diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index af67bdbe5..1115c375d 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,11 +1,11 @@
FROM ghcr.io/commaai/openpilot-base:latest
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
RUN pip install ipython jupyter jupyterlab
RUN cd /tmp && \
ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
- curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+ curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
dpkg -i virtualgl.deb
RUN usermod -aG video batman
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 970d62030..701675942 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -60,4 +60,4 @@ runs:
find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
# build our docker image
- shell: bash
- run: eval ${{ env.BUILD }}
\ No newline at end of file
+ run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c2f7d86e6..9a26ca9a2 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -39,12 +39,13 @@ jobs:
source selfdrive/test/setup_vsound.sh && \
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
- test_python311:
- name: test python3.11 support
- runs-on: ubuntu-latest
- timeout-minutes: 5
+ test_compatibility:
+ name: test 20.04 + 3.11
+ runs-on: ubuntu-20.04
steps:
- uses: actions/checkout@v4
+ with:
+ submodules: true
- name: Installing ubuntu dependencies
run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
- name: Installing python
@@ -57,6 +58,25 @@ jobs:
run: pip install poetry==1.7.0
- name: Installing python dependencies
run: poetry install --no-cache --no-root
+ - name: git LFS
+ run: git lfs pull
+ - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+ - name: Getting scons cache
+ uses: 'actions/cache@v4'
+ with:
+ path: /tmp/scons_cache
+ key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+ restore-keys: |
+ scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
+ scons-${{ runner.arch }}-ubuntu2004
+ - name: Building openpilot
+ run: poetry run scons -u -j$(nproc)
+ - name: Saving scons cache
+ uses: actions/cache/save@v4
+ if: github.ref == 'refs/heads/master'
+ with:
+ path: /tmp/scons_cache
+ key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
devcontainer:
name: devcontainer
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 61b782364..ecde9fe77 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: https://github.com/astral-sh/ruff-pre-commit
- rev: v0.4.8
+ rev: v0.4.9
hooks:
- id: ruff
exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -62,6 +62,8 @@ repos:
- --quiet
- --force
- -j8
+ - --library=qt
+ - --include=third_party/kaitai/kaitaistream.h
- repo: https://github.com/cpplint/cpplint
rev: 1.6.1
hooks:
@@ -98,6 +100,6 @@ repos:
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
- rev: 0.28.4
+ rev: 0.28.5
hooks:
- id: check-github-workflows
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 45b29bdcb..7228d16ef 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
ENV PYTHONUNBUFFERED 1
@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
rm -rf /var/lib/apt/lists/* /tmp/* && \
- cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+ cd /usr/lib/gcc/arm-none-eabi/* && \
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
# Add OpenCL
@@ -30,23 +30,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
gcc-arm-none-eabi \
tmux \
vim \
- lsb-core \
libx11-6 \
+ wget \
&& rm -rf /var/lib/apt/lists/*
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-
-RUN cd /tmp/opencl-driver-intel && \
- echo INTEL_DRIVER is $INTEL_DRIVER && \
- curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
- tar -xzf $INTEL_DRIVER && \
- for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
- dpkg -i *.deb && \
- rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+RUN mkdir -p /tmp/opencl-driver-intel && \
+ cd /tmp/opencl-driver-intel && \
+ wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+ wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+ mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+ cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+ tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
mkdir -p /etc/OpenCL/vendors && \
- echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+ echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+ cd /opt/intel && \
+ tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ mkdir -p /etc/ld.so.conf.d && \
+ echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+ ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
cd / && \
rm -rf /tmp/opencl-driver-intel
@@ -57,7 +62,7 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
RUN dbus-uuidgen > /etc/machine-id
ARG USER=batman
-ARG USER_UID=1000
+ARG USER_UID=1001
RUN useradd -m -s /bin/bash -u $USER_UID $USER
RUN usermod -aG sudo $USER
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
diff --git a/SConstruct b/SConstruct
index 4a51c59a6..09df57696 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,6 +14,8 @@ SCons.Warnings.warningAsException(True)
TICI = os.path.isfile('/TICI')
AGNOS = TICI
+UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+Export('UBUNTU_FOCAL')
Decider('MD5-timestamp')
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 7f3f64c91..c17e1c063 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -541,8 +541,8 @@ struct CarParams {
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
- deadzoneBP @4 :List(Float32);
- deadzoneV @5 :List(Float32);
+ deadzoneBPDEPRECATED @4 :List(Float32);
+ deadzoneVDEPRECATED @5 :List(Float32);
}
struct LateralINDITuning {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 958c5c910..7d95ceff0 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 {
personality @66 :LongitudinalPersonality;
longControlState @30 :Car.CarControl.Actuators.LongControlState;
- vPid @2 :Float32;
vTargetLead @3 :Float32;
vCruise @22 :Float32; # actual set speed
vCruiseCluster @63 :Float32; # set speed to display in the UI
@@ -866,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 {
canMonoTimesDEPRECATED @21 :List(UInt64);
desiredCurvatureRateDEPRECATED @62 :Float32;
canErrorCounterDEPRECATED @57 :UInt32;
+ vPidDEPRECATED @2 :Float32;
}
# All SI units and in device frame
@@ -1060,6 +1060,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
accels @32 :List(Float32);
speeds @33 :List(Float32);
jerks @34 :List(Float32);
+ aTarget @18 :Float32;
+ shouldStop @37: Bool;
+ allowThrottle @38: Bool;
+ allowBrake @39: Bool;
+
solverExecutionTime @35 :Float32;
@@ -1076,7 +1081,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
aCruiseDEPRECATED @17 :Float32;
vTargetDEPRECATED @3 :Float32;
vTargetFutureDEPRECATED @14 :Float32;
- aTargetDEPRECATED @18 :Float32;
vStartDEPRECATED @26 :Float32;
aStartDEPRECATED @27 :Float32;
vMaxDEPRECATED @20 :Float32;
diff --git a/docs/CARS.md b/docs/CARS.md
index 3b163dcee..43bd8a8b3 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -90,9 +90,9 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Parts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Parts
- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here