Merge branch 'upstream/panda/master' into camera-scc-long

.github/workflows/test.yaml

@@ -6,11 +6,11 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  RUN: docker run -v $GITHUB_WORKSPACE:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
-  PERSIST: docker run -v $GITHUB_WORKSPACE:/tmp/openpilot/panda -w /tmp/openpilot/panda --name panda panda /bin/bash -c
+  RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
+  PERSIST: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --name panda panda /bin/bash -c
   BUILD: |
       export DOCKER_BUILDKIT=1
-      docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile.panda .
+      docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
 
 jobs:
   docker_push:
@@ -39,11 +39,11 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Test python package installer
-        run: ${{ env.RUN }} "cd /tmp/openpilot/panda && python setup.py install"
-      - name: Build panda STM image and bootstub
-        run: ${{ env.RUN }} "cd /tmp/openpilot/panda && scons"
-      - name: Build pedal STM image and bootstub
-        run: ${{ env.RUN }} "cd /tmp/openpilot/panda && PEDAL=1 scons"
+        run: ${{ env.RUN }} "python setup.py install"
+      - name: Build panda + pedal images and bootstub
+        run: ${{ env.RUN }} "scons -j4"
+      - name: Build panda with SPI support
+        run: ${{ env.RUN }} "ENABLE_SPI=1 scons -j4"
 
   unit_tests:
     name: unit tests
@@ -53,9 +53,10 @@ jobs:
       - uses: actions/checkout@v2
       - name: Build Docker image
         run: eval "$BUILD"
-      - name: Test pack/unpack for USB protocol
-        run: ${{ env.RUN }} "cd /tmp/openpilot/panda/tests/usbprotocol &&
-                   python -m unittest discover ."
+      - name: Build panda
+        run: $RUN "scons -j4"
+      - name: Test communication protocols
+        run: $RUN "cd tests/usbprotocol && ./test.sh"
 
   safety:
     name: safety
@@ -66,13 +67,14 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Run safety tests
-        timeout-minutes: 3
+        timeout-minutes: 4
         run: |
-          ${{ env.RUN }} "cd /tmp/openpilot && \
+          ${{ env.RUN }} "cd .. && \
                           scons -c && \
                           scons -j$(nproc) opendbc/ cereal/ && \
-                          cd panda/tests/safety && \
-                          ./test.sh"
+                          cd panda && \
+                          scons -j$(nproc) && \
+                          tests/safety/test.sh"
 
   safety_replay:
     name: safety replay
@@ -84,7 +86,7 @@ jobs:
         run: eval "$BUILD"
       - name: Run safety replay
         run: ${{ env.RUN }} "cd tests/safety_replay &&
-                             scons -u --test .. &&
+                             scons -u .. &&
                              ./test_safety_replay.py"
 
   misra:

.gitignore

@@ -18,3 +18,6 @@ examples/output.csv
 nosetests.xml
 .mypy_cache/
 .sconsign.dblite
+
+# CTU info files generated by Cppcheck
+*.*.ctu-info

.pre-commit-config.yaml

@@ -10,14 +10,12 @@ repos:
     rev: v0.910-1
     hooks:
     -   id: mypy
-        exclude: '^(tests/automated)/'
         additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                   'types-pycurl']
 -   repo: https://github.com/PyCQA/flake8
     rev: 4.0.1
     hooks:
     -   id: flake8
-        exclude: '^(tests/automated)/'
         args:
         - --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
         - --exclude=tests/gmbitbang/*
@@ -30,7 +28,9 @@ repos:
         entry: pylint
         language: system
         types: [python]
-        exclude: '^(tests/automated)/'
         args:
-        - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136
+        - -rn
+        - -sn
+        - -j0
+        - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W1203,W1514,E1136
         - --generated-members="usb1.*"

Dockerfile

@@ -1,73 +1,97 @@
 FROM ubuntu:20.04
 ENV PYTHONUNBUFFERED 1
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     autoconf \
     automake \
-    bash \
-    bison \
     bzip2 \
     ca-certificates \
+    capnproto \
+    clang \
     curl \
-    dfu-util \
-    flex \
     g++ \
-    gawk \
-    gcc \
+    gcc-arm-none-eabi libnewlib-arm-none-eabi \
     git \
-    gperf \
-    help2man \
-    iputils-ping \
+    libarchive-dev \
+    libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
     libbz2-dev \
-    libexpat-dev \
+    libcapnp-dev \
+    libcurl4-openssl-dev \
     libffi-dev \
-    libssl-dev \
-    libstdc++-arm-none-eabi-newlib \
     libtool \
-    libtool-bin \
+    libssl-dev \
+    libsqlite3-dev \
     libusb-1.0-0 \
-    locales  \
+    libzmq3-dev \
+    locales \
+    opencl-headers \
+    ocl-icd-opencl-dev \
     make \
-    ncurses-dev \
-    network-manager \
+    patch \
+    pkg-config \
+    python \
     python-dev \
-    python3-serial \
-    sed \
-    texinfo \
-    unrar-free \
     unzip \
     wget \
-    build-essential \
-    python-dev \
-    screen \
-    vim \
-    wget \
-    wireless-tools \
-    zlib1g-dev
+    zlib1g-dev \
+ && rm -rf /var/lib/apt/lists/* && \
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    rm -rf arm/ && \
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
 ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.8.10
-RUN pyenv global 3.8.10
-RUN pyenv rehash
 
-RUN pip install --upgrade pip==18.0
+ENV PANDA_PATH=/tmp/openpilot/panda
+ENV OPENPILOT_REF="ee0dd36a3c775dbd82493c84f4e7272c1eb3fcbd"
+ENV OPENDBC_REF="e8e97fcf00be9a696be009aa37ca13c55b9f632c"
 
 COPY requirements.txt /tmp/
-RUN pip install -r /tmp/requirements.txt
+RUN pyenv install 3.8.10 && \
+    pyenv global 3.8.10 && \
+    pyenv rehash && \
+    pip install --no-cache-dir -r /tmp/requirements.txt
+
+ENV CPPCHECK_DIR=/tmp/cppcheck
+COPY tests/misra/install.sh /tmp/
+RUN /tmp/install.sh
 
-ENV PYTHONPATH /tmp:$PYTHONPATH
+RUN git config --global --add safe.directory /tmp/openpilot/panda
+RUN cd /tmp && \
+    git clone https://github.com/commaai/openpilot.git tmppilot || true && \
+    cd /tmp/tmppilot && \
+    git fetch origin $OPENPILOT_REF && \
+    git checkout $OPENPILOT_REF && \
+    git submodule update --init cereal opendbc rednose_repo && \
+    git -C opendbc fetch && \
+    git -C opendbc checkout $OPENDBC_REF && \
+    git -C opendbc reset --hard HEAD && \
+    git -C opendbc clean -xfd && \
+    mkdir /tmp/openpilot && \
+    cp -pR SConstruct site_scons/ tools/ selfdrive/ system/ common/ cereal/ opendbc/ rednose/ third_party/ /tmp/openpilot && \
+    rm -rf /tmp/openpilot/panda && \
+    rm -rf /tmp/tmppilot
 
-RUN cd /tmp && git clone https://github.com/commaai/panda_jungle.git && \
+RUN cd /tmp/openpilot && \
+    git clone https://github.com/commaai/panda_jungle.git && \
     cd panda_jungle && \
     git fetch && \
-    git checkout 7b7197c605915ac34f3d62f314edd84e2e78a759
+    git checkout 7b7197c605915ac34f3d62f314edd84e2e78a759 && \
+    rm -rf .git/
+
+RUN cd /tmp/openpilot && \
+    pip install --no-cache-dir -r opendbc/requirements.txt && \
+    pip install --no-cache-dir --upgrade aenum lru-dict pycurl tenacity atomicwrites serial smbus2
+
 
-ADD ./panda.tar.gz /tmp/panda
+# for Jenkins
+COPY README.md panda.tar.* /tmp/
+RUN mkdir /tmp/openpilot/panda && \
+    tar -xvf /tmp/panda.tar.gz -C /tmp/openpilot/panda/ || true