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Merge remote-tracking branch 'origin/master' into master3

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This commit is contained in:
Rick Lan
2024-07-02 08:10:23 +08:00
parent ef475a3b13 01c2174d59
commit ba3e8273d3
36 changed files with 7169 additions and 8258 deletions
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.devcontainer/Dockerfile
+2 -1
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@@ -1,7 +1,8 @@
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 gdb bash-completion
RUN pip install ipython jupyter jupyterlab
RUN python3 -m ensurepip --upgrade
RUN pip3 install ipython jupyter jupyterlab
RUN cd /tmp && \
ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
.github/workflows/repo-maintenance.yaml
+3 -3
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@@ -41,10 +41,10 @@ jobs:
if: github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
- name: poetry lock
- name: uv lock
run: |
pip install poetry
poetry lock
pip install uv
uv lock
- name: pre-commit autoupdate
run: |
git config --global --add safe.directory '*'
.github/workflows/selfdrive_tests.yaml
+2 -3
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@@ -62,7 +62,6 @@ jobs:
cd $GITHUB_WORKSPACE
cp .pre-commit-config.yaml $STRIPPED_DIR
cp pyproject.toml $STRIPPED_DIR
cp poetry.lock $STRIPPED_DIR
cd $STRIPPED_DIR
${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
@@ -86,7 +85,7 @@ jobs:
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
- uses: ./.github/workflows/compile-openpilot
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
build_mac:
name: build macos
runs-on: macos-latest
@@ -102,7 +101,7 @@ jobs:
# package install has DeprecationWarnings
PYTHONWARNINGS: default
- name: Test openpilot environment
run: poetry run scons -h
run: . .venv/bin/activate && scons -h
static_analysis:
name: static analysis
.github/workflows/stale.yaml
+1 -1
View File
@@ -14,7 +14,7 @@ jobs:
steps:
- uses: actions/stale@v9
with:
exempt-milestones: true
exempt-all-milestones: true
# pull request config
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
.github/workflows/tools_tests.yaml
+4 -6
View File
@@ -53,10 +53,8 @@ jobs:
python-version: '3.11.4'
- name: Installing pip
run: pip install pip==24.0
- name: Installing poetry
run: pip install poetry==1.7.0
- name: Installing python dependencies
run: poetry install --no-cache --no-root
- name: Installing uv
run: pip install uv
- name: git LFS
run: git lfs pull
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
@@ -69,7 +67,7 @@ jobs:
scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
scons-${{ runner.arch }}-ubuntu2004
- name: Building openpilot
run: poetry run scons -u -j$(nproc)
run: uv run scons -u -j$(nproc)
- name: Saving scons cache
uses: actions/cache/save@v4
if: github.ref == 'refs/heads/master'
@@ -100,6 +98,6 @@ jobs:
- name: Test environment
run: |
devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
devcontainer exec --workspace-folder . pip install pip-install-test
devcontainer exec --workspace-folder . pip3 install pip-install-test
devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
devcontainer exec --workspace-folder . sudo touch /root/test.txt
.pre-commit-config.yaml
+3 -10
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@@ -19,7 +19,7 @@ repos:
- id: check-executables-have-shebangs
- id: check-shebang-scripts-are-executable
- id: check-added-large-files
exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
args:
- --maxkb=120
- --enforce-all
@@ -27,13 +27,13 @@ repos:
rev: v2.3.0
hooks:
- id: codespell
exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
args:
# if you've got a short variable name that's getting flagged, add it here
- -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: v0.4.10
rev: v0.5.0
hooks:
- id: ruff
exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -92,13 +92,6 @@ repos:
language: system
pass_filenames: false
files: '^selfdrive/ui/translations/'
- repo: https://github.com/python-poetry/poetry
rev: '1.8.0'
hooks:
- id: poetry-check
name: validate poetry lock
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.28.5
hooks:
Dockerfile.openpilot_base
+5 -6
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@@ -68,16 +68,15 @@ RUN usermod -aG sudo $USER
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER $USER
COPY --chown=$USER pyproject.toml poetry.lock /tmp/
COPY --chown=$USER pyproject.toml uv.lock /tmp/
COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
ENV POETRY_VIRTUALENVS_CREATE=false
ENV VIRTUAL_ENV=/home/$USER/venv/.venv
RUN python3 -m venv $VIRTUAL_ENV
ENV VIRTUAL_ENV=/home/$USER/.venv
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
RUN . $VIRTUAL_ENV/bin/activate && \
cd /tmp && \
RUN cd /tmp && \
tools/install_python_dependencies.sh && \
mkdir -p $VIRTUAL_ENV && \
cp -r /tmp/.venv/* $VIRTUAL_ENV && \
rm -rf /tmp/* && \
rm -rf /home/$USER/.cache
cereal/log.capnp
+32
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@@ -868,6 +868,37 @@ struct ControlsState @0x97ff69c53601abf1 {
vPidDEPRECATED @2 :Float32;
}
struct DrivingModelData {
frameId @0 :UInt32;
frameIdExtra @1 :UInt32;
frameDropPerc @6 :Float32;
action @2 :ModelDataV2.Action;
laneLineMeta @3 :LaneLineMeta;
meta @4 :MetaData;
path @5 :PolyPath;
struct PolyPath {
xCoefficients @0 :List(Float32);
yCoefficients @1 :List(Float32);
zCoefficients @2 :List(Float32);
}
struct LaneLineMeta {
leftY @0 :Float32;
rightY @1 :Float32;
leftProb @2 :Float32;
rightProb @3 :Float32;
}
struct MetaData {
laneChangeState @0 :LaneChangeState;
laneChangeDirection @1 :LaneChangeDirection;
}
}
# All SI units and in device frame
struct XYZTData @0xc3cbae1fd505ae80 {
x @0 :List(Float32);
@@ -2263,6 +2294,7 @@ struct Event {
driverMonitoringState @71: DriverMonitoringState;
liveLocationKalman @72 :LiveLocationKalman;
modelV2 @75 :ModelDataV2;
drivingModelData @128 :DrivingModelData;
driverStateV2 @92 :DriverStateV2;
# camera stuff, each camera state has a matching encode idx
cereal/services.py
+2 -1
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@@ -60,7 +60,8 @@ _services: dict[str, tuple] = {
"driverMonitoringState": (True, 20., 10),
"wideRoadEncodeIdx": (False, 20., 1),
"wideRoadCameraState": (True, 20., 20),
"modelV2": (True, 20., 40),
"drivingModelData": (True, 20., 10),
"modelV2": (True, 20., 0),
"managerState": (True, 2., 1),
"uploaderState": (True, 0., 1),
"navInstruction": (True, 1., 10),
docs/WORKFLOW.md
+1 -1
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@@ -22,7 +22,7 @@ scons -j8 selfdrive/ui/
cd selfdrive/ui/ && scons -u -j8
# test everything
pytest .
pytest
# test just logging services
cd system/loggerd && pytest .
docs/new/README.md
+1 -1
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@@ -4,7 +4,7 @@ https://www.mkdocs.org/getting-started/
```
pip install mkdocs mkdocs-terminal
mkdocs --serve
mkdocs serve
```
inspiration:
poetry.lock
Generated
-7976
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File diff suppressed because one or more lines are too long
pyproject.toml
+132 -128
View File
@@ -1,15 +1,143 @@
[project]
name = "openpilot"
requires-python = ">= 3.11"
readme = "README.md"
license = {text = "MIT License"}
version = "0.1.0"
description = "an open source driver assistance system"
authors = [
{name ="Vehicle Researcher", email="user@comma.ai"}
]
dependencies = [
# multiple users
"sounddevice", # micd + soundd
"pyserial", # pigeond + qcomgpsd
"requests", # many one-off uses
"sympy", # rednose + friends
"crcmod", # cars + qcomgpsd
"tqdm", # cars (fw_versions.py) on start + many one-off uses
# hardwared
"smbus2", # configuring amp
# core
"cffi",
"scons",
"pycapnp",
"Cython",
"setuptools",
"numpy < 2.0.0", # control does not support numpy 2
# body / webrtcd
"aiohttp",
"aiortc",
"pyaudio",
# panda
"libusb1",
"spidev; platform_system == 'Linux'",
# modeld
"onnx >= 1.14.0",
"onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
"onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
# logging
"pyzmq",
"sentry-sdk",
# athena
"PyJWT",
"json-rpc",
"websocket_client",
# acados deps
"casadi",
"future-fstrings",
# these should be removed
"psutil",
"pycryptodome", # used in updated/casync, panda, body, and a test
#logreader
"zstd",
]
[project.optional-dependencies]
docs = [
"Jinja2",
"sphinx",
"sphinx-rtd-theme",
"sphinx-sitemap"
]
testing = [
"coverage",
"hypothesis ==6.47.*",
"mypy",
"pre-commit",
"pytest",
"pytest-cov",
"pytest-cpp",
"pytest-subtests",
"pytest-xdist",
"pytest-timeout",
"pytest-randomly",
"pytest-asyncio",
"pytest-mock",
"pytest-repeat",
"ruff"
]
dev = [
"av",
"azure-identity",
"azure-storage-blob",
"breathe",
"control",
"dictdiffer",
"flaky",
"inputs",
"lru-dict",
"matplotlib",
"metadrive-simulator; platform_machine != 'aarch64'",
"mpld3",
"myst-parser",
"natsort",
"opencv-python-headless",
"parameterized >=0.8, <0.9",
#pprofile = "*"
"pyautogui",
"pygame",
"pyopencl; platform_machine != 'aarch64'", # broken on arm64
"pywinctl",
"pyprof2calltree",
"rerun-sdk",
"tabulate",
"types-requests",
"types-tabulate",
# this is only pinned since 5.15.11 is broken
"pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
]
[tool.uv.sources]
metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
[project.urls]
Homepage = "https://comma.ai"
[build-system]
requires = ["hatchling"]
build-backend = "hatchling.build"
[tool.hatch.build.targets.wheel]
packages = [ "." ]
[tool.pytest.ini_options]
minversion = "6.0"
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
cpp_files = "test_*"
cpp_harness = "selfdrive/test/cpp_harness.py"
python_files = "test_*.py"
@@ -75,131 +203,6 @@ warn_return_any=true
# allow implicit optionals for default args
implicit_optional = true
[tool.poetry]
name = "openpilot"
version = "0.1.0"
description = "an open source driver assistance system"
authors = ["Vehicle Researcher <user@comma.ai>"]
license = "MIT"
readme = "README.md"
repository = "https://github.com/commaai/openpilot"
documentation = "https://docs.comma.ai"
[tool.poetry.dependencies]
python = ">=3.11, <3.13"
# multiple users
sounddevice = "*" # micd + soundd
pyserial = "*" # pigeond + qcomgpsd
requests = "*" # many one-off uses
sympy = "*" # rednose + friends
crcmod = "*" # cars + qcomgpsd
tqdm = "*" # cars (fw_versions.py) on start + many one-off uses
# hardwared
smbus2 = "*" # configuring amp
# core
cffi = "*"
scons = "*"
pycapnp = "*"
Cython = "*"
setuptools = "*"
numpy = "*"
# body / webrtcd
aiohttp = "*"
aiortc = "*"
pyaudio = "*"
# panda
libusb1 = "*"
spidev = { version = "*", platform = "linux" }
# modeld
onnx = ">=1.14.0"
onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
# logging
pyzmq = "*"
sentry-sdk = "*"
# athena
PyJWT = "*"
json-rpc = "*"
websocket_client = "*"
# acados deps
casadi = "*"
future-fstrings = "*"
# these should be removed
psutil = "*"
pycryptodome = "*" # used in updated/casync, panda, body, and a test
#logreader
zstd = "*"
[tool.poetry.group.docs.dependencies]
Jinja2 = "*"
sphinx = "*"
sphinx-rtd-theme = "*"
sphinx-sitemap = "*"
[tool.poetry.group.testing.dependencies]
coverage = "*"
hypothesis = "~6.47"
mypy = "*"
pre-commit = "*"
pytest = "*"
pytest-cov = "*"
pytest-cpp = "*"
pytest-subtests = "*"
pytest-xdist = "*"
pytest-timeout = "*"
pytest-randomly = "*"
pytest-asyncio = "*"
pytest-mock = "*"
pytest-repeat = "*"
ruff = "*"
[tool.poetry.group.dev.dependencies]
av = "*"
azure-identity = "*"
azure-storage-blob = "*"
breathe = "*"
control = "*"
dictdiffer = "*"
flaky = "*"
inputs = "*"
lru-dict = "*"
matplotlib = "*"
metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "anisotropic_off", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
mpld3 = "*"
myst-parser = "*"
natsort = "*"
opencv-python-headless = "*"
parameterized = "^0.8"
#pprofile = "*"
pyautogui = "*"
pygame = "*"
pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" } # broken on arm64
pywinctl = "*"
pyprof2calltree = "*"
rerun-sdk = "*"
tabulate = "*"
types-requests = "*"
types-tabulate = "*"
# this is only pinned since 5.15.11 is broken
pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
[tool.ruff]
indent-width = 2
@@ -209,7 +212,8 @@ lint.select = [
"UP", # pyupgrade
"TRY302", "TRY400", "TRY401", # try/excepts
"RUF008", "RUF100",
"TID251"
"TID251",
"PLR1704",
]
lint.ignore = [
"E741",
release/release_files.py
+1 -1
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@@ -23,7 +23,7 @@ blacklist = [
"^common/tests/",
# particularly large text files
"poetry.lock",
"uv.lock",
"third_party/catch2",
"selfdrive/car/tests/test_models.*",
selfdrive/car/chrysler/fingerprints.py
+1
View File
@@ -315,6 +315,7 @@ FW_VERSIONS = {
b'68284456AI ',
b'68284477AF ',
b'68325564AH ',
b'68325564AI ',
b'68325565AH ',
b'68325565AI ',
b'68325618AD ',
selfdrive/car/hyundai/fingerprints.py
+2 -38
View File
@@ -1,4 +1,3 @@
# ruff: noqa: E501
from cereal import car
from openpilot.selfdrive.car.hyundai.values import CAR
@@ -8,42 +7,6 @@ Ecu = car.CarParams.Ecu
# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
FINGERPRINTS = {
CAR.HYUNDAI_SANTA_FE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
},
{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
},
{
67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
}],
CAR.HYUNDAI_SONATA: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.KIA_STINGER: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
}],
CAR.GENESIS_G90: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
}],
CAR.HYUNDAI_KONA_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
}],
CAR.HYUNDAI_KONA_EV_2022: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
}],
CAR.KIA_NIRO_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.KIA_OPTIMA_H: [{
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
},
{
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
}],
}
FW_VERSIONS = {
CAR.HYUNDAI_AZERA_6TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
@@ -713,6 +676,7 @@ FW_VERSIONS = {
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211',
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706',
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821',
b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.02 95740-Q4000 180705',
b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821',
b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211',
b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428',
@@ -988,6 +952,7 @@ FW_VERSIONS = {
b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.05 99211-GI010 220614',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.00 99211-GI100 230915',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI100 240110',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI010 230110',
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007',
@@ -1001,7 +966,6 @@ FW_VERSIONS = {
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401',
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614',
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI100 240110',
],
},
CAR.HYUNDAI_IONIQ_6: {
selfdrive/car/tests/test_car_interfaces.py
+1 -1
View File
@@ -23,7 +23,7 @@ ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra
ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40'))
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
selfdrive/car/toyota/fingerprints.py
+4
View File
@@ -160,6 +160,7 @@ FW_VERSIONS = {
b'8821F0607200 ',
b'8821F0608000 ',
b'8821F0608200 ',
b'8821F0608300 ',
b'8821F0609000 ',
b'8821F0609100 ',
],
@@ -205,6 +206,7 @@ FW_VERSIONS = {
b'8821F0607200 ',
b'8821F0608000 ',
b'8821F0608200 ',
b'8821F0608300 ',
b'8821F0609000 ',
b'8821F0609100 ',
],
@@ -799,6 +801,7 @@ FW_VERSIONS = {
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
@@ -1490,6 +1493,7 @@ FW_VERSIONS = {
b'\x01896630EA6300\x00\x00\x00\x00',
b'\x018966348R1300\x00\x00\x00\x00',
b'\x018966348R8500\x00\x00\x00\x00',
b'\x018966348R9300\x00\x00\x00\x00',
b'\x018966348W1300\x00\x00\x00\x00',
b'\x018966348W2300\x00\x00\x00\x00',
],
selfdrive/controls/radard.py
+1 -1
View File
@@ -37,7 +37,7 @@ class KalmanParams:
#Q = np.matrix([[10., 0.0], [0.0, 100.]])
#R = 1e3
#K = np.matrix([[ 0.05705578], [ 0.03073241]])
dts = [dt * 0.01 for dt in range(1, 21)]
dts = [i * 0.01 for i in range(1, 21)]
K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689, 0.21372394,
0.22761098, 0.24069424, 0.253096, 0.26491023, 0.27621103, 0.28705801,
0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,
selfdrive/debug/can_printer.py
+6 -6
View File
@@ -23,12 +23,12 @@ def can_printer(bus, max_msg, addr, ascii_decode):
if time.monotonic() - lp > 0.1:
dd = chr(27) + "[2J"
dd += f"{time.monotonic() - start:5.2f}\n"
for addr in sorted(msgs.keys()):
a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
freq = len(msgs[addr]) / (time.monotonic() - start)
if max_msg is None or addr < max_msg:
dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
for _addr in sorted(msgs.keys()):
a = f"\"{msgs[_addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
freq = len(msgs[_addr]) / (time.monotonic() - start)
if max_msg is None or _addr < max_msg:
dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
print(dd)
lp = time.monotonic()
selfdrive/modeld/constants.py
+2
View File
@@ -59,6 +59,8 @@ class ModelConstants:
RYG_GREEN = 0.01165
RYG_YELLOW = 0.06157
POLY_PATH_DEGREE = 4
# model outputs slices
class Plan:
POSITION = slice(0, 3)
selfdrive/modeld/fill_model_msg.py
+33 -4
View File
@@ -41,17 +41,36 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
if a_std is not None:
builder.aStd = a_std.tolist()
def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState,
def fill_xyz_poly(builder, degree, x, y, z):
xyz = np.stack([x, y, z], axis=1)
coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
builder.xCoefficients = coeffs[:, 0].tolist()
builder.yCoefficients = coeffs[:, 1].tolist()
builder.zCoefficients = coeffs[:, 2].tolist()
def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
net_output_data: dict[str, np.ndarray], publish_state: PublishState,
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
msg.valid = valid
frame_drop_perc = frame_drop * 100
extended_msg.valid = valid
base_msg.valid = valid
modelV2 = msg.modelV2
driving_model_data = base_msg.drivingModelData
driving_model_data.frameId = vipc_frame_id
driving_model_data.frameIdExtra = vipc_frame_id_extra
driving_model_data.frameDropPerc = frame_drop_perc
action = driving_model_data.action
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
modelV2 = extended_msg.modelV2
modelV2.frameId = vipc_frame_id
modelV2.frameIdExtra = vipc_frame_id_extra
modelV2.frameAge = frame_age
modelV2.frameDropPerc = frame_drop * 100
modelV2.frameDropPerc = frame_drop_perc
modelV2.timestampEof = timestamp_eof
modelV2.modelExecutionTime = model_execution_time
@@ -67,6 +86,10 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
orientation_rate = modelV2.orientationRate
fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
# poly path
poly_path = driving_model_data.path
fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
# lateral planning
action = modelV2.action
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
@@ -98,6 +121,12 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
lane_line_meta = driving_model_data.laneLineMeta
lane_line_meta.leftY = modelV2.laneLines[1].y[0]
lane_line_meta.leftProb = modelV2.laneLineProbs[1]
lane_line_meta.rightY = modelV2.laneLines[2].y[0]
lane_line_meta.rightProb = modelV2.laneLineProbs[2]
# road edges
modelV2.init('roadEdges', 2)
for i in range(2):
selfdrive/modeld/modeld.py
+7 -3
View File
@@ -149,7 +149,7 @@ def main(demo=False):
cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
# messaging
pm = PubMaster(["modelV2", "cameraOdometry"])
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
publish_state = PublishState()
@@ -259,9 +259,10 @@ def main(demo=False):
if model_output is not None:
modelv2_send = messaging.new_message('modelV2')
drivingdata_send = messaging.new_message('drivingModelData')
posenet_send = messaging.new_message('cameraOdometry')
fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
meta_main.timestamp_eof, model_execution_time, live_calib_seen)
fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
desire_state = modelv2_send.modelV2.meta.desireState
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -271,9 +272,12 @@ def main(demo=False):
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
pm.send('modelV2', modelv2_send)
pm.send('drivingModelData', drivingdata_send)
pm.send('cameraOdometry', posenet_send)
last_vipc_frame_id = meta_main.frame_id
selfdrive/modeld/models/supercombo.onnx
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6
size 51452435
oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
size 51453312
selfdrive/test/process_replay/model_replay.py
+4 -3
View File
@@ -96,15 +96,16 @@ if __name__ == "__main__":
all_logs = list(LogReader(BASE_URL + log_fn))
cmp_log = []
# logs are ordered based on type: modelV2, driverStateV2
# logs are ordered based on type: modelV2, drivingModelData, driverStateV2
if not NO_MODEL:
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
ignore = [
'logMonoTime',
'drivingModelData.frameDropPerc',
'modelV2.frameDropPerc',
'modelV2.modelExecutionTime',
'driverStateV2.modelExecutionTime',
selfdrive/test/process_replay/model_replay_ref_commit
+1 -1
View File
@@ -1 +1 @@
73eb11111fb6407fa307c3f2bdd3331f2514c707
01e8432830805165527d1dbadd5f009d19430b39
selfdrive/test/process_replay/process_replay.py
+1 -1
View File
@@ -565,7 +565,7 @@ CONFIGS = [
ProcessConfig(
proc_name="modeld",
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
subs=["modelV2", "cameraOdometry"],
subs=["modelV2", "drivingModelData", "cameraOdometry"],
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
should_recv_callback=ModeldCameraSyncRcvCallback(),
tolerance=NUMPY_TOLERANCE,
selfdrive/test/test_onroad.py
+1 -1
View File
@@ -206,7 +206,7 @@ class TestOnroad:
if f.name == "qcamera.ts":
assert 2.15 < sz < 2.35
elif f.name == "qlog":
assert 0.7 < sz < 1.0
assert 0.6 < sz < 1.0
elif f.name == "rlog":
assert 5 < sz < 50
elif f.name.endswith('.hevc'):
selfdrive/ui/tests/.gitignore
-2
View File
@@ -1,6 +1,4 @@
test
playsound
test_sound
test_translations
ui_snapshot
test_ui/report
selfdrive/ui/tests/playsound.cc
-30
View File
@@ -1,30 +0,0 @@
#include <QApplication>
#include <QSoundEffect>
#include <QTimer>
#include <QDebug>
int main(int argc, char **argv) {
QApplication a(argc, argv);
QTimer::singleShot(0, [=]{
QSoundEffect s;
const char *vol = getenv("VOLUME");
s.setVolume(vol ? atof(vol) : 1.0);
for (int i = 1; i < argc; i++) {
QString fn = argv[i];
qDebug() << "playing" << fn;
QEventLoop loop;
s.setSource(QUrl::fromLocalFile(fn));
QEventLoop::connect(&s, &QSoundEffect::loadedChanged, &loop, &QEventLoop::quit);
loop.exec();
s.play();
QEventLoop::connect(&s, &QSoundEffect::playingChanged, &loop, &QEventLoop::quit);
loop.exec();
}
QCoreApplication::exit();
});
return a.exec();
}
system/logmessaged.py
+1 -1
View File
@@ -31,7 +31,7 @@ def main() -> NoReturn:
if len(record) > 2*1024*1024:
print("WARNING: log too big to publish", len(record))
print(print(record[:100]))
print(record[:100])
continue
# then we publish them
system/updated/tests/test_base.py
+1 -1
View File
@@ -133,7 +133,7 @@ class TestBaseUpdate:
class ParamsBaseUpdateTest(TestBaseUpdate):
def _test_finalized_update(self, branch, version, agnos_version, release_notes):
assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")
assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"<p>{release_notes}</p>\n"
assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"{release_notes}\n"
super()._test_finalized_update(branch, version, agnos_version, release_notes)
def send_check_for_updates_signal(self, updated: ManagerProcess):
tools/README.md
+11 -4
View File
@@ -26,16 +26,23 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
``` bash
cd openpilot
git lfs pull
tools/ubuntu_setup.sh
```
Activate a shell with the Python dependencies installed:
**3. Git LFS**
``` bash
poetry shell
git lfs pull
```
**3. Build openpilot**
**4. Activate a python shell**
Activate a shell with the Python dependencies installed:
``` bash
source .venv/bin/activate
```
**5. Build openpilot**
``` bash
scons -u -j$(nproc)
tools/install_python_dependencies.sh
+26 -21
View File
@@ -8,22 +8,34 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
ROOT=$DIR/../
cd $ROOT
RC_FILE="${HOME}/.$(basename ${SHELL})rc"
if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
RC_FILE="$HOME/.bash_profile"
fi
# updating uv on macOS results in 403 sometimes
function update_uv() {
for i in $(seq 1 5);
do
if uv self update; then
return 0
else
sleep 2
fi
done
echo "Failed to update uv 5 times!"
}
if ! command -v "poetry" > /dev/null 2>&1; then
echo "installing poetry..."
curl -sSL https://install.python-poetry.org | python3 -
POETRY_BIN='$HOME/.local/bin'
ADD_PATH_CMD="export PATH=\"$POETRY_BIN:\$PATH\""
if ! command -v "uv" > /dev/null 2>&1; then
echo "installing uv..."
curl -LsSf https://astral.sh/uv/install.sh | sh
UV_BIN='$HOME/.cargo/env'
ADD_PATH_CMD=". \"$UV_BIN\""
eval $ADD_PATH_CMD
printf "\n#poetry path\n$ADD_PATH_CMD\n" >> $RC_FILE
fi
poetry config virtualenvs.prefer-active-python true --local
poetry config virtualenvs.in-project true --local
echo "updating uv..."
update_uv
# TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
echo "installing python packages..."
uv --no-cache sync --all-extras
source .venv/bin/activate
echo "PYTHONPATH=${PWD}" > $ROOT/.env
if [[ "$(uname)" == 'Darwin' ]]; then
@@ -32,15 +44,8 @@ if [[ "$(uname)" == 'Darwin' ]]; then
echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
fi
poetry self add poetry-dotenv-plugin@^0.1.0
echo "installing python packages..."
poetry install --no-cache --no-root
[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
echo "pre-commit hooks install..."
$RUN pre-commit install
$RUN git submodule foreach pre-commit install
pre-commit install
git submodule foreach pre-commit install
fi
tools/lib/tests/test_logreader.py
+6
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@@ -27,8 +27,14 @@ def noop(segment: LogIterable):
@contextlib.contextmanager
def setup_source_scenario(mocker, is_internal=False):
internal_source_mock = mocker.patch("openpilot.tools.lib.logreader.internal_source")
internal_source_mock.__name__ = internal_source_mock._mock_name
openpilotci_source_mock = mocker.patch("openpilot.tools.lib.logreader.openpilotci_source")
openpilotci_source_mock.__name__ = openpilotci_source_mock._mock_name
comma_api_source_mock = mocker.patch("openpilot.tools.lib.logreader.comma_api_source")
comma_api_source_mock.__name__ = comma_api_source_mock._mock_name
if is_internal:
internal_source_mock.return_value = [QLOG_FILE]
else:
uv.lock
Generated
+6869
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