Update SA-master to c05bff58b8fa5323a4633f5fb8029bbf700bdaac

.gitattributes

@@ -1,9 +1,2 @@
-*.keras filter=lfs diff=lfs merge=lfs -text
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.jpg filter=lfs diff=lfs merge=lfs -text
-.media/df_profiles.jpg !filter !diff !merge text
-*.ipynb filter=nbstripout -diff
-external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text

.github/workflows/selfdrive_tests.yaml

@@ -260,12 +260,14 @@ jobs:
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                         ./selfdrive/common/tests/test_util && \
+                        ./selfdrive/common/tests/test_swaglog && \
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./selfdrive/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test"
-    - name: Upload coverage to Codecov
-      run: bash <(curl -s https://codecov.io/bash) -v -F unit_tests
+                        ./selfdrive/camerad/test/ae_gray_test && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
 
 #  process_replay:
 #    name: process replay
@@ -298,9 +300,10 @@ jobs:
 #    - name: Run replay
 #      run: |
 #        ${{ env.RUN }} "scons -j$(nproc) && \
-#                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py"
-#    - name: Upload coverage to Codecov
-#      run: bash <(curl -s https://codecov.io/bash) -v -F process_replay
+#                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py && \
+#                        coverage xml"
+#    - name: "Upload coverage to Codecov"
+#      uses: codecov/codecov-action@v2
 #    - name: Print diff
 #      if: always()
 #      run: cat selfdrive/test/process_replay/diff.txt
@@ -353,7 +356,10 @@ jobs:
         ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
                         scons -j$(nproc) && \
                         cd selfdrive/test/longitudinal_maneuvers && \
-                        ./test_longitudinal.py"
+                        coverage run ./test_longitudinal.py && \
+                        coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
     - uses: actions/upload-artifact@v2
       if: always()
       continue-on-error: true
@@ -396,13 +402,14 @@ jobs:
     - name: Test car models
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --test && \
-                        FILEREADER_CACHE=1 pytest selfdrive/test/test_models.py && \
+                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/test/test_models.py && \
+                        coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 4
         JOB_ID: ${{ matrix.job }}
-    - name: Upload coverage to Codecov
-      run: bash <(curl -s https://codecov.io/bash) -v -F test_car_models
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
 
   docs:
     name: build docs

.lfsconfig

@@ -1,3 +1,4 @@
 [lfs]
 	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = 
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	locksverify = false

.pre-commit-config.yaml

@@ -1,6 +1,10 @@
 repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
+    rev: v4.1.0
     hooks:
     -   id: check-ast
         exclude: '^(pyextra)/'
@@ -9,8 +13,10 @@ repos:
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
+    -   id: check-added-large-files
+        args: ['--maxkb=100']
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.910-1
+    rev: v0.931
     hooks:
     -   id: mypy
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
@@ -21,17 +27,21 @@ repos:
     hooks:
     -   id: flake8
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/'
+        additional_dependencies: ['flake8-no-implicit-concat']
         args:
+        - --indent-size=2
+        - --enable-extensions=NIC
         - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
         - --statistics
+        - -j4
 -   repo: local
     hooks:
     -   id: pylint
         name: pylint
         entry: pylint
         language: system
         types: [python]
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)/'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck

.pylintrc

@@ -463,6 +463,11 @@ known-standard-library=
 # Force import order to recognize a module as part of a third party library.
 known-third-party=enchant
 
+[STRING]
+
+# This flag controls whether the implicit-str-concat should generate a warning
+# on implicit string concatenation in sequences defined over several lines.
+check-str-concat-over-line-jumps=yes
 
 [EXCEPTIONS]
 

Dockerfile.openpilot_base

@@ -13,14 +13,20 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 ENV PIPENV_SYSTEM=1
+ENV PYENV_VERSION=3.8.10
+ENV PYENV_ROOT="/root/.pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
 COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
 COPY tools/ubuntu_setup.sh /tmp/tools/
 RUN cd /tmp && \
     tools/ubuntu_setup.sh && \
-    rm -rf /tmp/* && \
     rm -rf /var/lib/apt/lists/* && \
-    pip uninstall -y pipenv
+    rm -rf /tmp/* && \
+    rm -rf /root/.cache && \
+    pip uninstall -y pipenv && \
 
-ENV PYENV_VERSION=3.8.10
-ENV PYENV_ROOT="/root/.pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+    # remove unused architectures from gcc for panda
+    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

RELEASES.md

@@ -1,10 +1,13 @@
 Version 0.8.13 (2022-XX-XX)
 ========================
  * Improved driver monitoring
+ * Roll compensation
  * Improved camera focus on the comma two
  * Subaru ECU firmware fingerprinting thanks to martinl!
  * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
  * Subaru Impreza 2020 support thanks to martinl!
+ * Toyota Avalon 2022 support thanks to sshane!
+ * Toyota Prius v 2017 support thanks to CT921!
 
 Version 0.8.12 (2021-12-15)
 ========================

common/file_helpers.py

@@ -81,13 +81,25 @@ def _get_fileobject():
     return writer.get_fileobject(dir=temp_dir)
   return _get_fileobject
 
+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link
 
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
      on the same filesystem as path.
   """
   # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
   #                 directory.
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
 
@@ -96,5 +108,6 @@ def atomic_write_in_dir(path, **kwargs):
   """Creates an atomic writer using a temporary file in the same directory
      as the destination file.
   """
+  monkeypatch_os_link()
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))

common/params_pyx.pyx

@@ -8,7 +8,6 @@ cdef extern from "selfdrive/common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_PANDA_DISCONNECT
     CLEAR_ON_IGNITION_ON
     CLEAR_ON_IGNITION_OFF
     ALL

common/tests/test_params.py

@@ -24,14 +24,6 @@ def test_params_non_ascii(self):
     self.params.put("CarParams", st)
     assert self.params.get("CarParams") == st
 
-  def test_params_get_cleared_panda_disconnect(self):
-    self.params.put("CarParams", "test")
-    self.params.put("DongleId", "cb38263377b873ee")
-    assert self.params.get("CarParams") == b"test"
-    self.params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
-    assert self.params.get("CarParams") is None
-    assert self.params.get("DongleId") is not None
-
   def test_params_get_cleared_manager_start(self):
     self.params.put("CarParams", "test")
     self.params.put("DongleId", "cb38263377b873ee")