,7 @@ def get_ext_filename(self, ext_name):
           extra_compile_args=extra_compile_args,
           include_dirs=[
             BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
           ],
           extra_link_args=[
             os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
@@ -66,4 +66,3 @@ def get_ext_filename(self, ext_name):
 
 if platform.system() == "Darwin":
   os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
-

can/process_dbc.py

@@ -19,10 +19,11 @@ def process(in_fn, out_fn):
 
   can_dbc = dbc(in_fn)
 
-  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+  # process counter and checksums first
+  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM")))
           for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
 
-  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
+  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()}  # remove duplicates
   def_vals = sorted(def_vals.items())
 
   if can_dbc.name.startswith(("honda_", "acura_")):
@@ -46,7 +47,7 @@ def process(in_fn, out_fn):
     checksum_start_bit = 0
     counter_start_bit = 0
     little_endian = True
-  elif can_dbc.name.startswith(("subaru_")):
+  elif can_dbc.name.startswith(("subaru_global_")):
     checksum_type = "subaru"
     checksum_size = 8
     counter_size = None
@@ -123,4 +124,3 @@ def main():
 
 if __name__ == '__main__':
   main()
-

generator/toyota/_toyota_2017.dbc

@@ -60,12 +60,12 @@ BO_ 180 SPEED: 8 XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
  SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
  SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -128,10 +128,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -285,6 +286,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";

generator/toyota/toyota_nodsu_pt.dbc

@@ -3,7 +3,6 @@ CM_ "IMPORT _comma.dbc"
 CM_ "IMPORT _toyota_nodsu_bsm.dbc"
 
 BO_ 401 STEERING_LTA: 8 XXX
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
  SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
@@ -12,6 +11,9 @@ BO_ 401 STEERING_LTA: 8 XXX
  SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
  SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
  SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX