Sync: commaai/openpilot:master into sunnypilot/sunnypilot:master (c…

…ommaai#290)

.pre-commit-config.yaml

@@ -44,7 +44,7 @@ repos:
         - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.1
+    rev: v0.2.2
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -74,6 +74,14 @@ repos:
         # https://google.github.io/styleguide/cppguide.html
         # relevant rules are whitelisted, see all options with: cpplint --filter=
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.16.0
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
 -   repo: local
     hooks:
     -   id: test_translations

RELEASES.md

@@ -1,4 +1,8 @@
-Version 0.9.6 (2024-02-22)
+Version 0.9.7 (2024-XX-XX)
+========================
+* New driving model
+
+Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
   * Vision model trained on more data
@@ -9,8 +13,9 @@ Version 0.9.6 (2024-02-22)
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
 * Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Duranago 2020-21 support
+* Dodge Durango 2020-21 support
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Lexus LC 2024 support thanks to nelsonjchen!

common/params.cc

@@ -125,6 +125,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
+    {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
     {"GithubSshKeys", PERSISTENT},
     {"GithubUsername", PERSISTENT},

common/params_pyx.pyx

@@ -29,7 +29,7 @@ cdef extern from "common/params.h":
 
 
 def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
+  return v.encode() if isinstance(v, str) else v
 
 class UnknownKeyName(Exception):
   pass

common/transformations/transformations.pxd

@@ -1,4 +1,4 @@
-#cython: language_level=3
+# cython: language_level=3
 from libcpp cimport bool
 
 cdef extern from "orientation.cc":

common/transformations/transformations.pyx

@@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e
 from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
-import cython
 import numpy as np
 cimport numpy as np
 
@@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     return Matrix3(<double*>m.data)
 
 cdef ECEF list2ecef(ecef):
-    cdef ECEF e;
+    cdef ECEF e
     e.x = ecef[0]
     e.y = ecef[1]
     e.z = ecef[2]
     return e
 
 cdef NED list2ned(ned):
-    cdef NED n;
+    cdef NED n
     n.n = ned[0]
     n.e = ned[1]
     n.d = ned[2]
@@ -61,7 +60,7 @@ def euler2quat_single(euler):
 
 def quat2euler_single(quat):
     cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q);
+    cdef Vector3 e = quat2euler_c(q)
     return [e(0), e(1), e(2)]
 
 def quat2rot_single(quat):

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.6.0"
+#define COMMA_VERSION "0.9.6.1"

conftest.py

@@ -1,3 +1,4 @@
+import contextlib
 import gc
 import os
 import pytest
@@ -25,42 +26,42 @@ def pytest_runtest_call(item):
     yield
 
 
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
+@contextlib.contextmanager
+def clean_env():
   starting_env = dict(os.environ)
+  yield
+  os.environ.clear()
+  os.environ.update(starting_env)
 
-  random.seed(0)
 
-  # setup a clean environment for each test
-  with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-    prefix = os.environ["OPENPILOT_PREFIX"]
+@pytest.fixture(scope="function", autouse=True)
+def openpilot_function_fixture(request):
+  random.seed(0)
 
-    yield
+  with clean_env():
+    # setup a clean environment for each test
+    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
+      prefix = os.environ["OPENPILOT_PREFIX"]
 
-    # ensure the test doesn't change the prefix
-    assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
+      yield
 
-  os.environ.clear()
-  os.environ.update(starting_env)
+      # ensure the test doesn't change the prefix
+      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
 
-  # cleanup any started processes
-  manager.manager_cleanup()
+    # cleanup any started processes
+    manager.manager_cleanup()
 
-  # some processes disable gc for performance, re-enable here
-  if not gc.isenabled():
-    gc.enable()
-    gc.collect()
+    # some processes disable gc for performance, re-enable here
+    if not gc.isenabled():
+      gc.enable()
+      gc.collect()
 
 # If you use setUpClass, the environment variables won't be cleared properly,
 # so we need to hook both the function and class pytest fixtures
 @pytest.fixture(scope="class", autouse=True)
 def openpilot_class_fixture():
-  starting_env = dict(os.environ)
-
-  yield
-
-  os.environ.clear()
-  os.environ.update(starting_env)
+  with clean_env():
+    yield
 
 
 @pytest.fixture(scope="function")