Merge in new mpc

.dockerignore

@@ -36,5 +36,3 @@ xx/projects
 !xx/projects/map3d
 xx/ops
 xx/junk
-tools/sim/carla
-tools/sim/*.tar.gz

.gitattributes

@@ -6,18 +6,3 @@
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.ipynb filter=nbstripout -diff
 external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text
-models/segnet.keras filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x86_64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x86_64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x86_64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/x86_64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/aarch64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/aarch64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/aarch64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/acado/aarch64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
-phonelibs/fastcv/aarch64/libfastcvopt.so filter=lfs diff=lfs merge=lfs -text
-phonelibs/fastcv/aarch64/libfastcvadsp_stub.so filter=lfs diff=lfs merge=lfs -text
-models/segnet2.keras filter=lfs diff=lfs merge=lfs -text
-phonelibs/zmq/aarch64-linux/lib/libzmq.a filter=lfs diff=lfs merge=lfs -text

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,58 @@
+name: Bug report
+description: For issues with running openpilot on your comma device
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: dropdown
+    id: hw
+    attributes:
+      label: What hardware does this issue affect?
+      multiple: true
+      options:
+        - comma three
+        - comma two
+        - EON Gold
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -0,0 +1,65 @@
+name: Car bug report
+description: For issues with a particular car make or model
+labels: ["car bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: dropdown
+    id: hw
+    attributes:
+      label: What hardware does this issue affect?
+      multiple: true
+      options:
+        - comma three
+        - comma two
+        - EON Gold
+    validations:
+      required: true
+
+  - type: input
+    id: car
+    attributes:
+      label: Which car does this affect?
+      placeholder: Toyota Prius 2017
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+name: PC bug report
+description: For issues with running openpilot on PC
+labels: ["PC"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: os-version
+    attributes:
+      label: OS Version
+      placeholder: Ubuntu 20.04
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version or commit
+      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/workflows/selfdrive_tests.yaml

@@ -49,7 +49,7 @@ jobs:
         cp Dockerfile.openpilot_base $STRIPPED_DIR
 
         # need this to build on x86
-        cp -pR --parents phonelibs/libyuv phonelibs/snpe selfdrive/modeld/runners $STRIPPED_DIR
+        cp -pR --parents third_party/libyuv third_party/snpe selfdrive/modeld/runners $STRIPPED_DIR
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot and run checks
@@ -211,6 +211,7 @@ jobs:
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
                         $UNIT_TEST selfdrive/athena && \
+                        nosetests -s selfdrive/athena/tests/test_athenad_old.py && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/common/tests/test_util && \

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v4.0.1
     hooks:
     -   id: check-ast
         exclude: '^(pyextra)/'
@@ -10,13 +10,14 @@ repos:
     -   id: check-merge-conflict
     -   id: check-symlinks
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.800
+    rev: v0.910-1
     hooks:
     -   id: mypy
         exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
-        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs']
+        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+                                  'types-pycurl']
 -   repo: https://github.com/PyCQA/flake8
-    rev: 3.8.4
+    rev: 4.0.1
     hooks:
     -   id: flake8
         exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
@@ -38,7 +39,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(phonelibs)|(pyextra)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
+        exclude: '^(third_party)|(pyextra)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
         args:
         - --error-exitcode=1
         - --language=c++

.python-version

@@ -1 +1 @@
-3.8.5
+3.8.10

Dockerfile.openpilot

@@ -16,7 +16,7 @@ RUN pip install --no-cache-dir pipenv==2020.8.13 && \
 COPY SConstruct ${OPENPILOT_PATH}
 
 COPY ./pyextra ${OPENPILOT_PATH}/pyextra
-COPY ./phonelibs ${OPENPILOT_PATH}/phonelibs
+COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika
 COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo

Dockerfile.openpilot_base

@@ -60,8 +60,8 @@ RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-instal
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 COPY Pipfile Pipfile.lock /tmp/
-RUN pyenv install 3.8.5 && \
-    pyenv global 3.8.5 && \
+RUN pyenv install 3.8.10 && \
+    pyenv global 3.8.10 && \
     pyenv rehash && \
     pip install --no-cache-dir --upgrade pip==20.1.1 && \
     pip install --no-cache-dir pipenv==2020.8.13 && \

Jenkinsfile

@@ -170,9 +170,8 @@ pipeline {
                   steps {
                     phone_steps("eon", [
                       ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
-                      ["test sounds", "nosetests -s selfdrive/ui/tests/test_sounds.py"],
-                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
+                      ["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
+                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
                       ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
@@ -224,7 +223,7 @@ pipeline {
                   }
                 }
 
-                stage('camerad') {
+                stage('EON camerad') {
                   steps {
                     phone_steps("eon-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -234,7 +233,7 @@ pipeline {
                   }
                 }
 
-                stage('Tici camerad') {
+                stage('tici camerad') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],